+ python -m lidar_slam --no-model /working/a0cbbdfb-dfc8-4cbe-b397-d4750ceff92a Lidar SLAM 0.0.13 ===================================================== The recording path: /working/a0cbbdfb-dfc8-4cbe-b397-d4750ceff92a 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 0.015898227 Adjusted end_distance from 9.223372036854776e+18 to 397.625898227 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.015898227 meters Centerline goodness [0,1] 0.22444226002222412 Centerline is valid? [0, False] SLAMing on 0.045898227 meters Centerline goodness [0,1] 0.24395308018322703 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999724e-01 6.12663850e-04 -4.20678122e-04 8.93776538e-03] [-6.12433668e-04 9.99999663e-01 5.47080285e-04 -4.12493884e-03] [ 4.21013156e-04 -5.46822496e-04 9.99999762e-01 -3.71686984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.075898227 meters Centerline goodness [0,1] 0.25257787210324356 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99998898e-01 1.05825496e-03 -1.04119326e-03 1.47602832e-02] [-1.05750563e-03 9.99999182e-01 7.19971739e-04 -3.48109577e-03] [ 1.04195432e-03 -7.18869878e-04 9.99999199e-01 -6.36421489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.105898227 meters Centerline goodness [0,1] 0.07506696667738133 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99999731 0.00164805 -0.00162945 0.02120083] [-0.00164641 0.99999814 0.00100552 -0.00351554] [ 0.0016311 -0.00100283 0.99999817 -0.00987728] [ 0. 0. 0. 1. ]] SLAMing on 0.13589822699999998 meters Centerline goodness [0,1] 0.15953140727732207 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99999573 0.00211889 -0.0020115 0.02654132] [-0.00211623 0.99999688 0.00132498 -0.0053731 ] [ 0.0020143 -0.00132072 0.9999971 -0.01297015] [ 0. 0. 0. 1. ]] SLAMing on 0.165898227 meters Centerline goodness [0,1] 0.22794416297911457 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.99999327 0.00265833 -0.00252847 0.03273507] [-0.00265417 0.99999512 0.00164792 -0.0062504 ] [ 0.00253284 -0.0016412 0.99999545 -0.01642439] [ 0. 0. 0. 1. ]] SLAMing on 0.19589822699999998 meters Centerline goodness [0,1] 0.24362176818463244 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 0.9999897 0.00342845 -0.00297379 0.04294138] [-0.00342291 0.9999924 0.00186561 -0.00830944] [ 0.00298016 -0.00185541 0.99999384 -0.02037615] [ 0. 0. 0. 1. ]] SLAMing on 0.225898227 meters Centerline goodness [0,1] 0.2999850679408691 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.02 [[ 0.99998616 0.00392024 -0.00350835 0.04912171] [-0.00391273 0.99999005 0.00214368 -0.00938568] [ 0.00351672 -0.00212992 0.99999155 -0.02331192] [ 0. 0. 0. 1. ]] SLAMing on 0.255898227 meters Centerline goodness [0,1] 0.3301008202323992 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.03 [[ 0.99998245 0.00322893 -0.00496645 0.06546583] [-0.0032225 0.99999396 0.00130195 -0.00995166] [ 0.00497062 -0.00128592 0.99998682 -0.02951305] [ 0. 0. 0. 1. ]] SLAMing on 0.285898227 meters Centerline goodness [0,1] 0.33481313896655496 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.03 [[ 0.99997838 0.00370993 -0.00542852 0.07130746] [-0.00370092 0.99999176 0.00166879 -0.01242414] [ 0.00543467 -0.00164866 0.99998387 -0.03232693] [ 0. 0. 0. 1. ]] SLAMing on 0.315898227 meters Centerline goodness [0,1] 0.3022080798090774 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.03 [[ 0.99997393 0.00413706 -0.00591792 0.07701804] [-0.00412627 0.9999898 0.00183582 -0.01304747] [ 0.00592546 -0.00181136 0.9999808 -0.03492863] [ 0. 0. 0. 1. ]] SLAMing on 0.34589822699999995 meters Centerline goodness [0,1] 0.3377993707595831 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.04 [[ 0.99997043 0.00462003 -0.0061484 0.08201524] [-0.00460727 0.9999872 0.00208916 -0.01518126] [ 0.00615797 -0.00206078 0.99997892 -0.03737617] [ 0. 0. 0. 1. ]] SLAMing on 0.375898227 meters Centerline goodness [0,1] 0.31673945313340357 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.04 [[ 0.99997803 0.00137743 -0.00648423 0.08657414] [-0.00139155 0.99999667 -0.00217381 -0.01051 ] [ 0.00648121 0.00218279 0.99997661 -0.03810587] [ 0. 0. 0. 1. ]] SLAMing on 0.405898227 meters Centerline goodness [0,1] 0.33885415995359924 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:-0.04 [[ 0.99997308 0.00201391 -0.00705596 0.09345621] [-0.00202732 0.99999615 -0.00189306 -0.01127058] [ 0.00705212 0.00190731 0.99997331 -0.04141204] [ 0. 0. 0. 1. ]] SLAMing on 0.43589822699999997 meters Centerline goodness [0,1] 0.3626510420020175 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.01, Z:-0.04 [[ 0.99992164 0.00666575 -0.01059603 0.12414111] [-0.00670082 0.99997218 -0.003278 -0.00761075] [ 0.01057388 0.00334874 0.99993849 -0.03730875] [ 0. 0. 0. 1. ]] SLAMing on 0.46589822699999994 meters Centerline goodness [0,1] 0.36208662257307445 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.04 [[ 0.99990447 0.00767537 -0.01149505 0.13361922] [-0.00770793 0.9999664 -0.00279072 -0.00747657] [ 0.01147324 0.00287905 0.99993004 -0.04196526] [ 0. 0. 0. 1. ]] SLAMing on 0.49589822699999997 meters Centerline goodness [0,1] 0.3626449119793903 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:-0.05 [[ 0.99988809 0.00844386 -0.01234904 0.14207445] [-0.00847558 0.99996091 -0.00251856 -0.00715362] [ 0.01232729 0.00262294 0.99992058 -0.04565299] [ 0. 0. 0. 1. ]] SLAMing on 0.525898227 meters Centerline goodness [0,1] 0.17225626258470994 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.05 [[ 0.99987202 0.00910961 -0.01315105 0.14979047] [-0.00914033 0.99995563 -0.00227711 -0.00669326] [ 0.01312972 0.00239703 0.99991093 -0.04886526] [ 0. 0. 0. 1. ]] SLAMing on 0.555898227 meters Centerline goodness [0,1] 0.1750470382144943 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.05 [[ 0.99985532 0.00984754 -0.01386979 0.15743283] [-0.00987603 0.99994926 -0.00198745 -0.00588042] [ 0.01384952 0.00212414 0.99990183 -0.052142 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5858982269999999 meters Centerline goodness [0,1] 0.17828972889099604 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:-0.06 [[ 0.99991458 0.01025746 -0.00810105 0.2015629 ] [-0.01022139 0.99993772 0.00448207 -0.00626106] [ 0.00814652 -0.00439888 0.99995714 -0.06107749] [ 0. 0. 0. 1. ]] SLAMing on 0.615898227 meters Centerline goodness [0,1] 0.19395811877789215 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.06 [[ 0.99990397 0.0107992 -0.00868487 0.20848692] [-0.01075824 0.99993085 0.00474842 -0.00672932] [ 0.00873555 -0.00465453 0.99995101 -0.06425775] [ 0. 0. 0. 1. ]] SLAMing on 0.645898227 meters Centerline goodness [0,1] 0.20410353264368808 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.00, Z:-0.07 [[ 9.99926842e-01 7.62471892e-03 -9.39009447e-03 2.15339547e-01] [-7.61775911e-03 9.99970683e-01 7.76730282e-04 -1.89839631e-03] [ 9.39574152e-03 -7.05141981e-04 9.99955610e-01 -6.65967971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6758982269999999 meters Centerline goodness [0,1] 0.19764847236525918 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.00, Z:-0.07 [[ 9.99869039e-01 1.03853985e-02 -1.24116075e-02 2.42499631e-01] [-1.03876784e-02 9.99946040e-01 -1.19234892e-04 -7.86947451e-04] [ 1.24096994e-02 2.48147064e-04 9.99922966e-01 -6.77217352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7058982269999999 meters Centerline goodness [0,1] 0.20424317830787708 Centerline is valid? [False, False] Translation: X:0.25, Y:0.00, Z:-0.07 [[ 9.99854515e-01 1.09446731e-02 -1.30829097e-02 2.49619831e-01] [-1.09449593e-02 9.99940101e-01 4.97279763e-05 1.13538602e-03] [ 1.30826703e-02 9.34711718e-05 9.99914414e-01 -7.09597531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.735898227 meters Centerline goodness [0,1] 0.1748427943836679 Centerline is valid? [False, False] Translation: X:0.26, Y:0.00, Z:-0.07 [[ 9.99840643e-01 1.13952934e-02 -1.37417599e-02 2.56254898e-01] [-1.13943223e-02 9.99935072e-01 1.48956442e-04 2.89354220e-03] [ 1.37425651e-02 7.64533675e-06 9.99905566e-01 -7.36427204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.765898227 meters Centerline goodness [0,1] 0.21025201072386057 Centerline is valid? [False, False] Translation: X:0.26, Y:0.00, Z:-0.08 [[ 9.99827807e-01 1.18078386e-02 -1.43153873e-02 2.62860645e-01] [-1.18045343e-02 9.99930274e-01 3.15300696e-04 2.96361223e-03] [ 1.43181122e-02 -1.46259923e-04 9.99897480e-01 -7.67023785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.795898227 meters Centerline goodness [0,1] 0.17861608105195081 Centerline is valid? [False, False] Translation: X:0.27, Y:0.00, Z:-0.08 [[ 9.99814020e-01 1.22222918e-02 -1.49178204e-02 2.69776972e-01] [-1.22156888e-02 9.99925243e-01 5.33665458e-04 1.96824714e-03] [ 1.49232278e-02 -3.51334755e-04 9.99888581e-01 -7.99766521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8258982269999999 meters Centerline goodness [0,1] 0.1726308957161402 Centerline is valid? [False, False] Translation: X:0.28, Y:0.01, Z:-0.08 [[ 9.99799528e-01 1.20926555e-02 -1.59584290e-02 2.84094302e-01] [-1.20998370e-02 9.99926732e-01 -3.53528648e-04 5.81331133e-03] [ 1.59529847e-02 5.46552165e-04 9.99872594e-01 -8.48073699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.855898227 meters Centerline goodness [0,1] 0.31522229139385616 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:-0.09 [[ 9.99781593e-01 1.25858009e-02 -1.66842661e-02 2.91765785e-01] [-1.25917379e-02 9.99920689e-01 -2.50836577e-04 7.43358214e-03] [ 1.66797859e-02 4.60865699e-04 9.99860776e-01 -8.79351951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.885898227 meters Centerline goodness [0,1] 0.17427520553872777 Centerline is valid? [False, False] Translation: X:0.30, Y:0.01, Z:-0.09 [[ 9.99764490e-01 1.29521424e-02 -1.74128473e-02 2.99199851e-01] [-1.29585521e-02 9.99916002e-01 -2.55313989e-04 9.32680448e-03] [ 1.74080778e-02 4.80899149e-04 9.99848352e-01 -9.08470010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9158982269999999 meters Centerline goodness [0,1] 0.1719477693144722 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:-0.09 [[ 9.99747301e-01 1.33092329e-02 -1.81162410e-02 3.06685186e-01] [-1.33152015e-02 9.99911327e-01 -2.08876923e-04 1.02547665e-02] [ 1.81118545e-02 4.50045539e-04 9.99835866e-01 -9.39441955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9458982269999999 meters Centerline goodness [0,1] 0.17338780146801813 Centerline is valid? [False, False] Translation: X:0.31, Y:0.01, Z:-0.10 [[ 9.99728283e-01 1.37742604e-02 -1.88050442e-02 3.14441279e-01] [-1.37767995e-02 9.99905095e-01 -5.47325392e-06 9.68934707e-03] [ 1.88031841e-02 2.64545090e-04 9.99823170e-01 -9.73256404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.975898227 meters Centerline goodness [0,1] 0.17386786734782234 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:-0.11 [[ 0.99984547 0.01132294 -0.01344752 0.35914963] [-0.01127928 0.99993088 0.00331816 0.01128316] [ 0.01348416 -0.00316597 0.99990407 -0.1068269 ] [ 0. 0. 0. 1. ]] SLAMing on 1.005898227 meters Centerline goodness [0,1] 0.17269519665779165 Centerline is valid? [False, False] Translation: X:0.37, Y:0.01, Z:-0.11 [[ 0.99983154 0.011755 -0.01409655 0.36617795] [-0.01170905 0.99992587 0.00333812 0.01247093] [ 0.01413475 -0.0031725 0.99989507 -0.10960088] [ 0. 0. 0. 1. ]] SLAMing on 1.0358982270000001 meters Centerline goodness [0,1] 0.173412923184175 Centerline is valid? [False, False] Translation: X:0.37, Y:0.01, Z:-0.11 [[ 0.99981701 0.01217594 -0.0147541 0.37348006] [-0.01212806 0.99992091 0.00333064 0.01429294] [ 0.01479349 -0.0031511 0.99988561 -0.11273063] [ 0. 0. 0. 1. ]] SLAMing on 1.0658982270000001 meters Centerline goodness [0,1] 0.173412923184175 Centerline is valid? [False, False] Translation: X:0.37, Y:0.01, Z:-0.11 [[ 0.99981701 0.01217594 -0.0147541 0.37348006] [-0.01212806 0.99992091 0.00333064 0.01429294] [ 0.01479349 -0.0031511 0.99988561 -0.11273063] [ 0. 0. 0. 1. ]] SLAMing on 1.0958982270000002 meters Centerline goodness [0,1] 0.16875533101502527 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.11 [[ 0.99973932 0.01468209 -0.01748526 0.3985464 ] [-0.0146538 0.9998911 0.00174497 0.01963678] [ 0.01750898 -0.00148828 0.9998456 -0.11182733] [ 0. 0. 0. 1. ]] SLAMing on 1.125898227 meters Centerline goodness [0,1] 0.17092170725320766 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.11 [[ 0.99972509 0.01504641 -0.0179819 0.40427579] [-0.01501916 0.99988585 0.00164981 0.02182133] [ 0.01800467 -0.00137928 0.99983695 -0.11399204] [ 0. 0. 0. 1. ]] SLAMing on 1.155898227 meters Centerline goodness [0,1] 0.17625630897520295 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.12 [[ 0.99971096 0.01539708 -0.01846436 0.40965639] [-0.01536958 0.99988055 0.00163048 0.02328429] [ 0.01848726 -0.00134622 0.99982819 -0.11601899] [ 0. 0. 0. 1. ]] SLAMing on 1.185898227 meters Centerline goodness [0,1] 0.174225221133675 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:-0.13 [[ 0.99983381 0.01310245 -0.01267571 0.44786675] [-0.01302385 0.99989557 0.00626346 0.02369464] [ 0.01275645 -0.00609733 0.99990004 -0.12543141] [ 0. 0. 0. 1. ]] SLAMing on 1.215898227 meters Centerline goodness [0,1] 0.17465969041054252 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:-0.13 [[ 0.99976892 0.01429126 -0.01605836 0.47614737] [-0.01421614 0.99988751 0.00478252 0.0261653 ] [ 0.0161249 -0.00455313 0.99985962 -0.12679231] [ 0. 0. 0. 1. ]] SLAMing on 1.245898227 meters Centerline goodness [0,1] 0.1707817134880475 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:-0.13 [[ 9.99801092e-01 1.07817825e-02 -1.67788204e-02 4.82563749e-01] [-1.07716880e-02 9.99941744e-01 6.91878512e-04 3.06289873e-02] [ 1.67853026e-02 -5.11004673e-04 9.99858986e-01 -1.28612926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.275898227 meters Centerline goodness [0,1] 0.1702927688061031 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.14 [[ 0.99992505 0.00691749 -0.01010149 0.51820847] [-0.00687917 0.99996903 0.00382261 0.03094329] [ 0.01012762 -0.00375283 0.99994167 -0.13577974] [ 0. 0. 0. 1. ]] SLAMing on 1.3058982270000001 meters Centerline goodness [0,1] 0.1779040542017266 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.14 [[ 9.99937376e-01 3.37165098e-03 -1.06712957e-02 5.23760298e-01] [-3.37571820e-03 9.99994236e-01 -3.63147203e-04 3.49784488e-02] [ 1.06700098e-02 3.99147748e-04 9.99942994e-01 -1.37169407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.335898227 meters Centerline goodness [0,1] 0.17151346981581417 Centerline is valid? [False, False] Translation: X:0.53, Y:0.03, Z:-0.14 [[ 9.99933003e-01 3.46228051e-03 -1.10454196e-02 5.27897212e-01] [-3.46567408e-03 9.99993953e-01 -2.88111987e-04 3.38660588e-02] [ 1.10443553e-02 3.26372509e-04 9.99938956e-01 -1.38445105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.365898227 meters Centerline goodness [0,1] 0.17593747947724436 Centerline is valid? [False, False] Translation: X:0.54, Y:0.04, Z:-0.14 [[ 9.99918909e-01 2.74868267e-03 -1.24346605e-02 5.42656744e-01] [-2.75815588e-03 9.99995919e-01 -7.44754419e-04 3.57499153e-02] [ 1.24325626e-02 7.78990758e-04 9.99922409e-01 -1.43657731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.395898227 meters Centerline goodness [0,1] 0.17929149354909246 Centerline is valid? [False, False] Translation: X:0.55, Y:0.03, Z:-0.15 [[ 9.99910018e-01 2.89905571e-03 -1.30977836e-02 5.49318104e-01] [-2.90558193e-03 9.99995664e-01 -4.79267154e-04 3.43831452e-02] [ 1.30963374e-02 5.17280712e-04 9.99914105e-01 -1.46638455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.425898227 meters Centerline goodness [0,1] 0.17632764867014228 Centerline is valid? [False, False] Translation: X:0.56, Y:0.03, Z:-0.15 [[ 9.99901702e-01 2.96236821e-03 -1.37043783e-02 5.55283131e-01] [-2.96490451e-03 9.99995591e-01 -1.64758602e-04 3.18237076e-02] [ 1.37038298e-02 2.05374579e-04 9.99906077e-01 -1.49375884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.455898227 meters Centerline goodness [0,1] 0.17934009152015418 Centerline is valid? [False, False] Translation: X:0.57, Y:0.03, Z:-0.17 [[ 0.9999727 0.00369906 -0.00639731 0.57219292] [-0.00370889 0.99999196 -0.00152491 0.02993331] [ 0.00639161 0.0015486 0.99997837 -0.17145913] [ 0. 0. 0. 1. ]] SLAMing on 1.485898227 meters Centerline goodness [0,1] 0.18199556541019957 Centerline is valid? [False, False] Translation: X:0.59, Y:0.03, Z:-0.18 [[ 9.99969624e-01 1.66683868e-04 -7.79255056e-03 5.85979456e-01] [-2.08165999e-04 9.99985812e-01 -5.32279799e-03 3.12917078e-02] [ 7.79155278e-03 5.32425845e-03 9.99955471e-01 -1.77061449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.515898227 meters Centerline goodness [0,1] 0.18322891993004675 Centerline is valid? [False, False] Translation: X:0.59, Y:0.03, Z:-0.18 [[ 9.99963421e-01 2.95023354e-04 -8.54811870e-03 5.93735208e-01] [-3.38235357e-04 9.99987171e-01 -5.05414320e-03 3.04192581e-02] [ 8.54651794e-03 5.05684960e-03 9.99950691e-01 -1.81335970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5458982270000001 meters Centerline goodness [0,1] 0.18228845645857183 Centerline is valid? [False, False] Translation: X:0.60, Y:0.03, Z:-0.19 [[ 9.99953935e-01 -3.84521958e-04 -9.59057029e-03 6.04825955e-01] [ 3.31698540e-04 9.99984771e-01 -5.50883216e-03 3.17190826e-02] [ 9.59254251e-03 5.50539722e-03 9.99938835e-01 -1.87798468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5758982270000002 meters Centerline goodness [0,1] 0.1804805735020798 Centerline is valid? [False, False] Translation: X:0.61, Y:0.03, Z:-0.19 [[ 9.99948142e-01 -3.43466439e-04 -1.01781986e-02 6.10811858e-01] [ 2.88806577e-04 9.99985533e-01 -5.37127166e-03 3.06726483e-02] [ 1.01798962e-02 5.36805358e-03 9.99933775e-01 -1.90807275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.605898227 meters Centerline goodness [0,1] 0.2230486563067251 Centerline is valid? [False, False] Translation: X:0.62, Y:0.03, Z:-0.20 [[ 0.99992947 -0.00257323 -0.01159491 0.62346689] [ 0.00249812 0.99997583 -0.00648834 0.03242476] [ 0.01161132 0.00645892 0.99991173 -0.19621941] [ 0. 0. 0. 1. ]] SLAMing on 1.635898227 meters Centerline goodness [0,1] 0.21948083615969494 Centerline is valid? [False, False] Translation: X:0.63, Y:0.03, Z:-0.20 [[ 0.99992372 -0.00261996 -0.01207016 0.62729149] [ 0.00254224 0.99997597 -0.00644969 0.03192698] [ 0.01208677 0.00641852 0.99990635 -0.19719174] [ 0. 0. 0. 1. ]] SLAMing on 1.665898227 meters Centerline goodness [0,1] 0.22071190211345937 Centerline is valid? [False, False] Translation: X:0.63, Y:0.03, Z:-0.20 [[ 0.99991867 -0.00271758 -0.01246094 0.63055054] [ 0.00263741 0.99997575 -0.00644546 0.03148947] [ 0.01247815 0.00641207 0.99990159 -0.19802764] [ 0. 0. 0. 1. ]] SLAMing on 1.695898227 meters Centerline goodness [0,1] 0.20934815339651047 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:-0.21 [[ 0.99994336 -0.00875233 -0.00605519 0.66786728] [ 0.00872184 0.99994925 -0.00504307 0.03196517] [ 0.00609902 0.00498998 0.99996895 -0.20623316] [ 0. 0. 0. 1. ]] SLAMing on 1.725898227 meters Centerline goodness [0,1] 0.20976306278166967 Centerline is valid? [False, False] Translation: X:0.67, Y:0.03, Z:-0.21 [[ 0.99994001 -0.00886031 -0.00643991 0.67132276] [ 0.00882856 0.99994882 -0.00494096 0.03019646] [ 0.00648336 0.00488381 0.99996706 -0.20751406] [ 0. 0. 0. 1. ]] SLAMing on 1.755898227 meters Centerline goodness [0,1] 0.20913376022767693 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:-0.21 [[ 0.99993769 -0.00877024 -0.00690597 0.6756 ] [ 0.00873736 0.99995042 -0.00477754 0.02898395] [ 0.00694753 0.0047169 0.99996474 -0.20898288] [ 0. 0. 0. 1. ]] SLAMing on 1.7858982270000001 meters Centerline goodness [0,1] 0.20454545454545459 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:-0.21 [[ 0.99993475 -0.00876308 -0.00732786 0.6789153 ] [ 0.00872799 0.99995036 -0.00480661 0.02914462] [ 0.00736962 0.00474234 0.9999616 -0.20957531] [ 0. 0. 0. 1. ]] SLAMing on 1.815898227 meters Centerline goodness [0,1] 0.1990589697494285 Centerline is valid? [False, False] Translation: X:0.68, Y:0.03, Z:-0.21 [[ 0.99993317 -0.00851534 -0.00781934 0.68364615] [ 0.00847967 0.99995354 -0.004583 0.02849035] [ 0.007858 0.00451639 0.99995893 -0.21146314] [ 0. 0. 0. 1. ]] SLAMing on 1.845898227 meters Centerline goodness [0,1] 0.1985853344863523 Centerline is valid? [False, False] Translation: X:0.69, Y:0.03, Z:-0.21 [[ 0.99993204 -0.00829464 -0.00819232 0.68785553] [ 0.00825935 0.99995651 -0.00433227 0.02705452] [ 0.0082279 0.00426431 0.99995706 -0.21354905] [ 0. 0. 0. 1. ]] SLAMing on 1.875898227 meters Centerline goodness [0,1] 0.18124930159794395 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.21 [[ 0.99992024 -0.00947534 -0.00834995 0.691479 ] [ 0.00943724 0.99994494 -0.00458963 0.02463962] [ 0.00839298 0.00451047 0.99995461 -0.21373736] [ 0. 0. 0. 1. ]] SLAMing on 1.905898227 meters Centerline goodness [0,1] 0.17791247585425962 Centerline is valid? [False, False] Translation: X:0.70, Y:0.02, Z:-0.22 [[ 0.99991655 -0.00940018 -0.00886114 0.69666253] [ 0.0093633 0.99994736 -0.00419481 0.02199784] [ 0.00890011 0.00411149 0.99995194 -0.21642532] [ 0. 0. 0. 1. ]] SLAMing on 1.935898227 meters Centerline goodness [0,1] 0.17827310492696657 Centerline is valid? [False, False] Translation: X:0.70, Y:0.02, Z:-0.22 [[ 0.99991251 -0.00931545 -0.00939152 0.70126093] [ 0.00927869 0.99994915 -0.00394974 0.02028975] [ 0.00942783 0.00386225 0.9999481 -0.21833524] [ 0. 0. 0. 1. ]] SLAMing on 1.965898227 meters Centerline goodness [0,1] 0.1775930643071011 Centerline is valid? [False, False] Translation: X:0.72, Y:0.02, Z:-0.23 [[ 0.999885 -0.01042119 -0.01101775 0.71706488] [ 0.01037232 0.99993616 -0.0044833 0.02149574] [ 0.01106377 0.00436851 0.99992925 -0.22675175] [ 0. 0. 0. 1. ]] SLAMing on 1.995898227 meters Centerline goodness [0,1] 0.1768106162843005 Centerline is valid? [False, False] Translation: X:0.72, Y:0.02, Z:-0.23 [[ 0.99988198 -0.01019187 -0.01149536 0.7217035 ] [ 0.0101427 0.99993919 -0.00432811 0.02124614] [ 0.01153877 0.00421101 0.99992456 -0.22893642] [ 0. 0. 0. 1. ]] SLAMing on 2.025898227 meters Centerline goodness [0,1] 0.17458994232155733 Centerline is valid? [False, False] Translation: X:0.73, Y:0.02, Z:-0.23 [[ 0.99988018 -0.00985577 -0.01193716 0.72652532] [ 0.00980665 0.99994323 -0.00416657 0.02186459] [ 0.01197754 0.004049 0.99992007 -0.23139731] [ 0. 0. 0. 1. ]] SLAMing on 2.055898227 meters Centerline goodness [0,1] 0.1745141164325149 Centerline is valid? [False, False] Translation: X:0.73, Y:0.02, Z:-0.23 [[ 0.99987722 -0.00941225 -0.0125284 0.7320649 ] [ 0.00936283 0.99994818 -0.0039973 0.02322603] [ 0.01256538 0.00387951 0.99991353 -0.2336998 ] [ 0. 0. 0. 1. ]] SLAMing on 2.085898227 meters Centerline goodness [0,1] 0.17662870159453303 Centerline is valid? [False, False] Translation: X:0.73, Y:0.03, Z:-0.23 [[ 0.99987191 -0.00939628 -0.01295663 0.73496767] [ 0.00934123 0.99994711 -0.00430255 0.02587539] [ 0.01299637 0.00418097 0.9999068 -0.23389598] [ 0. 0. 0. 1. ]] SLAMing on 2.115898227 meters Centerline goodness [0,1] 0.17131627097969238 Centerline is valid? [False, False] Translation: X:0.76, Y:0.03, Z:-0.25 [[ 0.99994912 -0.00801672 -0.00612329 0.76100867] [ 0.00796665 0.999935 -0.00815706 0.0275549 ] [ 0.00618828 0.00810786 0.99994798 -0.24673058] [ 0. 0. 0. 1. ]] SLAMing on 2.145898227 meters Centerline goodness [0,1] 0.16867905756794643 Centerline is valid? [False, False] Translation: X:0.77, Y:0.02, Z:-0.25 [[ 0.9999452 -0.00809917 -0.00663401 0.76581114] [ 0.00804786 0.99993778 -0.00772498 0.0242491 ] [ 0.00669616 0.00767117 0.99994816 -0.24978199] [ 0. 0. 0. 1. ]] SLAMing on 2.1758982270000002 meters Centerline goodness [0,1] 0.16793034400521967 Centerline is valid? [False, False] Translation: X:0.77, Y:0.02, Z:-0.25 [[ 0.99994235 -0.00805593 -0.00709859 0.77057215] [ 0.00800422 0.99994145 -0.0072823 0.02155593] [ 0.00715684 0.00722507 0.99994829 -0.25292335] [ 0. 0. 0. 1. ]] SLAMing on 2.205898227 meters Centerline goodness [0,1] 0.16871776309836217 Centerline is valid? [False, False] Translation: X:0.77, Y:0.02, Z:-0.26 [[ 0.99993997 -0.00793722 -0.00755368 0.77472869] [ 0.00788554 0.99994547 -0.00684685 0.01929641] [ 0.00760761 0.00678687 0.99994803 -0.2553492 ] [ 0. 0. 0. 1. ]] SLAMing on 2.235898227 meters Centerline goodness [0,1] 0.1688264447778839 Centerline is valid? [False, False] Translation: X:0.78, Y:0.02, Z:-0.26 [[ 0.99992949 -0.00876833 -0.00800846 0.77675678] [ 0.00871423 0.99993915 -0.00676509 0.01607955] [ 0.00806729 0.00669483 0.99994505 -0.25584938] [ 0. 0. 0. 1. ]] SLAMing on 2.265898227 meters Centerline goodness [0,1] 0.16777684315820585 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.25 [[ 0.99987403 -0.01314766 -0.0088917 0.78140789] [ 0.01305275 0.99985811 -0.01064847 0.01448382] [ 0.00903044 0.01053106 0.99990377 -0.25463162] [ 0. 0. 0. 1. ]] SLAMing on 2.295898227 meters Centerline goodness [0,1] 0.16722095671981774 Centerline is valid? [False, False] Translation: X:0.79, Y:0.01, Z:-0.26 [[ 0.99987102 -0.01305316 -0.0093568 0.78522307] [ 0.01295891 0.99986539 -0.01006283 0.01091352] [ 0.0094869 0.00994027 0.99990559 -0.25666028] [ 0. 0. 0. 1. ]] SLAMing on 2.325898227 meters Centerline goodness [0,1] 0.16440186619558816 Centerline is valid? [False, False] Translation: X:0.79, Y:0.01, Z:-0.26 [[ 0.99986942 -0.01284487 -0.00980568 0.78922652] [ 0.01275208 0.99987387 -0.0094668 0.00757903] [ 0.00992605 0.00934052 0.99990711 -0.25892841] [ 0. 0. 0. 1. ]] SLAMing on 2.355898227 meters Centerline goodness [0,1] 0.15958292633061488 Centerline is valid? [False, False] Translation: X:0.80, Y:0.00, Z:-0.26 [[ 0.99986668 -0.01247072 -0.0105402 0.79598042] [ 0.0123793 0.99988557 -0.0086944 0.00464338] [ 0.01064742 0.00856276 0.99990665 -0.26230255] [ 0. 0. 0. 1. ]] SLAMing on 2.385898227 meters Centerline goodness [0,1] 0.15970741326729498 Centerline is valid? [False, False] Translation: X:0.80, Y:0.00, Z:-0.26 [[ 0.9998665 -0.01208672 -0.01099552 0.79986076] [ 0.01199499 0.99989302 -0.00837011 0.00436581] [ 0.01109551 0.0082371 0.99990452 -0.26398232] [ 0. 0. 0. 1. ]] SLAMing on 2.415898227 meters Centerline goodness [0,1] 0.15757631313594278 Centerline is valid? [False, False] Translation: X:0.80, Y:0.00, Z:-0.27 [[ 0.99986684 -0.01161361 -0.01146394 0.80396427] [ 0.0115224 0.99990169 -0.00799012 0.00399326] [ 0.01155561 0.00785697 0.99990236 -0.26592832] [ 0. 0. 0. 1. ]] SLAMing on 2.445898227 meters Centerline goodness [0,1] 0.1544789554041428 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.26 [[ 0.99986674 -0.00908831 -0.01356126 0.8192841 ] [ 0.00897185 0.99992257 -0.00862371 0.00191816] [ 0.01363859 0.00850089 0.99987085 -0.2628936 ] [ 0. 0. 0. 1. ]] SLAMing on 2.475898227 meters Centerline goodness [0,1] 0.15969308514337377 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.26 [[ 0.99986395 -0.00881545 -0.01394187 0.82192935] [ 0.00869562 0.99992493 -0.00863242 0.00276986] [ 0.01401693 0.00851001 0.99986554 -0.26362859] [ 0. 0. 0. 1. ]] SLAMing on 2.505898227 meters Centerline goodness [0,1] 0.15493316064572826 Centerline is valid? [False, False] Translation: X:0.83, Y:0.00, Z:-0.27 [[ 9.99887172e-01 -4.04711397e-03 -1.44659470e-02 8.27803521e-01] [ 3.99243399e-03 9.99984784e-01 -3.80679246e-03 9.73879469e-04] [ 1.44811334e-02 3.74860861e-03 9.99888116e-01 -2.67958844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.535898227 meters Centerline goodness [0,1] 0.15356214007059266 Centerline is valid? [False, False] Translation: X:0.83, Y:0.00, Z:-0.27 [[ 0.9998815 -0.00335404 -0.01502482 0.83236497] [ 0.0033007 0.99998817 -0.00357394 0.00294865] [ 0.01503663 0.00352392 0.99988073 -0.2699931 ] [ 0. 0. 0. 1. ]] SLAMing on 2.565898227 meters Centerline goodness [0,1] 0.1498809000716912 Centerline is valid? [False, False] Translation: X:0.84, Y:0.00, Z:-0.28 [[ 9.99875798e-01 -5.77590506e-04 -1.57497694e-02 8.41009050e-01] [ 5.68777741e-04 9.99999679e-01 -5.64022435e-04 3.08650964e-03] [ 1.57500902e-02 5.54994264e-04 9.99875806e-01 -2.76543990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.595898227 meters Centerline goodness [0,1] 0.14960484355502146 Centerline is valid? [False, False] Translation: X:0.84, Y:0.01, Z:-0.28 [[ 9.99868741e-01 -2.62173989e-05 -1.62018744e-02 8.44494265e-01] [ 1.77937424e-05 9.99999865e-01 -5.20062573e-04 5.29648221e-03] [ 1.62018859e-02 5.19706018e-04 9.99868606e-01 -2.77809355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.625898227 meters Centerline goodness [0,1] 0.14747395412229436 Centerline is valid? [False, False] Translation: X:0.85, Y:0.01, Z:-0.28 [[ 9.99861590e-01 4.00976369e-04 -1.66324911e-02 8.47494442e-01] [-4.09782436e-04 9.99999778e-01 -5.26044988e-04 7.15442809e-03] [ 1.66322765e-02 5.32787881e-04 9.99861532e-01 -2.78699643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.655898227 meters Centerline goodness [0,1] 0.1455375136086725 Centerline is valid? [False, False] Translation: X:0.85, Y:0.01, Z:-0.28 [[ 9.99848068e-01 1.58678947e-03 -1.73586823e-02 8.53858142e-01] [-1.58819610e-03 9.99998737e-01 -6.72477902e-05 9.87911180e-03] [ 1.73585537e-02 9.48065647e-05 9.99849324e-01 -2.81204531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.685898227 meters Centerline goodness [0,1] 0.1484997655883732 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.28 [[ 9.99840206e-01 1.83340424e-03 -1.77820532e-02 8.56287820e-01] [-1.83684559e-03 9.99998297e-01 -1.77198658e-04 1.18625372e-02] [ 1.77816980e-02 2.09833228e-04 9.99841871e-01 -2.81628072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.715898227 meters Centerline goodness [0,1] 0.1459019072297313 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.28 [[ 9.99786609e-01 5.43501897e-03 -1.99297797e-02 8.74162439e-01] [-5.45490144e-03 9.99984677e-01 -9.43398524e-04 1.15698578e-02] [ 1.99243469e-02 1.05191220e-03 9.99800937e-01 -2.78910189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.745898227 meters Centerline goodness [0,1] 0.14568045950064468 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.28 [[ 9.99766562e-01 6.63528832e-03 -2.05619884e-02 8.80308554e-01] [-6.64900983e-03 9.99977716e-01 -5.99029769e-04 1.60527113e-02] [ 2.05575554e-02 7.35606796e-04 9.99788401e-01 -2.81914331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.775898227 meters Centerline goodness [0,1] 0.1440420560747664 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.28 [[ 0.9996873 0.01074458 -0.02257995 0.89929403] [-0.0107765 0.9999411 -0.00129208 0.01647733] [ 0.02256473 0.00153501 0.99974421 -0.2799412 ] [ 0. 0. 0. 1. ]] SLAMing on 2.805898227 meters Centerline goodness [0,1] 0.14321431909524251 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.28 [[ 0.99967429 0.01100687 -0.02302543 0.90168686] [-0.01104424 0.99993789 -0.00149645 0.0193875 ] [ 0.02300753 0.00175026 0.99973376 -0.28013703] [ 0. 0. 0. 1. ]] SLAMing on 2.835898227 meters Centerline goodness [0,1] 0.14380769410992922 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.28 [[ 0.99966553 0.01106685 -0.02337398 0.90320402] [-0.0111115 0.99993668 -0.00178126 0.02173236] [ 0.02335279 0.00204039 0.9997252 -0.27976704] [ 0. 0. 0. 1. ]] SLAMing on 2.865898227 meters Centerline goodness [0,1] 0.14555809719434198 Centerline is valid? [False, False] Translation: X:0.92, Y:0.02, Z:-0.29 [[ 0.99983079 0.00619885 -0.01731973 0.92166975] [-0.00610341 0.99996593 0.00555827 0.01904033] [ 0.01735359 -0.00545162 0.99983455 -0.2877188 ] [ 0. 0. 0. 1. ]] SLAMing on 2.895898227 meters Centerline goodness [0,1] 0.14988569029067322 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:-0.29 [[ 0.99994538 -0.00182553 -0.01029052 0.93812666] [ 0.00192297 0.99995335 0.00946617 0.01520385] [ 0.01027276 -0.00948544 0.99990224 -0.29370782] [ 0. 0. 0. 1. ]] SLAMing on 2.925898227 meters Centerline goodness [0,1] 0.1525634410619635 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:-0.29 [[ 0.99992231 -0.00598697 -0.0109328 0.94143002] [ 0.00604526 0.99996765 0.0053058 0.01559939] [ 0.01090068 -0.00537148 0.99992616 -0.29430379] [ 0. 0. 0. 1. ]] SLAMing on 2.955898227 meters Centerline goodness [0,1] 0.1525634410619635 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:-0.29 [[ 0.99992231 -0.00598697 -0.0109328 0.94143002] [ 0.00604526 0.99996765 0.0053058 0.01559939] [ 0.01090068 -0.00537148 0.99992616 -0.29430379] [ 0. 0. 0. 1. ]] SLAMing on 2.985898227 meters Centerline goodness [0,1] 0.1543339383795762 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:-0.30 [[ 0.99991989 -0.00589177 -0.01120262 0.94303089] [ 0.00595185 0.99996804 0.00533791 0.01601081] [ 0.01117081 -0.00540416 0.999923 -0.29507972] [ 0. 0. 0. 1. ]] SLAMing on 3.015898227 meters Centerline goodness [0,1] 0.1511498997523293 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:-0.30 [[ 0.99991749 -0.00570468 -0.01150946 0.94444913] [ 0.00576632 0.99996917 0.0053298 0.01682166] [ 0.0114787 -0.00539573 0.99991956 -0.29528249] [ 0. 0. 0. 1. ]] SLAMing on 3.045898227 meters Centerline goodness [0,1] 0.1491335468073084 Centerline is valid? [False, False] Translation: X:0.95, Y:0.02, Z:-0.29 [[ 0.99991614 -0.00534724 -0.0117951 0.94556776] [ 0.00541033 0.9999712 0.00532323 0.01782985] [ 0.0117663 -0.0053866 0.99991627 -0.2938623 ] [ 0. 0. 0. 1. ]] SLAMing on 3.075898227 meters Centerline goodness [0,1] 0.14909910968075357 Centerline is valid? [False, False] Translation: X:0.96, Y:0.02, Z:-0.29 [[ 9.99904523e-01 -4.48512441e-03 -1.30701355e-02 9.61627135e-01] [ 4.48815184e-03 9.99989908e-01 2.02307131e-04 1.85293342e-02] [ 1.30690962e-02 -2.60948568e-04 9.99914562e-01 -2.87637847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.105898227 meters Centerline goodness [0,1] 0.14937262089383896 Centerline is valid? [False, False] Translation: X:0.96, Y:0.02, Z:-0.29 [[ 9.99903342e-01 -4.34706951e-03 -1.32064517e-02 9.62519364e-01] [ 4.35357959e-03 9.99990415e-01 4.64237707e-04 1.70024403e-02] [ 1.32043071e-02 -5.21688173e-04 9.99912683e-01 -2.88089782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.135898227 meters Centerline goodness [0,1] 0.15009164825868304 Centerline is valid? [False, False] Translation: X:0.96, Y:0.02, Z:-0.29 [[ 9.99902086e-01 -4.11325589e-03 -1.33753204e-02 9.64001206e-01] [ 4.12505706e-03 9.99991127e-01 8.54840895e-04 1.52734969e-02] [ 1.33716856e-02 -9.09931155e-04 9.99910181e-01 -2.89438528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.165898227 meters Centerline goodness [0,1] 0.16413861432851318 Centerline is valid? [False, False] Translation: X:0.97, Y:0.01, Z:-0.29 [[ 0.99989446 -0.00305069 -0.0142046 0.96900101] [ 0.00307626 0.99999369 0.00177822 0.01437479] [ 0.01419909 -0.00182173 0.99989753 -0.29210845] [ 0. 0. 0. 1. ]] SLAMing on 3.195898227 meters Centerline goodness [0,1] 0.1624706434945984 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.29 [[ 0.99988531 -0.00230829 -0.01496819 0.97262507] [ 0.00234221 0.99999473 0.00224935 0.01527268] [ 0.01496292 -0.00228415 0.99988544 -0.29305751] [ 0. 0. 0. 1. ]] SLAMing on 3.225898227 meters Centerline goodness [0,1] 0.16187866187866184 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.29 [[ 0.99988032 -0.00192476 -0.01535075 0.97385503] [ 0.00195946 0.99999556 0.00224575 0.01668275] [ 0.01534636 -0.00227556 0.99987965 -0.2925093 ] [ 0. 0. 0. 1. ]] SLAMing on 3.255898227 meters Centerline goodness [0,1] 0.16083325513746838 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.29 [[ 0.99983985 0.0018567 -0.01779983 0.99034382] [-0.00183144 0.99999729 0.00143506 0.01608181] [ 0.01780245 -0.00140223 0.99984054 -0.28855862] [ 0. 0. 0. 1. ]] SLAMing on 3.285898227 meters Centerline goodness [0,1] 0.15870363396723786 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.29 [[ 0.99983387 0.00241897 -0.01806596 0.99228374] [-0.00238858 0.9999957 0.00170342 0.01646136] [ 0.01807 -0.00165998 0.99983535 -0.28986328] [ 0. 0. 0. 1. ]] SLAMing on 3.315898227 meters Centerline goodness [0,1] 0.15673273612188754 Centerline is valid? [False, False] Translation: X:1.00, Y:0.02, Z:-0.29 [[ 0.99982142 0.00345486 -0.01857945 0.99622384] [-0.00340957 0.99999114 0.00246878 0.01657705] [ 0.01858781 -0.00240499 0.99982434 -0.2927568 ] [ 0. 0. 0. 1. ]] SLAMing on 3.345898227 meters Centerline goodness [0,1] 0.15617897727272723 Centerline is valid? [False, False] Translation: X:0.97, Y:0.01, Z:-0.30 [[ 9.99899702e-01 1.19937688e-02 -7.53226563e-03 9.72457129e-01] [-1.19876625e-02 9.99927780e-01 8.55308914e-04 1.43494832e-02] [ 7.54198002e-03 -7.64928870e-04 9.99971266e-01 -2.96446516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.375898227 meters Centerline goodness [0,1] 0.1509771603484813 Centerline is valid? [False, False] Translation: X:0.99, Y:0.01, Z:-0.30 [[ 0.99993919 0.01002384 -0.004598 0.99459643] [-0.00996986 0.99988282 0.01161702 0.01142516] [ 0.00471391 -0.01157047 0.99992195 -0.30497971] [ 0. 0. 0. 1. ]] SLAMing on 3.405898227 meters Centerline goodness [0,1] 0.15327419468693382 Centerline is valid? [False, False] Translation: X:0.99, Y:0.01, Z:-0.30 [[ 0.99996392 0.00724056 -0.00444184 0.99441013] [-0.00720474 0.99994183 0.00802697 0.01354216] [ 0.0044997 -0.00799467 0.99995792 -0.3037477 ] [ 0. 0. 0. 1. ]] SLAMing on 3.435898227 meters Centerline goodness [0,1] 0.2538639148053906 Centerline is valid? [False, False] Translation: X:0.99, Y:0.01, Z:-0.30 [[ 0.99998243 0.0042144 -0.00416936 0.99415974] [-0.00419559 0.99998103 0.00451062 0.01324436] [ 0.00418829 -0.00449305 0.99998114 -0.30258063] [ 0. 0. 0. 1. ]] SLAMing on 3.465898227 meters Centerline goodness [0,1] 0.1894796513687791 Centerline is valid? [False, False] Translation: X:0.99, Y:0.01, Z:-0.30 [[ 0.99998246 0.00423428 -0.00414197 0.9941692 ] [-0.00421432 0.99997953 0.00481538 0.01106575] [ 0.00416228 -0.00479784 0.99997983 -0.30271782] [ 0. 0. 0. 1. ]] SLAMing on 3.495898227 meters Centerline goodness [0,1] 0.18638001271575577 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.30 [[ 0.9999879 0.00126681 -0.00475239 0.99723903] [-0.00125891 0.99999782 0.00166483 0.01154696] [ 0.00475449 -0.00165883 0.99998732 -0.30366176] [ 0. 0. 0. 1. ]] SLAMing on 3.525898227 meters Centerline goodness [0,1] 0.20894961731699302 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.30 [[ 0.99998713 0.00134819 -0.00489169 0.99802556] [-0.00133723 0.99999659 0.00224273 0.00807153] [ 0.00489469 -0.00223616 0.99998552 -0.30439642] [ 0. 0. 0. 1. ]] SLAMing on 3.555898227 meters Centerline goodness [0,1] 0.18695672492756332 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.30 [[ 0.99998336 -0.00230671 -0.00528709 0.99927829] [ 0.00229839 0.99999611 -0.00158068 0.00777432] [ 0.00529071 0.0015685 0.99998477 -0.30382406] [ 0. 0. 0. 1. ]] SLAMing on 3.585898227 meters Centerline goodness [0,1] 0.21833918128654972 Centerline is valid? [False, False] Translation: X:1.00, Y:0.00, Z:-0.30 [[ 9.99982873e-01 -3.36279245e-03 -4.79009769e-03 9.96696546e-01] [ 3.35446700e-03 9.99992851e-01 -1.74502931e-03 4.26416238e-04] [ 4.79593162e-03 1.72893119e-03 9.99987005e-01 -3.02433790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6158982269999997 meters Centerline goodness [0,1] 0.21594831607426068 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.00, Z:-0.30 [[ 9.99982455e-01 -3.07486763e-03 -5.06301814e-03 9.98125929e-01] [ 3.06992879e-03 9.99994805e-01 -9.82956040e-04 -2.98595136e-03] [ 5.06601429e-03 9.67395689e-04 9.99986700e-01 -3.03506985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.645898227 meters Centerline goodness [0,1] 0.21883147113594037 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.30 [[ 9.99981836e-01 -2.75330709e-03 -5.36162231e-03 9.99580756e-01] [ 2.75167378e-03 9.99996165e-01 -3.11982877e-04 -5.60870341e-03] [ 5.36246073e-03 2.97223775e-04 9.99985578e-01 -3.04458560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.675898227 meters Centerline goodness [0,1] 0.21995850719130983 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.31 [[ 9.99981450e-01 -2.56452861e-03 -5.52473616e-03 1.00041562e+00] [ 2.56472006e-03 9.99996711e-01 2.75690077e-05 -7.21334376e-03] [ 5.52464728e-03 -4.17378979e-05 9.99984738e-01 -3.05107902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.705898227 meters Centerline goodness [0,1] 0.20720992233684943 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.31 [[ 9.99980982e-01 -2.14410635e-03 -5.78260200e-03 1.00183364e+00] [ 2.14732996e-03 9.99997543e-01 5.51317398e-04 -8.62428029e-03] [ 5.78140570e-03 -5.63724068e-04 9.99983129e-01 -3.06176302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.735898227 meters Centerline goodness [0,1] 0.20723439821693912 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.31 [[ 0.99998181 0.00238601 -0.00553937 1.00200137] [-0.0023557 0.99998225 0.00547194 -0.01208146] [ 0.00555233 -0.00545879 0.99996969 -0.30765462] [ 0. 0. 0. 1. ]] SLAMing on 3.765898227 meters Centerline goodness [0,1] 0.20778530315988997 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.31 [[ 0.9999804 0.00253349 -0.00572631 1.00243305] [-0.00250231 0.99998204 0.00544542 -0.01149887] [ 0.00574 -0.00543099 0.99996878 -0.3074861 ] [ 0. 0. 0. 1. ]] SLAMing on 3.795898227 meters Centerline goodness [0,1] 0.15871988160754746 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.31 [[ 9.99985038e-01 -9.37210917e-04 -5.38945635e-03 1.00132887e+00] [ 9.43396461e-04 9.99998899e-01 1.14528448e-03 -8.72966936e-03] [ 5.38837705e-03 -1.15035174e-03 9.99984821e-01 -3.05964250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.825898227 meters Centerline goodness [0,1] 0.19678918073508445 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.31 [[ 9.99984283e-01 -5.72989148e-04 -5.57715619e-03 1.00274591e+00] [ 5.82743095e-04 9.99998303e-01 1.74744268e-03 -1.08100224e-02] [ 5.57614546e-03 -1.75066527e-03 9.99982921e-01 -3.07510837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.855898227 meters Centerline goodness [0,1] 0.20624282763369295 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.31 [[ 9.99983186e-01 -5.35073422e-04 -5.77419383e-03 1.00318746e+00] [ 5.46177458e-04 9.99998004e-01 1.92163973e-03 -1.15518758e-02] [ 5.77315409e-03 -1.92476116e-03 9.99981483e-01 -3.07230403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8858982269999998 meters Centerline goodness [0,1] 0.1711753088687824 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.31 [[ 9.99983152e-01 -6.90788211e-04 -5.76347876e-03 1.00261905e+00] [ 7.02226259e-04 9.99997788e-01 1.98278610e-03 -1.26819429e-02] [ 5.76209632e-03 -1.98679996e-03 9.99981425e-01 -3.06314611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.915898227 meters Centerline goodness [0,1] 0.16700681052076405 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.31 [[ 9.99982447e-01 -6.45092205e-04 -5.88973263e-03 1.00328897e+00] [ 6.59380711e-04 9.99996844e-01 2.42438311e-03 -1.51078572e-02] [ 5.88815009e-03 -2.42822413e-03 9.99979717e-01 -3.06806373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.945898227 meters Centerline goodness [0,1] 0.17481031172867723 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.31 [[ 9.99982123e-01 -5.62791635e-04 -5.95288921e-03 1.00433421e+00] [ 5.81238419e-04 9.99995034e-01 3.09751914e-03 -1.87854908e-02] [ 5.95111638e-03 -3.10092382e-03 9.99977484e-01 -3.08406942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.975898227 meters Centerline goodness [0,1] 0.17570687329996115 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.02, Z:-0.31 [[ 9.99969826e-01 -4.54313821e-03 -6.30139703e-03 1.00548075e+00] [ 4.53743128e-03 9.99989283e-01 -9.19661828e-04 -1.91951444e-02] [ 6.30550765e-03 8.91041922e-04 9.99979723e-01 -3.08530291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.005898226999999 meters Centerline goodness [0,1] 0.2501367864307861 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.03, Z:-0.31 [[ 9.99964878e-01 -4.89083432e-03 -6.80603366e-03 1.00744393e+00] [ 4.89029104e-03 9.99988038e-01 -9.64618945e-05 -2.51222657e-02] [ 6.80642403e-03 6.31750211e-05 9.99976834e-01 -3.10259277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.035898227 meters Centerline goodness [0,1] 0.2716040955631399 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.03, Z:-0.31 [[ 9.99963514e-01 -4.82614316e-03 -7.04829099e-03 1.00838553e+00] [ 4.82872929e-03 9.99988280e-01 3.49944584e-04 -2.73440592e-02] [ 7.04651950e-03 -3.83966105e-04 9.99975099e-01 -3.10633047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.065898227 meters Centerline goodness [0,1] 0.3284111045481394 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.03, Z:-0.31 [[ 9.99963203e-01 -4.64310523e-03 -7.21353603e-03 1.00921074e+00] [ 4.65009731e-03 9.99988734e-01 9.52831075e-04 -3.01523687e-02] [ 7.20903067e-03 -9.86339658e-04 9.99973528e-01 -3.11166591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.095898227 meters Centerline goodness [0,1] 0.9957829822930601 Centerline is valid? [False, True] Translation: X:1.01, Y:-0.04, Z:-0.31 [[ 0.9999659 -0.00409657 -0.00716999 1.01033472] [ 0.00411359 0.99998875 0.00236159 -0.0368333 ] [ 0.00716023 -0.002391 0.99997151 -0.31306162] [ 0. 0. 0. 1. ]] SLAMing on 4.1258982269999995 meters Centerline goodness [0,1] 0.9708270200592506 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.00, Z:-0.32 [[ 9.99981942e-01 -6.74263858e-04 -5.97171129e-03 1.03892743e+00] [ 7.11541033e-04 9.99980263e-01 6.24237049e-03 -4.20923864e-03] [ 5.96738442e-03 -6.24650688e-03 9.99962685e-01 -3.17952881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.155898227 meters Centerline goodness [0,1] 0.9098669798324261 Centerline is valid? [True, False] Translation: X:1.04, Y:-0.01, Z:-0.32 [[ 9.99981988e-01 -5.86076232e-04 -5.97325113e-03 1.03864046e+00] [ 6.24536489e-04 9.99979075e-01 6.43891751e-03 -5.28786738e-03] [ 5.96935244e-03 -6.44253205e-03 9.99961430e-01 -3.17443601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.185898227 meters Centerline goodness [0,1] 0.9705623604249848 Centerline is valid? [False, True] Translation: X:1.04, Y:-0.01, Z:-0.32 [[ 9.99982172e-01 -5.18693076e-04 -5.94860767e-03 1.03828205e+00] [ 5.57563598e-04 9.99978494e-01 6.53459410e-03 -6.00302392e-03] [ 5.94509029e-03 -6.53779433e-03 9.99960956e-01 -3.16923719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.215898227 meters Centerline goodness [0,1] 0.9636281993713516 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.00, Z:-0.31 [[ 9.99985070e-01 3.53629602e-03 -4.16585724e-03 1.06807844e+00] [-3.53722318e-03 9.99993721e-01 -2.15214486e-04 -3.78755709e-03] [ 4.16507002e-03 2.29946840e-04 9.99991300e-01 -3.09084259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.245898227 meters Centerline goodness [0,1] 0.934003094656112 Centerline is valid? [True, False] Translation: X:1.07, Y:-0.00, Z:-0.31 [[ 9.99984627e-01 3.72295042e-03 -4.10913956e-03 1.06791549e+00] [-3.72373209e-03 9.99993050e-01 -1.82592467e-04 -3.59776730e-03] [ 4.10843122e-03 1.97890995e-04 9.99991541e-01 -3.09049158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.275898227 meters Centerline goodness [0,1] 0.9465455928071391 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.00, Z:-0.31 [[ 9.99983961e-01 3.90196692e-03 -4.10528388e-03 1.06772798e+00] [-3.90307524e-03 9.99992349e-01 -2.61997214e-04 -2.75967093e-03] [ 4.10423017e-03 2.78016244e-04 9.99991539e-01 -3.08647438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.305898227 meters Centerline goodness [0,1] 0.7397348924395251 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.00, Z:-0.31 [[ 9.99983029e-01 3.98095642e-03 -4.25356189e-03 1.06767051e+00] [-3.98297798e-03 9.99991959e-01 -4.66896818e-04 -1.51765350e-03] [ 4.25166900e-03 4.83830738e-04 9.99990845e-01 -3.07820966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.335898227 meters Centerline goodness [0,1] 0.7236821610556062 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.00, Z:-0.31 [[ 9.99982432e-01 4.11415496e-03 -4.26730325e-03 1.06777668e+00] [-4.11647051e-03 9.99991385e-01 -5.33985619e-04 -8.22409112e-04] [ 4.26506958e-03 5.51542465e-04 9.99990752e-01 -3.07923998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.365898227 meters Centerline goodness [0,1] 0.7276055650475959 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.00, Z:-0.31 [[ 9.99981159e-01 4.50465847e-03 -4.17003795e-03 1.06788521e+00] [-4.50655904e-03 9.99989746e-01 -4.46484304e-04 -3.18885533e-04] [ 4.16798393e-03 4.65268415e-04 9.99991206e-01 -3.08444773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.395898227 meters Centerline goodness [0,1] 0.7295376029763487 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:-0.31 [[ 9.99981710e-01 4.49851327e-03 -4.04272330e-03 1.06716897e+00] [-4.50113990e-03 9.99989664e-01 -6.40855828e-04 6.12944036e-04] [ 4.03979862e-03 6.59040969e-04 9.99991623e-01 -3.07775236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.425898227 meters Centerline goodness [0,1] 0.7143550807804362 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:-0.31 [[ 9.99982640e-01 4.40999099e-03 -3.90778874e-03 1.06614985e+00] [-4.41371263e-03 9.99989814e-01 -9.44254987e-04 1.90985700e-03] [ 3.90358478e-03 9.61486452e-04 9.99991919e-01 -3.06690169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.455898227 meters Centerline goodness [0,1] 0.7114376349297264 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:-0.31 [[ 0.99998294 0.00437675 -0.00386888 1.06564806] [-0.00438111 0.99998977 -0.00112103 0.00272029] [ 0.00386393 0.00113796 0.99999189 -0.30602525] [ 0. 0. 0. 1. ]] SLAMing on 4.485898227 meters Centerline goodness [0,1] 0.7311417089399829 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:-0.31 [[ 9.99982535e-01 4.44372120e-03 -3.89651562e-03 1.06609395e+00] [-4.44772596e-03 9.99989589e-01 -1.01971858e-03 2.35076476e-03] [ 3.89194371e-03 1.03703141e-03 9.99991889e-01 -3.06611077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.515898227 meters Centerline goodness [0,1] 0.7476315789473684 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:-0.31 [[ 0.99998826 0.00124089 -0.00468486 1.07010872] [-0.00126172 0.99998932 -0.00444545 0.00273301] [ 0.00467929 0.00445131 0.99997914 -0.30880473] [ 0. 0. 0. 1. ]] SLAMing on 4.545898227 meters Centerline goodness [0,1] 0.7357411950236552 Centerline is valid? [False, False] Translation: X:1.07, Y:0.00, Z:-0.31 [[ 9.99986805e-01 1.47404646e-03 -4.92103433e-03 1.07158792e+00] [-1.49334465e-03 9.99991201e-01 -3.92020462e-03 7.20443586e-04] [ 4.91521247e-03 3.92750169e-03 9.99980208e-01 -3.10015789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.575898227 meters Centerline goodness [0,1] 0.7530961273835266 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.00, Z:-0.31 [[ 0.99998522 0.00173151 -0.00515458 1.07304645] [-0.0017486 0.99999299 -0.00331197 -0.00161223] [ 0.00514881 0.00332093 0.99998123 -0.3112265 ] [ 0. 0. 0. 1. ]] SLAMing on 4.605898227 meters Centerline goodness [0,1] 0.8744798134954355 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.01, Z:-0.31 [[ 0.99998546 0.00188325 -0.00505349 1.07381338] [-0.00189459 0.9999957 -0.00223943 -0.00724055] [ 0.00504925 0.00224897 0.99998472 -0.31300752] [ 0. 0. 0. 1. ]] SLAMing on 4.635898227 meters Centerline goodness [0,1] 0.8985897742335021 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.01, Z:-0.31 [[ 0.99998435 0.00209108 -0.00518899 1.074728 ] [-0.00209944 0.99999651 -0.00160539 -0.01011161] [ 0.00518561 0.00161626 0.99998525 -0.31374466] [ 0. 0. 0. 1. ]] SLAMing on 4.665898227 meters Centerline goodness [0,1] 0.8803895202567884 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:-0.31 [[ 0.99998315 0.00225858 -0.0053471 1.07538904] [-0.00226439 0.99999685 -0.0010821 -0.01256469] [ 0.00534464 0.00109419 0.99998512 -0.31398873] [ 0. 0. 0. 1. ]] SLAMing on 4.695898227 meters Centerline goodness [0,1] 0.9267801455301455 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:-0.31 [[ 9.99982184e-01 2.41210840e-03 -5.46010513e-03 1.07558548e+00] [-2.41506875e-03 9.99996940e-01 -5.35650583e-04 -1.54261591e-02] [ 5.45879637e-03 5.48827569e-04 9.99984950e-01 -3.13733575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.725898227 meters Centerline goodness [0,1] 0.8113476710256133 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:-0.31 [[ 9.99981516e-01 2.58275614e-03 -5.50426563e-03 1.07591952e+00] [-2.58204446e-03 9.99996657e-01 1.36397885e-04 -1.88950314e-02] [ 5.50459952e-03 -1.22183105e-04 9.99984842e-01 -3.14030067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.755898227 meters Centerline goodness [0,1] 0.8573721424543443 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:-0.31 [[ 9.99986789e-01 1.63182981e-03 -4.87434831e-03 1.07235087e+00] [-1.63155447e-03 9.99998667e-01 6.04623872e-05 -2.64723008e-02] [ 4.87444048e-03 -5.25088236e-05 9.99988118e-01 -3.11996252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.785898227 meters Centerline goodness [0,1] 0.9638084511923068 Centerline is valid? [False, True] Translation: X:1.07, Y:-0.03, Z:-0.31 [[ 9.99985990e-01 1.82593425e-03 -4.96852730e-03 1.07298160e+00] [-1.82204128e-03 9.99998030e-01 7.87937685e-04 -3.01065052e-02] [ 4.96995623e-03 -7.78873784e-04 9.99987346e-01 -3.12490717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.815898227 meters Centerline goodness [0,1] 0.9582280394824942 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.03, Z:-0.31 [[ 9.99987045e-01 5.44947889e-04 -5.06096506e-03 1.10133635e+00] [-5.46428928e-04 9.99999808e-01 -2.91261589e-04 -2.99818224e-02] [ 5.06080536e-03 2.94023273e-04 9.99987151e-01 -3.09939061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.845898227 meters Centerline goodness [0,1] 0.9602483662968672 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.03, Z:-0.31 [[ 9.99988439e-01 -2.23648302e-04 -4.80335279e-03 1.13050599e+00] [ 2.22321966e-04 9.99999937e-01 -2.76659366e-04 -3.21954349e-02] [ 4.80341436e-03 2.75588276e-04 9.99988426e-01 -3.07671737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8758982269999995 meters Centerline goodness [0,1] 0.9602483662968672 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.03, Z:-0.31 [[ 9.99988426e-01 -2.74229636e-04 -4.80333882e-03 1.15877958e+00] [ 2.72902721e-04 9.99999924e-01 -2.76901623e-04 -3.04876031e-02] [ 4.80341439e-03 2.75587574e-04 9.99988426e-01 -3.07418975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.905898227 meters Centerline goodness [0,1] 0.9738005321431636 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.04, Z:-0.31 [[ 9.99989195e-01 -1.55388381e-03 -4.38114167e-03 1.18810416e+00] [ 1.55279135e-03 9.99998762e-01 -2.52745571e-04 -3.50019609e-02] [ 4.38152898e-03 2.45939841e-04 9.99990371e-01 -3.05752862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.935898227 meters Centerline goodness [0,1] 0.9800355971093432 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.05, Z:-0.31 [[ 9.99986645e-01 -3.99461206e-03 -3.27907635e-03 1.21893270e+00] [ 3.99401207e-03 9.99992006e-01 -1.89505851e-04 -4.57362684e-02] [ 3.27980714e-03 1.76406650e-04 9.99994606e-01 -3.05764425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.965898227 meters Centerline goodness [0,1] 0.9777475317043662 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.05, Z:-0.31 [[ 9.99982732e-01 -4.84557394e-03 -3.32506155e-03 1.25040393e+00] [ 4.84495988e-03 9.99988245e-01 -1.92706408e-04 -4.84812680e-02] [ 3.32595624e-03 1.76593291e-04 9.99994453e-01 -3.06183036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.995898227 meters Centerline goodness [0,1] 0.987461899306081 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.05, Z:-0.31 [[ 9.99975789e-01 -5.65129655e-03 -4.06000573e-03 1.28307067e+00] [ 5.65039098e-03 9.99984009e-01 -2.34483212e-04 -5.32527527e-02] [ 4.06126594e-03 2.11536915e-04 9.99991731e-01 -3.05828214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.025898227 meters Centerline goodness [0,1] 0.9938225953799974 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.06, Z:-0.31 [[ 9.99954942e-01 -8.03318916e-03 -5.05775290e-03 1.31378677e+00] [ 8.03181699e-03 9.99967702e-01 -2.91553936e-04 -6.27817503e-02] [ 5.05993166e-03 2.50917853e-04 9.99987167e-01 -3.07926084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.055898227 meters Centerline goodness [0,1] 0.9943844492440604 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.07, Z:-0.31 [[ 9.99940453e-01 -9.25451555e-03 -5.78310833e-03 1.34529268e+00] [ 9.25274150e-03 9.99957137e-01 -3.33443962e-04 -6.71141925e-02] [ 5.78594631e-03 2.79914500e-04 9.99983222e-01 -3.09489511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0858982269999995 meters Centerline goodness [0,1] 0.9930634596800172 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.07, Z:-0.31 [[ 9.99927487e-01 -1.03317350e-02 -6.18671875e-03 1.37674836e+00] [ 1.03297260e-02 9.99946583e-01 -3.56580278e-04 -7.03748028e-02] [ 6.19007237e-03 2.92647311e-04 9.99980798e-01 -3.10700200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.115898227 meters Centerline goodness [0,1] 0.995213756659592 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.08, Z:-0.31 [[ 9.99918798e-01 -1.12235440e-02 -6.03563685e-03 1.40968224e+00] [ 1.12216493e-02 9.99936975e-01 -3.47690389e-04 -7.89690320e-02] [ 6.03915877e-03 2.79932356e-04 9.99981725e-01 -3.11368113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.145898227 meters Centerline goodness [0,1] 0.9955902814941667 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.08, Z:-0.31 [[ 9.99907227e-01 -1.18442110e-02 -6.72697907e-03 1.44216186e+00] [ 1.18418740e-02 9.99929808e-01 -3.87137928e-04 -8.15866228e-02] [ 6.73109223e-03 3.07441974e-04 9.99977299e-01 -3.10957063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.175898227 meters Centerline goodness [0,1] 0.996981672891514 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.09, Z:-0.31 [[ 9.99890103e-01 -1.29006675e-02 -7.30447896e-03 1.47499919e+00] [ 1.28979429e-02 9.99916730e-01 -4.19980732e-04 -8.53813349e-02] [ 7.30928875e-03 3.25721825e-04 9.99973234e-01 -3.12427261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.205898227 meters Centerline goodness [0,1] 0.9981790986538337 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.09, Z:-0.31 [[ 9.99865717e-01 -1.44300760e-02 -7.76662433e-03 1.50713512e+00] [ 1.44270450e-02 9.99895825e-01 -4.46152101e-04 -8.94528982e-02] [ 7.77225325e-03 3.34042752e-04 9.99969740e-01 -3.12324736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.235898227 meters Centerline goodness [0,1] 0.9987293246037215 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.09, Z:-0.31 [[ 9.99848181e-01 -1.58787109e-02 -7.17507876e-03 1.53800297e+00] [ 1.58761641e-02 9.99873881e-01 -4.11776792e-04 -9.31694586e-02] [ 7.18071233e-03 2.97801548e-04 9.99974174e-01 -3.11454131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.265898227 meters Centerline goodness [0,1] 0.9986635626832212 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.09, Z:-0.31 [[ 9.99842154e-01 -1.64577418e-02 -6.69401079e-03 1.57048153e+00] [ 1.64555379e-02 9.99864525e-01 -3.84174020e-04 -9.47287047e-02] [ 6.69942656e-03 2.73959831e-04 9.99977521e-01 -3.09174806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2958982269999995 meters Centerline goodness [0,1] 0.998724627656125 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.10, Z:-0.31 [[ 9.99845229e-01 -1.63739756e-02 -6.43517251e-03 1.60357535e+00] [ 1.63719387e-02 9.99865903e-01 -3.69087390e-04 -9.61815801e-02] [ 6.44035300e-03 2.63674017e-04 9.99979226e-01 -3.05809474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.325898227 meters Centerline goodness [0,1] 0.9982522829553895 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.09, Z:-0.31 [[ 9.99846219e-01 -1.61416417e-02 -6.85457197e-03 1.63503870e+00] [ 1.61393292e-02 9.99869675e-01 -3.92539250e-04 -9.48087637e-02] [ 6.86001488e-03 2.81850691e-04 9.99976430e-01 -3.06274514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.355898227 meters Centerline goodness [0,1] 0.9982177367403908 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.09, Z:-0.31 [[ 9.99842322e-01 -1.61908098e-02 -7.29310235e-03 1.66750799e+00] [ 1.61881952e-02 9.99868875e-01 -4.17393175e-04 -9.48066632e-02] [ 7.29890398e-03 2.99265197e-04 9.99973318e-01 -3.08061816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.385898227 meters Centerline goodness [0,1] 0.9986575728050233 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.10, Z:-0.31 [[ 9.99832192e-01 -1.67819863e-02 -7.34529828e-03 1.70030222e+00] [ 1.67793525e-02 9.99859129e-01 -4.20049470e-04 -9.57151277e-02] [ 7.35131280e-03 2.96729633e-04 9.99972935e-01 -3.08416962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.415898227 meters Centerline goodness [0,1] 0.9993711373739564 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.10, Z:-0.31 [[ 9.99804783e-01 -1.82799206e-02 -7.49936746e-03 1.73154833e+00] [ 1.82772210e-02 9.99832866e-01 -4.28358706e-04 -9.73026024e-02] [ 7.50594443e-03 2.91207486e-04 9.99971788e-01 -3.08640615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.445898227 meters Centerline goodness [0,1] 0.9995235413869277 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.10, Z:-0.31 [[ 9.99682769e-01 -2.34915232e-02 -9.08345197e-03 1.76171987e+00] [ 2.34877798e-02 9.99723990e-01 -5.18588883e-04 -1.04160179e-01] [ 9.09312729e-03 3.05074252e-04 9.99958610e-01 -3.09885993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.475898227 meters Centerline goodness [0,1] 0.9999349014842461 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.11, Z:-0.31 [[ 9.99556411e-01 -2.77641124e-02 -1.07765961e-02 1.79254747e+00] [ 2.77590901e-02 9.99614453e-01 -6.15366759e-04 -1.10831919e-01] [ 1.07895263e-02 3.15945287e-04 9.99941741e-01 -3.11160285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.505898227 meters Centerline goodness [0,1] 0.9997189067635357 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.13, Z:-0.31 [[ 9.99270805e-01 -3.63041841e-02 -1.18264192e-02 1.82341896e+00] [ 3.62987331e-02 9.99340756e-01 -6.75314886e-04 -1.25176040e-01] [ 1.18431394e-02 2.45538418e-04 9.99929837e-01 -3.14792336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.535898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.13, Z:-0.31 [[ 9.99175201e-01 -3.90134595e-02 -1.12635830e-02 1.85652060e+00] [ 3.90086917e-02 9.99238665e-01 -6.42761085e-04 -1.34187238e-01] [ 1.12800839e-02 2.02853301e-04 9.99936357e-01 -3.11184351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.565898227 meters Centerline goodness [0,1] 0.9999345835150458 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.14, Z:-0.31 [[ 9.99108737e-01 -4.10994692e-02 -9.62106984e-03 1.88926620e+00] [ 4.10961014e-02 9.99155048e-01 -5.47563865e-04 -1.37467848e-01] [ 9.63544509e-03 1.51687379e-04 9.99953567e-01 -3.07879253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.595898227 meters Centerline goodness [0,1] 0.9995890381329353 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.14, Z:-0.31 [[ 9.99070801e-01 -4.23945541e-02 -7.76125525e-03 1.92057855e+00] [ 4.23924100e-02 9.99100941e-01 -4.40630517e-04 -1.39500614e-01] [ 7.77295776e-03 1.11202769e-04 9.99969784e-01 -3.05387854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6258982269999995 meters Centerline goodness [0,1] 0.999781282124188 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.14, Z:-0.30 [[ 9.98998331e-01 -4.38724214e-02 -8.80601944e-03 1.95360053e+00] [ 4.38697332e-02 9.99037136e-01 -4.98299806e-04 -1.44338465e-01] [ 8.81940205e-03 1.11482951e-04 9.99961102e-01 -3.04864271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.655898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.15, Z:-0.31 [[ 9.98968992e-01 -4.44158557e-02 -9.39069064e-03 1.98647969e+00] [ 4.44128285e-02 9.99013123e-01 -5.30762866e-04 -1.46103644e-01] [ 9.40499747e-03 1.13148512e-04 9.99955766e-01 -3.06458301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.685898227 meters Centerline goodness [0,1] 0.9998489556361125 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.14, Z:-0.31 [[ 9.98930838e-01 -4.52477992e-02 -9.47717119e-03 2.01815923e+00] [ 4.52447597e-02 9.98975788e-01 -5.34991660e-04 -1.43941895e-01] [ 9.49167175e-03 1.05627335e-04 9.99954947e-01 -3.08352365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.715898227 meters Centerline goodness [0,1] 0.9999782011596983 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.15, Z:-0.31 [[ 9.98897954e-01 -4.61280641e-02 -8.66478247e-03 2.05042726e+00] [ 4.61255678e-02 9.98935530e-01 -4.87820884e-04 -1.47569209e-01] [ 8.67806131e-03 8.76152720e-05 9.99962341e-01 -3.06943965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.745898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.15, Z:-0.30 [[ 9.98877052e-01 -4.67753995e-02 -7.52977370e-03 2.08330254e+00] [ 4.67735345e-02 9.98905429e-01 -4.23690153e-04 -1.48193755e-01] [ 7.54135011e-03 7.10202409e-05 9.99971561e-01 -3.04954975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.775898227 meters Centerline goodness [0,1] 0.9998917069155964 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.15, Z:-0.30 [[ 9.98832749e-01 -4.79004149e-02 -6.22010303e-03 2.11414486e+00] [ 4.78991706e-02 9.98852115e-01 -3.48951104e-04 -1.47094735e-01] [ 6.22967797e-03 5.06060149e-05 9.99980594e-01 -3.03138951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.805898227 meters Centerline goodness [0,1] 0.9999351239133255 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.15, Z:-0.31 [[ 9.98813905e-01 -4.81582346e-02 -7.18101570e-03 2.14788312e+00] [ 4.81565876e-02 9.98839718e-01 -4.02176495e-04 -1.47787088e-01] [ 7.19205180e-03 5.58862635e-05 9.99974135e-01 -3.05514795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8358982269999995 meters Centerline goodness [0,1] 0.9999134555053116 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.14, Z:-0.31 [[ 9.98786387e-01 -4.85021724e-02 -8.56115522e-03 2.18003657e+00] [ 4.84998617e-02 9.98823075e-01 -4.77426905e-04 -1.44696625e-01] [ 8.57423562e-03 6.16326490e-05 9.99963239e-01 -3.08567993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.865898227 meters Centerline goodness [0,1] 0.9999346917450366 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.15, Z:-0.31 [[ 9.98719212e-01 -4.96850682e-02 -9.55663051e-03 2.21293386e+00] [ 4.96822613e-02 9.98764933e-01 -5.31045250e-04 -1.46724003e-01] [ 9.57121245e-03 5.55700800e-05 9.99954193e-01 -3.09484867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.895898227 meters Centerline goodness [0,1] 0.9996974739071245 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.15, Z:-0.31 [[ 9.98634601e-01 -5.14218900e-02 -9.20450685e-03 2.24527204e+00] [ 5.14193675e-02 9.98677019e-01 -5.10646411e-04 -1.48065197e-01] [ 9.21858787e-03 3.66592538e-05 9.99957507e-01 -3.10885240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.925898227 meters Centerline goodness [0,1] 0.9996318991836823 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.15, Z:-0.31 [[ 9.98385328e-01 -5.63380805e-02 -7.26346109e-03 2.27773922e+00] [ 5.63366463e-02 9.98411749e-01 -4.02059253e-04 -1.52854256e-01] [ 7.27457614e-03 -7.78897997e-06 9.99973540e-01 -3.07639635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.955898227 meters Centerline goodness [0,1] 0.9999785917663934 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.16, Z:-0.30 [[ 9.98281298e-01 -5.82659862e-02 -6.28688689e-03 2.30986444e+00] [ 5.82649559e-02 9.98301094e-01 -3.47061567e-04 -1.55295370e-01] [ 6.29642794e-03 -1.98401160e-05 9.99980177e-01 -3.03106465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.985898227 meters Centerline goodness [0,1] 0.999652973582614 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.16, Z:-0.30 [[ 9.98156457e-01 -6.03687460e-02 -6.26913480e-03 2.34208072e+00] [ 6.03677705e-02 9.98176143e-01 -3.44883708e-04 -1.57283644e-01] [ 6.27852100e-03 -3.42057913e-05 9.99980289e-01 -3.01648690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.015898227 meters Centerline goodness [0,1] 0.9998494494150034 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.16, Z:-0.31 [[ 9.97936839e-01 -6.35641892e-02 -9.03649910e-03 2.37376065e+00] [ 6.35623106e-02 9.97977749e-01 -4.95226392e-04 -1.61588281e-01] [ 9.04970369e-03 -8.01761014e-05 9.99959047e-01 -3.05443438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0458982269999995 meters Centerline goodness [0,1] 0.9996109033527161 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.16, Z:-0.31 [[ 9.97866405e-01 -6.44493333e-02 -1.04365798e-02 2.40590043e+00] [ 6.44468871e-02 9.97920975e-01 -5.70876276e-04 -1.56591582e-01] [ 1.04516745e-02 -1.02946824e-04 9.99945374e-01 -3.07683026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.075898227 meters Centerline goodness [0,1] 0.9997412677878396 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.16, Z:-0.31 [[ 9.97862925e-01 -6.43672977e-02 -1.12443160e-02 2.43847393e+00] [ 6.43644766e-02 9.97926269e-01 -6.12972978e-04 -1.60044696e-01] [ 1.12604537e-02 -1.12071505e-04 9.99936593e-01 -3.08841144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.105898227 meters Centerline goodness [0,1] 0.9998280309544282 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.16, Z:-0.31 [[ 9.97899911e-01 -6.38816723e-02 -1.07190858e-02 2.47055382e+00] [ 6.38791002e-02 9.97957475e-01 -5.82502064e-04 -1.57796890e-01] [ 1.07344030e-02 -1.03446797e-04 9.99942379e-01 -3.07583405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.135898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.15, Z:-0.31 [[ 9.97962667e-01 -6.29634597e-02 -1.03014069e-02 2.50237510e+00] [ 6.29610509e-02 9.98015829e-01 -5.58286557e-04 -1.54248995e-01] [ 1.03161187e-02 -9.14382604e-05 9.99946783e-01 -3.06142171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.165898227 meters Centerline goodness [0,1] 0.9997195192992298 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.15, Z:-0.31 [[ 9.98008202e-01 -6.21962129e-02 -1.05480124e-02 2.53523045e+00] [ 6.21936619e-02 9.98063938e-01 -5.70013331e-04 -1.46266705e-01] [ 1.05630434e-02 -8.71415344e-05 9.99944206e-01 -3.06261991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.195898227 meters Centerline goodness [0,1] 0.9998909035369073 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.15, Z:-0.31 [[ 9.97928030e-01 -6.30054072e-02 -1.30371018e-02 2.56754270e+00] [ 6.30016173e-02 9.98013178e-01 -7.01597372e-04 -1.45003580e-01] [ 1.30554039e-02 -1.21214818e-04 9.99914767e-01 -3.09929428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.225898227 meters Centerline goodness [0,1] 0.9995688447194258 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.15, Z:-0.31 [[ 9.97811019e-01 -6.47001387e-02 -1.36771114e-02 2.59872988e+00] [ 6.46961596e-02 9.97904739e-01 -7.33639548e-04 -1.46609369e-01] [ 1.36959209e-02 -1.52822960e-04 9.99906195e-01 -3.13158550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.255898227 meters Centerline goodness [0,1] 0.9998702758799619 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.14, Z:-0.31 [[ 9.97696510e-01 -6.66121867e-02 -1.28253979e-02 2.63107973e+00] [ 6.66088717e-02 9.97778927e-01 -6.85931984e-04 -1.44725349e-01] [ 1.28426031e-02 -1.69933334e-04 9.99917516e-01 -3.10942083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.285898227 meters Centerline goodness [0,1] 0.9996962332928311 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.14, Z:-0.31 [[ 9.97455152e-01 -7.07820451e-02 -8.55110236e-03 2.66297481e+00] [ 7.07807333e-02 9.97491794e-01 -4.56328304e-04 -1.43906430e-01] [ 8.56195429e-03 -1.50086278e-04 9.99963335e-01 -3.06043687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.315898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.14, Z:-0.30 [[ 9.97359199e-01 -7.23091679e-02 -6.78321350e-03 2.69529401e+00] [ 7.23083776e-02 9.97382257e-01 -3.61998728e-04 -1.43829125e-01] [ 6.79163262e-03 -1.29440401e-04 9.99976928e-01 -3.04385347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.345898227 meters Centerline goodness [0,1] 0.9997608695652174 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.14, Z:-0.31 [[ 9.97259273e-01 -7.37334088e-02 -6.10952217e-03 2.72681737e+00] [ 7.37328001e-02 9.97277980e-01 -3.25109073e-04 -1.44161885e-01] [ 6.11686333e-03 -1.26254139e-04 9.99981284e-01 -3.05011702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3758982269999995 meters Centerline goodness [0,1] 0.9997407143320153 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.14, Z:-0.30 [[ 9.97177169e-01 -7.48087177e-02 -6.43029795e-03 2.75924878e+00] [ 7.48080743e-02 9.97197892e-01 -3.40844776e-04 -1.44361433e-01] [ 6.43777772e-03 -1.41155578e-04 9.99979267e-01 -3.04409785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.405898227 meters Centerline goodness [0,1] 0.9998704411478915 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.14, Z:-0.31 [[ 9.97113079e-01 -7.54913825e-02 -8.15831461e-03 2.79088370e+00] [ 7.54903744e-02 9.97146437e-01 -4.31874777e-04 -1.43818492e-01] [ 8.16763717e-03 -1.85246236e-04 9.99966627e-01 -3.05217100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.435898227 meters Centerline goodness [0,1] 0.999912800837112 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.14, Z:-0.30 [[ 9.97153682e-01 -7.48922251e-02 -8.69996012e-03 2.82287682e+00] [ 7.48910686e-02 9.97191615e-01 -4.59093993e-04 -1.39172128e-01] [ 8.70990985e-03 -1.93762045e-04 9.99962049e-01 -3.04207279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.465898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.14, Z:-0.30 [[ 9.97221822e-01 -7.40446744e-02 -8.12554402e-03 2.85469951e+00] [ 7.40436475e-02 9.97254910e-01 -4.27535979e-04 -1.37046879e-01] [ 8.13489544e-03 -1.75296710e-04 9.99966896e-01 -3.03956428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.495898227 meters Centerline goodness [0,1] 0.9997825046761495 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.13, Z:-0.30 [[ 9.97260565e-01 -7.35286967e-02 -8.05585063e-03 2.88696571e+00] [ 7.35276813e-02 9.97293087e-01 -4.22550843e-04 -1.34857378e-01] [ 8.06511375e-03 -1.70934724e-04 9.99967462e-01 -3.03240076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.525898227 meters Centerline goodness [0,1] 0.9996103474401992 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.13, Z:-0.30 [[ 9.97289396e-01 -7.31893742e-02 -7.56150428e-03 2.91949114e+00] [ 7.31884784e-02 9.97318049e-01 -3.95479348e-04 -1.32434381e-01] [ 7.57016958e-03 -1.59007632e-04 9.99971333e-01 -3.02025863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.555898227 meters Centerline goodness [0,1] 0.9996936944821249 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.13, Z:-0.30 [[ 9.97265378e-01 -7.34096950e-02 -8.53129366e-03 2.95218670e+00] [ 7.34085773e-02 9.97301852e-01 -4.44500662e-04 -1.31005644e-01] [ 8.54090562e-03 -1.82985009e-04 9.99963509e-01 -3.02034243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5858982269999995 meters Centerline goodness [0,1] 0.9999137019697525 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.13, Z:-0.30 [[ 9.97179515e-01 -7.44139894e-02 -9.77612823e-03 2.98445688e+00] [ 7.44125900e-02 9.97227411e-01 -5.07316919e-04 -1.30098680e-01] [ 9.78677452e-03 -2.21580983e-04 9.99952084e-01 -3.03185261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.615898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.13, Z:-0.31 [[ 9.97097750e-01 -7.53864158e-02 -1.06285347e-02 3.01666577e+00] [ 7.53848367e-02 9.97154363e-01 -5.49697925e-04 -1.29996753e-01] [ 1.06397295e-02 -2.53127788e-04 9.99943364e-01 -3.05354689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.645898227 meters Centerline goodness [0,1] 0.9998271242112542 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.13, Z:-0.31 [[ 9.96902162e-01 -7.78218655e-02 -1.13945982e-02 3.04726694e+00] [ 7.78202294e-02 9.96967234e-01 -5.87570907e-04 -1.29308106e-01] [ 1.14057669e-02 -3.00979540e-04 9.99934907e-01 -3.06261344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.675898227 meters Centerline goodness [0,1] 0.9995487752470993 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.13, Z:-0.31 [[ 9.96864440e-01 -7.83309952e-02 -1.12046589e-02 3.07976231e+00] [ 7.83294574e-02 9.96927361e-01 -5.76698689e-04 -1.27070752e-01] [ 1.12154044e-02 -3.02764437e-04 9.99937060e-01 -3.07060737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.705898227 meters Centerline goodness [0,1] 0.9998269035203496 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.12, Z:-0.31 [[ 9.96861725e-01 -7.83575711e-02 -1.12602433e-02 3.11324049e+00] [ 7.83560409e-02 9.96925272e-01 -5.77683565e-04 -1.24788430e-01] [ 1.12708870e-02 -3.06437448e-04 9.99936435e-01 -3.07298900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.735898227 meters Centerline goodness [0,1] 0.9999570308303792 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.12, Z:-0.31 [[ 9.96885355e-01 -7.80423844e-02 -1.13567545e-02 3.14650252e+00] [ 7.80408312e-02 9.96949995e-01 -5.80535356e-04 -1.22112592e-01] [ 1.13674227e-02 -3.07563364e-04 9.99935341e-01 -3.06369971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.765898227 meters Centerline goodness [0,1] 0.9996318433818434 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.12, Z:-0.30 [[ 9.96913068e-01 -7.78550637e-02 -1.01451435e-02 3.17940116e+00] [ 7.78538318e-02 9.96964650e-01 -5.16905044e-04 -1.16843075e-01] [ 1.01545931e-02 -2.74528901e-04 9.99948403e-01 -3.04612298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7958982269999995 meters Centerline goodness [0,1] 0.9996318433818434 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.12, Z:-0.30 [[ 9.96927894e-01 -7.76649784e-02 -1.01452417e-02 3.21204576e+00] [ 7.76637562e-02 9.96979476e-01 -5.14970726e-04 -1.15286249e-01] [ 1.01545929e-02 -2.74528897e-04 9.99948403e-01 -3.04322537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.825898227 meters Centerline goodness [0,1] 0.9997624908235091 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.12, Z:-0.30 [[ 9.96976778e-01 -7.71280028e-02 -9.41145365e-03 3.24334132e+00] [ 7.71269428e-02 9.97021167e-01 -4.76066722e-04 -1.17342784e-01] [ 9.42013657e-03 -2.51249180e-04 9.99955598e-01 -3.02815858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.855898227 meters Centerline goodness [0,1] 0.9999566808897745 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.12, Z:-0.30 [[ 9.97022793e-01 -7.65198108e-02 -9.50097371e-03 3.27503579e+00] [ 7.65187169e-02 9.97068030e-01 -4.79119944e-04 -1.15832749e-01] [ 9.50977930e-03 -2.49308813e-04 9.99954750e-01 -3.02154714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.885898227 meters Centerline goodness [0,1] 0.9996149403157489 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.12, Z:-0.30 [[ 9.97059829e-01 -7.61108823e-02 -8.87873789e-03 3.30649669e+00] [ 7.61099216e-02 9.97099333e-01 -4.46523068e-04 -1.15624584e-01] [ 8.88696890e-03 -2.30549832e-04 9.99960484e-01 -3.03142792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.915898227 meters Centerline goodness [0,1] 0.9999782599243445 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.11, Z:-0.30 [[ 9.97067056e-01 -7.59922145e-02 -9.08129961e-03 3.33935490e+00] [ 7.59912170e-02 9.97108383e-01 -4.55349938e-04 -1.14412459e-01] [ 9.08964302e-03 -2.36084587e-04 9.99958660e-01 -3.00774535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.945898227 meters Centerline goodness [0,1] 0.9996548078790102 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.12, Z:-0.30 [[ 9.96984355e-01 -7.70705896e-02 -9.07305261e-03 3.37063328e+00] [ 7.70696532e-02 9.97025608e-01 -4.53317565e-04 -1.16510591e-01] [ 9.08100325e-03 -2.47306498e-04 9.99958736e-01 -2.99305807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.975898227 meters Centerline goodness [0,1] 0.9998486846371674 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.11, Z:-0.30 [[ 9.96963854e-01 -7.73778039e-02 -8.70343319e-03 3.40308147e+00] [ 7.73769644e-02 9.97001814e-01 -4.33646373e-04 -1.13412061e-01] [ 8.71089328e-03 -2.41115481e-04 9.99962030e-01 -2.97830829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.005898226999999 meters Centerline goodness [0,1] 0.9998708761056233 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.12, Z:-0.30 [[ 9.96962863e-01 -7.74410885e-02 -8.24183867e-03 3.43502264e+00] [ 7.74403486e-02 9.96996903e-01 -4.09347410e-04 -1.19094852e-01] [ 8.24878794e-03 -2.30146694e-04 9.99965952e-01 -2.97104994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.035898227 meters Centerline goodness [0,1] 0.9995486976704203 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.12, Z:-0.30 [[ 9.97053693e-01 -7.63474621e-02 -7.41607099e-03 3.46704477e+00] [ 7.63468379e-02 9.97081253e-01 -3.67642663e-04 -1.16654261e-01] [ 7.42249394e-03 -1.99634095e-04 9.99972433e-01 -2.95795866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.065898227 meters Centerline goodness [0,1] 0.9995686773490909 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.12, Z:-0.29 [[ 9.97131480e-01 -7.53633659e-02 -7.01251058e-03 3.49814600e+00] [ 7.53627910e-02 9.97156121e-01 -3.46561523e-04 -1.20334979e-01] [ 7.01868589e-03 -1.82914966e-04 9.99975352e-01 -2.94139834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.095898227 meters Centerline goodness [0,1] 0.9996365657602189 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.12, Z:-0.29 [[ 9.97231205e-01 -7.40465477e-02 -6.85807488e-03 3.53047708e+00] [ 7.40459735e-02 9.97254772e-01 -3.37941672e-04 -1.19009877e-01] [ 6.86427131e-03 -1.70806850e-04 9.99976426e-01 -2.93472965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1258982269999995 meters Centerline goodness [0,1] 0.9997863019553371 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.12, Z:-0.29 [[ 9.97362614e-01 -7.22538714e-02 -6.86974678e-03 3.56274881e+00] [ 7.22532612e-02 9.97386260e-01 -3.37284375e-04 -1.17467995e-01] [ 6.87616115e-03 -1.59966783e-04 9.99976346e-01 -2.92924029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.155898227 meters Centerline goodness [0,1] 0.9995953658744356 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.12, Z:-0.29 [[ 9.97541432e-01 -6.97782477e-02 -6.48756339e-03 3.59331827e+00] [ 6.97776540e-02 9.97562518e-01 -3.18091064e-04 -1.15948225e-01] [ 6.49394591e-03 -1.35377938e-04 9.99978905e-01 -2.93897138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.185898227 meters Centerline goodness [0,1] 0.9999570455960998 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.11, Z:-0.29 [[ 9.98017733e-01 -6.26771950e-02 -5.67220238e-03 3.62379465e+00] [ 6.26766267e-02 9.98033849e-01 -2.78065273e-04 -1.05011581e-01] [ 5.67847832e-03 -7.80004375e-05 9.99983874e-01 -2.92820450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.215898226999999 meters Centerline goodness [0,1] 0.9999141317648069 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.10, Z:-0.29 [[ 9.98289994e-01 -5.81499760e-02 -5.97220355e-03 3.65579318e+00] [ 5.81492629e-02 9.98307857e-01 -2.93126879e-04 -9.76387104e-02] [ 5.97914305e-03 -5.46536033e-05 9.99982123e-01 -2.92204403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.245898227 meters Centerline goodness [0,1] 0.9999787374285046 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.09, Z:-0.29 [[ 9.98578085e-01 -5.29455916e-02 -6.21065043e-03 3.68799332e+00] [ 5.29447261e-02 9.98597398e-01 -3.03799319e-04 -8.91416293e-02] [ 6.21802420e-03 -2.54538444e-05 9.99980668e-01 -2.92096418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.275898227 meters Centerline goodness [0,1] 0.9997647058823529 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.08, Z:-0.29 [[ 9.98821962e-01 -4.80997218e-02 -6.41127388e-03 3.72001394e+00] [ 4.80987065e-02 9.98842539e-01 -3.12551797e-04 -8.10472023e-02] [ 6.41888674e-03 3.80961801e-06 9.99979399e-01 -2.93882212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.305898227 meters Centerline goodness [0,1] 0.9999360204734485 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.07, Z:-0.30 [[ 9.99204701e-01 -3.90847505e-02 -7.89602339e-03 3.75130105e+00] [ 3.90829419e-02 9.99235896e-01 -3.83286559e-04 -6.64321213e-02] [ 7.90497067e-03 7.43819081e-05 9.99968752e-01 -2.95932794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3358982269999995 meters Centerline goodness [0,1] 0.9999785752544188 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.06, Z:-0.30 [[ 9.99356153e-01 -3.46984093e-02 -9.12682528e-03 3.78371721e+00] [ 3.46958181e-02 9.99397821e-01 -4.42135899e-04 -6.02069070e-02] [ 9.13667071e-03 1.25188562e-04 9.99958252e-01 -2.96828979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.365898227 meters Centerline goodness [0,1] 0.9997837791087375 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.05, Z:-0.30 [[ 9.99479275e-01 -3.08622751e-02 -9.41805056e-03 3.81556694e+00] [ 3.08593605e-02 9.99523633e-01 -4.54668457e-04 -5.33444466e-02] [ 9.42759622e-03 1.63796682e-04 9.99955546e-01 -2.97222566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.395898227 meters Centerline goodness [0,1] 0.9998929725795749 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.04, Z:-0.30 [[ 9.99587027e-01 -2.72774545e-02 -9.03973351e-03 3.84584831e+00] [ 2.72746269e-02 9.99627883e-01 -4.35962382e-04 -3.63248219e-02] [ 9.04826162e-03 1.89226983e-04 9.99959046e-01 -2.96539310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.425898227 meters Centerline goodness [0,1] 0.9999144677757346 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.02, Z:-0.29 [[ 9.99693560e-01 -2.30888187e-02 -8.92710696e-03 3.87591694e+00] [ 2.30859066e-02 9.99733393e-01 -4.29134056e-04 -2.44887498e-02] [ 8.93463513e-03 2.22912195e-04 9.99960061e-01 -2.94856210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.455898227 meters Centerline goodness [0,1] 0.999978428284833 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.03, Z:-0.30 [[ 9.99720760e-01 -2.16736056e-02 -9.41573759e-03 3.90812558e+00] [ 2.16703045e-02 9.99765069e-01 -4.52493577e-04 -2.64213160e-02] [ 9.42333271e-03 2.48325322e-04 9.99955569e-01 -2.95833705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.485898227 meters Centerline goodness [0,1] 0.9996992481203008 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.02, Z:-0.30 [[ 9.99735611e-01 -2.09081590e-02 -9.56850618e-03 3.93946786e+00] [ 2.09047193e-02 9.99781367e-01 -4.59358088e-04 -1.93442626e-02] [ 9.57601853e-03 2.59209702e-04 9.99954115e-01 -2.97231044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.01, Z:-0.29 [[ 9.99763287e-01 -1.99078217e-02 -8.77772074e-03 3.97100284e+00] [ 1.99048912e-02 9.99801789e-01 -4.21099797e-04 -1.40496044e-02] [ 8.78436408e-03 2.46280540e-04 9.99961386e-01 -2.94729856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5458982269999995 meters Centerline goodness [0,1] 0.9998515187510606 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.01, Z:-0.29 [[ 9.99788438e-01 -1.91958826e-02 -7.38905540e-03 4.00220473e+00] [ 1.91937914e-02 9.99815720e-01 -3.53836268e-04 -5.59778601e-03] [ 7.39448595e-03 2.11937422e-04 9.99972638e-01 -2.92928950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.575898227 meters Centerline goodness [0,1] 0.9998081637003091 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.00, Z:-0.29 [[ 9.99808947e-01 -1.84292003e-02 -6.51419554e-03 4.03392806e+00] [ 1.84275598e-02 9.99830149e-01 -3.11764812e-04 -4.11603739e-05] [ 6.51883467e-03 1.91664521e-04 9.99978734e-01 -2.91947153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.605898227 meters Centerline goodness [0,1] 0.9998720027306084 Centerline is valid? [True, True] Translation: X:4.07, Y:0.01, Z:-0.29 [[ 9.99833043e-01 -1.70521792e-02 -6.56576732e-03 4.06547051e+00] [ 1.70504851e-02 9.99854581e-01 -3.13915253e-04 1.05161999e-02] [ 6.57016547e-03 2.01913325e-04 9.99978396e-01 -2.92353402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.635898227 meters Centerline goodness [0,1] 0.9996143463170073 Centerline is valid? [True, True] Translation: X:4.10, Y:0.02, Z:-0.29 [[ 9.99839530e-01 -1.67298476e-02 -6.40521431e-03 4.09703580e+00] [ 1.67282307e-02 9.99860027e-01 -3.05942025e-04 1.51402094e-02] [ 6.40943612e-03 1.98745028e-04 9.99979440e-01 -2.92407455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.665898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.13, Y:0.02, Z:-0.29 [[ 9.99842665e-01 -1.65503139e-02 -6.38222440e-03 4.12866660e+00] [ 1.65487068e-02 9.99863014e-01 -3.04530700e-04 2.19511802e-02] [ 6.38639021e-03 1.98865226e-04 9.99979587e-01 -2.89947788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.695898227 meters Centerline goodness [0,1] 0.9999148320061321 Centerline is valid? [True, True] Translation: X:4.16, Y:0.03, Z:-0.29 [[ 9.99837950e-01 -1.71130651e-02 -5.58716625e-03 4.15976426e+00] [ 1.71118438e-02 9.99853546e-01 -2.66333826e-04 3.28761080e-02] [ 5.59090577e-03 1.70683950e-04 9.99984356e-01 -2.89276825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.725898227 meters Centerline goodness [0,1] 0.9998933947379642 Centerline is valid? [True, True] Translation: X:4.19, Y:0.04, Z:-0.29 [[ 9.99836848e-01 -1.69948181e-02 -6.11996453e-03 4.19215267e+00] [ 1.69933507e-02 9.99855560e-01 -2.91701218e-04 3.80997379e-02] [ 6.12403797e-03 1.87654923e-04 9.99981230e-01 -2.88752519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.755898226999999 meters Centerline goodness [0,1] 0.9996583532627263 Centerline is valid? [True, True] Translation: X:4.22, Y:0.04, Z:-0.29 [[ 9.99838799e-01 -1.66734605e-02 -6.66123039e-03 4.22452917e+00] [ 1.66717218e-02 9.99860967e-01 -3.16468914e-04 4.29215260e-02] [ 6.66558089e-03 2.05363719e-04 9.99977764e-01 -2.90556434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.785898227 meters Centerline goodness [0,1] 0.9996626963212818 Centerline is valid? [True, True] Translation: X:4.26, Y:0.05, Z:-0.29 [[ 9.99854891e-01 -1.53630775e-02 -7.36015536e-03 4.25679807e+00] [ 1.53609221e-02 9.99881953e-01 -3.49286371e-04 4.89410992e-02] [ 7.36465263e-03 2.36176913e-04 9.99972853e-01 -2.93249320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.815898227 meters Centerline goodness [0,1] 0.9995972272274394 Centerline is valid? [True, True] Translation: X:4.29, Y:0.05, Z:-0.29 [[ 9.99855659e-01 -1.51251421e-02 -7.73894011e-03 4.28851228e+00] [ 1.51227551e-02 9.99885577e-01 -3.66866207e-04 4.97299243e-02] [ 7.74360351e-03 2.49779156e-04 9.99969987e-01 -2.93177597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.845898227 meters Centerline goodness [0,1] 0.999742301249839 Centerline is valid? [True, True] Translation: X:4.32, Y:0.05, Z:-0.29 [[ 9.99863949e-01 -1.45582287e-02 -7.75511861e-03 4.31985088e+00] [ 1.45558168e-02 9.99893991e-01 -3.67355029e-04 5.40547897e-02] [ 7.75964453e-03 2.54422964e-04 9.99969861e-01 -2.92816636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8758982269999995 meters Centerline goodness [0,1] 0.999323367094496 Centerline is valid? [True, True] Translation: X:4.35, Y:0.06, Z:-0.29 [[ 9.99880493e-01 -1.37854776e-02 -6.99710496e-03 4.35118782e+00] [ 1.37834968e-02 9.99904948e-01 -3.31230651e-04 5.90025790e-02] [ 7.00100605e-03 2.34746492e-04 9.99975465e-01 -2.91798898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.905898227 meters Centerline goodness [0,1] 0.9995080319137558 Centerline is valid? [True, True] Translation: X:4.38, Y:0.06, Z:-0.29 [[ 9.99923586e-01 -1.03775991e-02 -6.71770470e-03 4.38226763e+00] [ 1.03756984e-02 9.99946121e-01 -3.17729395e-04 6.12198305e-02] [ 6.72064002e-03 2.48004238e-04 9.99977385e-01 -2.90142222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.935898227 meters Centerline goodness [0,1] 0.9996804703476483 Centerline is valid? [True, True] Translation: X:4.41, Y:0.07, Z:-0.29 [[ 9.99950480e-01 -7.85263535e-03 -6.11339106e-03 4.41253464e+00] [ 7.85101452e-03 9.99969139e-01 -2.89082032e-04 6.87719940e-02] [ 6.11547245e-03 2.41071394e-04 9.99981271e-01 -2.88137024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.965898226999999 meters Centerline goodness [0,1] 0.9990142293845362 Centerline is valid? [True, True] Translation: X:4.44, Y:0.08, Z:-0.29 [[ 9.99970448e-01 -5.68963769e-03 -5.17028020e-03 4.44219187e+00] [ 5.68844884e-03 9.99983791e-01 -2.44616263e-04 7.54668837e-02] [ 5.17158817e-03 2.15198160e-04 9.99986604e-01 -2.86645088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.995898227 meters Centerline goodness [0,1] 0.9992555250675346 Centerline is valid? [True, True] Translation: X:4.47, Y:0.08, Z:-0.29 [[ 9.99985717e-01 -3.72363502e-03 -3.83411145e-03 4.47321949e+00] [ 3.72296810e-03 9.99993053e-01 -1.81068021e-04 7.72082222e-02] [ 3.83475905e-03 1.66791160e-04 9.99992633e-01 -2.85132893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.025898226999999 meters Centerline goodness [0,1] 0.9960581528419447 Centerline is valid? [True, True] Translation: X:4.50, Y:0.08, Z:-0.29 [[ 9.99993880e-01 -1.75960391e-03 -3.02370432e-03 4.50319259e+00] [ 1.75917996e-03 9.99998442e-01 -1.42863382e-04 8.34473814e-02] [ 3.02395099e-03 1.37543268e-04 9.99995418e-01 -2.85008911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.055898226999998 meters Centerline goodness [0,1] 0.9986981111941095 Centerline is valid? [True, True] Translation: X:4.53, Y:0.08, Z:-0.29 [[ 9.99987746e-01 -3.04360726e-03 -3.90429490e-03 4.53400950e+00] [ 3.04291136e-03 9.99995353e-01 -1.84169042e-04 8.06918328e-02] [ 3.90483730e-03 1.72286362e-04 9.99992361e-01 -2.87707444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.085898227 meters Centerline goodness [0,1] 0.9989588424027368 Centerline is valid? [True, True] Translation: X:4.56, Y:0.08, Z:-0.29 [[ 9.99967729e-01 -5.66703741e-03 -5.69434417e-03 4.56399547e+00] [ 5.66559954e-03 9.99983914e-01 -2.68607249e-04 8.18077712e-02] [ 5.69577478e-03 2.36336707e-04 9.99983751e-01 -2.88788399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.115898226999999 meters Centerline goodness [0,1] 0.9996609091872417 Centerline is valid? [True, True] Translation: X:4.59, Y:0.08, Z:-0.29 [[ 9.99930682e-01 -9.35436827e-03 -7.15025096e-03 4.59395660e+00] [ 9.35219526e-03 9.99956210e-01 -3.37283660e-04 7.85789406e-02] [ 7.15309293e-03 2.70389737e-04 9.99974380e-01 -2.91020055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.145898226999998 meters Centerline goodness [0,1] 0.9998101626273492 Centerline is valid? [True, True] Translation: X:4.63, Y:0.07, Z:-0.29 [[ 9.99847729e-01 -1.57305975e-02 -7.55424444e-03 4.62529924e+00] [ 1.57283536e-02 9.99876238e-01 -3.56356211e-04 7.12472361e-02] [ 7.55891521e-03 2.37486120e-04 9.99971403e-01 -2.89102212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.175898227 meters Centerline goodness [0,1] 0.999765832889835 Centerline is valid? [True, True] Translation: X:4.66, Y:0.07, Z:-0.29 [[ 9.99821808e-01 -1.74364051e-02 -7.23348405e-03 4.65821684e+00] [ 1.74343924e-02 9.99847951e-01 -3.41224486e-04 6.92740071e-02] [ 7.23833393e-03 2.15052283e-04 9.99973780e-01 -2.89579570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.205898226999999 meters Centerline goodness [0,1] 0.9998736017190166 Centerline is valid? [True, True] Translation: X:4.69, Y:0.08, Z:-0.29 [[ 9.99816013e-01 -1.79059547e-02 -6.87868343e-03 4.68910775e+00] [ 1.79041487e-02 9.99839655e-01 -3.24052446e-04 7.51427089e-02] [ 6.88338294e-03 2.00835853e-04 9.99976289e-01 -2.86374853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.235898226999998 meters Centerline goodness [0,1] 0.9997668750662286 Centerline is valid? [True, True] Translation: X:4.72, Y:0.07, Z:-0.29 [[ 9.99827416e-01 -1.73624466e-02 -6.60936401e-03 4.72172337e+00] [ 1.73607687e-02 9.99849242e-01 -3.11169074e-04 7.20445908e-02] [ 6.61377026e-03 1.96371732e-04 9.99978110e-01 -2.85142215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.265898227 meters Centerline goodness [0,1] 0.9997447840234799 Centerline is valid? [True, True] Translation: X:4.75, Y:0.08, Z:-0.28 [[ 9.99842280e-01 -1.66319798e-02 -6.22839497e-03 4.75268613e+00] [ 1.66304775e-02 9.99861661e-01 -2.92921245e-04 7.53716009e-02] [ 6.23240520e-03 1.89293863e-04 9.99980560e-01 -2.84795956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.295898226999999 meters Centerline goodness [0,1] 0.9997876902825842 Centerline is valid? [True, True] Translation: X:4.79, Y:0.08, Z:-0.29 [[ 9.99840217e-01 -1.67453344e-02 -6.25572618e-03 4.78506518e+00] [ 1.67438223e-02 9.99859769e-01 -2.94008723e-04 7.55308458e-02] [ 6.25977221e-03 1.89216977e-04 9.99980390e-01 -2.86234338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.325898227 meters Centerline goodness [0,1] 0.9995968426413173 Centerline is valid? [True, True] Translation: X:4.82, Y:0.07, Z:-0.29 [[ 9.99822673e-01 -1.79263742e-02 -5.76781595e-03 4.81772376e+00] [ 1.79251098e-02 9.99839296e-01 -2.70836782e-04 7.39736273e-02] [ 5.77174416e-03 1.67400021e-04 9.99983329e-01 -2.87263379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.355898226999999 meters Centerline goodness [0,1] 0.9997667861004516 Centerline is valid? [True, True] Translation: X:4.85, Y:0.07, Z:-0.29 [[ 9.99806424e-01 -1.89146099e-02 -5.41781588e-03 4.84879548e+00] [ 1.89135081e-02 9.99821091e-01 -2.54536032e-04 7.49897711e-02] [ 5.42166103e-03 1.52016856e-04 9.99985291e-01 -2.85715635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.385898226999998 meters Centerline goodness [0,1] 0.9999365857783039 Centerline is valid? [True, True] Translation: X:4.88, Y:0.08, Z:-0.28 [[ 9.99786150e-01 -1.98719852e-02 -5.72353802e-03 4.87982684e+00] [ 1.98707768e-02 9.99802521e-01 -2.67938391e-04 7.81583469e-02] [ 5.72773221e-03 1.54149946e-04 9.99983585e-01 -2.82743098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.415898227 meters Centerline goodness [0,1] 0.9998301810694347 Centerline is valid? [True, True] Translation: X:4.91, Y:0.08, Z:-0.28 [[ 9.99761778e-01 -2.08081375e-02 -6.58855110e-03 4.91212492e+00] [ 2.08065660e-02 9.99783473e-01 -3.06975868e-04 7.66985378e-02] [ 6.59351209e-03 1.69817617e-04 9.99978248e-01 -2.84491783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.445898226999999 meters Centerline goodness [0,1] 0.9998727411555103 Centerline is valid? [True, True] Translation: X:4.94, Y:0.08, Z:-0.28 [[ 9.99775311e-01 -2.02162971e-02 -6.37399925e-03 4.94398842e+00] [ 2.02148162e-02 9.99795616e-01 -2.96692042e-04 7.88817769e-02] [ 6.37869452e-03 1.67776156e-04 9.99979642e-01 -2.82261699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.475898226999998 meters Centerline goodness [0,1] 0.9999577711619265 Centerline is valid? [True, True] Translation: X:4.98, Y:0.08, Z:-0.28 [[ 9.99795757e-01 -1.95598759e-02 -5.08476071e-03 4.97604859e+00] [ 1.95589257e-02 9.99808678e-01 -2.36527143e-04 8.10489283e-02] [ 5.08841432e-03 1.37026377e-04 9.99987045e-01 -2.80379906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.505898227 meters Centerline goodness [0,1] 0.9997673336435552 Centerline is valid? [True, True] Translation: X:5.01, Y:0.08, Z:-0.28 [[ 9.99818421e-01 -1.85306942e-02 -4.44271100e-03 5.00849228e+00] [ 1.85299594e-02 9.99828284e-01 -2.06504817e-04 8.36962702e-02] [ 4.44577480e-03 1.24144066e-04 9.99990110e-01 -2.79108778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.535898226999999 meters Centerline goodness [0,1] 0.9998512568793694 Centerline is valid? [True, True] Translation: X:5.04, Y:0.08, Z:-0.28 [[ 9.99836969e-01 -1.75621199e-02 -4.19620070e-03 5.04040756e+00] [ 1.75614566e-02 9.99845767e-01 -1.94882259e-04 8.30564121e-02] [ 4.19897605e-03 1.21159090e-04 9.99991177e-01 -2.79499705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.565898226999998 meters Centerline goodness [0,1] 0.9997456441561745 Centerline is valid? [True, True] Translation: X:5.07, Y:0.09, Z:-0.28 [[ 9.99876292e-01 -1.49138894e-02 -4.99768626e-03 5.07151446e+00] [ 1.49129170e-02 9.99888769e-01 -2.31781970e-04 8.83535578e-02] [ 5.00058713e-03 1.57223217e-04 9.99987485e-01 -2.80196190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.595898227 meters Centerline goodness [0,1] 0.9994284383666039 Centerline is valid? [True, True] Translation: X:5.10, Y:0.09, Z:-0.28 [[ 9.99887554e-01 -1.41069018e-02 -5.08679889e-03 5.10244444e+00] [ 1.41058855e-02 9.99900479e-01 -2.35616114e-04 9.15934058e-02] [ 5.08961646e-03 1.63835817e-04 9.99987034e-01 -2.79363784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.625898226999999 meters Centerline goodness [0,1] 0.9997468247605384 Centerline is valid? [True, True] Translation: X:5.13, Y:0.09, Z:-0.28 [[ 9.99902962e-01 -1.33091023e-02 -4.11510005e-03 5.13471683e+00] [ 1.33084306e-02 9.99911421e-01 -1.90577534e-04 9.17182152e-02] [ 4.11727195e-03 1.35793517e-04 9.99991515e-01 -2.78486551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.655898227 meters Centerline goodness [0,1] 0.9997468247605384 Centerline is valid? [True, True] Translation: X:5.17, Y:0.09, Z:-0.28 [[ 9.99903896e-01 -1.32387884e-02 -4.11510377e-03 5.16727556e+00] [ 1.32381164e-02 9.99912354e-01 -1.90497235e-04 9.31048347e-02] [ 4.11726505e-03 1.36002704e-04 9.99991515e-01 -2.78196646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.685898227 meters Centerline goodness [0,1] 0.9995327698254258 Centerline is valid? [True, True] Translation: X:5.20, Y:0.09, Z:-0.28 [[ 9.99914240e-01 -1.26871327e-02 -3.24812082e-03 5.19970466e+00] [ 1.26867118e-02 9.99919509e-01 -1.50145314e-04 8.93348471e-02] [ 3.24976429e-03 1.08924464e-04 9.99994714e-01 -2.78577862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.715898226999998 meters Centerline goodness [0,1] 0.9994931576279777 Centerline is valid? [True, True] Translation: X:5.23, Y:0.09, Z:-0.28 [[ 9.99915164e-01 -1.24092577e-02 -3.95928989e-03 5.23167543e+00] [ 1.24086309e-02 9.99922993e-01 -1.82848197e-04 9.19622725e-02] [ 3.96125401e-03 1.33703318e-04 9.99992145e-01 -2.80107459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.745898227 meters Centerline goodness [0,1] 0.9998313908150146 Centerline is valid? [True, True] Translation: X:5.26, Y:0.10, Z:-0.28 [[ 9.99897810e-01 -1.30758748e-02 -5.77842623e-03 5.26310938e+00] [ 1.30745553e-02 9.99914489e-01 -2.66058140e-04 9.71316830e-02] [ 5.78141105e-03 1.90480599e-04 9.99983269e-01 -2.80604013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.775898226999999 meters Centerline goodness [0,1] 0.9992562843968467 Centerline is valid? [True, True] Translation: X:5.30, Y:0.09, Z:-0.29 [[ 9.99867799e-01 -1.42244886e-02 -7.87706548e-03 5.29518299e+00] [ 1.42220765e-02 9.99898796e-01 -3.62153736e-04 9.31948348e-02] [ 7.88141974e-03 2.50077631e-04 9.99968910e-01 -2.85026873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.805898226999998 meters Centerline goodness [0,1] 0.9998728166864508 Centerline is valid? [True, True] Translation: X:5.33, Y:0.09, Z:-0.29 [[ 9.99835597e-01 -1.56141928e-02 -9.21826511e-03 5.32673889e+00] [ 1.56109531e-02 9.99878052e-01 -4.23301587e-04 9.40395690e-02] [ 9.22375047e-03 2.79326091e-04 9.99957421e-01 -2.85105241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.835898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.36, Y:0.09, Z:-0.28 [[ 9.99754920e-01 -2.05748617e-02 -8.17153744e-03 5.35777547e+00] [ 2.05724837e-02 9.99788294e-01 -3.74958496e-04 9.02277655e-02] [ 8.17752220e-03 2.06757780e-04 9.99966542e-01 -2.82221171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.865898226999999 meters Centerline goodness [0,1] 0.999809692971327 Centerline is valid? [True, True] Translation: X:5.39, Y:0.09, Z:-0.28 [[ 9.99693926e-01 -2.38201790e-02 -6.68237918e-03 5.38976520e+00] [ 2.38186613e-02 9.99716248e-01 -3.06619503e-04 8.80006759e-02] [ 6.68778678e-03 1.47360328e-04 9.99977626e-01 -2.80476259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.895898226999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.42, Y:0.09, Z:-0.28 [[ 9.99622869e-01 -2.68002065e-02 -5.98902250e-03 5.42114606e+00] [ 2.67990421e-02 9.99640803e-01 -2.74590035e-04 8.67877079e-02] [ 5.99423034e-03 1.13986413e-04 9.99982028e-01 -2.77980668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.925898227 meters Centerline goodness [0,1] 0.9998092856688775 Centerline is valid? [True, True] Translation: X:5.45, Y:0.08, Z:-0.28 [[ 9.99541020e-01 -2.96811152e-02 -6.06476500e-03 5.45332345e+00] [ 2.96799727e-02 9.99559414e-01 -2.78327273e-04 8.40230021e-02] [ 6.07035401e-03 9.81974669e-05 9.99981570e-01 -2.79590216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.955898226999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.48, Y:0.08, Z:-0.28 [[ 9.99470635e-01 -3.18144891e-02 -6.80358063e-03 5.48465309e+00] [ 3.18131098e-02 9.99493787e-01 -3.10875809e-04 8.47450789e-02] [ 6.81002692e-03 9.42681847e-05 9.99976807e-01 -2.79022119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.985898226999998 meters Centerline goodness [0,1] 0.9998510162817921 Centerline is valid? [True, True] Translation: X:5.52, Y:0.08, Z:-0.28 [[ 9.99406313e-01 -3.35974435e-02 -7.63101606e-03 5.51695292e+00] [ 3.35957706e-02 9.99435442e-01 -3.47339237e-04 8.48330542e-02] [ 7.63837763e-03 9.07631617e-05 9.99970823e-01 -2.79812059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.015898227 meters Centerline goodness [0,1] 0.9997875278869648 Centerline is valid? [True, True] Translation: X:5.55, Y:0.09, Z:-0.28 [[ 9.99346063e-01 -3.51977815e-02 -8.28027292e-03 5.54856447e+00] [ 3.51958793e-02 9.99380363e-01 -3.75375215e-04 8.71290294e-02] [ 8.28835453e-03 8.36982570e-05 9.99965647e-01 -2.79849086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.045898226999999 meters Centerline goodness [0,1] 0.9996818056468891 Centerline is valid? [True, True] Translation: X:5.58, Y:0.09, Z:-0.28 [[ 9.99311644e-01 -3.60722221e-02 -8.66212491e-03 5.57980854e+00] [ 3.60701856e-02 9.99349183e-01 -3.91275025e-04 9.10351459e-02] [ 8.67060161e-03 7.85612355e-05 9.99962407e-01 -2.80533180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.075898227 meters Centerline goodness [0,1] 0.9998729271237055 Centerline is valid? [True, True] Translation: X:5.61, Y:0.09, Z:-0.28 [[ 9.99249846e-01 -3.74848044e-02 -9.72803873e-03 5.61236724e+00] [ 3.74823127e-02 9.99297195e-01 -4.38389085e-04 9.11442191e-02] [ 9.73763475e-03 7.34308358e-05 9.99952585e-01 -2.81753975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.105898226999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.64, Y:0.09, Z:-0.28 [[ 9.99155823e-01 -3.99251515e-02 -9.67597006e-03 5.64414674e+00] [ 3.99228159e-02 9.99202672e-01 -4.34488262e-04 9.20488098e-02] [ 9.68560215e-03 4.78295054e-05 9.99953092e-01 -2.81579957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.135898226999998 meters Centerline goodness [0,1] 0.9999147176086818 Centerline is valid? [True, True] Translation: X:5.68, Y:0.09, Z:-0.28 [[ 9.98869267e-01 -4.70510179e-02 -6.81098352e-03 5.67643275e+00] [ 4.70500309e-02 9.98892487e-01 -3.05163888e-04 9.01556399e-02] [ 6.81779854e-03 -1.56381555e-05 9.99976758e-01 -2.76333834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.165898227 meters Centerline goodness [0,1] 0.9997878614310868 Centerline is valid? [True, True] Translation: X:5.71, Y:0.09, Z:-0.27 [[ 9.98721481e-01 -5.02397842e-02 -5.60064947e-03 5.70773709e+00] [ 5.02391719e-02 9.98737184e-01 -2.50054854e-04 9.03595953e-02] [ 5.60613958e-03 -3.16368367e-05 9.99984285e-01 -2.73994081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.195898226999999 meters Centerline goodness [0,1] 0.9995530012771392 Centerline is valid? [True, True] Translation: X:5.74, Y:0.09, Z:-0.27 [[ 9.98588408e-01 -5.28356739e-02 -5.43906476e-03 5.74037480e+00] [ 5.28351359e-02 9.98603219e-01 -2.42661115e-04 9.16306013e-02] [ 5.44428875e-03 -4.50551500e-05 9.99985179e-01 -2.74741936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.225898226999998 meters Centerline goodness [0,1] 0.9995964916006541 Centerline is valid? [True, True] Translation: X:5.77, Y:0.09, Z:-0.27 [[ 9.98483081e-01 -5.46781726e-02 -6.46799960e-03 5.77187474e+00] [ 5.46774593e-02 9.98504028e-01 -2.87199305e-04 9.16914010e-02] [ 6.47402719e-03 -6.68901378e-05 9.99979041e-01 -2.74763432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.255898227 meters Centerline goodness [0,1] 0.9998726249867318 Centerline is valid? [True, True] Translation: X:5.80, Y:0.10, Z:-0.28 [[ 9.98386280e-01 -5.62286644e-02 -7.94821166e-03 5.80424023e+00] [ 5.62276483e-02 9.98417913e-01 -3.51420482e-04 9.51479444e-02] [ 7.95539680e-03 -9.60558616e-05 9.99968351e-01 -2.75687085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.285898226999999 meters Centerline goodness [0,1] 0.9999574087482431 Centerline is valid? [True, True] Translation: X:5.84, Y:0.10, Z:-0.27 [[ 9.98422075e-01 -5.55942425e-02 -7.91461661e-03 5.83706201e+00] [ 5.55932247e-02 9.98453440e-01 -3.48716308e-04 9.93493338e-02] [ 7.92176280e-03 -9.18329998e-05 9.99968618e-01 -2.74273690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.315898226999998 meters Centerline goodness [0,1] 0.9998079139454475 Centerline is valid? [True, True] Translation: X:5.87, Y:0.10, Z:-0.27 [[ 9.98499789e-01 -5.42566188e-02 -7.37503270e-03 5.86864511e+00] [ 5.42557083e-02 9.98527022e-01 -3.23614240e-04 1.02651478e-01] [ 7.38172765e-03 -7.70088727e-05 9.99972752e-01 -2.72539140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.345898227 meters Centerline goodness [0,1] 0.9996194181326117 Centerline is valid? [True, True] Translation: X:5.90, Y:0.11, Z:-0.27 [[ 9.98652978e-01 -5.14953737e-02 -6.36048738e-03 5.90005249e+00] [ 5.14946455e-02 9.98673232e-01 -2.78308191e-04 1.06080505e-01] [ 6.36638007e-03 -4.95977387e-05 9.99979733e-01 -2.70906854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.375898226999999 meters Centerline goodness [0,1] 0.9996584407821706 Centerline is valid? [True, True] Translation: X:5.93, Y:0.11, Z:-0.27 [[ 9.98810008e-01 -4.84401279e-02 -5.66760258e-03 5.93236559e+00] [ 4.84395041e-02 9.98826088e-01 -2.47358108e-04 1.14053562e-01] [ 5.67293137e-03 -2.74721046e-05 9.99983908e-01 -2.71356324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.405898226999998 meters Centerline goodness [0,1] 0.9995769881556683 Centerline is valid? [True, True] Translation: X:5.96, Y:0.12, Z:-0.27 [[ 9.99072677e-01 -4.27254260e-02 -5.32202257e-03 5.96312447e+00] [ 4.27247994e-02 9.99086852e-01 -2.31429977e-04 1.23374501e-01] [ 5.32705072e-03 3.83301976e-06 9.99985811e-01 -2.68575659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.435898227 meters Centerline goodness [0,1] 0.9999151355709255 Centerline is valid? [True, True] Translation: X:6.00, Y:0.13, Z:-0.27 [[ 9.99173403e-01 -4.02965395e-02 -5.35727343e-03 5.99602657e+00] [ 4.02958735e-02 9.99187764e-01 -2.32237513e-04 1.27800430e-01] [ 5.36228043e-03 1.61695340e-05 9.99985623e-01 -2.67598147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.465898226999998 meters Centerline goodness [0,1] 0.9998717126363054 Centerline is valid? [True, True] Translation: X:6.03, Y:0.13, Z:-0.27 [[ 9.99252657e-01 -3.83357713e-02 -4.94939658e-03 6.02891011e+00] [ 3.83351826e-02 9.99264914e-01 -2.13780070e-04 1.31011536e-01] [ 4.95395377e-03 2.38842812e-05 9.99987729e-01 -2.67337880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.495898227 meters Centerline goodness [0,1] 0.999701854888515 Centerline is valid? [True, True] Translation: X:6.06, Y:0.13, Z:-0.27 [[ 9.99326007e-01 -3.64843620e-02 -4.05252584e-03 6.06046720e+00] [ 3.64839560e-02 9.99334224e-01 -1.74096384e-04 1.34078629e-01] [ 4.05617956e-03 2.61268697e-05 9.99991773e-01 -2.65449978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.525898226999999 meters Centerline goodness [0,1] 0.9997877984084881 Centerline is valid? [True, True] Translation: X:6.09, Y:0.14, Z:-0.26 [[ 9.99385800e-01 -3.49170089e-02 -2.97073384e-03 6.09316967e+00] [ 3.49167826e-02 9.99390215e-01 -1.28002912e-04 1.36466856e-01] [ 2.97339181e-03 2.41958247e-05 9.99995579e-01 -2.64214476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.555898226999998 meters Centerline goodness [0,1] 0.9998931989063568 Centerline is valid? [True, True] Translation: X:6.13, Y:0.14, Z:-0.26 [[ 9.99490425e-01 -3.18498274e-02 -2.11647187e-03 6.12554374e+00] [ 3.18497054e-02 9.99492665e-01 -9.12884302e-05 1.38616255e-01] [ 2.11830563e-03 2.38329063e-05 9.99997756e-01 -2.63858019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.585898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.16, Y:0.14, Z:-0.26 [[ 9.99534290e-01 -3.04681854e-02 -1.70064536e-03 6.15716258e+00] [ 3.04681049e-02 9.99535737e-01 -7.32676573e-05 1.42153498e-01] [ 1.70208814e-03 2.14180948e-05 9.99998551e-01 -2.62818714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.615898226999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.19, Y:0.14, Z:-0.26 [[ 9.99566661e-01 -2.93977063e-02 -1.50512908e-03 6.18945706e+00] [ 2.93976421e-02 9.99567794e-01 -6.48067355e-05 1.44002176e-01] [ 1.50638373e-03 2.05314061e-05 9.99998865e-01 -2.61519717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.645898226999998 meters Centerline goodness [0,1] 0.9995985463150777 Centerline is valid? [True, True] Translation: X:6.22, Y:0.14, Z:-0.26 [[ 9.99594334e-01 -2.84751790e-02 -5.75775839e-04 6.22213978e+00] [ 2.84751689e-02 9.99594500e-01 -2.56150038e-05 1.43534204e-01] [ 5.76271754e-04 9.20929839e-06 9.99999834e-01 -2.61913206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.675898227 meters Centerline goodness [0,1] 0.9995336512983571 Centerline is valid? [True, True] Translation: X:6.26, Y:0.14, Z:-0.26 [[ 9.99597188e-01 -2.83646329e-02 -9.53778102e-04 6.25532056e+00] [ 2.83646062e-02 9.99597643e-01 -4.15075512e-05 1.43738844e-01] [ 9.54571689e-04 1.44372911e-05 9.99999544e-01 -2.62660287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.705898226999999 meters Centerline goodness [0,1] 0.999936565665109 Centerline is valid? [True, True] Translation: X:6.29, Y:0.14, Z:-0.26 [[ 9.99606038e-01 -2.79984307e-02 -1.96381948e-03 6.28638708e+00] [ 2.79983223e-02 9.99607967e-01 -8.26618990e-05 1.44628100e-01] [ 1.96536400e-03 2.76456827e-05 9.99998068e-01 -2.63025347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.735898226999998 meters Centerline goodness [0,1] 0.9998939779474131 Centerline is valid? [True, True] Translation: X:6.32, Y:0.14, Z:-0.26 [[ 9.99600470e-01 -2.80870478e-02 -3.16526951e-03 6.31912857e+00] [ 2.80867679e-02 9.99605480e-01 -1.32841104e-04 1.44768785e-01] [ 3.16775187e-03 4.38858395e-05 9.99994982e-01 -2.64352690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.765898227 meters Centerline goodness [0,1] 0.9999788659466999 Centerline is valid? [True, True] Translation: X:6.35, Y:0.15, Z:-0.27 [[ 9.99581244e-01 -2.83378485e-02 -5.85691418e-03 6.35038794e+00] [ 2.83369075e-02 9.99598400e-01 -2.43603672e-04 1.45049120e-01] [ 5.86146524e-03 7.75348264e-05 9.99982818e-01 -2.66389849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.795898226999999 meters Centerline goodness [0,1] 0.9997045540877052 Centerline is valid? [True, True] Translation: X:6.38, Y:0.15, Z:-0.27 [[ 9.99577059e-01 -2.83619612e-02 -6.42662219e-03 6.38272866e+00] [ 2.83608354e-02 9.99597715e-01 -2.66266560e-04 1.45903880e-01] [ 6.43158870e-03 8.38895707e-05 9.99979314e-01 -2.67372672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.825898227 meters Centerline goodness [0,1] 0.9999788619261013 Centerline is valid? [True, True] Translation: X:6.42, Y:0.15, Z:-0.27 [[ 9.99576793e-01 -2.83172033e-02 -6.66114016e-03 6.41574504e+00] [ 2.83160006e-02 9.99598984e-01 -2.74814980e-04 1.45797236e-01] [ 6.66625092e-03 8.60818272e-05 9.99977777e-01 -2.67772417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.855898226999999 meters Centerline goodness [0,1] 0.9996591611102826 Centerline is valid? [True, True] Translation: X:6.45, Y:0.14, Z:-0.27 [[ 9.99578582e-01 -2.83439915e-02 -6.26702358e-03 6.44862109e+00] [ 2.83429339e-02 9.99598225e-01 -2.57531092e-04 1.44727245e-01] [ 6.27180511e-03 7.97967286e-05 9.99980329e-01 -2.68160112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.885898226999998 meters Centerline goodness [0,1] 0.9998936894029596 Centerline is valid? [True, True] Translation: X:6.48, Y:0.15, Z:-0.27 [[ 9.99607658e-01 -2.73855550e-02 -5.87890187e-03 6.48002061e+00] [ 2.73846143e-02 9.99624942e-01 -2.40471383e-04 1.47909708e-01] [ 5.88328238e-03 7.93855758e-05 9.99982690e-01 -2.66111534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.915898227 meters Centerline goodness [0,1] 0.9996805315954252 Centerline is valid? [True, True] Translation: X:6.51, Y:0.15, Z:-0.27 [[ 9.99657198e-01 -2.53099555e-02 -6.70025445e-03 6.51244398e+00] [ 2.53086948e-02 9.99679646e-01 -2.72892660e-04 1.49520394e-01] [ 6.70501490e-03 1.03224416e-04 9.99977516e-01 -2.67415854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.945898226999999 meters Centerline goodness [0,1] 0.9998937345915158 Centerline is valid? [True, True] Translation: X:6.54, Y:0.15, Z:-0.27 [[ 9.99682827e-01 -2.39799019e-02 -7.69477156e-03 6.54411381e+00] [ 2.39782114e-02 9.99712433e-01 -3.11886777e-04 1.52315692e-01] [ 7.70003781e-03 1.27280996e-04 9.99970346e-01 -2.68251347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.975898226999998 meters Centerline goodness [0,1] 0.9998723702963136 Centerline is valid? [True, True] Translation: X:6.58, Y:0.15, Z:-0.27 [[ 9.99697404e-01 -2.32292728e-02 -8.09328712e-03 6.57676897e+00] [ 2.32273894e-02 9.99730154e-01 -3.26645401e-04 1.53329955e-01] [ 8.09869092e-03 1.38560628e-04 9.99967195e-01 -2.68721695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.005898227 meters Centerline goodness [0,1] 0.9998724815098189 Centerline is valid? [True, True] Translation: X:6.61, Y:0.15, Z:-0.27 [[ 9.99726765e-01 -2.20048098e-02 -7.88560325e-03 6.60887699e+00] [ 2.20029865e-02 9.99757854e-01 -3.17904395e-04 1.54656333e-01] [ 7.89068921e-03 1.44310710e-04 9.99968858e-01 -2.66667998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.035898226999999 meters Centerline goodness [0,1] 0.9997453472826433 Centerline is valid? [True, True] Translation: X:6.64, Y:0.16, Z:-0.27 [[ 9.99753658e-01 -2.11282894e-02 -6.79848882e-03 6.64064170e+00] [ 2.11269158e-02 9.99776764e-01 -2.73816886e-04 1.55923257e-01] [ 6.80275644e-03 1.30118332e-04 9.99976853e-01 -2.65662279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.065898226999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.67, Y:0.16, Z:-0.26 [[ 9.99816096e-01 -1.81042951e-02 -6.32525613e-03 6.67297876e+00] [ 1.81030470e-02 9.99836094e-01 -2.54525057e-04 1.61938175e-01] [ 6.32882738e-03 1.39971840e-04 9.99979963e-01 -2.61444449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.095898227 meters Centerline goodness [0,1] 0.9995730965442166 Centerline is valid? [True, True] Translation: X:6.70, Y:0.16, Z:-0.26 [[ 9.99824906e-01 -1.75843527e-02 -6.39898749e-03 6.70420339e+00] [ 1.75830676e-02 9.99845373e-01 -2.57035441e-04 1.64699210e-01] [ 6.40251784e-03 1.44476606e-04 9.99979493e-01 -2.61664508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.125898226999999 meters Centerline goodness [0,1] 0.9999787202349286 Centerline is valid? [True, True] Translation: X:6.74, Y:0.16, Z:-0.26 [[ 9.99849199e-01 -1.62417728e-02 -6.14687082e-03 6.73653949e+00] [ 1.62405627e-02 9.99868083e-01 -2.46731900e-04 1.64450469e-01] [ 6.15006731e-03 1.46866052e-04 9.99981077e-01 -2.61476397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.155898226999998 meters Centerline goodness [0,1] 0.9996838644410724 Centerline is valid? [True, True] Translation: X:6.77, Y:0.17, Z:-0.26 [[ 9.99869843e-01 -1.52372657e-02 -5.30309455e-03 6.76780991e+00] [ 1.52363522e-02 9.99883897e-01 -2.12615474e-04 1.69608406e-01] [ 5.30571853e-03 1.31787985e-04 9.99985916e-01 -2.61733899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.185898227 meters Centerline goodness [0,1] 0.9995341055886152 Centerline is valid? [True, True] Translation: X:6.80, Y:0.17, Z:-0.26 [[ 9.99896752e-01 -1.36526330e-02 -4.48220153e-03 6.79999778e+00] [ 1.36519648e-02 9.99906791e-01 -1.79638348e-04 1.71275812e-01] [ 4.48423628e-03 1.18428943e-04 9.99989939e-01 -2.60535515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.215898226999998 meters Centerline goodness [0,1] 0.9997248269584912 Centerline is valid? [True, True] Translation: X:6.83, Y:0.18, Z:-0.26 [[ 9.99936122e-01 -1.04336070e-02 -4.34640464e-03 6.83002447e+00] [ 1.04329498e-02 9.99945560e-01 -1.73836297e-04 1.77772740e-01] [ 4.34798177e-03 1.28479371e-04 9.99990539e-01 -2.58745726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.245898227 meters Centerline goodness [0,1] 0.9996210047584958 Centerline is valid? [True, True] Translation: X:6.86, Y:0.18, Z:-0.26 [[ 9.99951972e-01 -8.80742655e-03 -4.29922013e-03 6.86106623e+00] [ 8.80676834e-03 9.99961205e-01 -1.72006738e-04 1.81402789e-01] [ 4.30056828e-03 1.34136241e-04 9.99990744e-01 -2.57599003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.275898226999999 meters Centerline goodness [0,1] 0.9994294046788816 Centerline is valid? [True, True] Translation: X:6.89, Y:0.18, Z:-0.26 [[ 9.99959345e-01 -7.94016652e-03 -4.27333717e-03 6.89340195e+00] [ 7.93950868e-03 9.99968467e-01 -1.70882342e-04 1.81296726e-01] [ 4.27455926e-03 1.36947197e-04 9.99990855e-01 -2.57010367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.305898226999998 meters Centerline goodness [0,1] 0.9994491758823779 Centerline is valid? [True, True] Translation: X:6.93, Y:0.18, Z:-0.26 [[ 9.99958881e-01 -8.07963727e-03 -4.11765948e-03 6.92618877e+00] [ 8.07902805e-03 9.99967351e-01 -1.64565227e-04 1.80862039e-01] [ 4.11885467e-03 1.31291774e-04 9.99991509e-01 -2.56492416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.335898227 meters Centerline goodness [0,1] 0.9997682600543536 Centerline is valid? [True, True] Translation: X:6.96, Y:0.18, Z:-0.26 [[ 9.99940644e-01 -9.91315450e-03 -4.52090906e-03 6.95682030e+00] [ 9.91244040e-03 9.99950854e-01 -1.80335103e-04 1.81502817e-01] [ 4.52247457e-03 1.35511157e-04 9.99989764e-01 -2.57206096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.365898226999999 meters Centerline goodness [0,1] 0.9996423386842271 Centerline is valid? [True, True] Translation: X:6.99, Y:0.18, Z:-0.26 [[ 9.99941441e-01 -1.00927723e-02 -3.90516624e-03 6.98925084e+00] [ 1.00922421e-02 9.99949060e-01 -1.55457463e-04 1.81468274e-01] [ 3.90653631e-03 1.16036476e-04 9.99992363e-01 -2.56193179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.395898226999998 meters Centerline goodness [0,1] 0.9995334139254735 Centerline is valid? [True, True] Translation: X:7.02, Y:0.18, Z:-0.26 [[ 9.99947390e-01 -9.86130371e-03 -2.82346536e-03 7.02194062e+00] [ 9.86102566e-03 9.99951373e-01 -1.12385236e-04 1.79466530e-01] [ 2.82443633e-03 8.45370592e-05 9.99996008e-01 -2.55559192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.425898227 meters Centerline goodness [0,1] 0.9996803954573541 Centerline is valid? [True, True] Translation: X:7.05, Y:0.18, Z:-0.25 [[ 9.99972520e-01 -6.55673946e-03 -3.45952591e-03 7.05310142e+00] [ 6.55630361e-03 9.99978498e-01 -1.37311411e-04 1.81840475e-01] [ 3.46035183e-03 1.14625936e-04 9.99994006e-01 -2.52443833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.455898226999999 meters Centerline goodness [0,1] 0.9991582845839821 Centerline is valid? [True, True] Translation: X:7.08, Y:0.19, Z:-0.25 [[ 9.99977749e-01 -3.82663158e-03 -5.46420476e-03 7.08304722e+00] [ 3.82550425e-03 9.99992659e-01 -2.16749090e-04 1.86153354e-01] [ 5.46499406e-03 1.95840928e-04 9.99985048e-01 -2.54413134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.485898226999998 meters Centerline goodness [0,1] 0.9989832877930991 Centerline is valid? [True, True] Translation: X:7.11, Y:0.19, Z:-0.26 [[ 9.99971104e-01 -2.96637975e-04 -7.59620321e-03 7.11345971e+00] [ 2.94362953e-04 9.99999911e-01 -3.00610816e-04 1.87742822e-01] [ 7.59629171e-03 2.98366089e-04 9.99971103e-01 -2.57485223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.515898227 meters Centerline goodness [0,1] 0.9986164914222468 Centerline is valid? [True, True] Translation: X:7.14, Y:0.19, Z:-0.26 [[ 9.99959386e-01 3.52683495e-03 -8.29389956e-03 7.14363351e+00] [-3.52967680e-03 9.99993717e-01 -3.28030145e-04 1.92459786e-01] [ 8.29269054e-03 3.57291607e-04 9.99965551e-01 -2.57962519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.545898226999999 meters Centerline goodness [0,1] 0.9984633115635805 Centerline is valid? [True, True] Translation: X:7.17, Y:0.19, Z:-0.26 [[ 9.99947989e-01 7.05347206e-03 -7.36669208e-03 7.17361544e+00] [-7.05581008e-03 9.99975065e-01 -2.91435692e-04 1.94704758e-01] [ 7.36445276e-03 3.43398514e-04 9.99972823e-01 -2.58220625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.575898226999998 meters Centerline goodness [0,1] 0.9984633115635805 Centerline is valid? [True, True] Translation: X:7.20, Y:0.20, Z:-0.26 [[ 9.99948514e-01 6.97866110e-03 -7.36669225e-03 7.20104214e+00] [-6.98099707e-03 9.99975590e-01 -2.91431532e-04 1.95903948e-01] [ 7.36447862e-03 3.42843384e-04 9.99972823e-01 -2.57975977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.605898226999999 meters Centerline goodness [0,1] 0.9374055227916285 Centerline is valid? [True, False] Translation: X:7.20, Y:0.20, Z:-0.26 [[ 9.99945660e-01 7.45851218e-03 -7.28335298e-03 7.20043881e+00] [-7.46405843e-03 9.99971874e-01 -7.34612225e-04 1.99820685e-01] [ 7.27766901e-03 7.88935679e-04 9.99973206e-01 -2.57094955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.635898226999998 meters Centerline goodness [0,1] 0.933736607808473 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:-0.26 [[ 9.99945016e-01 7.45979052e-03 -7.36994219e-03 7.20070701e+00] [-7.46718912e-03 9.99971643e-01 -9.76880912e-04 2.01263986e-01] [ 7.36244587e-03 1.03185995e-03 9.99972364e-01 -2.57151291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.665898227 meters Centerline goodness [0,1] 0.8699186991869918 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:-0.26 [[ 9.99944130e-01 7.51737552e-03 -7.43138632e-03 7.20115127e+00] [-7.52508747e-03 9.99971176e-01 -1.01033842e-03 2.01696941e-01] [ 7.42357702e-03 1.06620380e-03 9.99971876e-01 -2.57611986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.695898226999999 meters Centerline goodness [0,1] 0.8897826640631632 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:-0.26 [[ 9.99944620e-01 7.49928694e-03 -7.38356117e-03 7.20092747e+00] [-7.50727382e-03 9.99971264e-01 -1.05459041e-03 2.01760672e-01] [ 7.37544032e-03 1.10996243e-03 9.99972185e-01 -2.57505144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.725898226999998 meters Centerline goodness [0,1] 0.8635181150990885 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:-0.26 [[ 9.99945022e-01 7.52015418e-03 -7.30759095e-03 7.20074544e+00] [-7.52739147e-03 9.99971205e-01 -9.63380354e-04 2.01187924e-01] [ 7.30013576e-03 1.01833449e-03 9.99972835e-01 -2.57569255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.755898227 meters Centerline goodness [0,1] 0.8906382617552199 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:-0.26 [[ 9.99947461e-01 7.50472855e-03 -6.98239577e-03 7.19957510e+00] [-7.50894079e-03 9.99971641e-01 -5.77244972e-04 1.98447753e-01] [ 6.97786569e-03 6.29645041e-04 9.99975456e-01 -2.57331435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.785898226999999 meters Centerline goodness [0,1] 0.9758557716809649 Centerline is valid? [False, True] Translation: X:7.20, Y:0.20, Z:-0.26 [[ 9.99969509e-01 3.36138240e-03 -7.04851792e-03 7.19859854e+00] [-3.39717052e-03 9.99981369e-01 -5.07158461e-03 1.99953920e-01] [ 7.03133906e-03 5.09537499e-03 9.99962298e-01 -2.55388112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.815898226999998 meters Centerline goodness [0,1] 0.9768163369387365 Centerline is valid? [True, True] Translation: X:7.23, Y:0.20, Z:-0.26 [[ 9.99968892e-01 2.52683174e-03 -7.47196099e-03 7.22625216e+00] [-2.52976689e-03 9.99996727e-01 -3.83397020e-04 1.96748719e-01] [ 7.47096775e-03 4.02287413e-04 9.99972011e-01 -2.59564988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.845898227 meters Centerline goodness [0,1] 0.9868868590497786 Centerline is valid? [True, True] Translation: X:7.26, Y:0.19, Z:-0.26 [[ 9.99961526e-01 1.63190898e-03 -8.61873337e-03 7.25568732e+00] [-1.63578761e-03 9.99998564e-01 -4.42993248e-04 1.93413953e-01] [ 8.61799807e-03 4.57074621e-04 9.99962760e-01 -2.61135075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.875898226999999 meters Centerline goodness [0,1] 0.9926797608154406 Centerline is valid? [True, True] Translation: X:7.29, Y:0.19, Z:-0.26 [[ 9.99949944e-01 -3.89728083e-05 -1.00053730e-02 7.28549268e+00] [ 3.38242412e-05 9.99999867e-01 -5.14748933e-04 1.86658224e-01] [ 1.00053917e-02 5.14384743e-04 9.99949813e-01 -2.63559495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.905898226999998 meters Centerline goodness [0,1] 0.9769899836250345 Centerline is valid? [True, True] Translation: X:7.31, Y:0.19, Z:-0.26 [[ 9.99952094e-01 -1.15999718e-03 -9.71931436e-03 7.31375806e+00] [ 1.15518999e-03 9.99999208e-01 -5.00200858e-04 1.88688952e-01] [ 9.71988689e-03 4.88949240e-04 9.99952641e-01 -2.63041717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.935898227 meters Centerline goodness [0,1] 0.9815958707057032 Centerline is valid? [True, True] Translation: X:7.34, Y:0.19, Z:-0.26 [[ 9.99959867e-01 -1.76499907e-03 -8.78346770e-03 7.34312603e+00] [ 1.76109263e-03 9.99998347e-01 -4.52463738e-04 1.86537585e-01] [ 8.78425178e-03 4.36977079e-04 9.99961322e-01 -2.60875204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.965898226999998 meters Centerline goodness [0,1] 0.984057816983739 Centerline is valid? [True, True] Translation: X:7.37, Y:0.19, Z:-0.26 [[ 9.99959264e-01 -2.33405521e-03 -8.71904153e-03 7.37184267e+00] [ 2.33022903e-03 9.99997184e-01 -4.48963981e-04 1.86000786e-01] [ 8.72006488e-03 4.28628329e-04 9.99961888e-01 -2.59130136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.995898227 meters Centerline goodness [0,1] 0.9881428783162888 Centerline is valid? [True, True] Translation: X:7.40, Y:0.18, Z:-0.26 [[ 9.99959537e-01 -2.02811812e-03 -8.76419414e-03 7.40101825e+00] [ 2.02422742e-03 9.99997849e-01 -4.52779054e-04 1.84544744e-01] [ 8.76509358e-03 4.35020012e-04 9.99961491e-01 -2.58305376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.025898226999999 meters Centerline goodness [0,1] 0.991537346521146 Centerline is valid? [True, True] Translation: X:7.43, Y:0.18, Z:-0.26 [[ 9.99948975e-01 -7.27710316e-04 -1.00756290e-02 7.43107346e+00] [ 7.22478104e-04 9.99999602e-01 -5.22923902e-04 1.79354273e-01] [ 1.00760055e-02 5.15617798e-04 9.99949103e-01 -2.60748502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.055898226999998 meters Centerline goodness [0,1] 0.9550327575938058 Centerline is valid? [True, True] Translation: X:7.46, Y:0.18, Z:-0.26 [[ 9.99947515e-01 -2.28769318e-04 -1.02428238e-02 7.45822424e+00] [ 2.23334345e-04 9.99999834e-01 -5.31753398e-04 1.83288703e-01] [ 1.02429437e-02 5.29437915e-04 9.99947400e-01 -2.60949884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.085898227 meters Centerline goodness [0,1] 0.9938574414537389 Centerline is valid? [True, True] Translation: X:7.49, Y:0.17, Z:-0.26 [[ 9.99946627e-01 9.41594665e-05 -1.03312329e-02 7.48753679e+00] [-9.97116386e-05 9.99999851e-01 -5.36902452e-04 1.74975778e-01] [ 1.03311808e-02 5.37903940e-04 9.99946487e-01 -2.60829436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.115898226999999 meters Centerline goodness [0,1] 0.9602128200780058 Centerline is valid? [True, True] Translation: X:7.52, Y:0.18, Z:-0.26 [[ 9.99948813e-01 5.25095191e-04 -1.01042770e-02 7.51554674e+00] [-5.30448421e-04 9.99999720e-01 -5.27125771e-04 1.78348953e-01] [ 1.01039974e-02 5.32458587e-04 9.99948812e-01 -2.58641045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.145898226999998 meters Centerline goodness [0,1] 0.8938656280428432 Centerline is valid? [True, False] Translation: X:7.52, Y:0.18, Z:-0.26 [[ 9.99949728e-01 7.20154012e-04 -1.00011850e-02 7.51556531e+00] [-7.20347351e-04 9.99999740e-01 -1.57293224e-05 1.75835410e-01] [ 1.00011711e-02 2.29328588e-05 9.99949987e-01 -2.59158844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.175898227 meters Centerline goodness [0,1] 0.9636417506137306 Centerline is valid? [False, True] Translation: X:7.52, Y:0.17, Z:-0.26 [[ 9.99950447e-01 9.32659069e-04 -9.91127881e-03 7.51572541e+00] [-9.26742221e-04 9.99999390e-01 6.01557245e-04 1.72670591e-01] [ 9.91183381e-03 -5.92342235e-04 9.99950701e-01 -2.59820064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.205898226999999 meters Centerline goodness [0,1] 0.9641738908176958 Centerline is valid? [True, True] Translation: X:7.54, Y:0.17, Z:-0.26 [[ 9.99955908e-01 6.98052589e-04 -9.36455031e-03 7.54448474e+00] [-7.02592605e-04 9.99999637e-01 -4.81527736e-04 1.71079076e-01] [ 9.36421078e-03 4.88085968e-04 9.99956036e-01 -2.56960371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.235898226999998 meters Centerline goodness [0,1] 0.9722969395319284 Centerline is valid? [True, True] Translation: X:7.57, Y:0.17, Z:-0.26 [[ 9.99955079e-01 4.42646668e-04 -9.46803977e-03 7.57390331e+00] [-4.47281054e-04 9.99999781e-01 -4.87364952e-04 1.69282601e-01] [ 9.46782196e-03 4.91577934e-04 9.99955058e-01 -2.55881601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.265898227 meters Centerline goodness [0,1] 0.977306143322892 Centerline is valid? [True, True] Translation: X:7.60, Y:0.16, Z:-0.26 [[ 9.99948091e-01 7.00567911e-04 -1.01648672e-02 7.60309059e+00] [-7.05926626e-04 9.99999614e-01 -5.23601709e-04 1.64167204e-01] [ 1.01644964e-02 5.30750180e-04 9.99948199e-01 -2.56800604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.295898226999999 meters Centerline goodness [0,1] 0.9592497724337941 Centerline is valid? [True, True] Translation: X:7.63, Y:0.16, Z:-0.26 [[ 9.99950898e-01 9.33018916e-04 -9.86562673e-03 7.63063752e+00] [-9.38082212e-04 9.99999431e-01 -5.08610999e-04 1.64373982e-01] [ 9.86514657e-03 5.17840794e-04 9.99951204e-01 -2.56432975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.325898226999998 meters Centerline goodness [0,1] 0.9676469960971656 Centerline is valid? [True, True] Translation: X:7.66, Y:0.16, Z:-0.26 [[ 9.99957898e-01 1.02754220e-03 -9.11842577e-03 7.65962695e+00] [-1.03187646e-03 9.99999357e-01 -4.70637549e-04 1.61665139e-01] [ 9.11793630e-03 4.80026823e-04 9.99958316e-01 -2.55148938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.355898226999999 meters Centerline goodness [0,1] 0.9740483692412502 Centerline is valid? [True, True] Translation: X:7.69, Y:0.16, Z:-0.25 [[ 9.99966953e-01 7.51277687e-04 -8.09501637e-03 7.68803570e+00] [-7.54687189e-04 9.99999628e-01 -4.18138836e-04 1.60103483e-01] [ 8.09469922e-03 4.24234223e-04 9.99967147e-01 -2.53115637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.385898226999998 meters Centerline goodness [0,1] 0.9552131397366973 Centerline is valid? [True, True] Translation: X:7.72, Y:0.16, Z:-0.25 [[ 9.99971921e-01 8.13225448e-04 -7.44952031e-03 7.71549742e+00] [-8.16116389e-04 9.99999593e-01 -3.85039078e-04 1.62061301e-01] [ 7.44920416e-03 3.91107942e-04 9.99972178e-01 -2.50865108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.415898227 meters Centerline goodness [0,1] 0.9243437108720104 Centerline is valid? [True, False] Translation: X:7.72, Y:0.16, Z:-0.25 [[ 9.99972031e-01 8.88808955e-04 -7.42605355e-03 7.71529699e+00] [-8.90014750e-04 9.99999591e-01 -1.59070504e-04 1.60722982e-01] [ 7.42590913e-03 1.65675352e-04 9.99972414e-01 -2.50655957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.445898226999999 meters Centerline goodness [0,1] 0.9100249397821499 Centerline is valid? [False, False] Translation: X:7.72, Y:0.16, Z:-0.25 [[ 9.99971452e-01 1.13633576e-03 -7.47015281e-03 7.71602915e+00] [-1.13438998e-03 9.99999322e-01 2.64706273e-04 1.58992676e-01] [ 7.47044853e-03 -2.56224650e-04 9.99972063e-01 -2.51629300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.475898226999998 meters Centerline goodness [0,1] 0.882307626465805 Centerline is valid? [False, False] Translation: X:7.72, Y:0.16, Z:-0.25 [[ 9.99970789e-01 1.24436544e-03 -7.54146243e-03 7.71672043e+00] [-1.24086539e-03 9.99999120e-01 4.68769068e-04 1.58137379e-01] [ 7.54203912e-03 -4.59397435e-04 9.99971453e-01 -2.52418585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.505898227 meters Centerline goodness [0,1] 0.8935236237170243 Centerline is valid? [False, False] Translation: X:7.72, Y:0.16, Z:-0.26 [[ 9.99962807e-01 -1.91342388e-03 -8.40972367e-03 7.72159517e+00] [ 1.88948923e-03 9.99994145e-01 -2.85309294e-03 1.58280156e-01] [ 8.41513360e-03 2.83709674e-03 9.99960567e-01 -2.55140096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.535898226999999 meters Centerline goodness [0,1] 0.9090096417853266 Centerline is valid? [False, False] Translation: X:7.72, Y:0.16, Z:-0.26 [[ 9.99961497e-01 -1.91908293e-03 -8.56275766e-03 7.72236205e+00] [ 1.89603416e-03 9.99994560e-01 -2.69905231e-03 1.57549040e-01] [ 8.56789078e-03 2.68271311e-03 9.99959696e-01 -2.55610313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.565898226999998 meters Centerline goodness [0,1] 0.9818813548483363 Centerline is valid? [False, True] Translation: X:7.72, Y:0.16, Z:-0.26 [[ 9.99959565e-01 -2.00189060e-03 -8.76704445e-03 7.72262632e+00] [ 1.97849065e-03 9.99994460e-01 -2.67694072e-03 1.57186226e-01] [ 8.77235482e-03 2.65948696e-03 9.99957986e-01 -2.55026818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.595898227 meters Centerline goodness [0,1] 0.9588817186040588 Centerline is valid? [True, True] Translation: X:7.75, Y:0.16, Z:-0.26 [[ 9.99956674e-01 -4.32032217e-03 -8.24530389e-03 7.75157345e+00] [ 4.31685388e-03 9.99990586e-01 -4.38389646e-04 1.61748981e-01] [ 8.24712026e-03 4.02776880e-04 9.99965911e-01 -2.55826425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.625898226999999 meters Centerline goodness [0,1] 0.9830891834189444 Centerline is valid? [True, True] Translation: X:7.78, Y:0.16, Z:-0.25 [[ 9.99951787e-01 -6.98850359e-03 -6.89814097e-03 7.78213673e+00] [ 6.98613820e-03 9.99975529e-01 -3.66939004e-04 1.58309982e-01] [ 6.90053652e-03 3.18729947e-04 9.99976140e-01 -2.54216059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.655898226999998 meters Centerline goodness [0,1] 0.9990854955338154 Centerline is valid? [True, True] Translation: X:7.81, Y:0.15, Z:-0.25 [[ 9.99930378e-01 -1.05576470e-02 -5.27017102e-03 7.81333185e+00] [ 1.05563155e-02 9.99944241e-01 -2.80399087e-04 1.47667818e-01] [ 5.27283751e-03 2.24745977e-04 9.99986073e-01 -2.53204701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.685898227 meters Centerline goodness [0,1] 0.9995741690974514 Centerline is valid? [True, True] Translation: X:7.84, Y:0.14, Z:-0.25 [[ 9.99811665e-01 -1.92137369e-02 -2.73273541e-03 7.84336719e+00] [ 1.92134113e-02 9.99815395e-01 -1.45372720e-04 1.40580598e-01] [ 2.73502409e-03 9.28401713e-05 9.99996256e-01 -2.48568154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.715898226999998 meters Centerline goodness [0,1] 0.9997240852364377 Centerline is valid? [True, True] Translation: X:7.87, Y:0.14, Z:-0.25 [[ 9.99731734e-01 -2.30162659e-02 -2.59069443e-03 7.87447736e+00] [ 2.30159860e-02 9.99735088e-01 -1.37827267e-04 1.38452093e-01] [ 2.59318039e-03 7.81629057e-05 9.99996635e-01 -2.46772132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.745898227 meters Centerline goodness [0,1] 0.9997250946308867 Centerline is valid? [True, True] Translation: X:7.91, Y:0.14, Z:-0.25 [[ 9.99639676e-01 -2.66128695e-02 -3.50338531e-03 7.90503565e+00] [ 2.66123797e-02 9.99645811e-01 -1.86341410e-04 1.39187918e-01] [ 3.50710353e-03 9.30408468e-05 9.99993846e-01 -2.47111962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.775898226999999 meters Centerline goodness [0,1] 0.9999146994220885 Centerline is valid? [True, True] Translation: X:7.94, Y:0.13, Z:-0.25 [[ 9.99561654e-01 -2.92136595e-02 -4.80222915e-03 7.93717597e+00] [ 2.92127700e-02 9.99573183e-01 -2.55283745e-04 1.34012699e-01] [ 4.80763725e-03 1.14885427e-04 9.99988437e-01 -2.49528717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.805898226999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.97, Y:0.13, Z:-0.25 [[ 9.99407789e-01 -3.39009764e-02 -5.89874871e-03 7.96856981e+00] [ 3.38997178e-02 9.99425190e-01 -3.13255302e-04 1.31452842e-01] [ 5.90597771e-03 1.13103873e-04 9.99982553e-01 -2.50586244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.835898227 meters Centerline goodness [0,1] 0.9997867303631982 Centerline is valid? [True, True] Translation: X:8.00, Y:0.13, Z:-0.25 [[ 9.99344810e-01 -3.56783958e-02 -6.08298020e-03 8.00102491e+00] [ 3.56770888e-02 9.99363318e-01 -3.23260971e-04 1.33349142e-01] [ 6.09064071e-03 1.06026149e-04 9.99981446e-01 -2.49570756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.865898226999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.03, Y:0.14, Z:-0.25 [[ 9.99298790e-01 -3.70341693e-02 -5.51344216e-03 8.03193552e+00] [ 3.70331209e-02 9.99313996e-01 -2.92164411e-04 1.35652551e-01] [ 5.52047998e-03 8.77795723e-05 9.99984758e-01 -2.48687901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.895898226999998 meters Centerline goodness [0,1] 0.9999147993524751 Centerline is valid? [True, True] Translation: X:8.06, Y:0.13, Z:-0.25 [[ 9.99232350e-01 -3.88601491e-02 -4.95973396e-03 8.06447278e+00] [ 3.88593261e-02 9.99244657e-01 -2.62238173e-04 1.34812760e-01] [ 4.96617828e-03 6.93049464e-05 9.99987666e-01 -2.48911913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.925898227 meters Centerline goodness [0,1] 0.9999787487249235 Centerline is valid? [True, True] Translation: X:8.10, Y:0.13, Z:-0.25 [[ 9.99069300e-01 -4.29613694e-02 -3.85404645e-03 8.09694626e+00] [ 4.29609041e-02 9.99076733e-01 -2.03464600e-04 1.32485401e-01] [ 3.85922926e-03 3.77019156e-05 9.99992552e-01 -2.48836770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.955898226999999 meters Centerline goodness [0,1] 0.9998938135791196 Centerline is valid? [True, True] Translation: X:8.13, Y:0.13, Z:-0.25 [[ 9.98967658e-01 -4.52307091e-02 -4.21908809e-03 8.12847653e+00] [ 4.52301756e-02 9.98976567e-01 -2.21814033e-04 1.33265974e-01] [ 4.22480294e-03 3.07549493e-05 9.99991075e-01 -2.48076946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.985898226999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.16, Y:0.13, Z:-0.25 [[ 9.98879812e-01 -4.70833412e-02 -4.72011994e-03 8.16114901e+00] [ 4.70826983e-02 9.98890964e-01 -2.47304254e-04 1.34026899e-01] [ 4.72652907e-03 2.47912442e-05 9.99988830e-01 -2.47651747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.015898227 meters Centerline goodness [0,1] 0.9998939464641751 Centerline is valid? [True, True] Translation: X:8.19, Y:0.13, Z:-0.25 [[ 9.98775242e-01 -4.91531806e-02 -5.65509915e-03 8.19388955e+00] [ 4.91522979e-02 9.98791252e-01 -2.95044309e-04 1.34704423e-01] [ 5.66276592e-03 1.67218336e-05 9.99983966e-01 -2.48497224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.045898226999999 meters Centerline goodness [0,1] 0.9996805724142337 Centerline is valid? [True, True] Translation: X:8.23, Y:0.13, Z:-0.25 [[ 9.98526556e-01 -5.38368029e-02 -6.80555634e-03 8.22763722e+00] [ 5.38356428e-02 9.98549748e-01 -3.53676465e-04 1.32016375e-01] [ 6.81472737e-03 -1.32261574e-05 9.99976779e-01 -2.51494875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.075898226999998 meters Centerline goodness [0,1] 0.9996817313812858 Centerline is valid? [True, True] Translation: X:8.26, Y:0.13, Z:-0.25 [[ 9.98394056e-01 -5.61996750e-02 -7.13476104e-03 8.25919621e+00] [ 5.61984709e-02 9.98419549e-01 -3.69295958e-04 1.31367621e-01] [ 7.14423921e-03 -3.22597711e-05 9.99974479e-01 -2.51224831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.105898226999999 meters Centerline goodness [0,1] 0.9998718961504793 Centerline is valid? [True, True] Translation: X:8.29, Y:0.13, Z:-0.25 [[ 9.98323195e-01 -5.74019956e-02 -7.47058628e-03 8.29243392e+00] [ 5.74007178e-02 9.98351145e-01 -3.85520772e-04 1.33215393e-01] [ 7.48039802e-03 -4.39426859e-05 9.99972020e-01 -2.51006342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.135898226999998 meters Centerline goodness [0,1] 0.999831273463534 Centerline is valid? [True, True] Translation: X:8.32, Y:0.13, Z:-0.25 [[ 9.98266878e-01 -5.83683387e-02 -7.50853753e-03 8.32361572e+00] [ 5.83670870e-02 9.98295114e-01 -3.85919547e-04 1.34583362e-01] [ 7.51826181e-03 -5.30007614e-05 9.99971736e-01 -2.50961414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.165898227 meters Centerline goodness [0,1] 0.9996390811430512 Centerline is valid? [True, True] Translation: X:8.36, Y:0.14, Z:-0.25 [[ 9.98238265e-01 -5.88837610e-02 -7.28480728e-03 8.35709653e+00] [ 5.88826002e-02 9.98264844e-01 -3.73911387e-04 1.36907243e-01] [ 7.29418431e-03 -5.56957400e-05 9.99973396e-01 -2.50676890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.195898226999999 meters Centerline goodness [0,1] 0.9998516226127139 Centerline is valid? [True, True] Translation: X:8.39, Y:0.14, Z:-0.25 [[ 9.98089583e-01 -6.15435262e-02 -5.43857807e-03 8.38931413e+00] [ 6.15429224e-02 9.98104399e-01 -2.78460170e-04 1.36684143e-01] [ 5.44540612e-03 -5.67777932e-05 9.99985172e-01 -2.46386048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.225898226999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.42, Y:0.14, Z:-0.24 [[ 9.97960330e-01 -6.36427877e-02 -4.97741293e-03 8.42108364e+00] [ 6.36423118e-02 9.97972741e-01 -2.54098579e-04 1.35055073e-01] [ 4.98349396e-03 -6.31937635e-05 9.99987580e-01 -2.43716263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.255898227 meters Centerline goodness [0,1] 0.9994729741124884 Centerline is valid? [True, True] Translation: X:8.45, Y:0.13, Z:-0.24 [[ 9.97758909e-01 -6.66837348e-02 -5.51712901e-03 8.45243941e+00] [ 6.66832020e-02 9.97774159e-01 -2.80660082e-04 1.32122930e-01] [ 5.52356422e-03 -8.78687308e-05 9.99984741e-01 -2.43758859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.285898226999999 meters Centerline goodness [0,1] 0.9998724679575743 Centerline is valid? [True, True] Translation: X:8.48, Y:0.12, Z:-0.25 [[ 9.97272488e-01 -7.35574187e-02 -6.07379647e-03 8.48374200e+00] [ 7.35569088e-02 9.97290974e-01 -3.07585599e-04 1.24429022e-01] [ 6.07996760e-03 -1.40023037e-04 9.99981507e-01 -2.46223325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.315898226999998 meters Centerline goodness [0,1] 0.9998520272269902 Centerline is valid? [True, True] Translation: X:8.51, Y:0.12, Z:-0.25 [[ 9.96990414e-01 -7.72672233e-02 -6.31593166e-03 8.51415629e+00] [ 7.72667471e-02 9.97010405e-01 -3.19740177e-04 1.16750128e-01] [ 6.32175502e-03 -1.69233603e-04 9.99980003e-01 -2.47029405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.345898227 meters Centerline goodness [0,1] 0.9997650225364749 Centerline is valid? [True, True] Translation: X:8.54, Y:0.11, Z:-0.25 [[ 9.96723094e-01 -8.06296921e-02 -6.47506122e-03 8.54462327e+00] [ 8.06292617e-02 9.96744107e-01 -3.27913184e-04 1.11107847e-01] [ 6.48041865e-03 -1.95240762e-04 9.99978983e-01 -2.47591016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.375898226999999 meters Centerline goodness [0,1] 0.9997668800067817 Centerline is valid? [True, True] Translation: X:8.58, Y:0.11, Z:-0.25 [[ 9.96535765e-01 -8.29233194e-02 -6.33972257e-03 8.57660529e+00] [ 8.29229538e-02 9.96555909e-01 -3.20955187e-04 1.07980373e-01] [ 6.34450267e-03 -2.05865199e-04 9.99979852e-01 -2.46970669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.405898226999998 meters Centerline goodness [0,1] 0.9997236629538304 Centerline is valid? [True, True] Translation: X:8.61, Y:0.10, Z:-0.25 [[ 9.96325462e-01 -8.53816441e-02 -6.74892716e-03 8.60712416e+00] [ 8.53812953e-02 9.96348292e-01 -3.40317740e-04 9.90841678e-02] [ 6.75333893e-03 -2.37164914e-04 9.99977168e-01 -2.46755057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.435898227 meters Centerline goodness [0,1] 0.9998300981183367 Centerline is valid? [True, True] Translation: X:8.64, Y:0.10, Z:-0.25 [[ 9.96378528e-01 -8.47484736e-02 -6.89390831e-03 8.63924188e+00] [ 8.47480924e-02 9.96402348e-01 -3.47921409e-04 1.02617331e-01] [ 6.89859223e-03 -2.37584157e-04 9.99976176e-01 -2.46571791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.465898226999998 meters Centerline goodness [0,1] 0.9998300981183367 Centerline is valid? [True, True] Translation: X:8.67, Y:0.10, Z:-0.25 [[ 9.96394220e-01 -8.45637717e-02 -6.89396234e-03 8.67188586e+00] [ 8.45633936e-02 9.96418041e-01 -3.46847053e-04 1.04145935e-01] [ 6.89859914e-03 -2.37380452e-04 9.99976176e-01 -2.46288263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.495898227 meters Centerline goodness [0,1] 0.999978769479003 Centerline is valid? [True, True] Translation: X:8.70, Y:0.10, Z:-0.24 [[ 9.96523218e-01 -8.30602886e-02 -6.51650686e-03 8.70393897e+00] [ 8.30599277e-02 9.96544501e-01 -3.26454955e-04 9.98356055e-02] [ 6.52110451e-03 -2.15940646e-04 9.99978714e-01 -2.44923755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.525898226999999 meters Centerline goodness [0,1] 0.9999787879430668 Centerline is valid? [True, True] Translation: X:8.74, Y:0.11, Z:-0.24 [[ 9.96686821e-01 -8.11169675e-02 -5.95135670e-03 8.73577877e+00] [ 8.11166320e-02 9.96704572e-01 -2.98129633e-04 1.05645544e-01] [ 5.95592781e-03 -1.85612136e-04 9.99982246e-01 -2.43156403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.555898226999998 meters Centerline goodness [0,1] 0.9999572832123025 Centerline is valid? [True, True] Translation: X:8.77, Y:0.11, Z:-0.24 [[ 9.96856754e-01 -7.90660289e-02 -5.01749238e-03 8.76769344e+00] [ 7.90657674e-02 9.96869370e-01 -2.50759299e-04 1.08517313e-01] [ 5.02161101e-03 -1.46740784e-04 9.99987381e-01 -2.41244431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.585898227 meters Centerline goodness [0,1] 0.9998093987589741 Centerline is valid? [True, True] Translation: X:8.80, Y:0.11, Z:-0.24 [[ 9.97002146e-01 -7.72260458e-02 -4.78104813e-03 8.79890588e+00] [ 7.72257909e-02 9.97013601e-01 -2.38178094e-04 1.06510446e-01] [ 4.78516356e-03 -1.31756152e-04 9.99988542e-01 -2.40771713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.615898226999999 meters Centerline goodness [0,1] 0.9997876542161256 Centerline is valid? [True, True] Translation: X:8.83, Y:0.11, Z:-0.24 [[ 9.97172169e-01 -7.49403834e-02 -5.62180437e-03 8.83026097e+00] [ 7.49400030e-02 9.97188006e-01 -2.78585621e-04 1.12062510e-01] [ 5.62687320e-03 -1.43500209e-04 9.99984159e-01 -2.43049468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.645898226999998 meters Centerline goodness [0,1] 0.999851848716375 Centerline is valid? [True, True] Translation: X:8.86, Y:0.11, Z:-0.24 [[ 9.97219458e-01 -7.42903718e-02 -5.85596540e-03 8.86159286e+00] [ 7.42899466e-02 9.97236642e-01 -2.90405509e-04 1.12253324e-01] [ 5.86135760e-03 -1.45441332e-04 9.99982812e-01 -2.42577062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.675898227 meters Centerline goodness [0,1] 0.9998517671473647 Centerline is valid? [True, True] Translation: X:8.89, Y:0.11, Z:-0.24 [[ 9.97276817e-01 -7.35137748e-02 -5.88853335e-03 8.89326456e+00] [ 7.35133366e-02 9.97294192e-01 -2.91111363e-04 1.12026147e-01] [ 5.89400080e-03 -1.42567121e-04 9.99982620e-01 -2.40858955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.705898226999999 meters Centerline goodness [0,1] 0.9998941888517374 Centerline is valid? [True, True] Translation: X:8.93, Y:0.12, Z:-0.24 [[ 9.97304928e-01 -7.30927787e-02 -6.35034074e-03 8.92518313e+00] [ 7.30922670e-02 9.97325134e-01 -3.12930336e-04 1.19203004e-01] [ 6.35622737e-03 -1.52073834e-04 9.99979787e-01 -2.40399413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.735898226999998 meters Centerline goodness [0,1] 0.9997890072792489 Centerline is valid? [True, True] Translation: X:8.96, Y:0.12, Z:-0.24 [[ 9.97280702e-01 -7.33069692e-02 -7.56893405e-03 8.95809715e+00] [ 7.33062593e-02 9.97309408e-01 -3.71550510e-04 1.23859206e-01] [ 7.57580637e-03 -1.84310088e-04 9.99971286e-01 -2.42656222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.765898227 meters Centerline goodness [0,1] 0.9999154923626222 Centerline is valid? [True, True] Translation: X:8.99, Y:0.13, Z:-0.24 [[ 9.97197904e-01 -7.44054632e-02 -7.75682005e-03 8.99040529e+00] [ 7.44047623e-02 9.97228052e-01 -3.79307017e-04 1.25538882e-01] [ 7.76354106e-03 -1.98900190e-04 9.99969843e-01 -2.43549753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.795898226999999 meters Centerline goodness [0,1] 0.9998519489858505 Centerline is valid? [True, True] Translation: X:9.02, Y:0.12, Z:-0.24 [[ 9.96719964e-01 -8.05399415e-02 -7.91395428e-03 9.02053689e+00] [ 8.05394162e-02 9.96751350e-01 -3.85576791e-04 1.21988388e-01] [ 7.91929894e-03 -2.53073172e-04 9.99968610e-01 -2.44166399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.825898226999998 meters Centerline goodness [0,1] 0.9996193054439322 Centerline is valid? [True, True] Translation: X:9.05, Y:0.12, Z:-0.24 [[ 9.96416314e-01 -8.41895744e-02 -8.16361342e-03 9.05153874e+00] [ 8.41891373e-02 9.96449713e-01 -3.97789590e-04 1.22059664e-01] [ 8.16811999e-03 -2.90923534e-04 9.99966598e-01 -2.44635918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.855898226999999 meters Centerline goodness [0,1] 0.999513443760445 Centerline is valid? [True, True] Translation: X:9.08, Y:0.12, Z:-0.24 [[ 9.96087657e-01 -8.79682400e-02 -8.42428000e-03 9.08317817e+00] [ 8.79679102e-02 9.96123224e-01 -4.10395396e-04 1.19639746e-01] [ 8.42772271e-03 -3.32276518e-04 9.99964431e-01 -2.44463772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.885898226999998 meters Centerline goodness [0,1] 0.9990908322056834 Centerline is valid? [True, True] Translation: X:9.11, Y:0.12, Z:-0.24 [[ 9.95793920e-01 -9.12654166e-02 -8.06802517e-03 9.11386622e+00] [ 9.12652236e-02 9.95826543e-01 -3.92861194e-04 1.17537078e-01] [ 8.07020826e-03 -3.45121333e-04 9.99967376e-01 -2.43895975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.915898227 meters Centerline goodness [0,1] 0.9989132982463617 Centerline is valid? [True, True] Translation: X:9.14, Y:0.12, Z:-0.24 [[ 9.95571745e-01 -9.37006737e-02 -7.55544611e-03 9.14363650e+00] [ 9.37005751e-02 9.95600355e-01 -3.67809833e-04 1.15269858e-01] [ 7.55666886e-03 -3.41768569e-04 9.99971390e-01 -2.42187406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.945898226999999 meters Centerline goodness [0,1] 0.9995750648026176 Centerline is valid? [True, True] Translation: X:9.18, Y:0.12, Z:-0.24 [[ 9.95442402e-01 -9.51070133e-02 -7.00571835e-03 9.17553875e+00] [ 9.51069627e-02 9.95467001e-01 -3.41126389e-04 1.20224799e-01] [ 7.00640494e-03 -3.26720921e-04 9.99975401e-01 -2.40409448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.975898226999998 meters Centerline goodness [0,1] 0.9991717635066258 Centerline is valid? [True, True] Translation: X:9.21, Y:0.12, Z:-0.24 [[ 9.95242422e-01 -9.70868758e-02 -8.16459540e-03 9.20617006e+00] [ 9.70868773e-02 9.95275831e-01 -3.97093691e-04 1.22471598e-01] [ 8.16457706e-03 -3.97470585e-04 9.99966590e-01 -2.40844351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.005898227 meters Centerline goodness [0,1] 0.9964704372379567 Centerline is valid? [True, True] Translation: X:9.24, Y:0.12, Z:-0.24 [[ 9.95148985e-01 -9.79472193e-02 -9.21087626e-03 9.23719504e+00] [ 9.79472595e-02 9.95191506e-01 -4.47825949e-04 1.19040527e-01] [ 9.21044913e-03 -4.56526549e-04 9.99957479e-01 -2.43062270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.035898226999999 meters Centerline goodness [0,1] 0.9983500471415102 Centerline is valid? [True, True] Translation: X:9.27, Y:0.12, Z:-0.25 [[ 9.95042326e-01 -9.89650340e-02 -9.83318924e-03 9.26921306e+00] [ 9.89651372e-02 9.95090787e-01 -4.77283144e-04 1.22995877e-01] [ 9.83215036e-03 -4.98225992e-04 9.99951539e-01 -2.45018522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.065898226999998 meters Centerline goodness [0,1] 0.9934797894781701 Centerline is valid? [True, True] Translation: X:9.30, Y:0.12, Z:-0.25 [[ 9.94948734e-01 -9.99148784e-02 -9.69710032e-03 9.30026900e+00] [ 9.99150279e-02 9.94995862e-01 -4.70259420e-04 1.18994835e-01] [ 9.69556061e-03 -5.01002034e-04 9.99952871e-01 -2.45837590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.095898227 meters Centerline goodness [0,1] 0.9888187709118631 Centerline is valid? [True, True] Translation: X:9.33, Y:0.12, Z:-0.24 [[ 9.94731909e-01 -1.02149434e-01 -8.59782411e-03 9.33071927e+00] [ 1.02149636e-01 9.94768957e-01 -4.16773879e-04 1.16181734e-01] [ 8.59542174e-03 -4.63686330e-04 9.99962951e-01 -2.44793771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.125898226999999 meters Centerline goodness [0,1] 0.9922885151694414 Centerline is valid? [True, True] Translation: X:9.36, Y:0.12, Z:-0.24 [[ 9.94659271e-01 -1.02806547e-01 -9.15145452e-03 9.36285327e+00] [ 1.02806806e-01 9.94701244e-01 -4.43436326e-04 1.18543867e-01] [ 9.14855135e-03 -4.99763755e-04 9.99958026e-01 -2.44217074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.155898226999998 meters Centerline goodness [0,1] 0.9754638826662159 Centerline is valid? [True, True] Translation: X:9.39, Y:0.12, Z:-0.24 [[ 9.94591692e-01 -1.03346336e-01 -1.03392607e-02 9.39470809e+00] [ 1.03346713e-01 9.94645267e-01 -4.99214901e-04 1.15574009e-01] [ 1.03354887e-02 -5.72013611e-04 9.99946424e-01 -2.44398456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.185898227 meters Centerline goodness [0,1] 0.9725017477702689 Centerline is valid? [True, True] Translation: X:9.43, Y:0.12, Z:-0.24 [[ 9.94572895e-01 -1.03440683e-01 -1.11705695e-02 9.42689214e+00] [ 1.03441149e-01 9.94635431e-01 -5.37609959e-04 1.16823648e-01] [ 1.11662549e-02 -6.20804250e-04 9.99937463e-01 -2.44392219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.215898226999998 meters Centerline goodness [0,1] 0.9714030953442456 Centerline is valid? [True, True] Translation: X:9.46, Y:0.12, Z:-0.25 [[ 9.94664023e-01 -1.02446072e-01 -1.21772151e-02 9.45925427e+00] [ 1.02446575e-01 9.94738336e-01 -5.84049177e-04 1.16699495e-01] [ 1.21729762e-02 -6.66581277e-04 9.99925684e-01 -2.45269809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.245898226999998 meters Centerline goodness [0,1] 0.9788681182358728 Centerline is valid? [True, True] Translation: X:9.49, Y:0.12, Z:-0.25 [[ 9.94757735e-01 -1.01584213e-01 -1.17344456e-02 9.49190954e+00] [ 1.01584639e-01 9.94826742e-01 -5.61347168e-04 1.18244400e-01] [ 1.17307643e-02 -6.33634976e-04 9.99930991e-01 -2.45441741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.275898226999999 meters Centerline goodness [0,1] 0.989202657807309 Centerline is valid? [True, True] Translation: X:9.52, Y:0.12, Z:-0.24 [[ 9.94909133e-01 -1.00220358e-01 -1.05686645e-02 9.52291780e+00] [ 1.00220631e-01 9.94965110e-01 -5.05102485e-04 1.20408308e-01] [ 1.05660740e-02 -5.56667149e-04 9.99944023e-01 -2.43928957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.305898226999998 meters Centerline goodness [0,1] 0.9908736712827679 Centerline is valid? [True, True] Translation: X:9.55, Y:0.12, Z:-0.24 [[ 9.95076682e-01 -9.86708914e-02 -9.29792247e-03 9.55440548e+00] [ 9.86710371e-02 9.95120007e-01 -4.44171756e-04 1.21815097e-01] [ 9.29637550e-03 -4.75450695e-04 9.99956675e-01 -2.41486966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.335898227 meters Centerline goodness [0,1] 0.9985333815121049 Centerline is valid? [True, True] Translation: X:9.58, Y:0.14, Z:-0.24 [[ 9.95449627e-01 -9.49019127e-02 -8.58300374e-03 9.58454290e+00] [ 9.49019004e-02 9.95486545e-01 -4.09638085e-04 1.36197815e-01] [ 8.58314018e-03 -4.06769288e-04 9.99963081e-01 -2.38059050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.365898226999999 meters Centerline goodness [0,1] 0.9991494428850898 Centerline is valid? [True, True] Translation: X:9.61, Y:0.14, Z:-0.24 [[ 9.95662814e-01 -9.26322116e-02 -8.65071629e-03 9.61497517e+00] [ 9.26321142e-02 9.95700317e-01 -4.12799473e-04 1.37501354e-01] [ 8.65175948e-03 -3.90325055e-04 9.99962497e-01 -2.38412950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.395898226999998 meters Centerline goodness [0,1] 0.997833084383481 Centerline is valid? [True, True] Translation: X:9.65, Y:0.14, Z:-0.24 [[ 9.95787404e-01 -9.12264688e-02 -9.22916643e-03 9.64530878e+00] [ 9.12262988e-02 9.95830090e-01 -4.40279510e-04 1.36986961e-01] [ 9.23084679e-03 -4.03517904e-04 9.99957313e-01 -2.39806878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.425898227 meters Centerline goodness [0,1] 0.9991924687081625 Centerline is valid? [True, True] Translation: X:9.68, Y:0.15, Z:-0.24 [[ 9.95819162e-01 -9.08628143e-02 -9.38859697e-03 9.67769270e+00] [ 9.08626242e-02 9.95863336e-01 -4.47675580e-04 1.45951865e-01] [ 9.39043656e-03 -4.07268637e-04 9.99955826e-01 -2.40634069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.455898226999999 meters Centerline goodness [0,1] 0.9947122531322998 Centerline is valid? [True, True] Translation: X:9.71, Y:0.14, Z:-0.24 [[ 9.95572718e-01 -9.36402385e-02 -8.15282135e-03 9.70845729e+00] [ 9.36401979e-02 9.95606028e-01 -3.87544285e-04 1.37466414e-01] [ 8.15328782e-03 -3.77603288e-04 9.99966690e-01 -2.39138595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.485898226999998 meters Centerline goodness [0,1] 0.9986778692370026 Centerline is valid? [True, True] Translation: X:9.74, Y:0.15, Z:-0.24 [[ 9.95416920e-01 -9.54071855e-02 -6.52876958e-03 9.73961833e+00] [ 9.54071976e-02 9.95438281e-01 -3.10314683e-04 1.45660246e-01] [ 6.52859342e-03 -3.13999124e-04 9.99978639e-01 -2.36577761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.515898227 meters Centerline goodness [0,1] 0.9982553191489362 Centerline is valid? [True, True] Translation: X:9.77, Y:0.15, Z:-0.23 [[ 9.95244624e-01 -9.72655266e-02 -5.24928387e-03 9.77043096e+00] [ 9.72655605e-02 9.95258433e-01 -2.49446056e-04 1.48835259e-01] [ 5.24865654e-03 -2.62314692e-04 9.99986191e-01 -2.34475421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.545898226999999 meters Centerline goodness [0,1] 0.9982773287962569 Centerline is valid? [True, True] Translation: X:9.80, Y:0.15, Z:-0.23 [[ 9.95140988e-01 -9.83356329e-02 -4.95144341e-03 9.80152171e+00] [ 9.83356747e-02 9.95153274e-01 -2.35605154e-04 1.48153459e-01] [ 4.95061350e-03 -2.52443183e-04 9.99987714e-01 -2.33852055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.575898226999998 meters Centerline goodness [0,1] 0.991903600269179 Centerline is valid? [True, True] Translation: X:9.83, Y:0.14, Z:-0.23 [[ 9.95133111e-01 -9.83637603e-02 -5.88745368e-03 9.83438131e+00] [ 9.83638261e-02 9.95150481e-01 -2.79074246e-04 1.43520404e-01] [ 5.88635315e-03 -3.01396448e-04 9.99982630e-01 -2.34686460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.605898226999999 meters Centerline goodness [0,1] 0.9971843604018685 Centerline is valid? [True, True] Translation: X:9.87, Y:0.16, Z:-0.24 [[ 9.95236638e-01 -9.71780816e-02 -7.77532232e-03 9.86504906e+00] [ 9.71781755e-02 9.95266933e-01 -3.66626232e-04 1.56400648e-01] [ 7.77414923e-03 -3.90711778e-04 9.99969705e-01 -2.36643698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.635898226999998 meters Centerline goodness [0,1] 0.9980047122752648 Centerline is valid? [True, True] Translation: X:9.90, Y:0.16, Z:-0.24 [[ 9.95319859e-01 -9.63409495e-02 -7.53652776e-03 9.89708102e+00] [ 9.63410138e-02 9.95348322e-01 -3.55361653e-04 1.63497574e-01] [ 7.53570615e-03 -3.72378214e-04 9.99971537e-01 -2.35516196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.665898227 meters Centerline goodness [0,1] 0.998570819112628 Centerline is valid? [True, True] Translation: X:9.93, Y:0.17, Z:-0.23 [[ 9.95314963e-01 -9.64027619e-02 -7.39129497e-03 9.92950216e+00] [ 9.64028338e-02 9.95342340e-01 -3.47379468e-04 1.71357372e-01] [ 7.39035717e-03 -3.66789798e-04 9.99972624e-01 -2.34747693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.695898226999999 meters Centerline goodness [0,1] 0.9983473525859694 Centerline is valid? [True, True] Translation: X:9.96, Y:0.17, Z:-0.24 [[ 9.95125962e-01 -9.82291001e-02 -8.68120613e-03 9.95950537e+00] [ 9.82292830e-02 9.95163727e-01 -4.06351585e-04 1.74519286e-01] [ 8.67913700e-03 -4.48377642e-04 9.99962235e-01 -2.37216634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.725898226999998 meters Centerline goodness [0,1] 0.9701312956474015 Centerline is valid? [True, True] Translation: X:9.99, Y:0.17, Z:-0.24 [[ 9.94973394e-01 -9.95391717e-02 -1.09497951e-02 9.99089486e+00] [ 9.95395429e-02 9.95033475e-01 -5.12438883e-04 1.69871445e-01] [ 1.09464205e-02 -5.80074550e-04 9.99939918e-01 -2.41121321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.755898227 meters Centerline goodness [0,1] 0.9089770266253344 Centerline is valid? [True, False] Translation: X:9.97, Y:0.18, Z:-0.23 [[ 0.99494119 -0.09933074 -0.01501445 9.96673843] [ 0.0991439 0.99499185 -0.01271622 0.1757386 ] [ 0.01620236 0.0111633 0.99980641 -0.23152262] [ 0. 0. 0. 1. ]] SLAMing on 13.785898226999999 meters Centerline goodness [0,1] 0.9921726704630282 Centerline is valid? [False, True] Translation: X:9.97, Y:0.17, Z:-0.23 [[ 9.95319438e-01 -9.54065236e-02 -1.53886601e-02 9.96793251e+00] [ 9.52895433e-02 9.95416108e-01 -8.16547228e-03 1.73410710e-01] [ 1.60971595e-02 6.66087488e-03 9.99848246e-01 -2.33688736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.815898226999998 meters Centerline goodness [0,1] 0.9333192120313493 Centerline is valid? [True, False] Translation: X:9.97, Y:0.17, Z:-0.23 [[ 9.95594628e-01 -9.25079004e-02 -1.52848175e-02 9.96626230e+00] [ 9.24500650e-02 9.95707380e-01 -4.44958198e-03 1.71711574e-01] [ 1.56308271e-02 3.01689755e-03 9.99873280e-01 -2.33658501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.845898227 meters Centerline goodness [0,1] 0.9351909228829676 Centerline is valid? [False, False] Translation: X:9.97, Y:0.17, Z:-0.23 [[ 9.95581597e-01 -9.26735975e-02 -1.51290557e-02 9.96557338e+00] [ 9.26157264e-02 9.95691833e-01 -4.48351427e-03 1.71361444e-01] [ 1.54793806e-02 3.06251582e-03 9.99875497e-01 -2.33188747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.875898226999999 meters Centerline goodness [0,1] 0.781139397040638 Centerline is valid? [False, False] Translation: X:9.97, Y:0.17, Z:-0.24 [[ 9.95943459e-01 -8.87133255e-02 -1.50523238e-02 9.96590432e+00] [ 8.87294632e-02 9.96055680e-01 4.06369429e-04 1.66911990e-01] [ 1.49569022e-02 -1.74030558e-03 9.99886625e-01 -2.35871701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.905898226999998 meters Centerline goodness [0,1] 0.9556454173988524 Centerline is valid? [False, True] Translation: X:9.97, Y:0.16, Z:-0.24 [[ 9.96299186e-01 -8.46220593e-02 -1.50678000e-02 9.96679811e+00] [ 8.47108593e-02 9.96391186e-01 5.35487237e-03 1.62715213e-01] [ 1.45602828e-02 -6.61146127e-03 9.99872135e-01 -2.38965767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.935898227 meters Centerline goodness [0,1] 0.9342334309854371 Centerline is valid? [True, False] Translation: X:9.96, Y:0.16, Z:-0.24 [[ 9.96260897e-01 -8.51217126e-02 -1.47823932e-02 9.96496791e+00] [ 8.52008911e-02 9.96352180e-01 4.81060474e-03 1.64041380e-01] [ 1.43189828e-02 -6.05209047e-03 9.99879162e-01 -2.37468371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.965898226999998 meters Centerline goodness [0,1] 0.8553851339962919 Centerline is valid? [False, False] Translation: X:9.96, Y:0.16, Z:-0.24 [[ 9.96251375e-01 -8.52386485e-02 -1.47502456e-02 9.96452747e+00] [ 8.53178969e-02 9.96342081e-01 4.82836864e-03 1.63464730e-01] [ 1.42847268e-02 -6.06872883e-03 9.99879551e-01 -2.36834915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.995898226999998 meters Centerline goodness [0,1] 0.8034993842103028 Centerline is valid? [False, False] Translation: X:9.96, Y:0.16, Z:-0.24 [[ 9.96242206e-01 -8.53716625e-02 -1.45995142e-02 9.96391831e+00] [ 8.54510675e-02 9.96330303e-01 4.90328617e-03 1.62436336e-01] [ 1.41273367e-02 -6.13240470e-03 9.99881399e-01 -2.36465805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.025898226999999 meters Centerline goodness [0,1] 0.8053493403470071 Centerline is valid? [False, False] Translation: X:9.96, Y:0.16, Z:-0.24 [[ 9.96244736e-01 -8.53432896e-02 -1.45927592e-02 9.96413118e+00] [ 8.54258905e-02 9.96331306e-01 5.13285686e-03 1.61157074e-01] [ 1.41011679e-02 -6.36018108e-03 9.99880345e-01 -2.36712986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.055898226999998 meters Centerline goodness [0,1] 0.7793852867038065 Centerline is valid? [False, False] Translation: X:9.97, Y:0.16, Z:-0.24 [[ 9.96255701e-01 -8.51873329e-02 -1.47545386e-02 9.96508798e+00] [ 8.52743080e-02 9.96343050e-01 5.36841610e-03 1.60412729e-01] [ 1.42432610e-02 -6.60649822e-03 9.99876734e-01 -2.37341573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.085898227 meters Centerline goodness [0,1] 0.8850322608121632 Centerline is valid? [False, False] Translation: X:9.95, Y:0.17, Z:-0.23 [[ 9.96396805e-01 -8.25064722e-02 -1.96491660e-02 9.94772105e+00] [ 8.23974368e-02 9.96579656e-01 -6.29690495e-03 1.66117574e-01] [ 2.01014945e-02 4.65517505e-03 9.99787107e-01 -2.27805738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.115898226999999 meters Centerline goodness [0,1] 0.8628164994995635 Centerline is valid? [False, False] Translation: X:9.95, Y:0.16, Z:-0.23 [[ 9.96775390e-01 -7.77058442e-02 -2.00155805e-02 9.94998427e+00] [ 7.77000733e-02 9.96976208e-01 -1.06702358e-03 1.62746407e-01] [ 2.00379716e-02 -4.91629224e-04 9.99799099e-01 -2.31036412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.145898226999998 meters Centerline goodness [0,1] 0.8722431698017821 Centerline is valid? [False, False] Translation: X:9.95, Y:0.16, Z:-0.23 [[ 9.97115332e-01 -7.31793258e-02 -2.01445126e-02 9.95091835e+00] [ 7.32721071e-02 9.97304338e-01 3.90589316e-03 1.59670329e-01] [ 1.98043792e-02 -5.37065684e-03 9.99789449e-01 -2.33380534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.175898227 meters Centerline goodness [0,1] 0.8691820435141835 Centerline is valid? [False, False] Translation: X:9.95, Y:0.16, Z:-0.23 [[ 9.97112115e-01 -7.32369934e-02 -2.00940949e-02 9.95015381e+00] [ 7.33241679e-02 9.97301534e-01 3.63540923e-03 1.60819278e-01] [ 1.97736252e-02 -5.09829338e-03 9.99791484e-01 -2.32400869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.205898226999999 meters Centerline goodness [0,1] 0.9183189289950856 Centerline is valid? [False, False] Translation: X:9.94, Y:0.16, Z:-0.23 [[ 9.97634357e-01 -6.70050819e-02 -1.53626050e-02 9.94375715e+00] [ 6.68784034e-02 9.97723923e-01 -8.61704072e-03 1.64476940e-01] [ 1.59050240e-02 7.56922938e-03 9.99844856e-01 -2.26270198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.235898226999998 meters Centerline goodness [0,1] 0.8887214534340776 Centerline is valid? [False, False] Translation: X:9.95, Y:0.16, Z:-0.23 [[ 9.97938295e-01 -6.22700675e-02 -1.55434178e-02 9.94591426e+00] [ 6.22258984e-02 9.98056603e-01 -3.30976499e-03 1.60731144e-01] [ 1.57193100e-02 2.33573810e-03 9.99873716e-01 -2.29887976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.265898227 meters Centerline goodness [0,1] 0.8945926429360292 Centerline is valid? [False, False] Translation: X:9.95, Y:0.16, Z:-0.23 [[ 9.98209764e-01 -5.77359934e-02 -1.56148146e-02 9.94742539e+00] [ 5.77717093e-02 9.98328114e-01 1.84561543e-03 1.56798360e-01] [ 1.54821500e-02 -2.74440587e-03 9.99876378e-01 -2.33060334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.295898226999999 meters Centerline goodness [0,1] 0.9627762533767256 Centerline is valid? [False, True] Translation: X:9.95, Y:0.16, Z:-0.23 [[ 9.98200678e-01 -5.78614706e-02 -1.57307649e-02 9.94710901e+00] [ 5.78916961e-02 9.98321783e-01 1.47251662e-03 1.58550571e-01] [ 1.56191633e-02 -2.38054775e-03 9.99875180e-01 -2.31990165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.325898226999998 meters Centerline goodness [0,1] 0.9130370401709221 Centerline is valid? [True, False] Translation: X:9.95, Y:0.16, Z:-0.23 [[ 9.98436604e-01 -5.36395333e-02 -1.57209728e-02 9.94711410e+00] [ 5.37420755e-02 9.98535763e-01 6.17411293e-03 1.55940714e-01] [ 1.53667771e-02 -7.00933806e-03 9.99857355e-01 -2.33187274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.355898226999999 meters Centerline goodness [0,1] 0.9837647810802174 Centerline is valid? [False, True] Translation: X:9.95, Y:0.16, Z:-0.23 [[ 9.98431471e-01 -5.37063996e-02 -1.58183785e-02 9.94715847e+00] [ 5.38062013e-02 9.98533656e-01 5.95238737e-03 1.56989826e-01] [ 1.54755020e-02 -6.79417773e-03 9.99857164e-01 -2.32798865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.385898226999998 meters Centerline goodness [0,1] 0.9837647810802174 Centerline is valid? [True, True] Translation: X:9.98, Y:0.16, Z:-0.23 [[ 9.98435625e-01 -5.36132263e-02 -1.58721568e-02 9.97983284e+00] [ 5.36222996e-02 9.98561279e-01 1.46315432e-04 1.59142687e-01] [ 1.58414767e-02 -9.97188084e-04 9.99874019e-01 -2.27650816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.415898226999998 meters Centerline goodness [0,1] 0.9145430486191147 Centerline is valid? [True, False] Translation: X:9.98, Y:0.15, Z:-0.23 [[ 9.98659832e-01 -4.93042995e-02 -1.57361113e-02 9.98076155e+00] [ 4.93904536e-02 9.98766352e-01 5.13384065e-03 1.54978690e-01] [ 1.54635781e-02 -5.90417412e-03 9.99863000e-01 -2.30927585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.445898226999999 meters Centerline goodness [0,1] 0.9286032075591619 Centerline is valid? [False, False] Translation: X:9.98, Y:0.15, Z:-0.23 [[ 9.98670975e-01 -4.90218805e-02 -1.59103550e-02 9.98235462e+00] [ 4.91138455e-02 9.98778363e-01 5.44163601e-03 1.54436799e-01] [ 1.56241591e-02 -6.21582266e-03 9.99858615e-01 -2.32518138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.475898226999998 meters Centerline goodness [0,1] 0.9810140008485363 Centerline is valid? [False, True] Translation: X:9.97, Y:0.16, Z:-0.22 [[ 9.98829190e-01 -4.44352632e-02 -1.91247411e-02 9.97199945e+00] [ 4.42731307e-02 9.98980535e-01 -8.81934471e-03 1.59702403e-01] [ 1.94971340e-02 7.96230678e-03 9.99778207e-01 -2.19169954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.505898227 meters Centerline goodness [0,1] 0.99453007399241 Centerline is valid? [True, True] Translation: X:10.00, Y:0.16, Z:-0.22 [[ 9.98881310e-01 -4.33349030e-02 -1.89265845e-02 1.00046996e+01] [ 4.33476772e-02 9.99060013e-01 2.65016548e-04 1.61740289e-01] [ 1.88973092e-02 -1.08514355e-03 9.99820841e-01 -2.22993889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.535898226999999 meters Centerline goodness [0,1] 0.99621614727265 Centerline is valid? [True, True] Translation: X:10.04, Y:0.16, Z:-0.22 [[ 9.98948848e-01 -4.19741401e-02 -1.84220207e-02 1.00357293e+01] [ 4.19860394e-02 9.99118164e-01 2.59467031e-04 1.63161535e-01] [ 1.83948846e-02 -1.03266198e-03 9.99830267e-01 -2.19102255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.565898226999998 meters Centerline goodness [0,1] 0.9947164344454387 Centerline is valid? [True, True] Translation: X:10.07, Y:0.16, Z:-0.22 [[ 9.99018432e-01 -4.06106703e-02 -1.76903042e-02 1.00662281e+01] [ 4.06214367e-02 9.99174578e-01 2.49551925e-04 1.62232875e-01] [ 1.76655677e-02 -9.67912545e-04 9.99843483e-01 -2.18059607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.595898227 meters Centerline goodness [0,1] 0.9975685705754384 Centerline is valid? [True, True] Translation: X:10.10, Y:0.16, Z:-0.22 [[ 9.99123547e-01 -3.82566203e-02 -1.69873066e-02 1.00968556e+01] [ 3.82662150e-02 9.99267551e-01 2.40014689e-04 1.63704643e-01] [ 1.69656821e-02 -8.89844255e-04 9.99855676e-01 -2.18383141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.625898226999999 meters Centerline goodness [0,1] 0.9991900417767926 Centerline is valid? [True, True] Translation: X:10.13, Y:0.17, Z:-0.22 [[ 9.99297499e-01 -3.34646428e-02 -1.68708710e-02 1.01280091e+01] [ 3.34734285e-02 9.99439579e-01 2.38565192e-04 1.70847266e-01] [ 1.68534327e-02 -8.03123493e-04 9.99857648e-01 -2.18906600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.655898226999998 meters Centerline goodness [0,1] 0.9990030333241414 Centerline is valid? [True, True] Translation: X:10.16, Y:0.17, Z:-0.22 [[ 9.99367111e-01 -3.09295743e-02 -1.75709624e-02 1.01581447e+01] [ 3.09387148e-02 9.99521252e-01 2.48546366e-04 1.72340115e-01] [ 1.75548629e-02 -7.92012058e-04 9.99845588e-01 -2.18204238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.685898227 meters Centerline goodness [0,1] 0.9993634897734024 Centerline is valid? [True, True] Translation: X:10.19, Y:0.18, Z:-0.22 [[ 9.99451205e-01 -2.79417604e-02 -1.77917642e-02 1.01879932e+01] [ 2.79506596e-02 9.99609272e-01 2.51669671e-04 1.75736989e-01] [ 1.77777804e-02 -7.48823100e-04 9.99841682e-01 -2.16438573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.715898226999998 meters Centerline goodness [0,1] 0.9992587415549484 Centerline is valid? [True, True] Translation: X:10.22, Y:0.19, Z:-0.21 [[ 9.99614244e-01 -2.24850872e-02 -1.63028755e-02 1.02186442e+01] [ 2.24918345e-02 9.99747000e-01 2.30609467e-04 1.88988871e-01] [ 1.62935656e-02 -5.97202086e-04 9.99867073e-01 -2.13243234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.745898226999998 meters Centerline goodness [0,1] 0.9993238674780257 Centerline is valid? [True, True] Translation: X:10.25, Y:0.20, Z:-0.21 [[ 9.99692635e-01 -1.96568725e-02 -1.51077135e-02 1.02507311e+01] [ 1.96623427e-02 9.99806655e-01 2.13612302e-04 1.95154446e-01] [ 1.51005935e-02 -5.10599684e-04 9.99885849e-01 -2.10715367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.775898226999999 meters Centerline goodness [0,1] 0.9997231745490939 Centerline is valid? [True, True] Translation: X:10.28, Y:0.20, Z:-0.21 [[ 9.99752578e-01 -1.69123473e-02 -1.44483623e-02 1.02820175e+01] [ 1.69170713e-02 9.99856875e-01 2.04789800e-04 2.02201253e-01] [ 1.44428309e-02 -4.49163106e-04 9.99895596e-01 -2.09115774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.805898226999998 meters Centerline goodness [0,1] 0.9996597265051785 Centerline is valid? [True, True] Translation: X:10.31, Y:0.21, Z:-0.21 [[ 9.99781655e-01 -1.50597885e-02 -1.44860097e-02 1.03132426e+01] [ 1.50643446e-02 9.99886505e-01 2.05445872e-04 2.06611780e-01] [ 1.44812716e-02 -4.23623256e-04 9.99895051e-01 -2.09181494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.835898227 meters Centerline goodness [0,1] 0.9996601384935638 Centerline is valid? [True, True] Translation: X:10.35, Y:0.21, Z:-0.21 [[ 9.99776155e-01 -1.34926155e-02 -1.62969366e-02 1.03459922e+01] [ 1.34982020e-02 9.99908868e-01 2.32840645e-04 2.14327409e-01] [ 1.62923098e-02 -4.52767867e-04 9.99867169e-01 -2.12996673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.865898226999999 meters Centerline goodness [0,1] 0.9994507351698496 Centerline is valid? [True, True] Translation: X:10.38, Y:0.22, Z:-0.21 [[ 9.99755840e-01 -1.37686333e-02 -1.72825358e-02 1.03775703e+01] [ 1.37749753e-02 9.99905090e-01 2.47965476e-04 2.15253184e-01] [ 1.72774813e-02 -4.85971435e-04 9.99850615e-01 -2.14191134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.895898226999998 meters Centerline goodness [0,1] 0.9997251643728462 Centerline is valid? [True, True] Translation: X:10.41, Y:0.22, Z:-0.21 [[ 9.99747071e-01 -1.41003392e-02 -1.75206951e-02 1.04099421e+01] [ 1.41069186e-02 9.99900461e-01 2.51980677e-04 2.17143835e-01] [ 1.75153981e-02 -4.99079964e-04 9.99846469e-01 -2.13641733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.925898227 meters Centerline goodness [0,1] 0.9993240245886056 Centerline is valid? [True, True] Translation: X:10.44, Y:0.22, Z:-0.21 [[ 9.99738362e-01 -1.50077732e-02 -1.72619225e-02 1.04422376e+01] [ 1.50143079e-02 9.99887248e-01 2.49019247e-04 2.19955497e-01] [ 1.72562390e-02 -5.08129913e-04 9.99850971e-01 -2.11652240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.955898226999999 meters Centerline goodness [0,1] 0.9992159189641654 Centerline is valid? [True, True] Translation: X:10.47, Y:0.22, Z:-0.21 [[ 9.99740533e-01 -1.55338794e-02 -1.66602686e-02 1.04737758e+01] [ 1.55400518e-02 9.99879217e-01 2.41081909e-04 2.17140431e-01] [ 1.66545114e-02 -4.99920793e-04 9.99861179e-01 -2.09572884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.985898226999998 meters Centerline goodness [0,1] 0.9995756598489349 Centerline is valid? [True, True] Translation: X:10.51, Y:0.23, Z:-0.21 [[ 9.99749510e-01 -1.50201289e-02 -1.65925781e-02 1.05064205e+01] [ 1.50261897e-02 9.99887071e-01 2.40654007e-04 2.27687769e-01] [ 1.65870897e-02 -4.89916951e-04 9.99862305e-01 -2.10639108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.015898227 meters Centerline goodness [0,1] 0.9996172737130828 Centerline is valid? [True, True] Translation: X:10.54, Y:0.23, Z:-0.21 [[ 9.99765981e-01 -1.40996636e-02 -1.64067662e-02 1.05376956e+01] [ 1.41054781e-02 9.99900484e-01 2.38724744e-04 2.30190907e-01] [ 1.64017675e-02 -4.70094159e-04 9.99865371e-01 -2.09697974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.045898226999999 meters Centerline goodness [0,1] 0.999618077657543 Centerline is valid? [True, True] Translation: X:10.57, Y:0.23, Z:-0.21 [[ 9.99788311e-01 -1.28972941e-02 -1.60310238e-02 1.05695899e+01] [ 1.29026992e-02 9.99916729e-01 2.33779883e-04 2.33213681e-01] [ 1.60266738e-02 -4.40573873e-04 9.99871468e-01 -2.08421640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.075898226999998 meters Centerline goodness [0,1] 0.999554518455664 Centerline is valid? [True, True] Translation: X:10.60, Y:0.24, Z:-0.21 [[ 9.99799988e-01 -1.18176590e-02 -1.61346226e-02 1.06019585e+01] [ 1.18230058e-02 9.99930078e-01 2.36036369e-04 2.37214557e-01] [ 1.61307051e-02 -4.26748897e-04 9.99869801e-01 -2.08879208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.105898226999999 meters Centerline goodness [0,1] 0.9994069053166702 Centerline is valid? [True, True] Translation: X:10.63, Y:0.24, Z:-0.21 [[ 9.99779470e-01 -1.18286078e-02 -1.73520821e-02 1.06331379e+01] [ 1.18348089e-02 9.99929934e-01 2.54721814e-04 2.35975042e-01] [ 1.73478533e-02 -4.60024216e-04 9.99849409e-01 -2.10656851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.135898226999998 meters Centerline goodness [0,1] 0.9993007585710048 Centerline is valid? [True, True] Translation: X:10.66, Y:0.23, Z:-0.21 [[ 9.99750324e-01 -1.29799098e-02 -1.81882075e-02 1.06647044e+01] [ 1.29869258e-02 9.99915630e-01 2.67676699e-04 2.33654406e-01] [ 1.81831985e-02 -5.03818767e-04 9.99834545e-01 -2.10341874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.165898226999998 meters Centerline goodness [0,1] 0.9993868662522728 Centerline is valid? [True, True] Translation: X:10.70, Y:0.23, Z:-0.21 [[ 9.99729657e-01 -1.36468059e-02 -1.88249183e-02 1.06967190e+01] [ 1.36544643e-02 9.99906735e-01 2.78343484e-04 2.34361400e-01] [ 1.88193641e-02 -5.35312411e-04 9.99822757e-01 -2.09781345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.195898226999999 meters Centerline goodness [0,1] 0.9993852285253965 Centerline is valid? [True, True] Translation: X:10.73, Y:0.23, Z:-0.21 [[ 9.99712739e-01 -1.37640195e-02 -1.96212153e-02 1.07284660e+01] [ 1.37723804e-02 9.99905114e-01 2.91044619e-04 2.34662212e-01] [ 1.96153475e-02 -5.61191853e-04 9.99807443e-01 -2.09454115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.225898226999998 meters Centerline goodness [0,1] 0.9995768628612534 Centerline is valid? [True, True] Translation: X:10.76, Y:0.23, Z:-0.21 [[ 9.99768997e-01 -1.09882801e-02 -1.84718981e-02 1.07590982e+01] [ 1.09952310e-02 9.99939513e-01 2.74773654e-04 2.31700166e-01] [ 1.84677615e-02 -4.77812967e-04 9.99829342e-01 -2.09278032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.255898227 meters Centerline goodness [0,1] 0.999403150512651 Centerline is valid? [True, True] Translation: X:10.79, Y:0.24, Z:-0.21 [[ 9.99814474e-01 -8.18219905e-03 -1.74375584e-02 1.07902091e+01] [ 8.18797326e-03 9.99966444e-01 2.59765991e-04 2.39722732e-01] [ 1.74348478e-02 -4.02496059e-04 9.99847920e-01 -2.08384220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.285898226999999 meters Centerline goodness [0,1] 0.999319177907323 Centerline is valid? [True, True] Translation: X:10.82, Y:0.24, Z:-0.21 [[ 9.99850976e-01 -4.81817473e-03 -1.65774341e-02 1.08199234e+01] [ 4.82293179e-03 9.99988339e-01 2.46993018e-04 2.42226562e-01] [ 1.65760507e-02 -3.26908044e-04 9.99862554e-01 -2.06884595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.315898226999998 meters Centerline goodness [0,1] 0.9996600301723222 Centerline is valid? [True, True] Translation: X:10.85, Y:0.24, Z:-0.20 [[ 9.99870854e-01 -1.55331869e-03 -1.59956972e-02 1.08479916e+01] [ 1.55732519e-03 9.99998759e-01 2.38020631e-04 2.44676306e-01] [ 1.59953076e-02 -2.62900394e-04 9.99872032e-01 -2.04086998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.345898227 meters Centerline goodness [0,1] 0.9996172004593594 Centerline is valid? [True, True] Translation: X:10.88, Y:0.25, Z:-0.20 [[ 9.99868445e-01 1.38660438e-03 -1.61607326e-02 1.08769708e+01] [-1.38291161e-03 9.99999015e-01 2.39675173e-04 2.48261632e-01] [ 1.61610491e-02 -2.17294778e-04 9.99869378e-01 -2.02084211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.375898226999999 meters Centerline goodness [0,1] 0.9995553767652601 Centerline is valid? [True, True] Translation: X:10.90, Y:0.25, Z:-0.20 [[ 9.99853369e-01 4.45585127e-03 -1.65344023e-02 1.09046976e+01] [-4.45245317e-03 9.99990058e-01 2.42323303e-04 2.48852245e-01] [ 1.65353177e-02 -1.68669119e-04 9.99863268e-01 -2.00972423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.405898226999998 meters Centerline goodness [0,1] 0.9996168500819516 Centerline is valid? [True, True] Translation: X:10.93, Y:0.25, Z:-0.20 [[ 9.99833793e-01 9.38511665e-03 -1.56302884e-02 1.09336003e+01] [-9.38269233e-03 9.99955955e-01 2.28430169e-04 2.53085322e-01] [ 1.56317438e-02 -8.17380154e-05 9.99877813e-01 -2.01451760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.435898227 meters Centerline goodness [0,1] 0.9999787856930714 Centerline is valid? [True, True] Translation: X:10.96, Y:0.25, Z:-0.20 [[ 9.99847694e-01 1.16268776e-02 -1.30155436e-02 1.09601145e+01] [-1.16254105e-02 9.99932405e-01 1.88374112e-04 2.52484440e-01] [ 1.30168540e-02 -3.70343835e-05 9.99915276e-01 -1.97815357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.465898226999998 meters Centerline goodness [0,1] 0.9997018675866182 Centerline is valid? [True, True] Translation: X:10.99, Y:0.25, Z:-0.19 [[ 9.99867453e-01 1.26702244e-02 -1.02245535e-02 1.09883371e+01] [-1.26693875e-02 9.99919729e-01 1.46621594e-04 2.52591648e-01] [ 1.02255905e-02 -1.70633292e-05 9.99947717e-01 -1.94505228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.495898226999998 meters Centerline goodness [0,1] 0.9998300728562629 Centerline is valid? [True, True] Translation: X:11.02, Y:0.25, Z:-0.19 [[ 9.99887058e-01 1.24838562e-02 -8.36808729e-03 1.10162280e+01] [-1.24832894e-02 9.99922074e-01 1.19961142e-04 2.47568531e-01] [ 8.36893278e-03 -1.54863382e-05 9.99964980e-01 -1.89856889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.525898226999999 meters Centerline goodness [0,1] 0.9997674172745533 Centerline is valid? [True, True] Translation: X:11.04, Y:0.24, Z:-0.19 [[ 9.99883767e-01 1.16941003e-02 -9.78271291e-03 1.10446801e+01] [-1.16933020e-02 9.99931621e-01 1.38796597e-04 2.43086076e-01] [ 9.78366708e-03 -2.43882484e-05 9.99952138e-01 -1.92772983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.555898226999998 meters Centerline goodness [0,1] 0.999768718067324 Centerline is valid? [True, True] Translation: X:11.07, Y:0.24, Z:-0.19 [[ 9.99870705e-01 1.13034963e-02 -1.14369654e-02 1.10723217e+01] [-1.13023863e-02 9.99936113e-01 1.61679504e-04 2.37641631e-01] [ 1.14380623e-02 -3.23935985e-05 9.99934583e-01 -1.94561824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.585898227 meters Centerline goodness [0,1] 0.9995541401273885 Centerline is valid? [True, True] Translation: X:11.10, Y:0.23, Z:-0.20 [[ 9.99851621e-01 1.10927403e-02 -1.31790348e-02 1.11011233e+01] [-1.10912606e-02 9.99938473e-01 1.85360718e-04 2.33712678e-01] [ 1.31802801e-02 -3.91611052e-05 9.99913136e-01 -1.97073667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.615898226999999 meters Centerline goodness [0,1] 0.9999369350430943 Centerline is valid? [True, True] Translation: X:11.13, Y:0.23, Z:-0.20 [[ 9.99832460e-01 1.17476936e-02 -1.40372304e-02 1.11289170e+01] [-1.17460887e-02 9.99930993e-01 1.96775323e-04 2.29674529e-01] [ 1.40385734e-02 -3.18598019e-05 9.99901454e-01 -1.96475462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.645898226999998 meters Centerline goodness [0,1] 0.9998941373250619 Centerline is valid? [True, True] Translation: X:11.16, Y:0.23, Z:-0.20 [[ 9.99803167e-01 1.35759348e-02 -1.44679576e-02 1.11562846e+01] [-1.35744280e-02 9.99907843e-01 2.02353764e-04 2.27208697e-01] [ 1.44693714e-02 -5.91968555e-06 9.99895313e-01 -1.96287862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.675898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.18, Y:0.23, Z:-0.19 [[ 9.99706983e-01 1.93047650e-02 -1.46038883e-02 1.11846247e+01] [-1.93038815e-02 9.99813642e-01 2.01470171e-04 2.25026900e-01] [ 1.46050561e-02 8.05005931e-05 9.99893337e-01 -1.94910134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.705898226999999 meters Centerline goodness [0,1] 0.9998096325909004 Centerline is valid? [True, True] Translation: X:11.21, Y:0.23, Z:-0.19 [[ 9.99632594e-01 2.28795286e-02 -1.45328864e-02 1.12119826e+01] [-2.28790648e-02 9.99738220e-01 1.98193138e-04 2.26997716e-01] [ 1.45336165e-02 1.34378528e-04 9.99894372e-01 -1.93405783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.735898226999998 meters Centerline goodness [0,1] 0.999767682527614 Centerline is valid? [True, True] Translation: X:11.24, Y:0.23, Z:-0.19 [[ 9.99525228e-01 2.71759183e-02 -1.45185594e-02 1.12392427e+01] [-2.71759470e-02 9.99630647e-01 1.95345103e-04 2.30302555e-01] [ 1.45185056e-02 1.99303242e-04 9.99894581e-01 -1.91479374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.765898227 meters Centerline goodness [0,1] 0.9993906538914104 Centerline is valid? [True, True] Translation: X:11.27, Y:0.24, Z:-0.19 [[ 9.99236084e-01 3.67052166e-02 -1.34154936e-02 1.12692770e+01] [-3.67061149e-02 9.99326087e-01 1.79344255e-04 2.37074882e-01] [ 1.34130356e-02 3.13223397e-04 9.99909992e-01 -1.88888566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.795898226999999 meters Centerline goodness [0,1] 0.9994923428378035 Centerline is valid? [True, True] Translation: X:11.30, Y:0.24, Z:-0.19 [[ 9.99092329e-01 4.05901645e-02 -1.29211421e-02 1.12990491e+01] [-4.05913193e-02 9.99175818e-01 1.72976000e-04 2.40841645e-01] [ 1.29175139e-02 3.51667211e-04 9.99916504e-01 -1.88070199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.825898226999998 meters Centerline goodness [0,1] 0.999172782420566 Centerline is valid? [True, True] Translation: X:11.33, Y:0.24, Z:-0.19 [[ 9.98962411e-01 4.36017851e-02 -1.31524106e-02 1.13281470e+01] [-4.36032450e-02 9.99048911e-01 1.75873178e-04 2.43574754e-01] [ 1.31475698e-02 3.97797086e-04 9.99913488e-01 -1.88713034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.855898226999999 meters Centerline goodness [0,1] 0.9990851453129654 Centerline is valid? [True, True] Translation: X:11.36, Y:0.24, Z:-0.19 [[ 9.98852645e-01 4.58369485e-02 -1.38696410e-02 1.13571999e+01] [-4.58387986e-02 9.98948833e-01 1.84645325e-04 2.44673248e-01] [ 1.38635253e-02 4.51334211e-04 9.99903795e-01 -1.90095286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.885898226999998 meters Centerline goodness [0,1] 0.9991317422333283 Centerline is valid? [True, True] Translation: X:11.39, Y:0.25, Z:-0.19 [[ 9.98774670e-01 4.70503267e-02 -1.53435656e-02 1.13852528e+01] [-4.70527427e-02 9.98892386e-01 2.03701296e-04 2.45957624e-01] [ 1.53361551e-02 5.18505151e-04 9.99882260e-01 -1.92227543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.915898226999998 meters Centerline goodness [0,1] 0.999320016999575 Centerline is valid? [True, True] Translation: X:11.41, Y:0.25, Z:-0.20 [[ 9.98734686e-01 4.68507132e-02 -1.82766726e-02 1.14130125e+01] [-4.68541331e-02 9.98901713e-01 2.41274844e-04 2.46810259e-01] [ 1.82679035e-02 6.15368097e-04 9.99832939e-01 -1.95427842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.945898226999999 meters Centerline goodness [0,1] 0.9991495513883574 Centerline is valid? [True, True] Translation: X:11.44, Y:0.25, Z:-0.19 [[ 9.98776401e-01 4.59909222e-02 -1.81806562e-02 1.14420712e+01] [-4.59942230e-02 9.98941678e-01 2.36761739e-04 2.46628214e-01] [ 1.81723041e-02 5.99733120e-04 9.99834690e-01 -1.94199144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.975898226999998 meters Centerline goodness [0,1] 0.9991093014378419 Centerline is valid? [True, True] Translation: X:11.47, Y:0.25, Z:-0.19 [[ 9.98814316e-01 4.56355149e-02 -1.69517507e-02 1.14698700e+01] [-4.56383797e-02 9.98958003e-01 2.18016191e-04 2.49940310e-01] [ 1.69440363e-02 5.55892740e-04 9.99856285e-01 -1.91391203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.005898227 meters Centerline goodness [0,1] 0.9990862534265497 Centerline is valid? [True, True] Translation: X:11.50, Y:0.25, Z:-0.19 [[ 9.98853838e-01 4.50120515e-02 -1.62765615e-02 1.14986536e+01] [-4.50146230e-02 9.98986306e-01 2.08530085e-04 2.51357064e-01] [ 1.62694484e-02 5.24392201e-04 9.99867506e-01 -1.89534355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.035898227 meters Centerline goodness [0,1] 0.9994270921745034 Centerline is valid? [True, True] Translation: X:11.53, Y:0.25, Z:-0.19 [[ 9.98881232e-01 4.46111156e-02 -1.56885997e-02 1.15264374e+01] [-4.46134928e-02 9.99004303e-01 1.98602723e-04 2.50093007e-01] [ 1.56818385e-02 5.01542696e-04 9.99876907e-01 -1.88811310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.065898227 meters Centerline goodness [0,1] 0.9996352870505449 Centerline is valid? [True, True] Translation: X:11.55, Y:0.25, Z:-0.19 [[ 9.98868308e-01 4.46195688e-02 -1.64680563e-02 1.15537207e+01] [-4.46222451e-02 9.99003910e-01 2.05081387e-04 2.54282087e-01] [ 1.64608033e-02 5.29992345e-04 9.99864371e-01 -1.90031146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095898227 meters Centerline goodness [0,1] 0.9991886236494855 Centerline is valid? [True, True] Translation: X:11.58, Y:0.26, Z:-0.19 [[ 9.98867773e-01 4.45733091e-02 -1.66250626e-02 1.15803406e+01] [-4.45760674e-02 9.99005972e-01 2.04803087e-04 2.57534589e-01] [ 1.66176656e-02 5.36508707e-04 9.99861773e-01 -1.90344245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.125898227 meters Centerline goodness [0,1] 0.9989770475033566 Centerline is valid? [True, True] Translation: X:11.61, Y:0.26, Z:-0.19 [[ 9.98863081e-01 4.47337047e-02 -1.64754653e-02 1.16089235e+01] [-4.47364559e-02 9.98998803e-01 2.01709235e-04 2.60734142e-01] [ 1.64679934e-02 5.35574021e-04 9.99864250e-01 -1.89340479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.155898227 meters Centerline goodness [0,1] 0.9993392727737755 Centerline is valid? [True, True] Translation: X:11.64, Y:0.26, Z:-0.19 [[ 9.98915932e-01 4.38520425e-02 -1.56192110e-02 1.16370125e+01] [-4.38544450e-02 9.99037913e-01 1.88822580e-04 2.63076465e-01] [ 1.56124642e-02 4.96353947e-04 9.99877995e-01 -1.85775658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.185898227 meters Centerline goodness [0,1] 0.9995327102803738 Centerline is valid? [True, True] Translation: X:11.67, Y:0.26, Z:-0.18 [[ 9.99002944e-01 4.19467666e-02 -1.52835627e-02 1.16656920e+01] [-4.19488854e-02 9.99119742e-01 1.82067344e-04 2.60739200e-01] [ 1.52777464e-02 4.59242609e-04 9.99883183e-01 -1.84158877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.215898227 meters Centerline goodness [0,1] 0.9994276872204676 Centerline is valid? [True, True] Translation: X:11.69, Y:0.26, Z:-0.18 [[ 9.99120310e-01 3.90028378e-02 -1.54073146e-02 1.16946848e+01] [-3.90046531e-02 9.99239012e-01 1.82771399e-04 2.56856233e-01] [ 1.54027184e-02 4.18346343e-04 9.99881284e-01 -1.83767406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.245898227 meters Centerline goodness [0,1] 0.9994288615306511 Centerline is valid? [True, True] Translation: X:11.72, Y:0.25, Z:-0.18 [[ 9.99218136e-01 3.63243674e-02 -1.56094979e-02 1.17238627e+01] [-3.63259081e-02 9.99339979e-01 1.84910357e-04 2.50323036e-01] [ 1.56059120e-02 3.82263403e-04 9.99878147e-01 -1.83861423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.275898227 meters Centerline goodness [0,1] 0.9994288615306511 Centerline is valid? [True, True] Translation: X:11.75, Y:0.25, Z:-0.18 [[ 9.99224752e-01 3.61419270e-02 -1.56095092e-02 1.17511827e+01] [-3.61434605e-02 9.99346595e-01 1.83950381e-04 2.50149960e-01] [ 1.56059582e-02 3.80373905e-04 9.99878147e-01 -1.83379767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.305898227 meters Centerline goodness [0,1] 0.9998505901688332 Centerline is valid? [True, True] Translation: X:11.78, Y:0.24, Z:-0.19 [[ 9.99305579e-01 3.36909244e-02 -1.59148397e-02 1.17802318e+01] [-3.36922557e-02 9.99432238e-01 1.84542244e-04 2.38514817e-01] [ 1.59120212e-02 3.51792752e-04 9.99873334e-01 -1.85211931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.335898227 meters Centerline goodness [0,1] 0.9995554708833428 Centerline is valid? [True, True] Translation: X:11.81, Y:0.24, Z:-0.19 [[ 9.99363912e-01 3.18093144e-02 -1.61226382e-02 1.18080547e+01] [-3.18104798e-02 9.99493902e-01 1.84227120e-04 2.38768593e-01] [ 1.61203387e-02 3.28758920e-04 9.99870005e-01 -1.86295815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.365898227 meters Centerline goodness [0,1] 0.9995302357362488 Centerline is valid? [True, True] Translation: X:11.84, Y:0.24, Z:-0.18 [[ 9.99322944e-01 3.33621853e-02 -1.55118631e-02 1.18363844e+01] [-3.33634695e-02 9.99443269e-01 1.76055484e-04 2.37777637e-01] [ 1.55091007e-02 3.41593287e-04 9.99879668e-01 -1.82842978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.395898227 meters Centerline goodness [0,1] 0.9996168500819516 Centerline is valid? [True, True] Translation: X:11.87, Y:0.24, Z:-0.18 [[ 9.99203991e-01 3.65934676e-02 -1.58840414e-02 1.18659631e+01] [-3.65952664e-02 9.99330153e-01 1.77491312e-04 2.37041003e-01] [ 1.58798965e-02 4.03930700e-04 9.99873825e-01 -1.81393062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.425898227 meters Centerline goodness [0,1] 0.9997442291706631 Centerline is valid? [True, True] Translation: X:11.89, Y:0.24, Z:-0.18 [[ 9.99041293e-01 4.05259095e-02 -1.65573134e-02 1.18949305e+01] [-4.05284099e-02 9.99178369e-01 1.84638762e-04 2.36648884e-01] [ 1.65511920e-02 4.86579835e-04 9.99862901e-01 -1.81003904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.455898227 meters Centerline goodness [0,1] 0.9964192083892832 Centerline is valid? [True, True] Translation: X:11.92, Y:0.25, Z:-0.18 [[ 9.98695352e-01 4.83077624e-02 -1.65515562e-02 1.19240776e+01] [-4.83113431e-02 9.98832308e-01 1.83670248e-04 2.48138673e-01] [ 1.65411018e-02 6.16197287e-04 9.99862997e-01 -1.82726585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.485898227 meters Centerline goodness [0,1] 0.9984258668368432 Centerline is valid? [True, True] Translation: X:11.95, Y:0.24, Z:-0.18 [[ 9.98551478e-01 5.17929557e-02 -1.45751975e-02 1.19544705e+01] [-5.17961082e-02 9.98657668e-01 1.61365914e-04 2.38994569e-01] [ 1.45639904e-02 5.93806337e-04 9.99893763e-01 -1.80716588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.515898227 meters Centerline goodness [0,1] 0.960936170212766 Centerline is valid? [True, True] Translation: X:11.98, Y:0.25, Z:-0.18 [[ 9.98451863e-01 5.40662429e-02 -1.30659197e-02 1.19825126e+01] [-5.40689672e-02 9.98537193e-01 1.44914580e-04 2.50442819e-01] [ 1.30546418e-02 5.61770550e-04 9.99914627e-01 -1.76795265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.545898227000002 meters Centerline goodness [0,1] 0.9911123425477951 Centerline is valid? [True, True] Translation: X:12.01, Y:0.24, Z:-0.18 [[ 9.98392515e-01 5.53959122e-02 -1.19865777e-02 1.20118567e+01] [-5.53983100e-02 9.98464326e-01 1.32153991e-04 2.41226625e-01] [ 1.19754910e-02 5.32094593e-04 9.99928150e-01 -1.75356725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.575898227 meters Centerline goodness [0,1] 0.921403463648834 Centerline is valid? [True, False] Translation: X:12.01, Y:0.24, Z:-0.17 [[ 9.98612748e-01 5.11756788e-02 -1.23947733e-02 1.20111099e+01] [-5.12355891e-02 9.98676161e-01 -4.56498541e-03 2.43632256e-01] [ 1.21447484e-02 5.19370614e-03 9.99912761e-01 -1.73122854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.605898227 meters Centerline goodness [0,1] 0.9936432597364072 Centerline is valid? [False, True] Translation: X:12.04, Y:0.24, Z:-0.18 [[ 9.98766633e-01 4.88715961e-02 -8.76237722e-03 1.20393396e+01] [-4.88344394e-02 9.98797171e-01 4.40556898e-03 2.38654399e-01] [ 8.96714476e-03 -3.97222952e-03 9.99951905e-01 -1.83918413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.635898227000002 meters Centerline goodness [0,1] 0.9726806209143368 Centerline is valid? [True, True] Translation: X:12.07, Y:0.24, Z:-0.18 [[ 9.98906233e-01 4.55020142e-02 -1.07659259e-02 1.20687717e+01] [-4.55041100e-02 9.98964150e-01 5.03340486e-05 2.42173806e-01] [ 1.07570643e-02 4.39614879e-04 9.99942044e-01 -1.82597803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.665898227 meters Centerline goodness [0,1] 0.9987709520883219 Centerline is valid? [True, True] Translation: X:12.10, Y:0.22, Z:-0.18 [[ 9.99007731e-01 4.29887024e-02 -1.16415431e-02 1.20985968e+01] [-4.29909863e-02 9.99075459e-01 5.41061563e-05 2.24603477e-01] [ 1.16331059e-02 4.46428950e-04 9.99932233e-01 -1.83401799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.695898227 meters Centerline goodness [0,1] 0.9956995656987141 Centerline is valid? [True, True] Translation: X:12.13, Y:0.23, Z:-0.18 [[ 9.99128625e-01 3.98593992e-02 -1.23781879e-02 1.21278336e+01] [-3.98617433e-02 9.99205203e-01 5.73841252e-05 2.30454865e-01] [ 1.23706371e-02 4.36082028e-04 9.99923386e-01 -1.82951315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.725898227000002 meters Centerline goodness [0,1] 0.9991513737138008 Centerline is valid? [True, True] Translation: X:12.16, Y:0.21, Z:-0.18 [[ 9.99262928e-01 3.64021070e-02 -1.21855687e-02 1.21577815e+01] [-3.64041253e-02 9.99337149e-01 5.62105321e-05 2.13796266e-01] [ 1.21795377e-02 3.87435869e-04 9.99925752e-01 -1.82859161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.755898227 meters Centerline goodness [0,1] 0.9992621948648762 Centerline is valid? [True, True] Translation: X:12.19, Y:0.20, Z:-0.18 [[ 9.99584822e-01 2.69995678e-02 -1.00601687e-02 1.21863717e+01] [-2.70004696e-02 9.99635420e-01 4.61920906e-05 2.00053289e-01] [ 1.00577482e-02 2.25456367e-04 9.99949394e-01 -1.80337986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.785898227 meters Centerline goodness [0,1] 0.9998519740320159 Centerline is valid? [True, True] Translation: X:12.22, Y:0.19, Z:-0.18 [[ 9.99715616e-01 2.18472813e-02 -9.55949407e-03 1.22158108e+01] [-2.18478629e-02 9.99761306e-01 4.35881054e-05 1.87238475e-01] [ 9.55816455e-03 1.65278807e-04 9.99954306e-01 -1.78447817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.815898227 meters Centerline goodness [0,1] 0.9998941642148043 Centerline is valid? [True, True] Translation: X:12.25, Y:0.18, Z:-0.18 [[ 9.99806436e-01 1.67483217e-02 -1.03239574e-02 1.22460052e+01] [-1.67487312e-02 9.99859729e-01 4.68005609e-05 1.76119303e-01] [ 1.03232930e-02 1.26121685e-04 9.99946705e-01 -1.78272196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.845898227 meters Centerline goodness [0,1] 0.9998507749046025 Centerline is valid? [True, True] Translation: X:12.27, Y:0.16, Z:-0.18 [[ 9.99861310e-01 1.23069773e-02 -1.12204784e-02 1.22749193e+01] [-1.23071818e-02 9.99924262e-01 5.08193993e-05 1.62723182e-01] [ 1.12202540e-02 8.72801164e-05 9.99937047e-01 -1.79561300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.875898227 meters Centerline goodness [0,1] 0.9999786984769411 Centerline is valid? [True, True] Translation: X:12.30, Y:0.15, Z:-0.18 [[ 9.99891083e-01 9.24735756e-03 -1.15025757e-02 1.23036767e+01] [-9.24737651e-03 9.99957241e-01 5.15401401e-05 1.54572622e-01] [ 1.15025605e-02 5.48341222e-05 9.99933842e-01 -1.79823549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.905898227 meters Centerline goodness [0,1] 0.9997238859861518 Centerline is valid? [True, True] Translation: X:12.33, Y:0.15, Z:-0.18 [[ 9.99908868e-01 7.46202374e-03 -1.12504764e-02 1.23315342e+01] [-7.46193443e-03 9.99972158e-01 4.99152432e-05 1.49608263e-01] [ 1.12505357e-02 3.40396232e-05 9.99936710e-01 -1.78859645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.935898227 meters Centerline goodness [0,1] 0.9999787663233889 Centerline is valid? [True, True] Translation: X:12.36, Y:0.15, Z:-0.18 [[ 9.99902543e-01 8.28044155e-03 -1.12400802e-02 1.23588486e+01] [-8.28041155e-03 9.99965716e-01 4.92073423e-05 1.46592934e-01] [ 1.12401023e-02 4.38699432e-05 9.99936827e-01 -1.75626061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.965898227 meters Centerline goodness [0,1] 0.9998525850268506 Centerline is valid? [True, True] Translation: X:12.39, Y:0.15, Z:-0.18 [[ 9.99885424e-01 9.34066232e-03 -1.19118012e-02 1.23878505e+01] [-9.34071285e-03 9.99956373e-01 5.13940984e-05 1.47445582e-01] [ 1.19117616e-02 5.98765045e-05 9.99929051e-01 -1.76072185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.995898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.42, Y:0.15, Z:-0.18 [[ 9.99883302e-01 9.75254968e-03 -1.17588649e-02 1.24165609e+01] [-9.75263291e-03 9.99952441e-01 5.02648378e-05 1.46319295e-01] [ 1.17587959e-02 6.44209208e-05 9.99930861e-01 -1.75572378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.025898227 meters Centerline goodness [0,1] 0.9998308811094199 Centerline is valid? [True, True] Translation: X:12.45, Y:0.14, Z:-0.18 [[ 9.99894243e-01 9.00931593e-03 -1.14163952e-02 1.24456207e+01] [-9.00935089e-03 9.99959414e-01 4.83683428e-05 1.41256458e-01] [ 1.14163677e-02 5.44910830e-05 9.99934830e-01 -1.76459636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.055898227 meters Centerline goodness [0,1] 0.9997042982363502 Centerline is valid? [True, True] Translation: X:12.47, Y:0.13, Z:-0.17 [[ 9.99926140e-01 6.40081720e-03 -1.03317409e-02 1.24729459e+01] [-6.40071062e-03 9.99979514e-01 4.33831435e-05 1.34755736e-01] [ 1.03318069e-02 2.27505445e-05 9.99946625e-01 -1.74646900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.50, Y:0.13, Z:-0.17 [[ 9.99939515e-01 4.45986454e-03 -1.00536090e-02 1.24998763e+01] [-4.45967046e-03 9.99990055e-01 4.17228582e-05 1.30909058e-01] [ 1.00536951e-02 3.11544876e-06 9.99949460e-01 -1.71934496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.115898227 meters Centerline goodness [0,1] 0.9998725546421972 Centerline is valid? [True, True] Translation: X:12.53, Y:0.12, Z:-0.18 [[ 9.99933130e-01 -1.58279818e-04 -1.15633199e-02 1.25285091e+01] [ 1.58832094e-04 9.99999986e-01 4.68426468e-05 1.23304482e-01] [ 1.15633124e-02 -4.86761408e-05 9.99933141e-01 -1.75397046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.145898227 meters Centerline goodness [0,1] 0.9999574277868835 Centerline is valid? [True, True] Translation: X:12.56, Y:0.12, Z:-0.18 [[ 9.99932457e-01 -2.19733499e-03 -1.14128223e-02 1.25560194e+01] [ 2.19800010e-03 9.99997583e-01 4.57349378e-05 1.17996899e-01] [ 1.14126942e-02 -7.08172333e-05 9.99934871e-01 -1.75147485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.175898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.58, Y:0.11, Z:-0.17 [[ 9.99936191e-01 -3.79184099e-03 -1.06412369e-02 1.25839069e+01] [ 3.79250222e-03 9.99992808e-01 4.19593304e-05 1.14392753e-01] [ 1.06410013e-02 -8.23135675e-05 9.99943380e-01 -1.73391766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.205898227 meters Centerline goodness [0,1] 0.9998299500478266 Centerline is valid? [True, True] Translation: X:12.61, Y:0.11, Z:-0.17 [[ 9.99939532e-01 -4.84046638e-03 -9.87429899e-03 1.26124191e+01] [ 4.84108571e-03 9.99988281e-01 3.88208467e-05 1.14190044e-01] [ 9.87399536e-03 -8.66208270e-05 9.99951247e-01 -1.71938153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.235898227 meters Centerline goodness [0,1] 0.9998730642294998 Centerline is valid? [True, True] Translation: X:12.64, Y:0.11, Z:-0.17 [[ 9.99941674e-01 -4.66598096e-03 -9.74053826e-03 1.26416807e+01] [ 4.66655418e-03 9.99989111e-01 3.61217304e-05 1.13360300e-01] [ 9.74026365e-03 -8.15743731e-05 9.99952559e-01 -1.70328724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.265898227 meters Centerline goodness [0,1] 0.9998727897214095 Centerline is valid? [True, True] Translation: X:12.67, Y:0.11, Z:-0.18 [[ 9.99924188e-01 -3.11745414e-03 -1.19121596e-02 1.26712030e+01] [ 3.11819972e-03 9.99995137e-01 4.40172033e-05 1.14956121e-01] [ 1.19119645e-02 -8.11583591e-05 9.99929047e-01 -1.76176709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.295898227000002 meters Centerline goodness [0,1] 0.9998502897961803 Centerline is valid? [True, True] Translation: X:12.70, Y:0.12, Z:-0.18 [[ 9.99905503e-01 -3.20522765e-03 -1.33682755e-02 1.26990554e+01] [ 3.20617010e-03 9.99994859e-01 4.90683254e-05 1.15520988e-01] [ 1.33680495e-02 -9.19246538e-05 9.99910639e-01 -1.79477017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.325898227 meters Centerline goodness [0,1] 0.9999151859547941 Centerline is valid? [True, True] Translation: X:12.73, Y:0.12, Z:-0.18 [[ 9.99883986e-01 -3.74630077e-03 -1.47641123e-02 1.27269718e+01] [ 3.74746605e-03 9.99992977e-01 5.12610848e-05 1.16074987e-01] [ 1.47638166e-02 -1.06583147e-04 9.99891003e-01 -1.79909331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.355898227 meters Centerline goodness [0,1] 0.9999788332909999 Centerline is valid? [True, True] Translation: X:12.76, Y:0.12, Z:-0.18 [[ 9.99872287e-01 -4.54487906e-03 -1.53216985e-02 1.27550570e+01] [ 4.54621337e-03 9.99989665e-01 5.22572934e-05 1.17890017e-01] [ 1.53213027e-02 -1.21906330e-04 9.99882615e-01 -1.78014349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.385898227000002 meters Centerline goodness [0,1] 0.999555959655763 Centerline is valid? [True, True] Translation: X:12.78, Y:0.12, Z:-0.18 [[ 9.99871459e-01 -5.53467571e-03 -1.50477172e-02 1.27837454e+01] [ 5.53605950e-03 9.99984675e-01 5.03065179e-05 1.20668366e-01] [ 1.50472081e-02 -1.33605109e-04 9.99886775e-01 -1.76056196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.415898227 meters Centerline goodness [0,1] 0.9999362840880129 Centerline is valid? [True, True] Translation: X:12.81, Y:0.12, Z:-0.18 [[ 9.99860844e-01 -7.37368358e-03 -1.49640238e-02 1.28122716e+01] [ 7.37522198e-03 9.99972802e-01 4.76239010e-05 1.21523591e-01] [ 1.49632656e-02 -1.57980271e-04 9.99888032e-01 -1.75810304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.445898227 meters Centerline goodness [0,1] 0.9998305551437104 Centerline is valid? [True, True] Translation: X:12.84, Y:0.11, Z:-0.18 [[ 9.99802306e-01 -1.32895553e-02 -1.47897148e-02 1.28420496e+01] [ 1.32916721e-02 9.99911661e-01 4.48393060e-05 1.14824478e-01] [ 1.47878124e-02 -2.41410481e-04 9.99890625e-01 -1.79244778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.475898227000002 meters Centerline goodness [0,1] 0.9995981047465945 Centerline is valid? [True, True] Translation: X:12.87, Y:0.11, Z:-0.18 [[ 9.99757267e-01 -1.65592692e-02 -1.45326676e-02 1.28729258e+01] [ 1.65616585e-02 9.99862845e-01 4.40670688e-05 1.12380262e-01] [ 1.45299446e-02 -2.84741450e-04 9.99894394e-01 -1.78096356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.505898227 meters Centerline goodness [0,1] 0.9998942582214233 Centerline is valid? [True, True] Translation: X:12.91, Y:0.12, Z:-0.18 [[ 9.99716819e-01 -1.88979518e-02 -1.44619804e-02 1.29050995e+01] [ 1.89005698e-02 9.99821367e-01 4.43570303e-05 1.15319202e-01] [ 1.44585587e-02 -3.17684138e-04 9.99895419e-01 -1.75377431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.535898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.94, Y:0.12, Z:-0.17 [[ 9.99643460e-01 -2.19357421e-02 -1.52241734e-02 1.29375763e+01] [ 2.19390066e-02 9.99759310e-01 4.74301824e-05 1.20034183e-01] [ 1.52194687e-02 -3.81416513e-04 9.99884104e-01 -1.73988260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.565898227 meters Centerline goodness [0,1] 0.9999149840595112 Centerline is valid? [True, True] Translation: X:12.97, Y:0.12, Z:-0.18 [[ 9.99614431e-01 -2.29258376e-02 -1.56650792e-02 1.29683398e+01] [ 2.29294262e-02 9.99737085e-01 4.94925280e-05 1.20973267e-01] [ 1.56598260e-02 -4.08664724e-04 9.99877294e-01 -1.76079960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.595898227 meters Centerline goodness [0,1] 0.9996588995245912 Centerline is valid? [True, True] Translation: X:13.00, Y:0.12, Z:-0.18 [[ 9.99588837e-01 -2.38023871e-02 -1.59875696e-02 1.30002005e+01] [ 2.38062439e-02 9.99716590e-01 5.09401646e-05 1.23342915e-01] [ 1.59818261e-02 -4.31523202e-04 9.99872189e-01 -1.76807872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.625898227 meters Centerline goodness [0,1] 0.9995126499131245 Centerline is valid? [True, True] Translation: X:13.03, Y:0.12, Z:-0.18 [[ 9.99560224e-01 -2.50410029e-02 -1.58841982e-02 1.30309077e+01] [ 2.50449771e-02 9.99686324e-01 5.12966940e-05 1.22536714e-01] [ 1.58779312e-02 -4.49093515e-04 9.99873837e-01 -1.76822158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.655898227 meters Centerline goodness [0,1] 0.9997462572951028 Centerline is valid? [True, True] Translation: X:13.06, Y:0.12, Z:-0.17 [[ 9.99522492e-01 -2.68453057e-02 -1.53009141e-02 1.30628333e+01] [ 2.68492126e-02 9.99639494e-01 4.99353816e-05 1.22986873e-01] [ 1.52940575e-02 -4.60729033e-04 9.99882933e-01 -1.73645303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.685898227 meters Centerline goodness [0,1] 0.9996179317371371 Centerline is valid? [True, True] Translation: X:13.09, Y:0.12, Z:-0.17 [[ 9.99422366e-01 -3.12241007e-02 -1.34160003e-02 1.30924268e+01] [ 3.12275054e-02 9.99512302e-01 4.43186000e-05 1.19303475e-01] [ 1.34080735e-02 -4.63241221e-04 9.99910000e-01 -1.69253246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.715898227 meters Centerline goodness [0,1] 0.9998298523969543 Centerline is valid? [True, True] Translation: X:13.12, Y:0.12, Z:-0.17 [[ 9.99335164e-01 -3.39642335e-02 -1.32537456e-02 1.31225212e+01] [ 3.39678036e-02 9.99422927e-01 4.42875540e-05 1.15314701e-01] [ 1.32445930e-02 -4.94458738e-04 9.99912164e-01 -1.69886524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.745898227 meters Centerline goodness [0,1] 0.9995558093787676 Centerline is valid? [True, True] Translation: X:13.15, Y:0.11, Z:-0.17 [[ 9.99228348e-01 -3.66593705e-02 -1.40996016e-02 1.31522841e+01] [ 3.66636793e-02 9.99327660e-01 4.71432736e-05 1.11052770e-01] [ 1.40883937e-02 -5.64050167e-04 9.99900595e-01 -1.72590921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.775898227 meters Centerline goodness [0,1] 0.9994282931374002 Centerline is valid? [True, True] Translation: X:13.18, Y:0.11, Z:-0.17 [[ 9.99121877e-01 -3.87835463e-02 -1.58527965e-02 1.31835016e+01] [ 3.87892730e-02 9.99247412e-01 5.38135144e-05 1.07435003e-01] [ 1.58387788e-02 -6.68684711e-04 9.99874335e-01 -1.74751482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.805898227 meters Centerline goodness [0,1] 0.9992594786729858 Centerline is valid? [True, True] Translation: X:13.21, Y:0.11, Z:-0.18 [[ 9.99060753e-01 -3.91451968e-02 -1.85813208e-02 1.32147600e+01] [ 3.91531475e-02 9.99233219e-01 6.41491354e-05 1.06767183e-01] [ 1.85645618e-02 -7.91606077e-04 9.99827350e-01 -1.76266959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.835898227 meters Centerline goodness [0,1] 0.9992339121552605 Centerline is valid? [True, True] Translation: X:13.25, Y:0.11, Z:-0.17 [[ 9.99115705e-01 -3.77618178e-02 -1.84892930e-02 1.32466012e+01] [ 3.77694930e-02 9.99286476e-01 6.59708097e-05 1.09124421e-01] [ 1.84736093e-02 -7.64243694e-04 9.99829056e-01 -1.73576487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.865898227 meters Centerline goodness [0,1] 0.9994913098770666 Centerline is valid? [True, True] Translation: X:13.28, Y:0.11, Z:-0.17 [[ 9.99212599e-01 -3.58018640e-02 -1.70999495e-02 1.32770105e+01] [ 3.58081525e-02 9.99358681e-01 6.16078316e-05 1.11538190e-01] [ 1.70867773e-02 -6.73876921e-04 9.99853783e-01 -1.70252353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.895898227 meters Centerline goodness [0,1] 0.9999574431866541 Centerline is valid? [True, True] Translation: X:13.31, Y:0.12, Z:-0.17 [[ 9.99338175e-01 -3.33859559e-02 -1.44426130e-02 1.33090170e+01] [ 3.33901917e-02 9.99442391e-01 5.21889506e-05 1.15886299e-01] [ 1.44328173e-02 -5.34396028e-04 9.99895699e-01 -1.65899440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.925898227 meters Centerline goodness [0,1] 0.999830852503383 Centerline is valid? [True, True] Translation: X:13.34, Y:0.12, Z:-0.16 [[ 9.99415382e-01 -3.18404586e-02 -1.24530821e-02 1.33392496e+01] [ 3.18434925e-02 9.99492866e-01 4.53684093e-05 1.18969131e-01] [ 1.24453222e-02 -4.41891512e-04 9.99922456e-01 -1.62758032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.955898227 meters Centerline goodness [0,1] 0.9996805656118233 Centerline is valid? [True, True] Translation: X:13.37, Y:0.12, Z:-0.16 [[ 9.99409311e-01 -3.18726519e-02 -1.28516052e-02 1.33712932e+01] [ 3.18758868e-02 9.99491834e-01 4.69006217e-05 1.20705897e-01] [ 1.28435796e-02 -4.56529229e-04 9.99917414e-01 -1.64791919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.985898227 meters Centerline goodness [0,1] 0.9996191604603927 Centerline is valid? [True, True] Translation: X:13.40, Y:0.12, Z:-0.17 [[ 9.99347698e-01 -3.36205936e-02 -1.31846571e-02 1.34029191e+01] [ 3.36241694e-02 9.99434547e-01 4.95671147e-05 1.18028957e-01] [ 1.31755353e-02 -4.92857924e-04 9.99913077e-01 -1.66291561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.015898227 meters Centerline goodness [0,1] 0.9995512436960424 Centerline is valid? [True, True] Translation: X:13.43, Y:0.12, Z:-0.17 [[ 9.99263221e-01 -3.59095453e-02 -1.35469237e-02 1.34344282e+01] [ 3.59135563e-02 9.99354899e-01 5.28512413e-05 1.16552364e-01] [ 1.35362867e-02 -5.39330508e-04 9.99908235e-01 -1.65927471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.045898227 meters Centerline goodness [0,1] 0.9976341702544865 Centerline is valid? [True, True] Translation: X:13.46, Y:0.11, Z:-0.17 [[ 9.99144130e-01 -3.88806069e-02 -1.41175872e-02 1.34639977e+01] [ 3.88852633e-02 9.99243681e-01 5.53766636e-05 1.14795393e-01] [ 1.41047567e-02 -6.04295361e-04 9.99900340e-01 -1.65353174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.075898227 meters Centerline goodness [0,1] 0.9869773528356445 Centerline is valid? [True, True] Translation: X:13.49, Y:0.11, Z:-0.17 [[ 9.98988575e-01 -4.22243545e-02 -1.54573796e-02 1.34944168e+01] [ 4.22303363e-02 9.99107900e-01 6.06452778e-05 1.12886294e-01] [ 1.54410294e-02 -7.13354280e-04 9.99880526e-01 -1.66826577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.105898227 meters Centerline goodness [0,1] 0.9043025764690951 Centerline is valid? [True, False] Translation: X:13.50, Y:0.11, Z:-0.17 [[ 9.98969305e-01 -4.26532760e-02 -1.55250082e-02 1.34950652e+01] [ 4.26564539e-02 9.99089791e-01 -1.26535563e-04 1.13107053e-01] [ 1.55162744e-02 -5.35836654e-04 9.99879472e-01 -1.67540165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.135898227000002 meters Centerline goodness [0,1] 0.9021778162691958 Centerline is valid? [False, False] Translation: X:13.49, Y:0.11, Z:-0.17 [[ 9.99134259e-01 -3.87013861e-02 -1.52622038e-02 1.34945056e+01] [ 3.87740709e-02 9.99237891e-01 4.49550025e-03 1.10031278e-01] [ 1.50765902e-02 -5.08338608e-03 9.99873420e-01 -1.68886801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.165898227 meters Centerline goodness [0,1] 0.8594330070874114 Centerline is valid? [False, False] Translation: X:13.49, Y:0.11, Z:-0.17 [[ 9.99123577e-01 -3.90674609e-02 -1.50270234e-02 1.34926928e+01] [ 3.91308913e-02 9.99226285e-01 3.95036800e-03 1.11785168e-01] [ 1.48610659e-02 -4.53492662e-03 9.99879284e-01 -1.67259369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.195898227 meters Centerline goodness [0,1] 0.8594330070874114 Centerline is valid? [False, False] Translation: X:13.49, Y:0.11, Z:-0.17 [[ 9.99123577e-01 -3.90674609e-02 -1.50270234e-02 1.34926928e+01] [ 3.91308913e-02 9.99226285e-01 3.95036800e-03 1.11785168e-01] [ 1.48610659e-02 -4.53492662e-03 9.99879284e-01 -1.67259369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.225898227000002 meters Centerline goodness [0,1] 0.9801178981174333 Centerline is valid? [False, True] Translation: X:13.49, Y:0.11, Z:-0.17 [[ 9.99107936e-01 -3.95809349e-02 -1.47200973e-02 1.34908278e+01] [ 3.96337074e-02 9.99208791e-01 3.31067642e-03 1.13850444e-01] [ 1.45774110e-02 -3.89113512e-03 9.99886173e-01 -1.65873677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.255898227 meters Centerline goodness [0,1] 0.8056214446147064 Centerline is valid? [True, False] Translation: X:13.49, Y:0.11, Z:-0.17 [[ 9.99108688e-01 -3.95329786e-02 -1.47977144e-02 1.34916684e+01] [ 3.95868272e-02 9.99210472e-01 3.36381611e-03 1.14039504e-01] [ 1.46530495e-02 -3.94661246e-03 9.99884850e-01 -1.66765339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.285898227 meters Centerline goodness [0,1] 0.8012778609535458 Centerline is valid? [False, False] Translation: X:13.49, Y:0.11, Z:-0.17 [[ 9.99107409e-01 -3.95642332e-02 -1.48005868e-02 1.34918984e+01] [ 3.96163328e-02 9.99209701e-01 3.24351842e-03 1.14783956e-01] [ 1.46605626e-02 -3.82696826e-03 9.99885205e-01 -1.67088112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.315898227 meters Centerline goodness [0,1] 0.7810892842087513 Centerline is valid? [False, False] Translation: X:13.49, Y:0.12, Z:-0.17 [[ 9.99095579e-01 -3.97507791e-02 -1.50963441e-02 1.34920617e+01] [ 3.97965546e-02 9.99204036e-01 2.74389461e-03 1.17247578e-01] [ 1.49752560e-02 -3.34219545e-03 9.99882279e-01 -1.65903477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.345898227 meters Centerline goodness [0,1] 0.7738524957816271 Centerline is valid? [False, False] Translation: X:13.46, Y:0.12, Z:-0.16 [[ 9.99084226e-01 -3.82220712e-02 -1.92297101e-02 1.34640197e+01] [ 3.80924449e-02 9.99249259e-01 -7.06279799e-03 1.22126143e-01] [ 1.94852284e-02 6.32382339e-03 9.99790146e-01 -1.55521628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.375898227 meters Centerline goodness [0,1] 0.7747291964060794 Centerline is valid? [False, False] Translation: X:13.47, Y:0.12, Z:-0.16 [[ 9.99081300e-01 -3.80402424e-02 -1.97356522e-02 1.34663038e+01] [ 3.79101270e-02 9.99257152e-01 -6.92580969e-03 1.22416093e-01] [ 1.99844511e-02 6.17126587e-03 9.99781245e-01 -1.56582422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.405898227 meters Centerline goodness [0,1] 0.7648788744313975 Centerline is valid? [False, False] Translation: X:13.47, Y:0.12, Z:-0.16 [[ 9.99238318e-01 -3.36596431e-02 -1.97436891e-02 1.34679958e+01] [ 3.36279836e-02 9.99432549e-01 -1.93343720e-03 1.18674195e-01] [ 1.97975644e-02 1.26802408e-03 9.99803205e-01 -1.59994882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.435898227 meters Centerline goodness [0,1] 0.7553676129413254 Centerline is valid? [False, False] Translation: X:13.47, Y:0.12, Z:-0.16 [[ 9.99377623e-01 -2.92676307e-02 -1.96919141e-02 1.34689004e+01] [ 2.93310493e-02 9.99565430e-01 2.93940581e-03 1.15758318e-01] [ 1.95973271e-02 -3.51516090e-03 9.99801775e-01 -1.62357216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.465898227 meters Centerline goodness [0,1] 0.9874275485850665 Centerline is valid? [False, True] Translation: X:13.47, Y:0.12, Z:-0.16 [[ 9.99372471e-01 -2.95654352e-02 -1.95076702e-02 1.34671244e+01] [ 2.96181968e-02 9.99558352e-01 2.42124539e-03 1.17520194e-01] [ 1.94274695e-02 -2.99750800e-03 9.99806776e-01 -1.60473972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.495898227 meters Centerline goodness [0,1] 0.9827285859959212 Centerline is valid? [True, True] Translation: X:13.50, Y:0.12, Z:-0.16 [[ 9.99393410e-01 -2.97799833e-02 -1.80545119e-02 1.34989766e+01] [ 2.97933423e-02 9.99555969e-01 4.71341537e-04 1.17164250e-01] [ 1.80324586e-02 -1.00895988e-03 9.99836893e-01 -1.55746131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.525898227 meters Centerline goodness [0,1] 0.9822092461509379 Centerline is valid? [True, True] Translation: X:13.53, Y:0.12, Z:-0.16 [[ 9.99382372e-01 -3.06043473e-02 -1.72698948e-02 1.35307919e+01] [ 3.06167058e-02 9.99531097e-01 4.51609737e-04 1.16363454e-01] [ 1.72479757e-02 -9.80078099e-04 9.99850762e-01 -1.55363950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.555898227 meters Centerline goodness [0,1] 0.9703871473022458 Centerline is valid? [True, True] Translation: X:13.56, Y:0.11, Z:-0.16 [[ 9.99338055e-01 -3.18099718e-02 -1.76515748e-02 1.35624418e+01] [ 3.18230804e-02 9.99493411e-01 4.62170344e-04 1.13538018e-01] [ 1.76279311e-02 -1.02359190e-03 9.99844092e-01 -1.55943493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.585898227 meters Centerline goodness [0,1] 0.7150198798747991 Centerline is valid? [True, False] Translation: X:13.57, Y:0.11, Z:-0.16 [[ 9.99348276e-01 -3.13443782e-02 -1.79039987e-02 1.35658080e+01] [ 3.13720899e-02 9.99506969e-01 1.26896347e-03 1.11643870e-01] [ 1.78553966e-02 -1.82982231e-03 9.99838905e-01 -1.59598648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.615898227 meters Centerline goodness [0,1] 0.8961091139775851 Centerline is valid? [False, False] Translation: X:13.57, Y:0.11, Z:-0.16 [[ 9.99346465e-01 -3.12766890e-02 -1.81221425e-02 1.35668249e+01] [ 3.13072466e-02 9.99508821e-01 1.40489123e-03 1.11294227e-01] [ 1.80693009e-02 -1.97132747e-03 9.99834793e-01 -1.60036418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.645898227 meters Centerline goodness [0,1] 0.856926490037971 Centerline is valid? [False, False] Translation: X:13.57, Y:0.11, Z:-0.16 [[ 9.99346121e-01 -3.12793330e-02 -1.81365483e-02 1.35667359e+01] [ 3.13107090e-02 9.99508650e-01 1.44854952e-03 1.10998842e-01] [ 1.80823272e-02 -2.01547053e-03 9.99834470e-01 -1.59790206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.675898227 meters Centerline goodness [0,1] 0.9009806418746816 Centerline is valid? [False, False] Translation: X:13.57, Y:0.11, Z:-0.16 [[ 9.99348935e-01 -3.12325580e-02 -1.80619230e-02 1.35663739e+01] [ 3.12661407e-02 9.99509846e-01 1.57985484e-03 1.10324337e-01] [ 1.80037269e-02 -2.14355288e-03 9.99835622e-01 -1.59514596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.705898227 meters Centerline goodness [0,1] 0.8748007227122967 Centerline is valid? [False, False] Translation: X:13.57, Y:0.11, Z:-0.16 [[ 9.99353458e-01 -3.11861771e-02 -1.78909970e-02 1.35658634e+01] [ 3.12219253e-02 9.99510993e-01 1.72221718e-03 1.09513259e-01] [ 1.78285388e-02 -2.27969507e-03 9.99838460e-01 -1.59479242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.735898227 meters Centerline goodness [0,1] 0.8705467970888413 Centerline is valid? [False, False] Translation: X:13.57, Y:0.11, Z:-0.16 [[ 9.99353795e-01 -3.10620211e-02 -1.80871221e-02 1.35670729e+01] [ 3.11012388e-02 9.99514451e-01 1.89096562e-03 1.09236008e-01] [ 1.80196027e-02 -2.45227557e-03 9.99834626e-01 -1.60342576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.765898227 meters Centerline goodness [0,1] 0.8307838379575905 Centerline is valid? [False, False] Translation: X:13.57, Y:0.11, Z:-0.16 [[ 9.99353516e-01 -3.09377018e-02 -1.83141877e-02 1.35681288e+01] [ 3.09780567e-02 9.99518213e-01 1.92383151e-03 1.09704841e-01] [ 1.82458453e-02 -2.48992573e-03 9.99830430e-01 -1.60833208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.795898227 meters Centerline goodness [0,1] 0.8909758568293095 Centerline is valid? [False, False] Translation: X:13.57, Y:0.11, Z:-0.16 [[ 9.99351606e-01 -3.09196915e-02 -1.84482981e-02 1.35677388e+01] [ 3.09542217e-02 9.99519540e-01 1.58905344e-03 1.11702230e-01] [ 1.83903014e-02 -2.15907582e-03 9.99828553e-01 -1.59541097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.825898227 meters Centerline goodness [0,1] 0.9815310720054408 Centerline is valid? [False, True] Translation: X:13.57, Y:0.11, Z:-0.16 [[ 9.99354193e-01 -3.08892741e-02 -1.83589050e-02 1.35673038e+01] [ 3.09243311e-02 9.99520402e-01 1.62865255e-03 1.11412447e-01] [ 1.82997922e-02 -2.19533761e-03 9.99830135e-01 -1.59275723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.855898227 meters Centerline goodness [0,1] 0.8503814184063763 Centerline is valid? [True, False] Translation: X:13.57, Y:0.11, Z:-0.16 [[ 9.99360503e-01 -3.05906626e-02 -1.85147722e-02 1.35684380e+01] [ 3.06352790e-02 9.99528358e-01 2.13089764e-03 1.09609121e-01] [ 1.84408542e-02 -2.69674015e-03 9.99826316e-01 -1.60240913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.885898227000002 meters Centerline goodness [0,1] 0.8902177568521944 Centerline is valid? [False, False] Translation: X:13.57, Y:0.11, Z:-0.16 [[ 9.99222282e-01 -3.44526317e-02 -1.91793417e-02 1.35705551e+01] [ 3.44168305e-02 9.99405158e-01 -2.19371099e-03 1.11526022e-01] [ 1.92435121e-02 1.53191275e-03 9.99813653e-01 -1.59386245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.915898227 meters Centerline goodness [0,1] 0.8178622106444713 Centerline is valid? [False, False] Translation: X:13.57, Y:0.11, Z:-0.16 [[ 9.99224553e-01 -3.42259003e-02 -1.94648680e-02 1.35717336e+01] [ 3.41984141e-02 9.99413543e-01 -1.74330962e-03 1.09757458e-01] [ 1.95131190e-02 1.07629016e-03 9.99809022e-01 -1.59787020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.945898227 meters Centerline goodness [0,1] 0.9724017061531315 Centerline is valid? [False, True] Translation: X:13.57, Y:0.10, Z:-0.16 [[ 9.99368167e-01 -3.00238950e-02 -1.90218837e-02 1.35709313e+01] [ 3.00953022e-02 9.99540980e-01 3.47881113e-03 1.03379633e-01] [ 1.89087048e-02 -4.04908244e-03 9.99813015e-01 -1.61513807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.975898227000002 meters Centerline goodness [0,1] 0.9578819931183892 Centerline is valid? [True, True] Translation: X:13.60, Y:0.10, Z:-0.16 [[ 9.99373742e-01 -3.07370608e-02 -1.75316161e-02 1.36020535e+01] [ 3.07510825e-02 9.99526933e-01 5.30712983e-04 9.86890747e-02] [ 1.75070099e-02 -1.06949679e-03 9.99846169e-01 -1.57885992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.005898227 meters Centerline goodness [0,1] 0.9422438405413979 Centerline is valid? [True, False] Translation: X:13.60, Y:0.10, Z:-0.16 [[ 9.99383239e-01 -3.04273137e-02 -1.75305290e-02 1.36028710e+01] [ 3.04540640e-02 9.99535372e-01 1.26092850e-03 9.54300457e-02] [ 1.74840172e-02 -1.79402666e-03 9.99845533e-01 -1.59087326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.035898227 meters Centerline goodness [0,1] 0.9192674584121183 Centerline is valid? [False, False] Translation: X:13.60, Y:0.09, Z:-0.16 [[ 9.99390526e-01 -3.00846183e-02 -1.77057219e-02 1.36042932e+01] [ 3.01233078e-02 9.99544341e-01 1.92245128e-03 9.28571486e-02] [ 1.76398180e-02 -2.45463451e-03 9.99841393e-01 -1.60408784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.065898227 meters Centerline goodness [0,1] 0.9396252013906554 Centerline is valid? [False, False] Translation: X:13.61, Y:0.09, Z:-0.16 [[ 9.99395350e-01 -2.96710327e-02 -1.81263182e-02 1.36064269e+01] [ 2.97208698e-02 9.99555145e-01 2.48620125e-03 9.11734727e-02] [ 1.80444865e-02 -3.02342792e-03 9.99832614e-01 -1.61650049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.095898227 meters Centerline goodness [0,1] 0.9614410000844666 Centerline is valid? [False, True] Translation: X:13.61, Y:0.09, Z:-0.16 [[ 9.99411538e-01 -2.87124900e-02 -1.87661926e-02 1.36099206e+01] [ 2.87815862e-02 9.99579866e-01 3.42224054e-03 8.95503934e-02] [ 1.86600472e-02 -3.96034747e-03 9.99818043e-01 -1.63579212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.125898227 meters Centerline goodness [0,1] 0.9648664713624592 Centerline is valid? [True, True] Translation: X:13.64, Y:0.09, Z:-0.16 [[ 9.99488265e-01 -2.65995512e-02 -1.77671756e-02 1.36392451e+01] [ 2.66125867e-02 9.99645699e-01 4.97610055e-04 8.98973381e-02] [ 1.77476444e-02 -9.70185910e-04 9.99842027e-01 -1.59092498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.155898227 meters Centerline goodness [0,1] 0.9808764602370301 Centerline is valid? [True, True] Translation: X:13.67, Y:0.09, Z:-0.16 [[ 9.99552628e-01 -2.46528113e-02 -1.69346675e-02 1.36702553e+01] [ 2.46643863e-02 9.99695675e-01 4.74962501e-04 9.14121730e-02] [ 1.69178047e-02 -8.92433198e-04 9.99856485e-01 -1.56498282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.185898227 meters Centerline goodness [0,1] 0.9968149485083342 Centerline is valid? [True, True] Translation: X:13.70, Y:0.10, Z:-0.16 [[ 9.99590568e-01 -2.29584000e-02 -1.70765145e-02 1.37022773e+01] [ 2.29699270e-02 9.99736042e-01 4.79163828e-04 9.69785669e-02] [ 1.70610062e-02 -8.71213934e-04 9.99854071e-01 -1.55678470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.215898227 meters Centerline goodness [0,1] 0.9986479920569533 Centerline is valid? [True, True] Translation: X:13.73, Y:0.10, Z:-0.16 [[ 9.99627931e-01 -2.12130171e-02 -1.71466283e-02 1.37334904e+01] [ 2.12243926e-02 9.99774621e-01 4.81697990e-04 9.97680127e-02] [ 1.71325456e-02 -8.45445537e-04 9.99852870e-01 -1.56189842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.245898227 meters Centerline goodness [0,1] 0.9973668563662618 Centerline is valid? [True, True] Translation: X:13.76, Y:0.10, Z:-0.15 [[ 9.99636223e-01 -2.20682126e-02 -1.55053639e-02 1.37640136e+01] [ 2.20776218e-02 9.99756165e-01 4.35908323e-04 9.55890016e-02] [ 1.54919634e-02 -7.78071310e-04 9.99879690e-01 -1.54270159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.275898227 meters Centerline goodness [0,1] 0.9918411460540816 Centerline is valid? [True, True] Translation: X:13.79, Y:0.09, Z:-0.15 [[ 9.99612500e-01 -2.45810692e-02 -1.30621934e-02 1.37935121e+01] [ 2.45879644e-02 9.99697603e-01 3.67519252e-04 9.08939518e-02] [ 1.30492094e-02 -6.88549586e-04 9.99914618e-01 -1.50375703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.305898227 meters Centerline goodness [0,1] 0.9771675995353258 Centerline is valid? [True, True] Translation: X:13.82, Y:0.08, Z:-0.15 [[ 9.99525118e-01 -2.87886788e-02 -1.09886178e-02 1.38244206e+01] [ 2.87938110e-02 9.99585324e-01 3.09094710e-04 8.41365513e-02] [ 1.09751626e-02 -6.25352109e-04 9.99939576e-01 -1.47478595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.335898227 meters Centerline goodness [0,1] 0.9309526332520928 Centerline is valid? [True, False] Translation: X:13.82, Y:0.08, Z:-0.15 [[ 9.99521915e-01 -2.90724523e-02 -1.05230368e-02 1.38232723e+01] [ 2.90824473e-02 9.99576698e-01 7.98016829e-04 8.03046934e-02] [ 1.04953821e-02 -1.10367097e-03 9.99944313e-01 -1.47983817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.365898227 meters Centerline goodness [0,1] 0.9175970228601807 Centerline is valid? [False, False] Translation: X:13.82, Y:0.08, Z:-0.15 [[ 9.99519453e-01 -2.92366174e-02 -1.02996334e-02 1.38234025e+01] [ 2.92523260e-02 9.99571110e-01 1.37779456e-03 7.66669179e-02] [ 1.02549340e-02 -1.67842070e-03 9.99946008e-01 -1.49305708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.395898227 meters Centerline goodness [0,1] 0.7887453087683385 Centerline is valid? [False, False] Translation: X:13.82, Y:0.07, Z:-0.15 [[ 9.99504246e-01 -2.97351479e-02 -1.03481338e-02 1.38244002e+01] [ 2.97559753e-02 9.99555454e-01 1.86452657e-03 7.25496270e-02] [ 1.02880916e-02 -2.17152104e-03 9.99944718e-01 -1.50998325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.425898227 meters Centerline goodness [0,1] 0.7191385341593965 Centerline is valid? [False, False] Translation: X:13.83, Y:0.07, Z:-0.15 [[ 9.99503857e-01 -2.97014338e-02 -1.04816820e-02 1.38251634e+01] [ 2.97240843e-02 9.99556117e-01 2.01180622e-03 7.19847846e-02] [ 1.04172758e-02 -2.32236648e-03 9.99943042e-01 -1.51464118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.455898227 meters Centerline goodness [0,1] 0.7696129429499565 Centerline is valid? [False, False] Translation: X:13.82, Y:0.07, Z:-0.15 [[ 9.99502251e-01 -2.97601815e-02 -1.04681589e-02 1.38248699e+01] [ 2.97811044e-02 9.99554735e-01 1.84850587e-03 7.27204987e-02] [ 1.04084859e-02 -2.15933912e-03 9.99943499e-01 -1.51049965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.485898227 meters Centerline goodness [0,1] 0.7670907044407161 Centerline is valid? [False, False] Translation: X:13.82, Y:0.07, Z:-0.15 [[ 9.99689966e-01 -2.46035609e-02 -3.82574770e-03 1.38242044e+01] [ 2.45717966e-02 9.99664934e-01 -8.13920174e-03 7.42798533e-02] [ 4.02471917e-03 8.04267282e-03 9.99959558e-01 -1.48478167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.515898227 meters Centerline goodness [0,1] 0.7552792413066386 Centerline is valid? [False, False] Translation: X:13.83, Y:0.07, Z:-0.15 [[ 9.99799071e-01 -1.95694256e-02 -4.34216006e-03 1.38279735e+01] [ 1.95560388e-02 9.99803943e-01 -3.10430467e-03 7.40273898e-02] [ 4.40205821e-03 3.01876548e-03 9.99985754e-01 -1.51919444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.545898227 meters Centerline goodness [0,1] 0.7673080989638401 Centerline is valid? [False, False] Translation: X:13.83, Y:0.07, Z:-0.15 [[ 9.99876264e-01 -1.51310123e-02 -4.30223598e-03 1.38290938e+01] [ 1.51378936e-02 9.99884181e-01 1.57143984e-03 7.25664589e-02] [ 4.27796022e-03 -1.63637219e-03 9.99989511e-01 -1.54286892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.575898227 meters Centerline goodness [0,1] 0.8809352973452075 Centerline is valid? [False, False] Translation: X:13.83, Y:0.08, Z:-0.15 [[ 9.99879218e-01 -1.48081274e-02 -4.71906392e-03 1.38305823e+01] [ 1.48148078e-02 9.99889297e-01 1.38382742e-03 7.50643228e-02] [ 4.69804961e-03 -1.45357231e-03 9.99987908e-01 -1.54443155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.605898227 meters Centerline goodness [0,1] 0.9590317751491766 Centerline is valid? [False, True] Translation: X:13.82, Y:0.08, Z:-0.14 [[ 9.99953928e-01 -5.47136992e-03 -7.88706882e-03 1.38217174e+01] [ 5.40268162e-03 9.99947523e-01 -8.70413288e-03 8.17298322e-02] [ 7.93427846e-03 8.66112054e-03 9.99931014e-01 -1.43114788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.635898227000002 meters Centerline goodness [0,1] 0.9995535144788876 Centerline is valid? [True, True] Translation: X:13.85, Y:0.09, Z:-0.15 [[ 9.99971175e-01 -9.57050042e-04 -7.53215511e-03 1.38533733e+01] [ 9.59791270e-04 9.99999474e-01 3.60330436e-04 9.32077986e-02] [ 7.53180630e-03 -3.67549346e-04 9.99971568e-01 -1.49721174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.665898227 meters Centerline goodness [0,1] 0.9953410202952815 Centerline is valid? [True, True] Translation: X:13.88, Y:0.09, Z:-0.15 [[ 9.99963657e-01 3.18236282e-03 -7.90935697e-03 1.38831017e+01] [-3.17946974e-03 9.99994874e-01 3.78326461e-04 8.83153394e-02] [ 7.91052040e-03 -3.53165150e-04 9.99968649e-01 -1.50059676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.695898227 meters Centerline goodness [0,1] 0.9994505610616851 Centerline is valid? [True, True] Translation: X:13.91, Y:0.10, Z:-0.15 [[ 9.99893607e-01 1.25836961e-02 -7.37735973e-03 1.39147129e+01] [-1.25814343e-02 9.99920788e-01 3.52906217e-04 1.00800804e-01] [ 7.38121622e-03 -2.60050903e-04 9.99972725e-01 -1.50628010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.725898227000002 meters Centerline goodness [0,1] 0.9998731983600321 Centerline is valid? [True, True] Translation: X:13.95, Y:0.11, Z:-0.15 [[ 9.99828028e-01 1.75073391e-02 -6.11614617e-03 1.39459412e+01] [-1.75058778e-02 9.99846718e-01 2.92376740e-04 1.08141756e-01] [ 6.12032741e-03 -1.85257951e-04 9.99981253e-01 -1.48930209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.755898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.98, Y:0.12, Z:-0.15 [[ 9.99748244e-01 2.19754682e-02 -4.53080826e-03 1.39759702e+01] [-2.19747117e-02 9.99758503e-01 2.16676152e-04 1.20093617e-01] [ 4.53447564e-03 -1.17058397e-04 9.99989712e-01 -1.46294987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.785898227 meters Centerline goodness [0,1] 0.9999147448740355 Centerline is valid? [True, True] Translation: X:14.01, Y:0.12, Z:-0.14 [[ 9.99667280e-01 2.56013257e-02 -3.14659860e-03 1.40053464e+01] [-2.56009788e-02 9.99672230e-01 1.50469310e-04 1.24693767e-01] [ 3.14941945e-03 -6.98632414e-05 9.99995038e-01 -1.43374713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.815898227 meters Centerline goodness [0,1] 0.9998115932927212 Centerline is valid? [True, True] Translation: X:14.03, Y:0.12, Z:-0.14 [[ 9.99594870e-01 2.82873608e-02 -3.14981158e-03 1.40333786e+01] [-2.82870261e-02 9.99599831e-01 1.50745964e-04 1.24329051e-01] [ 3.15281532e-03 -6.15860902e-05 9.99995028e-01 -1.41515947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.845898227 meters Centerline goodness [0,1] 0.9998309882959395 Centerline is valid? [True, True] Translation: X:14.06, Y:0.13, Z:-0.14 [[ 9.99529282e-01 3.04135494e-02 -4.02870266e-03 1.40616404e+01] [-3.04130204e-02 9.99537399e-01 1.92532737e-04 1.26149178e-01] [ 4.03269458e-03 -6.99170927e-05 9.99991866e-01 -1.42701445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.875898227 meters Centerline goodness [0,1] 0.9999358439725412 Centerline is valid? [True, True] Translation: X:14.09, Y:0.14, Z:-0.15 [[ 9.99418948e-01 3.33734966e-02 -6.92647251e-03 1.40914467e+01] [-3.33720095e-02 9.99442945e-01 3.30192207e-04 1.35440244e-01] [ 6.93363375e-03 -9.88500416e-05 9.99975957e-01 -1.49289910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.905898227 meters Centerline goodness [0,1] 0.9999155744106039 Centerline is valid? [True, True] Translation: X:14.12, Y:0.14, Z:-0.15 [[ 9.99355068e-01 3.51091756e-02 -7.53613276e-03 1.41189620e+01] [-3.51074751e-02 9.99383479e-01 3.57869742e-04 1.35904301e-01] [ 7.54405108e-03 -9.30643478e-05 9.99971539e-01 -1.50364629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.935898227 meters Centerline goodness [0,1] 0.999768177028451 Centerline is valid? [True, True] Translation: X:14.15, Y:0.14, Z:-0.15 [[ 9.99285026e-01 3.71389881e-02 -7.08045750e-03 1.41471853e+01] [-3.71375406e-02 9.99310107e-01 3.35852526e-04 1.36732550e-01] [ 7.08804597e-03 -7.26616222e-05 9.99974877e-01 -1.48362441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.965898227 meters Centerline goodness [0,1] 0.9999148320061321 Centerline is valid? [True, True] Translation: X:14.18, Y:0.14, Z:-0.15 [[ 9.99193353e-01 3.97560789e-02 -5.66553368e-03 1.41766105e+01] [-3.97551933e-02 9.99209414e-01 2.68897638e-04 1.44308932e-01] [ 5.67174490e-03 -4.34463458e-05 9.99983915e-01 -1.45741140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.995898227 meters Centerline goodness [0,1] 0.9996819540741683 Centerline is valid? [True, True] Translation: X:14.21, Y:0.15, Z:-0.14 [[ 9.98962489e-01 4.54005030e-02 -3.56923168e-03 1.42051945e+01] [-4.54001877e-02 9.98968866e-01 1.69358564e-04 1.53285492e-01] [ 3.57324028e-03 -7.13906503e-06 9.99993616e-01 -1.40307809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.025898227 meters Centerline goodness [0,1] 0.9998725194407853 Centerline is valid? [True, True] Translation: X:14.23, Y:0.15, Z:-0.14 [[ 9.98870751e-01 4.73564344e-02 -3.81980225e-03 1.42333346e+01] [-4.73560900e-02 9.98878055e-01 1.80596143e-04 1.54858554e-01] [ 3.82406903e-03 4.98694690e-07 9.99992688e-01 -1.41467148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.055898227 meters Centerline goodness [0,1] 0.999831259228011 Centerline is valid? [True, True] Translation: X:14.26, Y:0.15, Z:-0.14 [[ 9.98831696e-01 4.80614241e-02 -5.03420692e-03 1.42606753e+01] [-4.80608450e-02 9.98844382e-01 2.36026430e-04 1.54624530e-01] [ 5.03973307e-03 6.19755868e-06 9.99987300e-01 -1.43924537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.085898227 meters Centerline goodness [0,1] 0.999831259228011 Centerline is valid? [True, True] Translation: X:14.29, Y:0.15, Z:-0.14 [[ 9.98840537e-01 4.78773359e-02 -5.03419746e-03 1.42879711e+01] [-4.78767534e-02 9.98853223e-01 2.36230051e-04 1.53478526e-01] [ 5.03973443e-03 5.06487957e-06 9.99987300e-01 -1.43678799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.115898227 meters Centerline goodness [0,1] 0.9997455254898634 Centerline is valid? [True, True] Translation: X:14.32, Y:0.15, Z:-0.15 [[ 9.98977223e-01 4.45373065e-02 -7.80611643e-03 1.43155447e+01] [-4.45358235e-02 9.99007722e-01 3.63800606e-04 1.46769780e-01] [ 7.81457329e-03 -1.57766958e-05 9.99969466e-01 -1.48664529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.145898227 meters Centerline goodness [0,1] 0.9999367168712822 Centerline is valid? [True, True] Translation: X:14.34, Y:0.14, Z:-0.15 [[ 9.99127283e-01 4.10593025e-02 -7.66851980e-03 1.43443700e+01] [-4.10577710e-02 9.99156710e-01 3.57093087e-04 1.39796496e-01] [ 7.67671501e-03 -4.19291155e-05 9.99970533e-01 -1.48117173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.175898227 meters Centerline goodness [0,1] 0.9994531381457177 Centerline is valid? [True, True] Translation: X:14.37, Y:0.13, Z:-0.15 [[ 9.99283157e-01 3.72735706e-02 -6.62218953e-03 1.43718805e+01] [-3.72723524e-02 9.99305097e-01 3.07317951e-04 1.33254248e-01] [ 6.62904258e-03 -6.02730710e-05 9.99978026e-01 -1.45475014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.205898227 meters Centerline goodness [0,1] 0.9998104784366577 Centerline is valid? [True, True] Translation: X:14.40, Y:0.13, Z:-0.14 [[ 9.99391313e-01 3.46216107e-02 -4.28334888e-03 1.43994704e+01] [-3.46210771e-02 9.99400491e-01 1.98677231e-04 1.25924529e-01] [ 4.28765950e-03 -5.02621463e-05 9.99990807e-01 -1.40567479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.235898227 meters Centerline goodness [0,1] 0.9998733268589284 Centerline is valid? [True, True] Translation: X:14.43, Y:0.12, Z:-0.14 [[ 9.99460033e-01 3.27580869e-02 -2.55923187e-03 1.44283348e+01] [-3.27578888e-02 9.99463309e-01 1.19281002e-04 1.22379668e-01] [ 2.56176577e-03 -3.53815610e-05 9.99996718e-01 -1.37356077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.265898227 meters Centerline goodness [0,1] 0.9998517859789536 Centerline is valid? [True, True] Translation: X:14.46, Y:0.12, Z:-0.13 [[ 9.99480482e-01 3.21619923e-02 -2.09122269e-03 1.44557568e+01] [-3.21618604e-02 9.99482669e-01 9.66828657e-05 1.18716327e-01] [ 2.09325035e-03 -2.93750250e-05 9.99997809e-01 -1.34744657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.295898227 meters Centerline goodness [0,1] 0.999456771551544 Centerline is valid? [True, True] Translation: X:14.49, Y:0.12, Z:-0.14 [[ 9.99392918e-01 3.46786739e-02 -3.34437385e-03 1.44850689e+01] [-3.46783507e-02 9.99398513e-01 1.54622003e-04 1.18779452e-01] [ 3.34772434e-03 -3.85507654e-05 9.99994396e-01 -1.36937119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.325898227 meters Centerline goodness [0,1] 0.9997261139787211 Centerline is valid? [True, True] Translation: X:14.51, Y:0.12, Z:-0.14 [[ 9.99279311e-01 3.78068123e-02 -3.39180902e-03 1.45141740e+01] [-3.78064991e-02 9.99285067e-01 1.56408610e-04 1.20072214e-01] [ 3.39529742e-03 -2.80634635e-05 9.99994236e-01 -1.39159790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.355898227 meters Centerline goodness [0,1] 0.999808241360208 Centerline is valid? [True, True] Translation: X:14.54, Y:0.12, Z:-0.14 [[ 9.99157597e-01 4.08879394e-02 -3.50333977e-03 1.45417790e+01] [-4.08876280e-02 9.99163738e-01 1.60497638e-04 1.19482919e-01] [ 3.50697248e-03 -1.71191809e-05 9.99993850e-01 -1.39030368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.385898227000002 meters Centerline goodness [0,1] 0.9999156562994201 Centerline is valid? [True, True] Translation: X:14.57, Y:0.12, Z:-0.14 [[ 9.99019674e-01 4.41633006e-02 -3.04854107e-03 1.45691277e+01] [-4.41630811e-02 9.99024325e-01 1.39315898e-04 1.20252629e-01] [ 3.05171933e-03 -4.54635636e-06 9.99995343e-01 -1.37184594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.415898227 meters Centerline goodness [0,1] 0.9997665782493369 Centerline is valid? [True, True] Translation: X:14.60, Y:0.13, Z:-0.13 [[ 9.98732422e-01 5.02641893e-02 -2.65715967e-03 1.45977004e+01] [-5.02640428e-02 9.98735957e-01 1.21921487e-04 1.26701611e-01] [ 2.65992918e-03 1.17926456e-05 9.99996462e-01 -1.33793858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.445898227 meters Centerline goodness [0,1] 0.999680327344799 Centerline is valid? [True, True] Translation: X:14.63, Y:0.13, Z:-0.13 [[ 9.98609883e-01 5.26247987e-02 -2.98881308e-03 1.46266936e+01] [-5.26246255e-02 9.98614355e-01 1.36617363e-04 1.27812390e-01] [ 2.99186111e-03 2.08577206e-05 9.99995524e-01 -1.34478232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.475898227000002 meters Centerline goodness [0,1] 0.9999576280163556 Centerline is valid? [True, True] Translation: X:14.66, Y:0.13, Z:-0.14 [[ 9.98516237e-01 5.43284660e-02 -3.70706586e-03 1.46556874e+01] [-5.43282148e-02 9.98523118e-01 1.68493985e-04 1.28567180e-01] [ 3.71074498e-03 3.31542905e-05 9.99993115e-01 -1.35876666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.505898227 meters Centerline goodness [0,1] 0.9996195227123803 Centerline is valid? [True, True] Translation: X:14.68, Y:0.13, Z:-0.14 [[ 9.98327957e-01 5.76844359e-02 -3.71418461e-03 1.46849403e+01] [-5.76842091e-02 9.98334866e-01 1.68224177e-04 1.31597333e-01] [ 3.71770391e-03 4.63069032e-05 9.99993088e-01 -1.37209961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.535898227 meters Centerline goodness [0,1] 0.9997859359948624 Centerline is valid? [True, True] Translation: X:14.71, Y:0.13, Z:-0.14 [[ 9.98211392e-01 5.96788522e-02 -3.52856239e-03 1.47131800e+01] [-5.96786638e-02 9.98217628e-01 1.58760882e-04 1.31027758e-01] [ 3.53174784e-03 5.21029669e-05 9.99993762e-01 -1.36379354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.565898227 meters Centerline goodness [0,1] 0.9996604125986925 Centerline is valid? [True, True] Translation: X:14.74, Y:0.13, Z:-0.14 [[ 9.98134190e-01 6.09597135e-02 -3.47155187e-03 1.47412561e+01] [-6.09595390e-02 9.98140226e-01 1.56158432e-04 1.32403573e-01] [ 3.47461494e-03 5.57571321e-05 9.99993962e-01 -1.35895066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.595898227 meters Centerline goodness [0,1] 0.9998727060570701 Centerline is valid? [True, True] Translation: X:14.77, Y:0.13, Z:-0.14 [[ 9.98106263e-01 6.14149982e-02 -3.47642992e-03 1.47697081e+01] [-6.14148256e-02 9.98112316e-01 1.56493270e-04 1.31105283e-01] [ 3.47947855e-03 5.73074244e-05 9.99993945e-01 -1.35416033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.625898227 meters Centerline goodness [0,1] 0.9995977559013444 Centerline is valid? [True, True] Translation: X:14.80, Y:0.13, Z:-0.14 [[ 9.98136464e-01 6.09188723e-02 -3.53418795e-03 1.47971902e+01] [-6.09186945e-02 9.98142719e-01 1.58045107e-04 1.30752570e-01] [ 3.53725190e-03 5.75475321e-05 9.99993742e-01 -1.35157002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.655898227 meters Centerline goodness [0,1] 0.999703502901436 Centerline is valid? [True, True] Translation: X:14.83, Y:0.13, Z:-0.14 [[ 9.98234466e-01 5.93247034e-02 -2.92070470e-03 1.48252648e+01] [-5.93245741e-02 9.98238738e-01 1.30950872e-04 1.26273895e-01] [ 2.92332919e-03 4.25498882e-05 9.99995726e-01 -1.35291957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.685898227 meters Centerline goodness [0,1] 0.9997450822109869 Centerline is valid? [True, True] Translation: X:14.85, Y:0.12, Z:-0.14 [[ 9.98314207e-01 5.79358451e-02 -3.49016530e-03 1.48534386e+01] [-5.79356551e-02 9.98320307e-01 1.55605193e-04 1.23635860e-01] [ 3.49331801e-03 4.68621385e-05 9.99993897e-01 -1.35626466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.715898227 meters Centerline goodness [0,1] 0.9996382593892967 Centerline is valid? [True, True] Translation: X:14.88, Y:0.12, Z:-0.14 [[ 9.98368727e-01 5.69264446e-02 -4.38916985e-03 1.48818585e+01] [-5.69261392e-02 9.98378374e-01 1.94575122e-04 1.20832363e-01] [ 4.39312872e-03 5.56007764e-05 9.99990349e-01 -1.36061315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.745898227 meters Centerline goodness [0,1] 0.999682008013398 Centerline is valid? [True, True] Translation: X:14.91, Y:0.12, Z:-0.14 [[ 9.98381004e-01 5.65285779e-02 -6.31588389e-03 1.49109107e+01] [-5.65279484e-02 9.98400978e-01 2.78286350e-04 1.19702796e-01] [ 6.32151579e-03 7.91881531e-05 9.99980016e-01 -1.37864087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.775898227 meters Centerline goodness [0,1] 0.9998720791403718 Centerline is valid? [True, True] Translation: X:14.94, Y:0.12, Z:-0.14 [[ 9.98308273e-01 5.74987487e-02 -8.63047299e-03 1.49394238e+01] [-5.74976265e-02 9.98345571e-01 3.78295053e-04 1.17024448e-01] [ 8.63794598e-03 1.18576631e-04 9.99962685e-01 -1.41315603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.805898227 meters Centerline goodness [0,1] 0.9997652381765408 Centerline is valid? [True, True] Translation: X:14.97, Y:0.12, Z:-0.14 [[ 9.98241940e-01 5.86214257e-02 -8.74972461e-03 1.49669722e+01] [-5.86203285e-02 9.98280277e-01 3.82024323e-04 1.17340167e-01] [ 8.75707231e-03 1.31559029e-04 9.99961647e-01 -1.41160452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.835898227 meters Centerline goodness [0,1] 0.9998929129810884 Centerline is valid? [True, True] Translation: X:15.00, Y:0.12, Z:-0.14 [[ 9.98146207e-01 6.03940246e-02 -7.53069365e-03 1.49954422e+01] [-6.03932639e-02 9.98174607e-01 3.28583394e-04 1.15901918e-01] [ 7.53679164e-03 1.26828901e-04 9.99971590e-01 -1.38903073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.865898227 meters Centerline goodness [0,1] 0.9999153474985186 Centerline is valid? [True, True] Translation: X:15.02, Y:0.12, Z:-0.14 [[ 9.98063249e-01 6.19435187e-02 -5.72288284e-03 1.50235969e+01] [-6.19431103e-02 9.98079651e-01 2.48755196e-04 1.17253526e-01] [ 5.72730168e-03 1.06219744e-04 9.99983593e-01 -1.35120159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.895898227 meters Centerline goodness [0,1] 0.999829344255301 Centerline is valid? [True, True] Translation: X:15.05, Y:0.12, Z:-0.13 [[ 9.97925436e-01 6.42334764e-02 -4.34561882e-03 1.50518657e+01] [-6.42332632e-02 9.97934894e-01 1.88764494e-04 1.15415963e-01] [ 4.34876965e-03 9.07603870e-05 9.99990540e-01 -1.31998988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.925898227 meters Centerline goodness [0,1] 0.9996408273647293 Centerline is valid? [True, True] Translation: X:15.08, Y:0.12, Z:-0.13 [[ 9.97879128e-01 6.49100414e-02 -4.89215586e-03 1.50796084e+01] [-6.49097810e-02 9.97891114e-01 2.12137588e-04 1.16411079e-01] [ 4.89560872e-03 1.05861094e-04 9.99988011e-01 -1.32553455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.955898227 meters Centerline goodness [0,1] 0.9997877668831444 Centerline is valid? [True, True] Translation: X:15.11, Y:0.11, Z:-0.14 [[ 9.97857722e-01 6.50796034e-02 -6.67920599e-03 1.51069197e+01] [-6.50791240e-02 9.97880065e-01 2.89327748e-04 1.11822600e-01] [ 6.68387584e-03 1.45968947e-04 9.99977652e-01 -1.35790280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.985898227 meters Centerline goodness [0,1] 0.9995954778683813 Centerline is valid? [True, True] Translation: X:15.14, Y:0.11, Z:-0.14 [[ 9.97875875e-01 6.45691185e-02 -8.63518960e-03 1.51355172e+01] [-6.45683169e-02 9.97913220e-01 3.71873452e-04 1.10082788e-01] [ 8.64118140e-03 1.86476112e-04 9.99962647e-01 -1.39074486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.015898227 meters Centerline goodness [0,1] 0.9998504816626439 Centerline is valid? [True, True] Translation: X:15.16, Y:0.11, Z:-0.14 [[ 9.97769388e-01 6.63423667e-02 -7.41202561e-03 1.51637980e+01] [-6.63418340e-02 9.97796903e-01 3.17986537e-04 1.07105462e-01] [ 7.41679218e-03 1.74450140e-04 9.99972480e-01 -1.37196564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.045898227 meters Centerline goodness [0,1] 0.999871553348176 Centerline is valid? [True, True] Translation: X:15.18, Y:0.11, Z:-0.14 [[ 9.97728166e-01 6.71969401e-02 -4.80399157e-03 1.51838181e+01] [-6.71624886e-02 9.97717458e-01 7.00534900e-03 1.05538098e-01] [ 5.26376427e-03 -6.66678598e-03 9.99963923e-01 -1.40827089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.075898227 meters Centerline goodness [0,1] 0.9992604956791818 Centerline is valid? [True, True] Translation: X:15.22, Y:0.12, Z:-0.13 [[ 9.97762003e-01 6.65735094e-02 -6.24132492e-03 1.52209510e+01] [-6.66172707e-02 9.97753431e-01 -7.08727931e-03 1.16181176e-01] [ 5.75547830e-03 7.48719803e-03 9.99955407e-01 -1.25321354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.105898227 meters Centerline goodness [0,1] 0.9988935934807124 Centerline is valid? [True, True] Translation: X:15.25, Y:0.12, Z:-0.13 [[ 9.97257226e-01 7.39029670e-02 -4.04671999e-03 1.52500625e+01] [-7.39016062e-02 9.97265420e-01 4.84969050e-04 1.16891260e-01] [ 4.07149456e-03 -1.84579783e-04 9.99991694e-01 -1.31324480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.135898227 meters Centerline goodness [0,1] 0.9990292491453172 Centerline is valid? [True, True] Translation: X:15.28, Y:0.12, Z:-0.13 [[ 9.97062714e-01 7.65136648e-02 -3.40643744e-03 1.52794924e+01] [-7.65136129e-02 9.97068526e-01 1.45756917e-04 1.15677681e-01] [ 3.40760396e-03 1.15310048e-04 9.99994187e-01 -1.31322645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.165898227 meters Centerline goodness [0,1] 0.9991473760497932 Centerline is valid? [True, True] Translation: X:15.31, Y:0.11, Z:-0.13 [[ 9.96980325e-01 7.75912911e-02 -3.13423480e-03 1.53081011e+01] [-7.75912500e-02 9.96985245e-01 1.34894861e-04 1.13620664e-01] [ 3.13525252e-03 1.08701674e-04 9.99995079e-01 -1.32301363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.195898227 meters Centerline goodness [0,1] 0.998998294970162 Centerline is valid? [True, True] Translation: X:15.34, Y:0.11, Z:-0.13 [[ 9.96970577e-01 7.77300356e-02 -2.77654883e-03 1.53364681e+01] [-7.77300047e-02 9.96974439e-01 1.19201899e-04 1.12206624e-01] [ 2.77741378e-03 9.69803672e-05 9.99996138e-01 -1.31512690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.225898227000002 meters Centerline goodness [0,1] 0.9329230899363489 Centerline is valid? [True, False] Translation: X:15.37, Y:0.11, Z:-0.13 [[ 9.97278952e-01 7.37203106e-02 -8.93091567e-05 1.53701088e+01] [-7.37201039e-02 9.97277915e-01 1.45140896e-03 1.12501140e-01] [ 1.96064368e-04 -1.44087572e-03 9.99998943e-01 -1.30303723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.255898227 meters Centerline goodness [0,1] 0.998914131198501 Centerline is valid? [False, True] Translation: X:15.37, Y:0.11, Z:-0.13 [[ 9.97300657e-01 7.34261485e-02 3.47059891e-05 1.53681838e+01] [-7.34261503e-02 9.97300259e-01 8.90850330e-04 1.14435230e-01] [ 3.07994167e-05 -8.90993946e-04 9.99999603e-01 -1.27811155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.285898227 meters Centerline goodness [0,1] 0.8939734509521184 Centerline is valid? [True, False] Translation: X:15.37, Y:0.11, Z:-0.13 [[ 9.97291675e-01 7.35480372e-02 3.42315020e-05 1.53684844e+01] [-7.35480308e-02 9.97291081e-01 1.08978555e-03 1.13844424e-01] [ 4.60128167e-05 -1.08935172e-03 9.99999406e-01 -1.28247425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.315898227 meters Centerline goodness [0,1] 0.9990225036656113 Centerline is valid? [False, True] Translation: X:15.37, Y:0.12, Z:-0.13 [[ 9.97588988e-01 6.93978321e-02 -3.90860935e-04 1.53685236e+01] [-6.93987815e-02 9.97582750e-01 -3.53063825e-03 1.16022236e-01] [ 1.44897487e-04 3.54925111e-03 9.99993691e-01 -1.27497704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.345898227 meters Centerline goodness [0,1] 0.9987075449710787 Centerline is valid? [True, True] Translation: X:15.41, Y:0.11, Z:-0.12 [[ 9.97320962e-01 7.31457882e-02 -7.69096258e-04 1.54077793e+01] [-7.31495060e-02 9.97230037e-01 -1.34686245e-02 1.12746793e-01] [-2.18207265e-04 1.34888005e-02 9.99908998e-01 -1.21494334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.375898227 meters Centerline goodness [0,1] 0.9993392586908796 Centerline is valid? [True, True] Translation: X:15.43, Y:0.10, Z:-0.15 [[ 9.97704317e-01 6.77158801e-02 8.09365902e-04 1.54283335e+01] [-6.77180829e-02 9.97488848e-01 2.07426966e-02 9.97780740e-02] [ 5.97276492e-04 -2.07498866e-02 9.99784520e-01 -1.53795196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.405898227 meters Centerline goodness [0,1] 0.9989104892117069 Centerline is valid? [True, True] Translation: X:15.46, Y:0.11, Z:-0.14 [[ 9.97708440e-01 6.76583336e-02 4.68061249e-04 1.54563636e+01] [-6.76594274e-02 9.97704080e-01 2.96158138e-03 1.11234137e-01] [-2.66610956e-04 -2.98646349e-03 9.99995505e-01 -1.36303902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.435898227 meters Centerline goodness [0,1] 0.9945038558220783 Centerline is valid? [True, True] Translation: X:15.48, Y:0.12, Z:-0.13 [[ 9.97503873e-01 7.06042443e-02 1.03166758e-03 1.54760238e+01] [-7.06060324e-02 9.97502631e-01 1.81384270e-03 1.20680587e-01] [-9.01026133e-04 -1.88215708e-03 9.99997823e-01 -1.33754559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.465898227 meters Centerline goodness [0,1] 0.9975479834277501 Centerline is valid? [True, True] Translation: X:15.52, Y:0.12, Z:-0.10 [[ 9.97173223e-01 7.50707393e-02 -3.15410708e-03 1.55246897e+01] [-7.51310824e-02 9.96741680e-01 -2.93486597e-02 1.24076691e-01] [ 9.40604406e-04 2.95026691e-02 9.99564259e-01 -1.04430231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.495898227 meters Centerline goodness [0,1] 0.9987552480010127 Centerline is valid? [True, True] Translation: X:15.54, Y:0.11, Z:-0.15 [[ 9.97671181e-01 6.78857619e-02 -6.61352802e-03 1.55420770e+01] [-6.77856057e-02 9.97596776e-01 1.43451456e-02 1.12765284e-01] [ 7.57146537e-03 -1.38634363e-02 9.99875231e-01 -1.46613924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.525898227 meters Centerline goodness [0,1] 0.9969154186521443 Centerline is valid? [True, True] Translation: X:15.56, Y:0.12, Z:-0.15 [[ 9.97709132e-01 6.75754098e-02 -3.17054034e-03 1.55634969e+01] [-6.75284026e-02 9.97630994e-01 1.31268651e-02 1.16539856e-01] [ 4.05008259e-03 -1.28826916e-02 9.99908812e-01 -1.51144435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.555898227 meters Centerline goodness [0,1] 0.999237627326825 Centerline is valid? [True, True] Translation: X:15.59, Y:0.11, Z:-0.14 [[ 9.97808120e-01 6.60347234e-02 -4.28622434e-03 1.55928074e+01] [-6.60331010e-02 9.97817298e-01 5.19089268e-04 1.07576562e-01] [ 4.31114670e-03 -2.34918802e-04 9.99990679e-01 -1.39708368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.585898227 meters Centerline goodness [0,1] 0.9991112427788476 Centerline is valid? [True, True] Translation: X:15.64, Y:0.11, Z:-0.12 [[ 9.97610317e-01 6.90169290e-02 -3.21220643e-03 1.56367166e+01] [-6.90728574e-02 9.97344660e-01 -2.30774477e-02 1.08241655e-01] [ 1.61094237e-03 2.32441762e-02 9.99728520e-01 -1.15869837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.615898227 meters Centerline goodness [0,1] 0.9995571488823282 Centerline is valid? [True, True] Translation: X:15.66, Y:0.09, Z:-0.14 [[ 9.98347873e-01 5.70718319e-02 -6.65816047e-03 1.56625427e+01] [-5.70408779e-02 9.98360544e-01 4.74997980e-03 9.19930732e-02] [ 6.91833476e-03 -4.36234491e-03 9.99966553e-01 -1.40060934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.645898227 meters Centerline goodness [0,1] 0.9996607869742198 Centerline is valid? [True, True] Translation: X:15.69, Y:0.09, Z:-0.13 [[ 9.98264553e-01 5.88886353e-02 -9.93293961e-05 1.56938963e+01] [-5.88885496e-02 9.98256214e-01 -4.08292457e-03 8.75942157e-02] [-1.41281669e-04 4.08168824e-03 9.99991660e-01 -1.30211162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.675898227 meters Centerline goodness [0,1] 0.9997022606920313 Centerline is valid? [True, True] Translation: X:15.72, Y:0.08, Z:-0.13 [[ 9.98412199e-01 5.63261406e-02 6.68668756e-04 1.57218522e+01] [-5.63261369e-02 9.98412423e-01 -2.43792681e-05 8.35275620e-02] [-6.68980383e-04 -1.33229693e-05 9.99999776e-01 -1.33891204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.705898227 meters Centerline goodness [0,1] 0.9998088644424151 Centerline is valid? [True, True] Translation: X:15.74, Y:0.07, Z:-0.17 [[ 9.98983256e-01 4.49494529e-02 3.46424427e-03 1.57393648e+01] [-4.50437867e-02 9.98362765e-01 3.52540429e-02 6.88957599e-02] [-1.87392254e-03 -3.53742412e-02 9.99372379e-01 -1.68103616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.735898227 meters Centerline goodness [0,1] 0.9999359467076607 Centerline is valid? [True, True] Translation: X:15.78, Y:0.09, Z:-0.10 [[ 9.98586673e-01 5.31474949e-02 2.76506645e-05 1.57814091e+01] [-5.31150636e-02 9.97995227e-01 -3.44139153e-02 9.25060635e-02] [-1.85660862e-03 3.43638085e-02 9.99407665e-01 -1.04001539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.765898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.81, Y:0.07, Z:-0.15 [[ 9.99155031e-01 4.11001081e-02 -6.57600148e-05 1.58135237e+01] [-4.10898054e-02 9.98937925e-01 2.08482428e-02 6.60689680e-02] [ 9.22555208e-04 -2.08279247e-02 9.99782650e-01 -1.54946347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.795898227 meters Centerline goodness [0,1] 0.9998511398434842 Centerline is valid? [True, True] Translation: X:15.84, Y:0.09, Z:-0.11 [[ 9.98739008e-01 5.01928957e-02 1.03330572e-03 1.58384786e+01] [-5.01602367e-02 9.98520935e-01 -2.09736066e-02 8.50460650e-02] [-2.08450345e-03 2.08953282e-02 9.99779496e-01 -1.13419300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.825898227 meters Centerline goodness [0,1] 0.9998944479628457 Centerline is valid? [True, True] Translation: X:15.87, Y:0.07, Z:-0.13 [[ 9.98812364e-01 4.86705956e-02 2.24386120e-03 1.58668299e+01] [-4.86705298e-02 9.98814884e-01 -8.39456480e-05 7.42201184e-02] [-2.24528765e-03 -2.53639625e-05 9.99997479e-01 -1.31629397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.855898227 meters Centerline goodness [0,1] 0.9997040231707575 Centerline is valid? [True, True] Translation: X:15.89, Y:0.07, Z:-0.13 [[ 9.98902407e-01 4.67634504e-02 2.67588841e-03 1.58942475e+01] [-4.67633479e-02 9.98905991e-01 -1.00895488e-04 7.14966361e-02] [-2.67767918e-03 -2.43487551e-05 9.99996415e-01 -1.31866477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.885898227 meters Centerline goodness [0,1] 0.999893741366486 Centerline is valid? [True, True] Translation: X:15.92, Y:0.06, Z:-0.15 [[ 9.99442577e-01 3.33703767e-02 -9.75864397e-04 1.59156576e+01] [-3.33461949e-02 9.99267450e-01 1.87774781e-02 6.05478763e-02] [ 1.60176105e-03 -1.87344697e-02 9.99823211e-01 -1.50208543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.915898227 meters Centerline goodness [0,1] 0.9997674811871142 Centerline is valid? [True, True] Translation: X:15.95, Y:0.05, Z:-0.14 [[ 9.99716862e-01 2.34476176e-02 4.05036242e-03 1.59479493e+01] [-2.34980375e-02 9.99640848e-01 1.28847554e-02 5.05034946e-02] [-3.74679091e-03 -1.29762828e-02 9.99908785e-01 -1.44772352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.945898227 meters Centerline goodness [0,1] 0.9999155262713296 Centerline is valid? [True, True] Translation: X:15.98, Y:0.06, Z:-0.10 [[ 9.99411409e-01 3.39139129e-02 5.16553496e-03 1.59787780e+01] [-3.37408555e-02 9.98963780e-01 -3.05437430e-02 6.02164030e-02] [-6.19604017e-03 3.03514756e-02 9.99520083e-01 -1.03285534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.975898227000002 meters Centerline goodness [0,1] 0.9999578468153268 Centerline is valid? [True, True] Translation: X:16.01, Y:0.04, Z:-0.13 [[ 9.99491585e-01 3.11553779e-02 6.77592165e-03 1.60061656e+01] [-3.11543521e-02 9.99514552e-01 -2.56917431e-04 4.13323896e-02] [-6.78063666e-03 4.56873610e-05 9.99977010e-01 -1.28107486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.005898227 meters Centerline goodness [0,1] 0.9999578468153268 Centerline is valid? [True, True] Translation: X:16.03, Y:0.04, Z:-0.13 [[ 9.99497039e-01 3.09799104e-02 6.77599615e-03 1.60334897e+01] [-3.09788939e-02 9.99520006e-01 -2.54950068e-04 4.04323944e-02] [-6.78064205e-03 4.49089726e-05 9.99977010e-01 -1.27929768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.035898227 meters Centerline goodness [0,1] 0.999640181179359 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.02, Z:-0.23 [[ 0.99893997 0.03165859 0.03341666 16.02347599] [-0.03459305 0.9952281 0.09123785 -0.02246205] [-0.03036874 -0.09229712 0.9952683 -0.22793706] [ 0. 0. 0. 1. ]] SLAMing on 22.065898227 meters Centerline goodness [0,1] 0.9999572768248136 Centerline is valid? [True, True] Translation: X:16.10, Y:0.07, Z:-0.05 [[ 9.99484102e-01 3.17250199e-02 5.00525458e-03 1.60974848e+01] [-3.11543247e-02 9.95544938e-01 -8.89926132e-02 7.25710269e-02] [-7.80624828e-03 8.87907668e-02 9.96019710e-01 -5.38160494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.095898227 meters Centerline goodness [0,1] 0.9995991983967936 Centerline is valid? [True, True] Translation: X:16.14, Y:0.03, Z:-0.15 [[ 9.99798579e-01 1.96822219e-02 3.92580740e-03 1.61373248e+01] [-1.97251262e-02 9.99742627e-01 1.12070853e-02 3.40670883e-02] [-3.70421666e-03 -1.12822650e-02 9.99929492e-01 -1.45437835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.125898227 meters Centerline goodness [0,1] 0.9999579761304421 Centerline is valid? [True, True] Translation: X:16.15, Y:0.04, Z:-0.12 [[ 9.99386257e-01 3.40403985e-02 8.26802924e-03 1.61540847e+01] [-3.39412918e-02 9.99353633e-01 -1.18450523e-02 4.45972619e-02] [-8.66589536e-03 1.15571549e-02 9.99895662e-01 -1.19643228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.155898227 meters Centerline goodness [0,1] 0.9998312449900857 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.02, Z:-0.23 [[ 0.99877383 0.03466716 0.03534159 16.14743065] [-0.03780332 0.99501151 0.09232006 -0.01967373] [-0.03196481 -0.09354289 0.99510199 -0.23259193] [ 0. 0. 0. 1. ]] SLAMing on 22.185898227 meters Centerline goodness [0,1] 0.9741953209205994 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.03, Z:-0.25 [[ 0.997145 0.04025761 0.06388399 16.17269679] [-0.04459771 0.99668582 0.06803251 -0.02644053] [-0.06093344 -0.07068736 0.99563568 -0.2470801 ] [ 0. 0. 0. 1. ]] SLAMing on 22.215898227 meters Centerline goodness [0,1] 0.9994312436804853 Centerline is valid? [True, True] Translation: X:16.21, Y:0.04, Z:-0.09 [[ 0.99935378 0.03004588 0.01972966 16.21421788] [-0.0285019 0.99682448 -0.0743545 0.03779242] [-0.02190105 0.07374412 0.99703668 -0.09076571] [ 0. 0. 0. 1. ]] SLAMing on 22.245898227 meters Centerline goodness [0,1] 0.9998090266726081 Centerline is valid? [True, True] Translation: X:16.28, Y:0.06, Z:-0.05 [[ 9.99703960e-01 2.39959491e-02 4.02323354e-03 1.62803290e+01] [-2.35726681e-02 9.96175610e-01 -8.41337223e-02 5.94175705e-02] [-6.02671565e-03 8.40139770e-02 9.96446351e-01 -5.49532890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.275898227 meters Centerline goodness [0,1] 0.9997659425069685 Centerline is valid? [True, True] Translation: X:16.33, Y:0.02, Z:-0.13 [[ 9.99964064e-01 8.37390984e-03 -1.32207472e-03 1.63263420e+01] [-8.37070304e-03 9.99962054e-01 2.41275765e-03 2.26286261e-02] [ 1.34222877e-03 -2.40160425e-03 9.99996215e-01 -1.31466512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.305898227 meters Centerline goodness [0,1] 0.9742959462609396 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.09, Z:-0.27 [[ 0.9981361 0.02992978 0.05318401 16.30680542] [-0.03590263 0.99269838 0.11515614 -0.08870927] [-0.04934908 -0.11685095 0.99192264 -0.27038164] [ 0. 0. 0. 1. ]] SLAMing on 22.335898227 meters Centerline goodness [0,1] 0.9994939484670856 Centerline is valid? [True, True] Translation: X:16.39, Y:0.05, Z:-0.03 [[ 9.99631858e-01 2.70821106e-02 1.64576150e-03 1.63857710e+01] [-2.66709482e-02 9.91968819e-01 -1.23638675e-01 4.69696944e-02] [-4.98094036e-03 1.23549264e-01 9.92325939e-01 -3.17058476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.365898227 meters Centerline goodness [0,1] 0.9927097281557525 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.08, Z:-0.25 [[ 0.99882787 0.03856725 0.02924799 16.36963507] [-0.04104986 0.9951258 0.08966356 -0.07687554] [-0.02564735 -0.09075909 0.99554257 -0.24694523] [ 0. 0. 0. 1. ]] SLAMing on 22.395898227 meters Centerline goodness [0,1] 0.9998517326103533 Centerline is valid? [True, True] Translation: X:16.45, Y:0.04, Z:-0.07 [[ 9.99535227e-01 3.04603707e-02 1.22280254e-03 1.64479453e+01] [-3.02402120e-02 9.95786324e-01 -8.65743970e-02 3.90067795e-02] [-3.85473827e-03 8.64971817e-02 9.96244638e-01 -6.74655918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.425898227 meters Centerline goodness [0,1] 0.9997466858059614 Centerline is valid? [True, True] Translation: X:16.47, Y:0.01, Z:-0.14 [[ 9.99475814e-01 3.15132331e-02 7.41709606e-03 1.64745032e+01] [-3.15117112e-02 9.99503331e-01 -3.22000294e-04 8.75305011e-03] [-7.42355948e-03 8.81061172e-05 9.99972441e-01 -1.36471187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.455898227 meters Centerline goodness [0,1] 0.9825347824248319 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.08, Z:-0.28 [[ 0.99844289 0.02579919 0.04945896 16.47252301] [-0.03127467 0.99306382 0.11334084 -0.07556657] [-0.0461918 -0.11471117 0.99232437 -0.27845362] [ 0. 0. 0. 1. ]] SLAMing on 22.485898227 meters Centerline goodness [0,1] 0.9997036284347347 Centerline is valid? [True, True] Translation: X:16.54, Y:0.05, Z:-0.04 [[ 9.99595891e-01 2.78941100e-02 5.47472053e-03 1.65417636e+01] [-2.71077065e-02 9.93359710e-01 -1.11810814e-01 4.75559956e-02] [-8.55722993e-03 1.11617223e-01 9.93714430e-01 -3.72045269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.515898227 meters Centerline goodness [0,1] 0.9379733141002524 Centerline is valid? [True, False] Translation: X:16.54, Y:0.04, Z:-0.07 [[ 9.99729941e-01 2.27286053e-02 4.84314097e-03 1.65363713e+01] [-2.23506195e-02 9.97473334e-01 -6.74343887e-02 3.60564695e-02] [-6.36359358e-03 6.73079302e-02 9.97711956e-01 -7.45124619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.545898227 meters Centerline goodness [0,1] 0.7664701141136046 Centerline is valid? [False, False] Translation: X:16.54, Y:0.02, Z:-0.10 [[ 9.99836849e-01 1.77851513e-02 3.15648348e-03 1.65443000e+01] [-1.76807388e-02 9.99378636e-01 -3.04915269e-02 2.44340582e-02] [-3.69681857e-03 3.04307432e-02 9.99530041e-01 -1.02062164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.575898227 meters Centerline goodness [0,1] 0.9995120812914996 Centerline is valid? [False, True] Translation: X:16.54, Y:0.02, Z:-0.12 [[ 9.99885217e-01 1.37346826e-02 6.39618345e-03 1.65445388e+01] [-1.36629921e-02 9.99844819e-01 -1.11202976e-02 1.88512355e-02] [-6.54792464e-03 1.10316302e-02 9.99917711e-01 -1.19638376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.605898227 meters Centerline goodness [0,1] 0.9614950964749931 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.03, Z:-0.17 [[ 9.99946859e-01 -6.53910704e-03 7.96984793e-03 1.65665671e+01] [ 6.17361423e-03 9.98965572e-01 4.50518820e-02 -2.63372417e-02] [-8.25620278e-03 -4.50002852e-02 9.98952856e-01 -1.73916553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.635898227 meters Centerline goodness [0,1] 0.7935549053863479 Centerline is valid? [True, False] Translation: X:16.57, Y:-0.01, Z:-0.15 [[ 9.99939769e-01 -5.88232099e-03 9.26593848e-03 1.65748838e+01] [ 5.74647229e-03 9.99876608e-01 1.46201037e-02 -1.10219176e-02] [-9.35079528e-03 -1.45659766e-02 9.99850186e-01 -1.46786159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.665898227 meters Centerline goodness [0,1] 0.9994493508693902 Centerline is valid? [False, True] Translation: X:16.56, Y:-0.00, Z:-0.13 [[ 9.99979893e-01 -2.36168174e-03 5.88520603e-03 1.65607421e+01] [ 2.36340929e-03 9.99997166e-01 -2.86603889e-04 -3.49767509e-03] [-5.88451248e-03 3.00507277e-04 9.99982641e-01 -1.31902963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.695898227 meters Centerline goodness [0,1] 0.9994512915752153 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.00, Z:-0.13 [[ 9.99986276e-01 -1.00180595e-03 5.14236404e-03 1.65931833e+01] [ 1.00248950e-03 9.99999489e-01 -1.30348946e-04 -1.08598599e-04] [-5.14223083e-03 1.35502323e-04 9.99986769e-01 -1.33762044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.725898227000002 meters Centerline goodness [0,1] 0.7433080218894498 Centerline is valid? [True, False] Translation: X:16.59, Y:0.00, Z:-0.13 [[ 9.99987068e-01 -1.11808298e-03 4.96129093e-03 1.65940873e+01] [ 1.12106576e-03 9.99999193e-01 -5.98469137e-04 2.48818719e-03] [-4.96061779e-03 6.04023330e-04 9.99987514e-01 -1.34355110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.755898227 meters Centerline goodness [0,1] 0.9995559408766996 Centerline is valid? [False, True] Translation: X:16.60, Y:0.00, Z:-0.14 [[ 9.99988325e-01 -1.00758699e-03 4.72603180e-03 1.65956158e+01] [ 1.01030641e-03 9.99999325e-01 -5.73061321e-04 3.21904062e-03] [-4.72545120e-03 5.77829371e-04 9.99988668e-01 -1.35626547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.785898227 meters Centerline goodness [0,1] 0.9995365298727564 Centerline is valid? [True, True] Translation: X:16.63, Y:0.01, Z:-0.14 [[ 9.99973330e-01 -3.89334822e-03 6.17915248e-03 1.66269723e+01] [ 3.89436228e-03 9.99992405e-01 -1.52086427e-04 5.93821820e-03] [-6.17851343e-03 1.76146229e-04 9.99980897e-01 -1.36612989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.815898227 meters Centerline goodness [0,1] 0.9990459026820736 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.00, Z:-0.13 [[ 9.99952865e-01 -6.50073313e-03 7.21161086e-03 1.66572312e+01] [ 6.50218183e-03 9.99978845e-01 -1.77456972e-04 -3.89472305e-03] [-7.21030470e-03 2.24339813e-04 9.99973980e-01 -1.31369000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.845898227 meters Centerline goodness [0,1] 0.999301646421467 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.00, Z:-0.13 [[ 9.99918446e-01 -1.03064813e-02 7.54175127e-03 1.66886602e+01] [ 1.03081757e-02 9.99946852e-01 -1.85834811e-04 -2.60613115e-03] [-7.53943514e-03 2.63561353e-04 9.99971543e-01 -1.32212699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.875898227 meters Centerline goodness [0,1] 0.9993454253679342 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.01, Z:-0.13 [[ 9.99867447e-01 -1.45357252e-02 7.33485996e-03 1.67188202e+01] [ 1.45374411e-02 9.99894309e-01 -1.80671909e-04 -8.94423331e-03] [-7.33145854e-03 2.87278055e-04 9.99973083e-01 -1.33808409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.905898227 meters Centerline goodness [0,1] 0.9951807740483621 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.03, Z:-0.14 [[ 9.99690942e-01 -2.39630759e-02 6.61746787e-03 1.67474521e+01] [ 2.39646813e-02 9.99712792e-01 -1.63401269e-04 -2.99642009e-02] [-6.61165168e-03 3.21936276e-04 9.99978091e-01 -1.36171683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.935898227 meters Centerline goodness [0,1] 0.9956073012623677 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.03, Z:-0.14 [[ 9.99575943e-01 -2.85178232e-02 5.88790716e-03 1.67783799e+01] [ 2.85191732e-02 9.99593235e-01 -1.45436730e-04 -3.07011175e-02] [-5.88136462e-03 3.13293301e-04 9.99982656e-01 -1.38350641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.965898227 meters Centerline goodness [0,1] 0.9922183113523599 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.04, Z:-0.14 [[ 9.99459394e-01 -3.25817657e-02 4.39867281e-03 1.68090547e+01] [ 3.25825581e-02 9.99469042e-01 -1.08605460e-04 -3.65865336e-02] [-4.39279874e-03 2.51866760e-04 9.99990320e-01 -1.39394000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.995898227 meters Centerline goodness [0,1] 0.6262538986765573 Centerline is valid? [True, False] Translation: X:16.81, Y:-0.04, Z:-0.14 [[ 9.99466537e-01 -3.23868953e-02 4.21063997e-03 1.68103600e+01] [ 3.23845359e-02 9.99475286e-01 6.27356370e-04 -4.00466569e-02] [-4.22874872e-03 -4.90662078e-04 9.99990938e-01 -1.40531390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.025898227 meters Centerline goodness [0,1] 0.9859783301465902 Centerline is valid? [False, True] Translation: X:16.81, Y:-0.05, Z:-0.14 [[ 9.99476030e-01 -3.20660674e-02 4.40818562e-03 1.68105017e+01] [ 3.20584211e-02 9.99484386e-01 1.79443995e-03 -4.63691692e-02] [-4.46345333e-03 -1.65218025e-03 9.99988674e-01 -1.41717592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.055898227 meters Centerline goodness [0,1] 0.8968719144555787 Centerline is valid? [True, False] Translation: X:16.81, Y:-0.05, Z:-0.14 [[ 9.99487795e-01 -3.17058055e-02 4.34619198e-03 1.68110712e+01] [ 3.16954245e-02 9.99494603e-01 2.43694745e-03 -4.90435647e-02] [-4.42126081e-03 -2.29794483e-03 9.99987586e-01 -1.42280285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.085898227 meters Centerline goodness [0,1] 0.9237864588817521 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.05, Z:-0.13 [[ 9.99650112e-01 -2.60302337e-02 4.69900021e-03 1.68025584e+01] [ 2.60827875e-02 9.99593723e-01 -1.14925120e-02 -4.74702459e-02] [-4.39793834e-03 1.16110540e-02 9.99922918e-01 -1.31937088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.115898227 meters Centerline goodness [0,1] 0.9943076011511766 Centerline is valid? [False, True] Translation: X:16.80, Y:-0.05, Z:-0.13 [[ 9.99759445e-01 -2.14040777e-02 4.78725316e-03 1.68033646e+01] [ 2.14338689e-02 9.99750665e-01 -6.26077151e-03 -5.16424793e-02] [-4.65205349e-03 6.36187480e-03 9.99968942e-01 -1.34241155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.145898227 meters Centerline goodness [0,1] 0.9989624579160226 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.05, Z:-0.14 [[ 9.99892976e-01 -1.38166363e-02 4.81011059e-03 1.68338971e+01] [ 1.38175708e-02 9.99904520e-01 -1.61106915e-04 -4.57911899e-02] [-4.80742537e-03 2.27553717e-04 9.99988418e-01 -1.39957504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.175898227 meters Centerline goodness [0,1] 0.9994476898566118 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.04, Z:-0.14 [[ 9.99940006e-01 -9.63031647e-03 5.21939448e-03 1.68637316e+01] [ 9.63135911e-03 9.99953602e-01 -1.74663826e-04 -4.48019115e-02] [-5.21747025e-03 2.24923210e-04 9.99986364e-01 -1.38270940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.205898227 meters Centerline goodness [0,1] 0.9963380043181914 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.06, Z:-0.14 [[ 9.99943136e-01 -6.66947724e-03 8.32118682e-03 1.69030178e+01] [ 6.62146037e-03 9.99961346e-01 5.78470276e-03 -6.41735176e-02] [-8.35944611e-03 -5.72927541e-03 9.99948646e-01 -1.39364575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.235898227 meters Centerline goodness [0,1] 0.9980203441231599 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.06, Z:-0.14 [[ 9.99952683e-01 -5.58874809e-03 7.96229580e-03 1.69366233e+01] [ 5.56000028e-03 9.99977962e-01 3.62806503e-03 -6.10891066e-02] [-7.98239667e-03 -3.58362299e-03 9.99961719e-01 -1.37573109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.265898227 meters Centerline goodness [0,1] 0.9992580344272026 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.04, Z:-0.13 [[ 9.99990664e-01 -1.22240626e-03 4.14453457e-03 1.69546638e+01] [ 1.25852374e-03 9.99961161e-01 -8.72310498e-03 -3.99212667e-02] [-4.13371042e-03 8.72823954e-03 9.99953364e-01 -1.27644926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.295898227 meters Centerline goodness [0,1] 0.9993647297984076 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.05, Z:-0.16 [[ 9.99953447e-01 -1.71669160e-03 9.49514463e-03 1.69944692e+01] [ 1.47838890e-03 9.99685165e-01 2.50476498e-02 -5.19498545e-02] [-9.53515431e-03 -2.50324463e-02 9.99641164e-01 -1.56470091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.325898227 meters Centerline goodness [0,1] 0.9997654534211817 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.03, Z:-0.12 [[ 9.99991526e-01 -1.61700760e-03 3.78586918e-03 1.70160501e+01] [ 1.71208767e-03 9.99679767e-01 -2.52474058e-02 -3.01490888e-02] [-3.74383157e-03 2.52536736e-02 9.99674065e-01 -1.16595336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.355898227 meters Centerline goodness [0,1] 0.9994256296800544 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.04, Z:-0.14 [[ 9.99985130e-01 -2.43153620e-03 4.88123972e-03 1.70473433e+01] [ 2.43236327e-03 9.99997028e-01 -1.63509022e-04 -4.35374751e-02] [-4.88082764e-03 1.75379539e-04 9.99988073e-01 -1.38030228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.385898227 meters Centerline goodness [0,1] 0.9994692144373672 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.05, Z:-0.14 [[ 9.99983130e-01 -3.54355329e-03 4.60238867e-03 1.70785884e+01] [ 3.54430706e-03 9.99993707e-01 -1.55631039e-04 -4.66130000e-02] [-4.60180822e-03 1.71940692e-04 9.99989397e-01 -1.38602990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.415898227 meters Centerline goodness [0,1] 0.9995553579368608 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.06, Z:-0.17 [[ 9.99915596e-01 -4.76615363e-03 1.20865349e-02 1.71122057e+01] [ 4.32346273e-03 9.99328237e-01 3.63920753e-02 -6.32738683e-02] [-1.22518658e-02 -3.63367480e-02 9.99264496e-01 -1.66354555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.445898227 meters Centerline goodness [0,1] 0.9984132021580451 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.04, Z:-0.11 [[ 9.99966044e-01 -7.97099446e-03 2.09127753e-03 1.71397510e+01] [ 8.04279147e-03 9.99285728e-01 -3.69235454e-02 -3.67509169e-02] [-1.79546641e-03 3.69391114e-02 9.99315905e-01 -1.08137993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.475898227000002 meters Centerline goodness [0,1] 0.9990249485978336 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.05, Z:-0.14 [[ 9.99955047e-01 -8.98196810e-03 3.03791666e-03 1.71711455e+01] [ 8.98232055e-03 9.99959653e-01 -1.02390953e-04 -5.49410627e-02] [-3.03687442e-03 1.29673891e-04 9.99995380e-01 -1.38894366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.505898227 meters Centerline goodness [0,1] 0.9981130475342408 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.06, Z:-0.14 [[ 9.99915895e-01 -1.26562119e-02 2.83265427e-03 1.72016639e+01] [ 1.26565325e-02 9.99919898e-01 -9.52766983e-05 -6.01223442e-02] [-2.83122153e-03 1.31120266e-04 9.99995983e-01 -1.40159302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.535898227 meters Centerline goodness [0,1] 0.9975792580638312 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.06, Z:-0.14 [[ 9.99886139e-01 -1.49146731e-02 2.29383937e-03 1.72329565e+01] [ 1.49148897e-02 9.99888764e-01 -7.73504527e-05 -6.04370487e-02] [-2.29243056e-03 1.11554007e-04 9.99997366e-01 -1.41570745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.565898227 meters Centerline goodness [0,1] 0.9978495530443582 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.08, Z:-0.16 [[ 9.99908682e-01 -1.07136788e-02 8.23678679e-03 1.72577778e+01] [ 1.05161559e-02 9.99664726e-01 2.36610649e-02 -7.50437096e-02] [-8.48752226e-03 -2.35722849e-02 9.99686105e-01 -1.59503542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.595898227 meters Centerline goodness [0,1] 0.9982524189079749 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.05, Z:-0.12 [[ 9.99836755e-01 -1.79943885e-02 1.63246730e-03 1.72948866e+01] [ 1.80272338e-02 9.99572147e-01 -2.30335093e-02 -5.23506989e-02] [-1.21729493e-03 2.30591781e-02 9.99733361e-01 -1.23214538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.625898227 meters Centerline goodness [0,1] 0.9954283779207586 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.10, Z:-0.17 [[ 9.99829188e-01 -1.22001739e-02 1.38834926e-02 1.73158172e+01] [ 1.16100681e-02 9.99057746e-01 4.18189625e-02 -9.73779209e-02] [-1.43806094e-02 -4.16506310e-02 9.99028740e-01 -1.73438264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.655898227 meters Centerline goodness [0,1] 0.7960759359423056 Centerline is valid? [True, False] Translation: X:17.29, Y:-0.09, Z:-0.15 [[ 9.99833800e-01 -9.24735282e-03 1.57117485e-02 1.72940327e+01] [ 9.12638356e-03 9.99928293e-01 7.75362194e-03 -8.51570218e-02] [-1.57823223e-02 -7.60894184e-03 9.99846499e-01 -1.50429214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.685898227 meters Centerline goodness [0,1] 0.998103073447291 Centerline is valid? [False, True] Translation: X:17.27, Y:-0.08, Z:-0.14 [[ 9.99891973e-01 -8.95832274e-03 1.16529350e-02 1.72694803e+01] [ 9.01532662e-03 9.99947607e-01 -4.84850771e-03 -8.04292720e-02] [-1.16088900e-02 4.95303896e-03 9.99920347e-01 -1.39343512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.715898227 meters Centerline goodness [0,1] 0.9987248963978324 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.08, Z:-0.14 [[ 9.99894071e-01 -9.39203257e-03 1.11192306e-02 1.73011006e+01] [ 9.44876646e-03 9.99942553e-01 -5.06082985e-03 -8.16016593e-02] [-1.10710604e-02 5.16535677e-03 9.99925373e-01 -1.41095860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.745898227 meters Centerline goodness [0,1] 0.9974640743871513 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.09, Z:-0.15 [[ 9.99920086e-01 -8.03572593e-03 9.75953703e-03 1.73308622e+01] [ 8.01403190e-03 9.99965333e-01 2.25993239e-03 -9.03198970e-02] [-9.77735890e-03 -2.18153854e-03 9.99949821e-01 -1.46251017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.775898227 meters Centerline goodness [0,1] 0.9960886848202708 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.08, Z:-0.11 [[ 9.99871020e-01 -1.60216768e-02 -1.11784855e-03 1.73741249e+01] [ 1.59568509e-02 9.98900697e-01 -4.40769362e-02 -7.61467657e-02] [ 1.82280612e-03 4.40534138e-02 9.99027514e-01 -1.08491387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.805898227 meters Centerline goodness [0,1] 0.9985537623139803 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.12, Z:-0.18 [[ 9.99869461e-01 -1.24170524e-02 1.03381614e-02 1.74093606e+01] [ 1.19623994e-02 9.99006225e-01 4.29355666e-02 -1.17124465e-01] [-1.08610207e-02 -4.28062926e-02 9.99024354e-01 -1.80305766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.835898227 meters Centerline goodness [0,1] 0.9957520552866834 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.09, Z:-0.11 [[ 9.99886870e-01 -1.50239977e-02 -7.26098564e-04 1.74366583e+01] [ 1.49784406e-02 9.98948765e-01 -4.33244963e-02 -8.60632211e-02] [ 1.37624240e-03 4.33087192e-02 9.99060789e-01 -1.11527843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.865898227 meters Centerline goodness [0,1] 0.9985084485734376 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.11, Z:-0.16 [[ 9.99958138e-01 -7.24052393e-03 5.59436711e-03 1.74607351e+01] [ 7.12312089e-03 9.99759770e-01 2.07283206e-02 -1.14318770e-01] [-5.74310707e-03 -2.06876035e-02 9.99769493e-01 -1.61696443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.895898227 meters Centerline goodness [0,1] 0.9985084485734376 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.11, Z:-0.15 [[ 9.99962613e-01 -6.99790979e-03 5.07963576e-03 1.74937187e+01] [ 6.99733107e-03 9.99975510e-01 1.31692952e-04 -1.06506617e-01] [-5.08043293e-03 -9.61441349e-05 9.99987090e-01 -1.45663914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.925898227 meters Centerline goodness [0,1] 0.9981084355274065 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.11, Z:-0.14 [[ 9.99968222e-01 -7.56946170e-03 2.50161800e-03 1.75270585e+01] [ 7.57760900e-03 9.99965964e-01 -3.26354203e-03 -1.08543556e-01] [-2.47682960e-03 3.28239461e-03 9.99991546e-01 -1.44459589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.955898227 meters Centerline goodness [0,1] 0.9965528981189888 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.11, Z:-0.13 [[ 9.99908508e-01 -1.31217660e-02 -3.28550506e-03 1.75631458e+01] [ 1.30598980e-02 9.99749202e-01 -1.81926224e-02 -1.06223146e-01] [ 3.52340040e-03 1.81480496e-02 9.99829102e-01 -1.34653266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.985898227 meters Centerline goodness [0,1] 0.9977676220963292 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.12, Z:-0.16 [[ 9.99971230e-01 -7.13118359e-03 2.58555029e-03 1.75890157e+01] [ 7.09562821e-03 9.99883567e-01 1.35093939e-02 -1.24681011e-01] [-2.68158721e-03 -1.34906591e-02 9.99905401e-01 -1.57548554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.015898227 meters Centerline goodness [0,1] 0.9958994624683961 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.13, Z:-0.16 [[ 9.99959192e-01 -3.00188597e-03 8.52074676e-03 1.76105662e+01] [ 2.86132477e-03 9.99860416e-01 1.64608759e-02 -1.33960801e-01] [-8.56897107e-03 -1.64358235e-02 9.99828203e-01 -1.60734383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.045898227 meters Centerline goodness [0,1] 0.995423050028606 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.13, Z:-0.15 [[ 9.99937834e-01 -4.41437481e-03 1.02392439e-02 1.76426548e+01] [ 4.37016002e-03 9.99981048e-01 4.33653088e-03 -1.33393490e-01] [-1.02581930e-02 -4.29151416e-03 9.99938174e-01 -1.50180677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.075898227 meters Centerline goodness [0,1] 0.9954051707709572 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.12, Z:-0.12 [[ 9.99862297e-01 -1.65524579e-02 1.18440780e-03 1.76855908e+01] [ 1.65832048e-02 9.99281991e-01 -3.40661039e-02 -1.16442704e-01] [-6.19679637e-04 3.40810541e-02 9.99418880e-01 -1.17228275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.105898227 meters Centerline goodness [0,1] 0.9673386499693271 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.15, Z:-0.15 [[ 9.99794630e-01 -2.02498491e-02 8.00473542e-04 1.77138390e+01] [ 2.02498799e-02 9.99794950e-01 -3.02893803e-05 -1.45711110e-01] [-7.99696049e-04 4.64926528e-05 9.99999679e-01 -1.46061663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.135898227 meters Centerline goodness [0,1] 0.9562145403159471 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.15, Z:-0.15 [[ 9.99775077e-01 -2.12083620e-02 1.77380576e-05 1.77449409e+01] [ 2.12083620e-02 9.99775077e-01 -8.41561268e-07 -1.50295196e-01] [-1.77162198e-05 1.21756713e-06 1.00000000e+00 -1.46489397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.165898227 meters Centerline goodness [0,1] 0.9745428316856888 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.15, Z:-0.15 [[ 9.99739661e-01 -2.27664802e-02 -1.51551555e-03 1.77764286e+01] [ 2.27665933e-02 9.99740806e-01 5.74246853e-05 -1.45525565e-01] [ 1.51381538e-03 -9.19128616e-05 9.99998850e-01 -1.48082182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.195898227 meters Centerline goodness [0,1] 0.9520941516983059 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.15, Z:-0.15 [[ 9.99681492e-01 -2.50972673e-02 -2.65344787e-03 1.78067609e+01] [ 2.50976227e-02 9.99685000e-01 1.00688455e-04 -1.50366602e-01] [ 2.65008503e-03 -1.67251618e-04 9.99996475e-01 -1.49188718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.225898227000002 meters Centerline goodness [0,1] 0.9966118205111916 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.15, Z:-0.16 [[ 9.99767121e-01 -2.15322962e-02 1.43693084e-03 1.78283822e+01] [ 2.15008725e-02 9.99585549e-01 1.91427022e-02 -1.46563109e-01] [-1.84852164e-03 -1.91073489e-02 9.99815729e-01 -1.60399083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.255898227 meters Centerline goodness [0,1] 0.939782718971931 Centerline is valid? [True, False] Translation: X:17.82, Y:-0.14, Z:-0.15 [[ 9.99801262e-01 -1.98545509e-02 1.79835866e-03 1.78201241e+01] [ 1.98533728e-02 9.99802677e-01 6.70616005e-04 -1.41898726e-01] [-1.81131858e-03 -6.34779243e-04 9.99998158e-01 -1.49068709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.285898227 meters Centerline goodness [0,1] 0.9964744875340412 Centerline is valid? [False, True] Translation: X:17.82, Y:-0.14, Z:-0.15 [[ 9.99804915e-01 -1.96746697e-02 1.74333288e-03 1.78208437e+01] [ 1.96724659e-02 9.99805669e-01 1.27240189e-03 -1.44785962e-01] [-1.76802819e-03 -1.23785801e-03 9.99997671e-01 -1.49954832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.315898227 meters Centerline goodness [0,1] 0.8944504665348891 Centerline is valid? [True, False] Translation: X:17.82, Y:-0.15, Z:-0.15 [[ 9.99806841e-01 -1.95743664e-02 1.76790910e-03 1.78214281e+01] [ 1.95711962e-02 9.99806858e-01 1.79303115e-03 -1.47502078e-01] [-1.80266509e-03 -1.75808471e-03 9.99996830e-01 -1.51005791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.345898227 meters Centerline goodness [0,1] 0.8500887799103746 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-0.15 [[ 9.99814608e-01 -1.91924933e-02 1.54852166e-03 1.78230608e+01] [ 1.91881931e-02 9.99812120e-01 2.74564935e-03 -1.51731304e-01] [-1.60092658e-03 -2.71542699e-03 9.99995032e-01 -1.52467022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.375898227 meters Centerline goodness [0,1] 0.827055882726772 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.15, Z:-0.15 [[ 9.99819736e-01 -1.89370399e-02 1.37293102e-03 1.78240757e+01] [ 1.89325270e-02 9.99815550e-01 3.22878091e-03 -1.53716903e-01] [-1.43382134e-03 -3.20220583e-03 9.99993845e-01 -1.53216378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.405898227 meters Centerline goodness [0,1] 0.9391136883094895 Centerline is valid? [False, False] Translation: X:17.82, Y:-0.16, Z:-0.15 [[ 9.99899916e-01 -1.25226721e-02 6.58338310e-03 1.78230992e+01] [ 1.25677708e-02 9.99897530e-01 -6.85423977e-03 -1.55344745e-01] [-6.49687511e-03 6.93629222e-03 9.99954838e-01 -1.51861841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.435898227 meters Centerline goodness [0,1] 0.9908933034012453 Centerline is valid? [False, True] Translation: X:17.83, Y:-0.16, Z:-0.16 [[ 9.99953838e-01 -7.24865807e-03 6.30697489e-03 1.78265147e+01] [ 7.25383253e-03 9.99973372e-01 -7.97945372e-04 -1.61515657e-01] [-6.30102291e-03 8.43658277e-04 9.99979792e-01 -1.55967511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.465898227 meters Centerline goodness [0,1] 0.900833421246967 Centerline is valid? [True, False] Translation: X:17.83, Y:-0.16, Z:-0.16 [[ 9.99957181e-01 -7.02145314e-03 6.02784424e-03 1.78272417e+01] [ 7.02612480e-03 9.99975032e-01 -7.54187702e-04 -1.60978950e-01] [-6.02239824e-03 7.96507795e-04 9.99981548e-01 -1.55654426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.495898227 meters Centerline goodness [0,1] 0.9761436040727335 Centerline is valid? [False, True] Translation: X:17.83, Y:-0.16, Z:-0.16 [[ 9.99976976e-01 -2.61987970e-03 6.25966006e-03 1.78273623e+01] [ 2.59330344e-03 9.99987606e-01 4.24998987e-03 -1.64733942e-01] [-6.27071694e-03 -4.23365882e-03 9.99971377e-01 -1.57277552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.525898227 meters Centerline goodness [0,1] 0.9405986607237162 Centerline is valid? [True, False] Translation: X:17.83, Y:-0.17, Z:-0.16 [[ 9.99978249e-01 -2.39021966e-03 6.14721668e-03 1.78277184e+01] [ 2.36247996e-03 9.99987013e-01 4.51587079e-03 -1.65543342e-01] [-6.15793077e-03 -4.50124989e-03 9.99970909e-01 -1.57270358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.555898227 meters Centerline goodness [0,1] 0.9882576959695335 Centerline is valid? [False, True] Translation: X:17.83, Y:-0.17, Z:-0.16 [[ 9.99977889e-01 -2.00828434e-03 6.33936100e-03 1.78274939e+01] [ 1.97436101e-03 9.99983724e-01 5.35295185e-03 -1.69762116e-01] [-6.35000807e-03 -5.34031731e-03 9.99965579e-01 -1.57948283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.585898227 meters Centerline goodness [0,1] 0.9739654002713705 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.20, Z:-0.18 [[ 9.99809197e-01 1.15699951e-02 1.57386192e-02 1.78303525e+01] [-1.20869098e-02 9.99377130e-01 3.31550748e-02 -2.00395039e-01] [-1.53452120e-02 -3.33389800e-02 9.99326291e-01 -1.80364098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.615898227 meters Centerline goodness [0,1] 0.9317555828636807 Centerline is valid? [True, False] Translation: X:17.85, Y:-0.20, Z:-0.17 [[ 9.99886575e-01 8.71907957e-03 1.22806718e-02 1.78506963e+01] [-8.96153205e-03 9.99763244e-01 1.98279312e-02 -1.96360745e-01] [-1.21048830e-02 -1.99357359e-02 9.99727982e-01 -1.65556086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.645898227 meters Centerline goodness [0,1] 0.977449356605937 Centerline is valid? [False, True] Translation: X:17.86, Y:-0.19, Z:-0.15 [[ 9.99958712e-01 2.49728671e-03 8.73718989e-03 1.78604271e+01] [-2.56962457e-03 9.99962436e-01 8.27789866e-03 -1.90242164e-01] [-8.71618940e-03 -8.30000818e-03 9.99927566e-01 -1.54157404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.675898227 meters Centerline goodness [0,1] 0.9822982489734261 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.19, Z:-0.15 [[ 9.99962947e-01 2.57002495e-03 8.21578670e-03 1.78930743e+01] [-2.56609942e-03 9.99996588e-01 -4.88309440e-04 -1.94110453e-01] [-8.21701363e-03 4.67208821e-04 9.99966131e-01 -1.47550817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.705898227 meters Centerline goodness [0,1] 0.9892748892515738 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.20, Z:-0.15 [[ 9.99963472e-01 2.24689714e-03 8.24654474e-03 1.79257543e+01] [-2.24292039e-03 9.99997364e-01 -4.91448567e-04 -1.95960980e-01] [-8.24762724e-03 4.72934272e-04 9.99965876e-01 -1.47913405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.735898227 meters Centerline goodness [0,1] 0.9918051879301217 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.22, Z:-0.17 [[ 9.99752492e-01 1.41572362e-02 1.71617881e-02 1.79281464e+01] [-1.46548225e-02 9.99465470e-01 2.92234435e-02 -2.18589909e-01] [-1.67388914e-02 -2.94677134e-02 9.99425567e-01 -1.67490613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.765898227 meters Centerline goodness [0,1] 0.9940903153972979 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.20, Z:-0.12 [[ 9.99933666e-01 2.33394534e-03 1.12790434e-02 1.79874974e+01] [-2.00054188e-03 9.99563340e-01 -2.94809601e-02 -1.97341036e-01] [-1.13429252e-02 2.94564403e-02 9.99501704e-01 -1.21266166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.795898227 meters Centerline goodness [0,1] 0.981284774911482 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.22, Z:-0.14 [[ 9.99898118e-01 2.55275972e-03 1.40441388e-02 1.80166617e+01] [-2.54115359e-03 9.99996415e-01 -8.44187193e-04 -2.23568225e-01] [-1.40462435e-02 8.08412872e-04 9.99901020e-01 -1.41259905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.825898227 meters Centerline goodness [0,1] 0.9766927996260649 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.23, Z:-0.14 [[ 9.99898923e-01 1.63315904e-03 1.41236413e-02 1.80485967e+01] [-1.62132239e-03 9.99998325e-01 -8.49483077e-04 -2.28662516e-01] [-1.41250050e-02 8.26498238e-04 9.99899896e-01 -1.41381479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.855898227 meters Centerline goodness [0,1] 0.9951913829582612 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.22, Z:-0.14 [[ 9.99905440e-01 9.50216466e-05 1.37514213e-02 1.80798569e+01] [-8.36480602e-05 9.99999654e-01 -8.27657233e-04 -2.24068809e-01] [-1.37514952e-02 8.26428690e-04 9.99905102e-01 -1.43262151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.885898227 meters Centerline goodness [0,1] 0.9542341419701722 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.25, Z:-0.15 [[ 9.99917011e-01 -4.04207418e-03 1.22324809e-02 1.81081125e+01] [ 4.05138668e-03 9.99991522e-01 -7.36608093e-04 -2.46248182e-01] [-1.22293998e-02 7.86105473e-04 9.99924909e-01 -1.46317185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.915898227 meters Centerline goodness [0,1] 0.9442675495012969 Centerline is valid? [True, False] Translation: X:18.11, Y:-0.25, Z:-0.15 [[ 9.99918866e-01 -3.73074573e-03 1.21796139e-02 1.81093089e+01] [ 3.72526231e-03 9.99992949e-01 4.72868952e-04 -2.52179753e-01] [-1.21812922e-02 -4.27458329e-04 9.99925714e-01 -1.48049814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.945898227 meters Centerline goodness [0,1] 0.940204712162929 Centerline is valid? [False, False] Translation: X:18.11, Y:-0.26, Z:-0.15 [[ 9.99921634e-01 -3.36163114e-03 1.20592240e-02 1.81106708e+01] [ 3.34186305e-03 9.99993040e-01 1.65902731e-03 -2.57827307e-01] [-1.20647171e-02 -1.61859703e-03 9.99925909e-01 -1.49696238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.975898227000002 meters Centerline goodness [0,1] 0.8937981698125226 Centerline is valid? [False, False] Translation: X:18.08, Y:-0.25, Z:-0.14 [[ 9.99964423e-01 -4.35848460e-03 7.22200107e-03 1.80840700e+01] [ 4.43759173e-03 9.99929937e-01 -1.09740529e-02 -2.53343871e-01] [-7.17366484e-03 1.10057108e-02 9.99913703e-01 -1.37722169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.005898227 meters Centerline goodness [0,1] 0.8870957480648923 Centerline is valid? [False, False] Translation: X:18.09, Y:-0.26, Z:-0.14 [[ 9.99973411e-01 6.06055840e-04 7.26698179e-03 1.80866451e+01] [-5.73408243e-04 9.99989738e-01 -4.49383599e-03 -2.63233896e-01] [-7.26963073e-03 4.48954956e-03 9.99963498e-01 -1.42273937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.035898227 meters Centerline goodness [0,1] 0.8682440220466501 Centerline is valid? [False, False] Translation: X:18.13, Y:-0.27, Z:-0.15 [[ 9.99960931e-01 1.16315686e-03 8.76258822e-03 1.81251946e+01] [-1.19266816e-03 9.99993633e-01 3.36340260e-03 -2.70382648e-01] [-8.75862026e-03 -3.37372206e-03 9.99955951e-01 -1.47350224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.065898227 meters Centerline goodness [0,1] 0.9784558620835896 Centerline is valid? [False, True] Translation: X:18.10, Y:-0.27, Z:-0.14 [[ 9.99979335e-01 4.26952766e-03 4.80628467e-03 1.80989141e+01] [-4.24213801e-03 9.99974788e-01 -5.69455923e-03 -2.65512802e-01] [-4.83047657e-03 5.67405263e-03 9.99972235e-01 -1.37089823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.095898227 meters Centerline goodness [0,1] 0.988307173706942 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.27, Z:-0.14 [[ 9.99888457e-01 1.36650224e-02 6.02828516e-03 1.81279860e+01] [-1.36628064e-02 9.99906576e-01 -4.08638750e-04 -2.66633952e-01] [-6.03330603e-03 3.26229877e-04 9.99981746e-01 -1.39297372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.125898227 meters Centerline goodness [0,1] 0.9960594055210694 Centerline is valid? [True, True] Translation: X:18.16, Y:-0.26, Z:-0.14 [[ 9.99804832e-01 1.89521679e-02 5.57799024e-03 1.81582696e+01] [-1.89503525e-02 9.99820354e-01 -3.78149745e-04 -2.62076564e-01] [-5.58415494e-03 2.72371061e-04 9.99984371e-01 -1.39942395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.155898227 meters Centerline goodness [0,1] 0.9990444642629634 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.26, Z:-0.14 [[ 9.99692346e-01 2.43139446e-02 4.90358730e-03 1.81886654e+01] [-2.43126064e-02 9.99704350e-01 -3.32345826e-04 -2.55004372e-01] [-4.91021819e-03 2.13024590e-04 9.99987922e-01 -1.40609034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.185898227 meters Centerline goodness [0,1] 0.9990436926215573 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.25, Z:-0.14 [[ 9.99583932e-01 2.85346814e-02 4.21132374e-03 1.82179989e+01] [-2.85337320e-02 9.99592789e-01 -2.85352402e-04 -2.54118382e-01] [-4.21775129e-03 1.65068893e-04 9.99991092e-01 -1.42289636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.215898227 meters Centerline goodness [0,1] 0.9994499100814557 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.25, Z:-0.14 [[ 9.99420058e-01 3.35384157e-02 5.89250702e-03 1.82488782e+01] [-3.35366448e-02 9.99437409e-01 -3.99115768e-04 -2.46445571e-01] [-5.90257766e-03 2.01269389e-04 9.99982559e-01 -1.39199813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.245898227 meters Centerline goodness [0,1] 0.9994929434631962 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.25, Z:-0.14 [[ 9.99408093e-01 3.37251760e-02 6.78798964e-03 1.82782511e+01] [-3.37228290e-02 9.99431118e-01 -4.59937566e-04 -2.45397910e-01] [-6.79963955e-03 2.30755112e-04 9.99976856e-01 -1.38361133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.275898227 meters Centerline goodness [0,1] 0.9995780323649176 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.24, Z:-0.14 [[ 9.99407573e-01 3.33919072e-02 8.33562811e-03 1.83067921e+01] [-3.33883691e-02 9.99442294e-01 -5.63297440e-04 -2.43526984e-01] [-8.34978886e-03 2.84650700e-04 9.99965099e-01 -1.36305313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.305898227 meters Centerline goodness [0,1] 0.9997042982363502 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.24, Z:-0.14 [[ 9.99448773e-01 3.18851171e-02 9.24599874e-03 1.83351249e+01] [-3.18807155e-02 9.99491487e-01 -6.23090837e-04 -2.42526822e-01] [-9.26116435e-03 3.27978317e-04 9.99957061e-01 -1.35389930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.335898227 meters Centerline goodness [0,1] 0.9994462901439646 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.25, Z:-0.14 [[ 9.99495641e-01 3.06696513e-02 8.23621870e-03 1.83628899e+01] [-3.06661210e-02 9.99529530e-01 -5.54605960e-04 -2.46097886e-01] [-8.24935338e-03 3.01753361e-04 9.99965928e-01 -1.37246326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.365898227 meters Centerline goodness [0,1] 0.999214954064204 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.25, Z:-0.14 [[ 9.99515906e-01 3.01255681e-02 7.77196952e-03 1.83913000e+01] [-3.01224132e-02 9.99546080e-01 -5.22691572e-04 -2.48570880e-01] [-7.78418805e-03 2.88328063e-04 9.99969661e-01 -1.38361009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.395898227 meters Centerline goodness [0,1] 0.9994892856382865 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.25, Z:-0.14 [[ 9.99514208e-01 3.02297045e-02 7.58376076e-03 1.84186415e+01] [-3.02267061e-02 9.99542939e-01 -5.09696834e-04 -2.51337928e-01] [-7.59570251e-03 2.80217120e-04 9.99971113e-01 -1.38188846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.425898227 meters Centerline goodness [0,1] 0.9993463087531367 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.25, Z:-0.14 [[ 9.99435132e-01 3.26067309e-02 8.13748888e-03 1.84476993e+01] [-3.26033615e-02 9.99468220e-01 -5.46411109e-04 -2.52386885e-01] [-8.15097821e-03 2.80792967e-04 9.99966741e-01 -1.37913967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.455898227 meters Centerline goodness [0,1] 0.9997030438010394 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.25, Z:-0.14 [[ 9.99350303e-01 3.49906513e-02 8.63865250e-03 1.84773400e+01] [-3.49869448e-02 9.99387601e-01 -5.79856448e-04 -2.52691776e-01] [-8.65365175e-03 2.77239659e-04 9.99962518e-01 -1.36257598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.485898227 meters Centerline goodness [0,1] 0.9997251411294585 Centerline is valid? [True, True] Translation: X:18.51, Y:-0.25, Z:-0.14 [[ 9.99244996e-01 3.78623087e-02 8.71109495e-03 1.85076818e+01] [-3.78586504e-02 9.99282933e-01 -5.84529631e-04 -2.51172502e-01] [-8.72698016e-03 2.54298010e-04 9.99961887e-01 -1.36296217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.515898227 meters Centerline goodness [0,1] 0.9997883105061496 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.24, Z:-0.14 [[ 9.98912607e-01 4.59079711e-02 8.12785728e-03 1.85381080e+01] [-4.59050531e-02 9.98945659e-01 -5.45309057e-04 -2.43172748e-01] [-8.14432178e-03 1.71606372e-04 9.99966820e-01 -1.35933134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.545898227 meters Centerline goodness [0,1] 0.9996389124893797 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.24, Z:-0.14 [[ 9.98715531e-01 5.02690673e-02 6.34900536e-03 1.85684746e+01] [-5.02673742e-02 9.98735706e-01 -4.26066282e-04 -2.37641239e-01] [-6.36239630e-03 1.06371185e-04 9.99979754e-01 -1.39081108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.575898227 meters Centerline goodness [0,1] 0.9998718113062428 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.23, Z:-0.14 [[ 9.98503433e-01 5.44369806e-02 5.24495338e-03 1.85981343e+01] [-5.44358826e-02 9.98517206e-01 -3.51970630e-04 -2.32463841e-01] [-5.25633641e-03 6.59302162e-05 9.99986183e-01 -1.39266938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.605898227 meters Centerline goodness [0,1] 0.9997669738375172 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.23, Z:-0.14 [[ 9.98272707e-01 5.85685803e-02 4.61773194e-03 1.86261164e+01] [-5.85677751e-02 9.98283387e-01 -3.09529169e-04 -2.27803810e-01] [-4.62793376e-03 3.85442355e-05 9.99989290e-01 -1.40510556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.635898227 meters Centerline goodness [0,1] 0.9997664394759751 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.22, Z:-0.14 [[ 9.97952190e-01 6.36327006e-02 6.50425702e-03 1.86550464e+01] [-6.36312132e-02 9.97973386e-01 -4.35580883e-04 -2.18461145e-01] [-6.51879258e-03 2.08151310e-05 9.99978752e-01 -1.36499672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.665898227 meters Centerline goodness [0,1] 0.9998090428804821 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.22, Z:-0.13 [[ 9.97902156e-01 6.42596484e-02 7.87304627e-03 1.86829114e+01] [-6.42575007e-02 9.97933213e-01 -5.25709045e-04 -2.17256644e-01] [-7.89055623e-03 1.87039133e-05 9.99968869e-01 -1.34691438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.695898227 meters Centerline goodness [0,1] 0.9995754076086957 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.22, Z:-0.14 [[ 9.97917338e-01 6.40118482e-02 7.96681775e-03 1.87110269e+01] [-6.40096528e-02 9.97949138e-01 -5.30501107e-04 -2.18242694e-01] [-7.98443727e-03 1.94430142e-05 9.99968124e-01 -1.36992343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.725898227 meters Centerline goodness [0,1] 0.9997479044557888 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.22, Z:-0.14 [[ 9.98020924e-01 6.24152932e-02 7.65284298e-03 1.87381547e+01] [-6.24132313e-02 9.98050264e-01 -5.08201137e-04 -2.22005864e-01] [-7.66964148e-03 2.95567094e-05 9.99970587e-01 -1.36987664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.755898227 meters Centerline goodness [0,1] 0.9997872974007742 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.23, Z:-0.14 [[ 9.98149639e-01 6.03720750e-02 7.24646821e-03 1.87669165e+01] [-6.03701746e-02 9.98175942e-01 -4.80911835e-04 -2.26660775e-01] [-7.26228387e-03 4.25514239e-05 9.99973628e-01 -1.37436146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.785898227 meters Centerline goodness [0,1] 0.9997871978209056 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.23, Z:-0.14 [[ 9.98273887e-01 5.83046213e-02 7.05816715e-03 1.87942592e+01] [-5.83027750e-02 9.98298837e-01 -4.67237500e-04 -2.32129048e-01] [-7.07340216e-03 5.49202639e-05 9.99974982e-01 -1.37979189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.815898227 meters Centerline goodness [0,1] 0.9997877263367934 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.24, Z:-0.14 [[ 9.98390760e-01 5.61737666e-02 7.77166995e-03 1.88216192e+01] [-5.61714673e-02 9.98421004e-01 -5.13990712e-04 -2.38214830e-01] [-7.78827131e-03 7.66174731e-05 9.99969668e-01 -1.37074623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.845898227 meters Centerline goodness [0,1] 0.9997877263367934 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.24, Z:-0.14 [[ 9.98400643e-01 5.59978352e-02 7.77169586e-03 1.88489203e+01] [-5.59955336e-02 9.98430887e-01 -5.13598701e-04 -2.39870901e-01] [-7.78826161e-03 7.75970159e-05 9.99969668e-01 -1.37296418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.875898227 meters Centerline goodness [0,1] 0.9997875414294213 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.25, Z:-0.13 [[ 9.98527175e-01 5.34392064e-02 9.36649915e-03 1.88773580e+01] [-5.34357688e-02 9.98571098e-01 -6.17070664e-04 -2.47883798e-01] [-9.38609111e-03 1.15655744e-04 9.99955943e-01 -1.33166510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.905898227 meters Centerline goodness [0,1] 0.9995339180543197 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.25, Z:-0.13 [[ 9.98521328e-01 5.35530549e-02 9.33961584e-03 1.89051213e+01] [-5.35496556e-02 9.98564999e-01 -6.13835236e-04 -2.51563207e-01] [-9.35908624e-03 1.12794363e-04 9.99956196e-01 -1.34892109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.935898227 meters Centerline goodness [0,1] 0.9998076881984658 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.26, Z:-0.14 [[ 9.98471427e-01 5.45773449e-02 8.72486002e-03 1.89329178e+01] [-5.45744294e-02 9.98509541e-01 -5.72069203e-04 -2.55687125e-01] [-8.74307800e-03 9.50404960e-05 9.99961774e-01 -1.35390427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.965898227 meters Centerline goodness [0,1] 0.9997038415975631 Centerline is valid? [True, True] Translation: X:18.96, Y:-0.26, Z:-0.14 [[ 9.98383790e-01 5.61677376e-02 8.65987666e-03 1.89613681e+01] [-5.61649297e-02 9.98421343e-01 -5.67283403e-04 -2.58823086e-01] [-8.67806872e-03 7.99851891e-05 9.99962342e-01 -1.38541123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.995898227 meters Centerline goodness [0,1] 0.9997236512053059 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.26, Z:-0.14 [[ 9.98125310e-01 6.05336158e-02 9.03034907e-03 1.89906619e+01] [-6.05307535e-02 9.98166158e-01 -5.90192966e-04 -2.60013228e-01] [-9.04951536e-03 4.24727037e-05 9.99959051e-01 -1.37076831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.025898227 meters Centerline goodness [0,1] 0.9998524980508671 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.26, Z:-0.14 [[ 9.97940080e-01 6.34780659e-02 9.28068252e-03 1.90192316e+01] [-6.34751779e-02 9.97983234e-01 -6.05710008e-04 -2.59364908e-01] [-9.30041485e-03 1.53693199e-05 9.99956750e-01 -1.35670980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.055898227 meters Centerline goodness [0,1] 0.9997880996779115 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.26, Z:-0.14 [[ 9.97705403e-01 6.71031956e-02 9.00495019e-03 1.90459970e+01] [-6.71006358e-02 9.97746040e-01 -5.86438790e-04 -2.58125631e-01] [-9.02400531e-03 -1.91447332e-05 9.99959283e-01 -1.36402224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.085898227 meters Centerline goodness [0,1] 0.9998090995863824 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.26, Z:-0.14 [[ 9.97294801e-01 7.28796398e-02 9.57281828e-03 1.90743111e+01] [-7.28770200e-02 9.97340740e-01 -6.22682700e-04 -2.56862545e-01] [-9.59274256e-03 -7.66402497e-05 9.99953986e-01 -1.35748827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.115898227 meters Centerline goodness [0,1] 0.9998085635887946 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.26, Z:-0.13 [[ 9.97180375e-01 7.42894384e-02 1.06009418e-02 1.91030484e+01] [-7.42863144e-02 9.97236717e-01 -6.88693680e-04 -2.58610923e-01] [-1.06228111e-02 -1.00753076e-04 9.99943571e-01 -1.34688434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.145898227 meters Centerline goodness [0,1] 0.9998085350806281 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.26, Z:-0.13 [[ 9.97178871e-01 7.41752357e-02 1.15036445e-02 1.91302562e+01] [-7.41715694e-02 9.97245217e-01 -7.45610131e-04 -2.61828519e-01] [-1.15272603e-02 -1.09736697e-04 9.99933553e-01 -1.33601509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.175898227 meters Centerline goodness [0,1] 0.9998941552530748 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.27, Z:-0.14 [[ 9.97417379e-01 7.10543209e-02 1.04812088e-02 1.91579765e+01] [-7.10511178e-02 9.97472445e-01 -6.78114794e-04 -2.74214604e-01] [-1.05029000e-02 -6.83381216e-05 9.99944841e-01 -1.36759196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.205898227 meters Centerline goodness [0,1] 0.9999152344826124 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.28, Z:-0.14 [[ 9.97601899e-01 6.86542501e-02 8.77754738e-03 1.91856654e+01] [-6.86519201e-02 9.97640513e-01 -5.66839214e-04 -2.82599786e-01] [-8.79575279e-03 -3.71156047e-05 9.99961316e-01 -1.39013489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.235898227 meters Centerline goodness [0,1] 0.9998519051346605 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.29, Z:-0.14 [[ 9.97837625e-01 6.52762329e-02 7.68686299e-03 1.92133711e+01] [-6.52743481e-02 9.97867232e-01 -4.96086876e-04 -2.92596352e-01] [-7.70285138e-03 -6.74082110e-06 9.99970333e-01 -1.41627566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.265898227 meters Centerline goodness [0,1] 0.9999572329733776 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.30, Z:-0.14 [[ 9.98093250e-01 6.13937653e-02 6.37726356e-03 1.92406102e+01] [-6.13923932e-02 9.98113623e-01 -4.10866186e-04 -3.04003293e-01] [-6.39045826e-03 1.85672950e-05 9.99979581e-01 -1.44077475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.295898227 meters Centerline goodness [0,1] 0.9998504784688995 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.32, Z:-0.15 [[ 9.98335322e-01 5.74144862e-02 5.49187842e-03 1.92682210e+01] [-5.74134128e-02 9.98350427e-01 -3.53026231e-04 -3.16110843e-01] [-5.50308798e-03 3.71310728e-05 9.99984857e-01 -1.46277051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.325898227 meters Centerline goodness [0,1] 0.999829960891005 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.34, Z:-0.15 [[ 9.98658435e-01 5.15758546e-02 4.61102587e-03 1.92950079e+01] [-5.15750397e-02 9.98669078e-01 -2.95536680e-04 -3.36527229e-01] [-4.62013152e-03 5.73263552e-05 9.99989325e-01 -1.49133798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.355898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.34, Z:-0.15 [[ 9.98722227e-01 5.03371134e-02 4.48210127e-03 1.93232941e+01] [-5.03363301e-02 9.98732282e-01 -2.87459658e-04 -3.44199087e-01] [-4.49088912e-03 6.14798204e-05 9.99989914e-01 -1.48328600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.385898227 meters Centerline goodness [0,1] 0.9999360681939264 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.35, Z:-0.15 [[ 9.98726634e-01 5.03201227e-02 3.60497000e-03 1.93511110e+01] [-5.03196166e-02 9.98733139e-01 -2.31012263e-04 -3.49710432e-01] [-3.61202757e-03 4.93173913e-05 9.99993475e-01 -1.48615527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.415898227 meters Centerline goodness [0,1] 0.9998935218706078 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.35, Z:-0.15 [[ 9.98656787e-01 5.17099854e-02 3.27096519e-03 1.93797195e+01] [-5.17095778e-02 9.98662143e-01 -2.09126288e-04 -3.52663784e-01] [-3.27740303e-03 3.97051575e-05 9.99994629e-01 -1.49401076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.445898227 meters Centerline goodness [0,1] 0.999829023295576 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.35, Z:-0.15 [[ 9.98540730e-01 5.39307835e-02 2.80731387e-03 1.94086762e+01] [-5.39304927e-02 9.98544676e-01 -1.79246371e-04 -3.53251590e-01] [-2.81289522e-03 2.75849823e-05 9.99996043e-01 -1.51421324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.475898227 meters Centerline goodness [0,1] 0.9998934991905939 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.36, Z:-0.15 [[ 9.98370157e-01 5.70252916e-02 2.26849238e-03 1.94367462e+01] [-5.70251113e-02 9.98372734e-01 -1.44100990e-04 -3.55107075e-01] [-2.27301834e-03 1.45050969e-05 9.99997417e-01 -1.52587338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.505898227 meters Centerline goodness [0,1] 0.9999146302422367 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.35, Z:-0.15 [[ 9.98016772e-01 6.29000688e-02 2.47079085e-03 1.94654005e+01] [-6.28998720e-02 9.98019830e-01 -1.57349337e-04 -3.52918393e-01] [-2.47579555e-03 1.62484920e-06 9.99996935e-01 -1.51409339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.535898227 meters Centerline goodness [0,1] 0.9998512726809161 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.35, Z:-0.15 [[ 9.97847783e-01 6.54472225e-02 4.05737711e-03 1.94937782e+01] [-6.54467207e-02 9.97856032e-01 -2.56450003e-04 -3.52088117e-01] [-4.06546216e-03 -9.64395971e-06 9.99991736e-01 -1.48490046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.565898227 meters Centerline goodness [0,1] 0.9997455902306649 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.35, Z:-0.15 [[ 9.97707257e-01 6.73767087e-02 6.37244881e-03 1.95220905e+01] [-6.73755131e-02 9.97727607e-01 -4.02354779e-04 -3.51294313e-01] [-6.38507745e-03 -2.79147248e-05 9.99979615e-01 -1.45803825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.595898227 meters Centerline goodness [0,1] 0.9999577443958505 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.35, Z:-0.14 [[ 9.97550778e-01 6.94763954e-02 8.09171546e-03 1.95503462e+01] [-6.94745521e-02 9.97583594e-01 -5.09010294e-04 -3.51035425e-01] [-8.10752679e-03 -5.44046923e-05 9.99967132e-01 -1.42494504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.625898227 meters Centerline goodness [0,1] 0.9999365468812792 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.35, Z:-0.14 [[ 9.97318478e-01 7.26998547e-02 8.40144114e-03 1.95786977e+01] [-7.26979864e-02 9.97353861e-01 -5.27958757e-04 -3.49612452e-01] [-8.41759228e-03 -8.42248293e-05 9.99964568e-01 -1.43591982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.655898227 meters Centerline goodness [0,1] 0.999914564599842 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.35, Z:-0.14 [[ 9.97203883e-01 7.43485375e-02 7.53059621e-03 1.96072242e+01] [-7.43470916e-02 9.97232313e-01 -4.72157818e-04 -3.48831751e-01] [-7.54485812e-03 -8.90403168e-05 9.99971533e-01 -1.44717624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.685898227 meters Centerline goodness [0,1] 0.9999362881474717 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.35, Z:-0.15 [[ 9.97029596e-01 7.67313123e-02 6.65517193e-03 1.96358227e+01] [-7.67302422e-02 9.97051802e-01 -4.16344462e-04 -3.46679128e-01] [-6.66749782e-03 -9.55452036e-05 9.99977767e-01 -1.45164586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.715898227 meters Centerline goodness [0,1] 0.9999575623832966 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.34, Z:-0.15 [[ 9.96860705e-01 7.89284709e-02 6.24757492e-03 1.96637308e+01] [-7.89275777e-02 9.96880276e-01 -3.89787640e-04 -3.35421802e-01] [-6.25884956e-03 -1.04541973e-04 9.99980408e-01 -1.47042433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.745898227 meters Centerline goodness [0,1] 0.9999147285169158 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.34, Z:-0.14 [[ 9.96607146e-01 8.18621361e-02 8.53156595e-03 1.96922149e+01] [-8.18605881e-02 9.96643648e-01 -5.31079514e-04 -3.42255933e-01] [-8.54640632e-03 -1.69121367e-04 9.99963465e-01 -1.42100870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.775898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.34, Z:-0.14 [[ 9.96539317e-01 8.24505160e-02 1.05500046e-02 1.97199228e+01] [-8.24482023e-02 9.96595136e-01 -6.54791602e-04 -3.42029593e-01] [-1.05680711e-02 -2.17303334e-04 9.99944133e-01 -1.39561196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.805898227 meters Centerline goodness [0,1] 0.9998291948673058 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.34, Z:-0.14 [[ 9.96507192e-01 8.26936997e-02 1.16262222e-02 1.97485746e+01] [-8.26909183e-02 9.96574981e-01 -7.20566003e-04 -3.35725756e-01] [-1.16459884e-02 -2.43333782e-04 9.99932154e-01 -1.37785586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.835898227 meters Centerline goodness [0,1] 0.9999571560163664 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.34, Z:-0.14 [[ 9.96536577e-01 8.23610862e-02 1.14674250e-02 1.97756046e+01] [-8.23583713e-02 9.96602526e-01 -7.09586904e-04 -3.42171026e-01] [-1.14869071e-02 -2.37309142e-04 9.99933995e-01 -1.38452746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.865898227 meters Centerline goodness [0,1] 0.9999152075295714 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.35, Z:-0.15 [[ 9.96730313e-01 7.98543819e-02 1.23272329e-02 1.98034531e+01] [-7.99327948e-02 9.96782172e-01 6.00421554e-03 -3.48154273e-01] [-1.18081031e-02 -6.96993382e-03 9.99905990e-01 -1.47974431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.895898227 meters Centerline goodness [0,1] 0.9999361267245784 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.35, Z:-0.14 [[ 9.96932559e-01 7.79372791e-02 7.15915610e-03 1.98316889e+01] [-7.78859821e-02 9.96936383e-01 -7.18487604e-03 -3.46044215e-01] [-7.69719287e-03 6.60523895e-03 9.99948561e-01 -1.40385213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.925898227 meters Centerline goodness [0,1] 0.9999147357875215 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.35, Z:-0.15 [[ 9.97083772e-01 7.59202330e-02 7.75047446e-03 1.98600968e+01] [-7.59188133e-02 9.97113888e-01 -4.77647638e-04 -3.53855777e-01] [-7.76436884e-03 -1.12152114e-04 9.99969851e-01 -1.45128408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.955898227 meters Centerline goodness [0,1] 0.9998940767731548 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.36, Z:-0.14 [[ 9.97211804e-01 7.41479542e-02 8.40822268e-03 1.98879786e+01] [-7.41462330e-02 9.97247246e-01 -5.16673668e-04 -3.58860631e-01] [-8.42338721e-03 -1.08204958e-04 9.99964517e-01 -1.44446459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.985898227 meters Centerline goodness [0,1] 0.9998723105407649 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.37, Z:-0.14 [[ 9.97447026e-01 7.08308180e-02 9.07881709e-03 1.99165144e+01] [-7.08286802e-02 9.97488340e-01 -5.57184973e-04 -3.68040387e-01] [-9.09548005e-03 -8.72781380e-05 9.99958631e-01 -1.43880112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.015898227 meters Centerline goodness [0,1] 0.9999574676222274 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.37, Z:-0.14 [[ 9.97540240e-01 6.95572372e-02 8.67532073e-03 1.99438871e+01] [-6.95552487e-02 9.97577960e-01 -5.31079895e-04 -3.71983788e-01] [-8.69124920e-03 -7.36405253e-05 9.99962228e-01 -1.44462185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.045898227 meters Centerline goodness [0,1] 0.9999145682492898 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.38, Z:-0.15 [[ 9.97603220e-01 6.87885430e-02 7.48003166e-03 1.99717607e+01] [-6.87870454e-02 9.97631261e-01 -4.57600519e-04 -3.76886928e-01] [-7.49379109e-03 -5.80255265e-05 9.99971919e-01 -1.46003593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.075898227 meters Centerline goodness [0,1] 0.9999786844012448 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.38, Z:-0.15 [[ 9.97498945e-01 7.04290837e-02 5.96642057e-03 2.00003254e+01] [-7.04281653e-02 9.97516787e-01 -3.64156088e-04 -3.82191262e-01] [-5.97725186e-03 -5.69587403e-05 9.99982134e-01 -1.48555818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.105898227 meters Centerline goodness [0,1] 0.9999156420693001 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.38, Z:-0.15 [[ 9.97290355e-01 7.33135662e-02 6.08846482e-03 2.00280268e+01] [-7.33126712e-02 9.97308937e-01 -3.70341570e-04 -3.80229149e-01] [-6.09923144e-03 -7.70235442e-05 9.99981397e-01 -1.48754104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.135898227 meters Centerline goodness [0,1] 0.9998287451299396 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.38, Z:-0.15 [[ 9.97011734e-01 7.69751696e-02 6.51346965e-03 2.00570439e+01] [-7.69742251e-02 9.97033004e-01 -3.95942220e-04 -3.79673246e-01] [-6.52462193e-03 -1.06610239e-04 9.99978709e-01 -1.48996545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.165898227 meters Centerline goodness [0,1] 0.999978727477717 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.37, Z:-0.15 [[ 9.96238824e-01 8.64337191e-02 6.11703434e-03 2.00868299e+01] [-8.64330718e-02 9.96257591e-01 -3.70599368e-04 -3.68718104e-01] [-6.12617418e-03 -1.59508590e-04 9.99981222e-01 -1.47904184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.195898227 meters Centerline goodness [0,1] 0.9998934923847055 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.37, Z:-0.15 [[ 9.95926756e-01 9.00086524e-02 5.32340642e-03 2.01168180e+01] [-9.00082134e-02 9.95940971e-01 -3.22466375e-04 -3.67251776e-01] [-5.33082332e-03 -1.57997410e-04 9.99985779e-01 -1.50432970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.225898227 meters Centerline goodness [0,1] 0.9999570068144199 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.36, Z:-0.15 [[ 9.95730395e-01 9.21834549e-02 4.81576895e-03 2.01459063e+01] [-9.21831213e-02 9.95742028e-01 -2.91658137e-04 -3.64892051e-01] [-4.82214960e-03 -1.53519741e-04 9.99988362e-01 -1.51965224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.255898227 meters Centerline goodness [0,1] 0.9998938203440221 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.36, Z:-0.15 [[ 9.95633898e-01 9.31967457e-02 5.24476271e-03 2.01733366e+01] [-9.31963642e-02 9.95647697e-01 -3.17617895e-04 -3.63119734e-01] [-5.25153686e-03 -1.72561672e-04 9.99986196e-01 -1.51718384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.285898227 meters Centerline goodness [0,1] 0.9999362664910454 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.37, Z:-0.15 [[ 9.95744471e-01 9.18518708e-02 7.49544268e-03 2.02023346e+01] [-9.18510619e-02 9.95772653e-01 -4.52805213e-04 -3.65796075e-01] [-7.50534785e-03 -2.37586083e-04 9.99971806e-01 -1.48484790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.315898227 meters Centerline goodness [0,1] 0.9999786493584132 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.37, Z:-0.15 [[ 9.95923118e-01 8.98685092e-02 7.79710493e-03 2.02315408e+01] [-8.98675833e-02 9.95953612e-01 -4.69735144e-04 -3.69636547e-01] [-7.80776921e-03 -2.32886887e-04 9.99969492e-01 -1.47149125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.345898227 meters Centerline goodness [0,1] 0.9999363449256297 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.37, Z:-0.15 [[ 9.96131484e-01 8.75833357e-02 7.15718514e-03 2.02588005e+01] [-8.75825005e-02 9.96157176e-01 -4.30637855e-04 -3.73507369e-01] [-7.16739804e-03 -1.97872245e-04 9.99974294e-01 -1.48868519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.375898227 meters Centerline goodness [0,1] 0.9999788247750132 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.38, Z:-0.15 [[ 9.96537298e-01 8.29681939e-02 5.44913139e-03 2.02871028e+01] [-8.29676424e-02 9.96552188e-01 -3.27560604e-04 -3.83980088e-01] [-5.45752092e-03 -1.25675226e-04 9.99985100e-01 -1.53252240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.405898227 meters Centerline goodness [0,1] 0.9999575803851701 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.39, Z:-0.15 [[ 9.96750362e-01 8.03791279e-02 5.28316726e-03 2.03152610e+01] [-8.03785735e-02 9.96764357e-01 -3.17530357e-04 -3.90478794e-01] [-5.29159563e-03 -1.08154950e-04 9.99985994e-01 -1.53733440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.435898227 meters Centerline goodness [0,1] 0.9999786114557043 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.40, Z:-0.15 [[ 9.96984426e-01 7.74064557e-02 5.50412770e-03 2.03480955e+01] [-7.73640923e-02 9.96974448e-01 -7.53311980e-03 -3.96486050e-01] [-6.07058677e-03 7.08458128e-03 9.99956477e-01 -1.45616823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.465898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.42, Z:-0.15 [[ 9.97255139e-01 7.32984094e-02 1.04656910e-02 2.03714438e+01] [-7.33684050e-02 9.97283932e-01 6.46808946e-03 -4.15489129e-01] [-9.96316485e-03 -7.21818652e-03 9.99924314e-01 -1.51138321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.495898227 meters Centerline goodness [0,1] 0.9999575767860173 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.42, Z:-0.15 [[ 9.97415710e-01 7.10286774e-02 1.08087408e-02 2.03989838e+01] [-7.10258417e-02 9.97474266e-01 -6.46468274e-04 -4.19035734e-01] [-1.08273586e-02 -1.22902299e-04 9.99941375e-01 -1.46428611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.525898227 meters Centerline goodness [0,1] 0.9997685866958388 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.43, Z:-0.15 [[ 9.97558527e-01 6.90141183e-02 1.06787678e-02 2.04263773e+01] [-6.90112418e-02 9.97615678e-01 -6.38058531e-04 -4.27994619e-01] [-1.06973412e-02 -1.00454299e-04 9.99942777e-01 -1.49460409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.44, Z:-0.15 [[ 9.97619820e-01 6.82888407e-02 9.55664121e-03 2.04539141e+01] [-6.82865085e-02 9.97665589e-01 -5.70509072e-04 -4.35393838e-01] [-9.57329148e-03 -8.34385037e-05 9.99954172e-01 -1.48415352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.585898227 meters Centerline goodness [0,1] 0.9999367208757831 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.44, Z:-0.14 [[ 9.97438846e-01 7.10885514e-02 7.88456665e-03 2.04880695e+01] [-7.09876508e-02 9.97399946e-01 -1.24137256e-02 -4.36199184e-01] [-8.74654013e-03 1.18222253e-02 9.99891861e-01 -1.39030545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.615898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.45, Z:-0.15 [[ 9.97085766e-01 7.57829546e-02 8.77038050e-03 2.05123589e+01] [-7.58694994e-02 9.97067654e-01 9.99557937e-03 -4.47075011e-01] [-7.98716818e-03 -1.06318543e-02 9.99911581e-01 -1.54468574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.645898227 meters Centerline goodness [0,1] 0.9999787424004082 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.44, Z:-0.15 [[ 9.96698975e-01 8.07711036e-02 8.19647418e-03 2.05419350e+01] [-8.07698336e-02 9.96732661e-01 -4.86389827e-04 -4.40135420e-01] [-8.20897976e-03 -1.77243613e-04 9.99966290e-01 -1.48278068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.675898227 meters Centerline goodness [0,1] 0.9997259118701244 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.43, Z:-0.15 [[ 9.95782165e-01 9.14586786e-02 7.29312119e-03 2.05717465e+01] [-9.14579604e-02 9.95808844e-01 -4.32620595e-04 -4.26373177e-01] [-7.30212149e-03 -2.36218117e-04 9.99973311e-01 -1.49646636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.705898227 meters Centerline goodness [0,1] 0.9997259118701244 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.43, Z:-0.15 [[ 9.95798884e-01 9.12764641e-02 7.29311678e-03 2.05990830e+01] [-9.12757405e-02 9.95825563e-01 -4.32695165e-04 -4.27822471e-01] [-7.30216701e-03 -2.34807272e-04 9.99973311e-01 -1.49858626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.735898227 meters Centerline goodness [0,1] 0.9995553485220632 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.43, Z:-0.15 [[ 9.95338594e-01 9.62140089e-02 6.62933167e-03 2.06294250e+01] [-9.62135288e-02 9.95360640e-01 -3.92033301e-04 -4.26893580e-01] [-6.63629491e-03 -2.47625520e-04 9.99977949e-01 -1.51053232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.765898227 meters Centerline goodness [0,1] 0.9966741515908994 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.42, Z:-0.15 [[ 9.94933867e-01 1.00387038e-01 5.38910513e-03 2.06586017e+01] [-1.00386782e-01 9.94948437e-01 -3.18659181e-04 -4.22014300e-01] [-5.39387097e-03 -2.23950112e-04 9.99985428e-01 -1.53265065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.795898227 meters Centerline goodness [0,1] 0.9920619840817446 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.42, Z:-0.15 [[ 9.94680263e-01 1.02894097e-01 4.89690794e-03 2.06889051e+01] [-1.02893916e-01 9.94692293e-01 -2.89519955e-04 -4.20105883e-01] [-4.90070648e-03 -2.15882252e-04 9.99987968e-01 -1.54841591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.825898227 meters Centerline goodness [0,1] 0.9961318569212132 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.42, Z:-0.16 [[ 9.94660958e-01 1.03131310e-01 3.67581583e-03 2.07173603e+01] [-1.03131208e-01 9.94667737e-01 -2.17925822e-04 -4.20058120e-01] [-3.67869039e-03 -1.62329019e-04 9.99993220e-01 -1.60515116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.855898227 meters Centerline goodness [0,1] 0.9897980826334097 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.42, Z:-0.16 [[ 9.94784764e-01 1.01943386e-01 3.28934854e-03 2.07451566e+01] [-1.01943300e-01 9.94790192e-01 -1.94223714e-04 -4.17475186e-01] [-3.29201149e-03 -1.42116253e-04 9.99994571e-01 -1.58238532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.885898227 meters Centerline goodness [0,1] 0.9939803569542718 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.42, Z:-0.16 [[ 9.95012710e-01 9.96738397e-02 3.85143457e-03 2.07740880e+01] [-9.96737076e-02 9.95020151e-01 -2.26700518e-04 -4.20270160e-01] [-3.85485112e-03 -1.58316866e-04 9.99992558e-01 -1.57549636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.915898227 meters Centerline goodness [0,1] 0.9996378123868164 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.43, Z:-0.16 [[ 9.95276094e-01 9.69711397e-02 4.70041416e-03 2.08031135e+01] [-9.69709136e-02 9.95287177e-01 -2.76525344e-04 -4.31228672e-01] [-4.70507692e-03 -1.80584391e-04 9.99988915e-01 -1.55293147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.945898227 meters Centerline goodness [0,1] 0.9999787829924467 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.44, Z:-0.15 [[ 9.95951720e-01 8.95765258e-02 7.49784928e-03 2.08321794e+01] [-8.95757433e-02 9.95979915e-01 -4.40801171e-04 -4.42558221e-01] [-7.50719273e-03 -2.32608738e-04 9.99971794e-01 -1.49804877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.975898227 meters Centerline goodness [0,1] 0.9999361267245784 Centerline is valid? [True, True] Translation: X:20.87, Y:-0.44, Z:-0.14 [[ 9.96303175e-01 8.56683670e-02 6.39643689e-03 2.08660127e+01] [-8.55926154e-02 9.96266107e-01 -1.13025522e-02 -4.40025785e-01] [-7.34082447e-03 1.07132809e-02 9.99915665e-01 -1.42101027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.005898227 meters Centerline goodness [0,1] 0.9999359453400235 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.46, Z:-0.16 [[ 9.96632207e-01 8.17509655e-02 6.40499592e-03 2.08899968e+01] [-8.18121200e-02 9.96598088e-01 9.95125795e-03 -4.62944216e-01] [-5.56968175e-03 -1.04417505e-02 9.99929972e-01 -1.62192563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.035898227 meters Centerline goodness [0,1] 0.9999787129872065 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.47, Z:-0.16 [[ 9.96908907e-01 7.84960788e-02 3.31604546e-03 2.09175129e+01] [-7.84958651e-02 9.96914420e-01 -1.94733722e-04 -4.65905137e-01] [-3.32109937e-03 -6.61640745e-05 9.99994483e-01 -1.60552705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.065898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.48, Z:-0.16 [[ 9.97322328e-01 7.30836941e-02 2.63577689e-03 2.09467532e+01] [-7.30835408e-02 9.97325810e-01 -1.54582290e-04 -4.80595219e-01] [-2.64002577e-03 -3.84635387e-05 9.99996514e-01 -1.62925139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.095898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.49, Z:-0.16 [[ 9.97411917e-01 7.16499987e-02 5.97868924e-03 2.09740306e+01] [-7.16491867e-02 9.97429833e-01 -3.50166961e-04 -4.86031901e-01] [-5.98841247e-03 -7.91075215e-05 9.99982066e-01 -1.57223549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.125898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.00, Y:-0.49, Z:-0.15 [[ 9.97380286e-01 7.17323163e-02 9.32953820e-03 2.10013927e+01] [-7.17303522e-02 9.97423911e-01 -5.45399711e-04 -4.91085443e-01] [-9.34462727e-03 -1.25240142e-04 9.99956330e-01 -1.49113616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.155898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.49, Z:-0.14 [[ 9.97115487e-01 7.53169225e-02 9.38439292e-03 2.10297962e+01] [-7.53151104e-02 9.97159634e-01 -5.46844093e-04 -4.93020995e-01] [-9.39892442e-03 -1.61519876e-04 9.99955816e-01 -1.44710739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.185898227 meters Centerline goodness [0,1] 0.9999786566495208 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.49, Z:-0.15 [[ 9.96889324e-01 7.86795341e-02 4.60502294e-03 2.10596974e+01] [-7.86791362e-02 9.96899956e-01 -2.67789416e-04 -4.92649251e-01] [-4.61181671e-03 -9.53628170e-05 9.99989361e-01 -1.51721317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.215898227 meters Centerline goodness [0,1] 0.9999574811854246 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.49, Z:-0.16 [[ 9.96553221e-01 8.29546390e-02 -4.53805803e-04 2.10896049e+01] [-8.29546356e-02 9.96553324e-01 2.62747556e-05 -4.91368490e-01] [ 4.54421294e-04 1.14611027e-05 9.99999897e-01 -1.61564280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.245898227 meters Centerline goodness [0,1] 0.9999361797179144 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.49, Z:-0.17 [[ 9.95975587e-01 8.96247093e-02 2.04037557e-04 2.11199052e+01] [-8.96247087e-02 9.95975608e-01 -1.19110241e-05 -4.88305801e-01] [-2.04283952e-04 -6.42371742e-06 9.99999979e-01 -1.67848098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.275898227 meters Centerline goodness [0,1] 0.999893838379549 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.49, Z:-0.16 [[ 9.95879148e-01 9.04974626e-02 5.91038918e-03 2.11488439e+01] [-9.04970153e-02 9.95896667e-01 -3.43631273e-04 -4.90213718e-01] [-5.91723465e-03 -1.92657361e-04 9.99982474e-01 -1.60600503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.305898227 meters Centerline goodness [0,1] 0.9998074207215304 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.49, Z:-0.15 [[ 9.95786911e-01 9.09117490e-02 1.19784269e-02 2.11767297e+01] [-9.09099759e-02 9.95858873e-01 -6.93566442e-04 -4.91835236e-01] [-1.19918761e-02 -3.98314118e-04 9.99928016e-01 -1.49375711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.335898227 meters Centerline goodness [0,1] 0.999702387279182 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.50, Z:-0.14 [[ 9.95667318e-01 9.16218610e-02 1.58753336e-02 2.12055635e+01] [-9.16188684e-02 9.95793724e-01 -9.17217310e-04 -4.96473633e-01] [-1.58925947e-02 -5.41236799e-04 9.99873558e-01 -1.36886500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.365898227 meters Centerline goodness [0,1] 0.9991333572893107 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.50, Z:-0.14 [[ 9.95695345e-01 9.21402841e-02 1.00472554e-02 2.12337330e+01] [-9.21391213e-02 9.95745975e-01 -5.79546343e-04 -4.95442477e-01] [-1.00579137e-02 -3.48693689e-04 9.99949357e-01 -1.44093588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.395898227 meters Centerline goodness [0,1] 0.9995744590310432 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.50, Z:-0.16 [[ 9.95715536e-01 9.24612528e-02 1.22002316e-03 2.12625682e+01] [-9.24612347e-02 9.95716282e-01 -7.13496351e-05 -4.98401642e-01] [-1.22139400e-03 -4.17609076e-05 9.99999253e-01 -1.59384192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.425898227 meters Centerline goodness [0,1] 0.9995933219178083 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.50, Z:-0.17 [[ 9.95678469e-01 9.27779502e-02 -4.07910368e-03 2.12913544e+01] [-9.27777690e-02 9.95686814e-01 2.34032778e-04 -5.01948831e-01] [ 4.08322283e-03 1.45428741e-04 9.99991653e-01 -1.74630505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.455898227 meters Centerline goodness [0,1] 0.9971790049581125 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.50, Z:-0.16 [[ 9.95467023e-01 9.50413014e-02 3.54349404e-03 2.13190549e+01] [-9.50411771e-02 9.95473321e-01 -2.03823020e-04 -4.97417752e-01] [-3.54682538e-03 -1.33878749e-04 9.99993701e-01 -1.61756124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.485898227 meters Centerline goodness [0,1] 0.9976871008126976 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.50, Z:-0.15 [[ 9.95299278e-01 9.62777892e-02 1.04850013e-02 2.13471303e+01] [-9.62767883e-02 9.95354418e-01 -6.01338843e-04 -5.03273923e-01] [-1.04941880e-02 -4.10950139e-04 9.99944850e-01 -1.51406193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.515898227 meters Centerline goodness [0,1] 0.9985074308620653 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.51, Z:-0.15 [[ 9.95147051e-01 9.73859958e-02 1.40824273e-02 2.13762167e+01] [-9.73843143e-02 9.95246524e-01 -8.06727314e-04 -5.08512478e-01] [-1.40940507e-02 -5.68595216e-04 9.99900512e-01 -1.49907740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.545898227 meters Centerline goodness [0,1] 0.9739703248912766 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.51, Z:-0.15 [[ 9.95074560e-01 9.81906572e-02 1.36093508e-02 2.14038941e+01] [-9.81891718e-02 9.95167463e-01 -7.78897966e-04 -5.05315085e-01] [-1.36200636e-02 -5.61229334e-04 9.99907085e-01 -1.48512856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.575898227 meters Centerline goodness [0,1] 0.9978968835638264 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.52, Z:-0.16 [[ 9.95042359e-01 9.92950634e-02 5.58511177e-03 2.14317608e+01] [-9.92948297e-02 9.95058006e-01 -3.19803687e-04 -5.16092022e-01] [-5.58926511e-03 -2.36354507e-04 9.99984352e-01 -1.59634462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.605898227 meters Centerline goodness [0,1] 0.998278427205101 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.52, Z:-0.17 [[ 9.95042269e-01 9.94472957e-02 1.05747342e-03 2.14599692e+01] [-9.94472872e-02 9.95042830e-01 -6.07035673e-05 -5.15688788e-01] [-1.05826815e-03 -4.47602480e-05 9.99999439e-01 -1.66345481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.635898227 meters Centerline goodness [0,1] 0.9992547800536559 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.52, Z:-0.17 [[ 9.95110384e-01 9.87636166e-02 -1.03493605e-03 2.14874373e+01] [-9.87636094e-02 9.95110921e-01 5.81722135e-05 -5.16532787e-01] [ 1.03562146e-03 4.43262460e-05 9.99999463e-01 -1.69190992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.665898227 meters Centerline goodness [0,1] 0.9989189418348313 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.52, Z:-0.16 [[ 9.95334459e-01 9.63305089e-02 5.45407067e-03 2.15178134e+01] [-9.63302529e-02 9.95349379e-01 -3.10228125e-04 -5.18503020e-01] [-5.45859029e-03 -2.16611265e-04 9.99985078e-01 -1.57482550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.695898227 meters Centerline goodness [0,1] 0.9959585272958104 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.52, Z:-0.15 [[ 9.95441627e-01 9.48224587e-02 1.02307925e-02 2.15462462e+01] [-9.48214846e-02 9.95494123e-01 -5.81326672e-04 -5.17745767e-01] [-1.02398166e-02 -3.91422166e-04 9.99947495e-01 -1.50396644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.725898227 meters Centerline goodness [0,1] 0.9991593283033143 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.53, Z:-0.15 [[ 9.95656846e-01 9.24334966e-02 1.11127848e-02 2.15751771e+01] [-9.24322196e-02 9.95718780e-01 -6.29569884e-04 -5.26179857e-01] [-1.11234018e-02 -4.00343796e-04 9.99938053e-01 -1.51095945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.755898227 meters Centerline goodness [0,1] 0.9999574802814806 Centerline is valid? [True, True] Translation: X:21.60, Y:-0.55, Z:-0.16 [[ 9.96216384e-01 8.66714007e-02 6.40194322e-03 2.16040913e+01] [-8.66708622e-02 9.96236935e-01 -3.62035741e-04 -5.47013745e-01] [-6.40923044e-03 -1.94196001e-04 9.99979442e-01 -1.62224624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.785898227 meters Centerline goodness [0,1] 0.9999575064802617 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.55, Z:-0.16 [[ 9.96462997e-01 8.37614447e-02 6.74654772e-03 2.16327005e+01] [-8.37607802e-02 9.96485818e-01 -3.81490087e-04 -5.50941775e-01] [-6.75479329e-03 -1.84955346e-04 9.99977169e-01 -1.61356161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.815898226999998 meters Centerline goodness [0,1] 0.9999573233185387 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.56, Z:-0.16 [[ 9.96647784e-01 8.14820155e-02 7.34004859e-03 2.16614298e+01] [-8.14811693e-02 9.96674795e-01 -4.14760005e-04 -5.56705842e-01] [-7.34943690e-03 -1.84706102e-04 9.99972975e-01 -1.57995330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.845898227 meters Centerline goodness [0,1] 0.9999369284137496 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.56, Z:-0.16 [[ 9.96765553e-01 8.01238921e-02 6.21250050e-03 2.16887608e+01] [-8.01232609e-02 9.96784902e-01 -3.50821598e-04 -5.58304515e-01] [-6.22063589e-03 -1.48078915e-04 9.99980641e-01 -1.58312385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.875898227 meters Centerline goodness [0,1] 0.9999786447989408 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.57, Z:-0.17 [[ 9.96673674e-01 8.14953958e-02 -2.96194191e-04 2.17173260e+01] [-8.14953945e-02 9.96673718e-01 1.64198707e-05 -5.68346665e-01] [ 2.96547109e-04 7.77320959e-06 9.99999956e-01 -1.70464238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.905898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.57, Z:-0.17 [[ 9.96541777e-01 8.30851073e-02 -1.16252818e-03 2.17448491e+01] [-8.30850880e-02 9.96542455e-01 6.49971337e-05 -5.68850007e-01] [ 1.16390898e-03 3.18163968e-05 9.99999322e-01 -1.72989341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.935898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.57, Z:-0.17 [[ 9.96403091e-01 8.47247502e-02 1.61149437e-03 2.17723979e+01] [-8.47247133e-02 9.96404393e-01 -9.12640054e-05 -5.68857365e-01] [-1.61343239e-03 -4.55976613e-05 9.99998697e-01 -1.69480965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.965898227 meters Centerline goodness [0,1] 0.9998522209086304 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.57, Z:-0.16 [[ 9.96190694e-01 8.69524247e-02 6.58607740e-03 2.18005413e+01] [-8.69518750e-02 9.96212444e-01 -3.70308207e-04 -5.65924437e-01] [-6.59333146e-03 -2.03774189e-04 9.99978243e-01 -1.61825643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.995898227 meters Centerline goodness [0,1] 0.9989365096245879 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.57, Z:-0.15 [[ 9.95542973e-01 9.31873006e-02 1.45023009e-02 2.18312560e+01] [-9.31853181e-02 9.95648449e-01 -8.13851845e-04 -5.69140956e-01] [-1.45150340e-02 -5.41177035e-04 9.99894505e-01 -1.48884926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.025898227 meters Centerline goodness [0,1] 0.9992775334140795 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.58, Z:-0.15 [[ 9.95414824e-01 9.49154107e-02 1.18487159e-02 2.18591604e+01] [-9.49142148e-02 9.95485234e-01 -6.64488223e-04 -5.75131186e-01] [-1.18582919e-02 -4.63170142e-04 9.99929581e-01 -1.52595328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.055898227 meters Centerline goodness [0,1] 0.9995315860071965 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.57, Z:-0.17 [[ 9.95401834e-01 9.57834411e-02 8.49490533e-04 2.18867150e+01] [-9.57834343e-02 9.95402196e-01 -4.87390887e-05 -5.74578933e-01] [-8.50253140e-04 -3.28521424e-05 9.99999638e-01 -1.65338652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.085898227 meters Centerline goodness [0,1] 0.9983514044765709 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.57, Z:-0.17 [[ 9.95258803e-01 9.72431366e-02 -1.92038288e-03 2.19152893e+01] [-9.72431114e-02 9.95260652e-01 1.06716813e-04 -5.69227634e-01] [ 1.92165899e-03 8.05331590e-05 9.99998150e-01 -1.71255288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.115898227 meters Centerline goodness [0,1] 0.9949440460324512 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.57, Z:-0.17 [[ 9.95098532e-01 9.88860280e-02 -6.81537370e-04 2.19451982e+01] [-9.88860253e-02 9.95098765e-01 3.78306266e-05 -5.70074641e-01] [ 6.81937916e-04 2.97493206e-05 9.99999767e-01 -1.72370413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.145898227 meters Centerline goodness [0,1] 0.9960768427112429 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.58, Z:-0.17 [[ 9.95048749e-01 9.93283527e-02 3.44465991e-03 2.19731934e+01] [-9.93282789e-02 9.95054700e-01 -1.92921811e-04 -5.77195466e-01] [-3.44678764e-03 -1.50185533e-04 9.99994049e-01 -1.68360436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.175898227 meters Centerline goodness [0,1] 0.9887795359097272 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.58, Z:-0.16 [[ 9.95134012e-01 9.82548105e-02 7.36814986e-03 2.20006849e+01] [-9.82544667e-02 9.95161239e-01 -4.09507295e-04 -5.79321359e-01] [-7.37273321e-03 -3.16438998e-04 9.99972771e-01 -1.62507887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.205898227 meters Centerline goodness [0,1] 0.9988738978009136 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.59, Z:-0.16 [[ 9.95554779e-01 9.39926502e-02 6.00535983e-03 2.20300680e+01] [-9.39923476e-02 9.95572864e-01 -3.33226910e-04 -5.89029446e-01] [-6.01009416e-03 -2.32712226e-04 9.99981912e-01 -1.61810281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.235898227 meters Centerline goodness [0,1] 0.9996393720831566 Centerline is valid? [True, True] Translation: X:22.06, Y:-0.59, Z:-0.17 [[ 9.95757859e-01 9.19783364e-02 2.50440373e-03 2.20587707e+01] [-9.19782769e-02 9.95761004e-01 -1.39182347e-04 -5.93146020e-01] [-2.50658933e-03 -9.17588243e-05 9.99996854e-01 -1.66979114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.265898227 meters Centerline goodness [0,1] 0.999661683547248 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.60, Z:-0.17 [[ 9.95857558e-01 9.09155837e-02 1.44282779e-03 2.20861410e+01] [-9.09155626e-02 9.95858601e-01 -8.03424201e-05 -5.95360799e-01] [-1.44415684e-03 -5.11658938e-05 9.99998956e-01 -1.69545211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.295898227 meters Centerline goodness [0,1] 0.9996830494865402 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.60, Z:-0.16 [[ 9.95855478e-01 9.08618400e-02 3.99908994e-03 2.21147133e+01] [-9.08616801e-02 9.95863498e-01 -2.22026968e-04 -5.99316529e-01] [-4.00272148e-03 -1.42257259e-04 9.99991979e-01 -1.64785681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.325898227 meters Centerline goodness [0,1] 0.9947831964010392 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.59, Z:-0.16 [[ 9.95701122e-01 9.23453252e-02 7.18447196e-03 2.21431543e+01] [-9.23448637e-02 9.95727005e-01 -3.96649880e-04 -5.94633873e-01] [-7.19040151e-03 -2.68504354e-04 9.99974113e-01 -1.59295104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.355898227 meters Centerline goodness [0,1] 0.9947449044721501 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.60, Z:-0.16 [[ 9.95095314e-01 9.87105372e-02 6.44554060e-03 2.21729162e+01] [-9.87103015e-02 9.95116149e-01 -3.55467372e-04 -5.97875895e-01] [-6.44914991e-03 -2.82517339e-04 9.99979164e-01 -1.62087660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.385898227 meters Centerline goodness [0,1] 0.9914096305927994 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.60, Z:-0.17 [[ 9.94813645e-01 1.01653842e-01 3.50821964e-03 2.22029101e+01] [-1.01653791e-01 9.94819818e-01 -1.93485342e-04 -5.97603010e-01] [-3.50971496e-03 -1.64141966e-04 9.99993827e-01 -1.68470534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.415898227 meters Centerline goodness [0,1] 0.9268509127789046 Centerline is valid? [True, False] Translation: X:22.20, Y:-0.60, Z:-0.17 [[ 9.94800483e-01 1.01786367e-01 3.39635701e-03 2.22038227e+01] [-1.01786298e-01 9.94806269e-01 -1.93629838e-04 -5.97261888e-01] [-3.39842612e-03 -1.53079551e-04 9.99994214e-01 -1.69397584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.445898227 meters Centerline goodness [0,1] 0.9157992722349158 Centerline is valid? [False, False] Translation: X:22.20, Y:-0.59, Z:-0.17 [[ 9.95202036e-01 9.77903409e-02 3.15536707e-03 2.22021279e+01] [-9.77732320e-02 9.95195214e-01 -5.18468960e-03 -5.92540013e-01] [-3.64721877e-03 4.85130321e-03 9.99981581e-01 -1.66879901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.475898227 meters Centerline goodness [0,1] 0.966168136690954 Centerline is valid? [False, True] Translation: X:22.20, Y:-0.59, Z:-0.16 [[ 9.95316479e-01 9.65947092e-02 3.81696850e-03 2.21956127e+01] [-9.65696297e-02 9.95306391e-01 -6.28446309e-03 -5.92821392e-01] [-4.40609902e-03 5.88642644e-03 9.99972968e-01 -1.61158086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.505898227 meters Centerline goodness [0,1] 0.98704200178731 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.60, Z:-0.17 [[ 9.95514163e-01 9.45821422e-02 2.40211766e-03 2.22247199e+01] [-9.45821335e-02 9.95517055e-01 -1.17441845e-04 -6.03133568e-01] [-2.40245700e-03 -1.10282394e-04 9.99997108e-01 -1.67651110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.535898227 meters Centerline goodness [0,1] 0.9778299095443401 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.60, Z:-0.18 [[ 9.95691426e-01 9.27276884e-02 -3.99549990e-04 2.22532419e+01] [-9.27276880e-02 9.95691506e-01 1.93332930e-05 -6.01646072e-01] [ 3.99621263e-04 1.77993528e-05 9.99999920e-01 -1.75820130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.565898226999998 meters Centerline goodness [0,1] 0.9978198751190602 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.61, Z:-0.18 [[ 9.95780406e-01 9.17451496e-02 -2.05212937e-03 2.22815199e+01] [-9.17451396e-02 9.95782516e-01 9.92236431e-05 -6.12135115e-01] [ 2.05257784e-03 8.94679359e-05 9.99997889e-01 -1.75908581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.595898227 meters Centerline goodness [0,1] 0.9974463195079909 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.61, Z:-0.17 [[ 9.95765550e-01 9.19207087e-02 -1.24583313e-03 2.23106067e+01] [-9.19207057e-02 9.95766328e-01 5.97958683e-05 -6.14246296e-01] [ 1.24605516e-03 5.49751943e-05 9.99999222e-01 -1.74508139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.625898227 meters Centerline goodness [0,1] 0.9974463195079909 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.62, Z:-0.17 [[ 9.95783321e-01 9.17279939e-02 -1.24584870e-03 2.23379812e+01] [-9.17279912e-02 9.95784099e-01 5.94726315e-05 -6.15404674e-01] [ 1.24605163e-03 5.50573443e-05 9.99999222e-01 -1.74602981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.655898227 meters Centerline goodness [0,1] 0.9938013458721634 Centerline is valid? [True, True] Translation: X:22.37, Y:-0.62, Z:-0.17 [[ 9.95741715e-01 9.21807246e-02 1.07313078e-03 2.23654907e+01] [-9.21807217e-02 9.95742292e-01 -5.22037723e-05 -6.15697659e-01] [-1.07337388e-03 -4.69404960e-05 9.99999423e-01 -1.71434521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.685898227 meters Centerline goodness [0,1] 0.9924289016605519 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.62, Z:-0.17 [[ 9.95740965e-01 9.21357161e-02 3.30750610e-03 2.23935820e+01] [-9.21356948e-02 9.95746448e-01 -1.59131954e-04 -6.19161398e-01] [-3.30809919e-03 -1.46285167e-04 9.99994518e-01 -1.67862153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.715898227 meters Centerline goodness [0,1] 0.9821199965861569 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.62, Z:-0.17 [[ 9.95824196e-01 9.12842460e-02 1.16463582e-03 2.24218393e+01] [-9.12842426e-02 9.95824876e-01 -5.61814819e-05 -6.19351549e-01] [-1.16490180e-03 -5.03660193e-05 9.99999320e-01 -1.70509415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.745898227 meters Centerline goodness [0,1] 0.9934689934689934 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.62, Z:-0.18 [[ 9.95849577e-01 9.09799610e-02 -2.50343581e-03 2.24505256e+01] [-9.09799500e-02 9.95852717e-01 1.18541012e-04 -6.22145197e-01] [ 2.50383821e-03 1.09713448e-04 9.99996859e-01 -1.76688582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.775898227 meters Centerline goodness [0,1] 0.9977355935072906 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.63, Z:-0.18 [[ 9.95878272e-01 9.05289154e-02 -5.56621791e-03 2.24791352e+01] [-9.05288550e-02 9.95893798e-01 2.63317267e-04 -6.26269705e-01] [ 5.56719972e-03 2.41671389e-04 9.99984474e-01 -1.82020377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.805898227 meters Centerline goodness [0,1] 0.9992962702322308 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.63, Z:-0.18 [[ 9.95958968e-01 8.97229409e-02 -3.94051443e-03 2.25072519e+01] [-8.97229078e-02 9.95966749e-01 1.85537363e-04 -6.32284569e-01] [ 3.94126831e-03 1.68766812e-04 9.99992219e-01 -1.77911982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.835898227 meters Centerline goodness [0,1] 0.9867575047902917 Centerline is valid? [True, True] Translation: X:22.54, Y:-0.63, Z:-0.17 [[ 9.96012257e-01 8.92148119e-02 -5.49355109e-04 2.25357588e+01] [-8.92148115e-02 9.96012408e-01 2.52634487e-05 -6.26339273e-01] [ 5.49418379e-04 2.38479079e-05 9.99999849e-01 -1.74132721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.865898227 meters Centerline goodness [0,1] 0.9982018193357309 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.64, Z:-0.17 [[ 9.96115319e-01 8.80378823e-02 1.89781174e-03 2.25636305e+01] [-8.80378711e-02 9.96117124e-01 -8.95825223e-05 -6.37497893e-01] [-1.89832943e-03 -7.78447826e-05 9.99998195e-01 -1.70250348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.895898227 meters Centerline goodness [0,1] 0.9996831030548865 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.65, Z:-0.17 [[ 9.96210486e-01 8.69451730e-02 2.28128861e-03 2.25934357e+01] [-8.69402029e-02 9.96211115e-01 -2.19433497e-03 -6.46235210e-01] [-2.46343190e-03 1.98768381e-03 9.99994990e-01 -1.69440078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.925898227 meters Centerline goodness [0,1] 0.9996391041290733 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.65, Z:-0.18 [[ 9.96359514e-01 8.52149628e-02 -2.47567782e-03 2.26203829e+01] [-8.52096000e-02 9.96360627e-01 2.19661503e-03 -6.49419306e-01] [ 2.65385237e-03 -1.97766677e-03 9.99994523e-01 -1.81057150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.955898227 meters Centerline goodness [0,1] 0.9996167521877063 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.65, Z:-0.18 [[ 9.96261988e-01 8.62226073e-02 -5.26436536e-03 2.26502905e+01] [-8.62225117e-02 9.96275875e-01 2.45520595e-04 -6.46147417e-01] [ 5.26592962e-03 2.09303968e-04 9.99986113e-01 -1.82860553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.985898227 meters Centerline goodness [0,1] 0.9991235945449104 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.64, Z:-0.18 [[ 9.96026267e-01 8.88413687e-02 -6.23585946e-03 2.26800585e+01] [-8.88412862e-02 9.96045753e-01 2.90789705e-04 -6.40817277e-01] [ 6.23703549e-03 2.64367590e-04 9.99980515e-01 -1.83379808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.015898227 meters Centerline goodness [0,1] 0.9827520204168438 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.63, Z:-0.18 [[ 9.95688207e-01 9.26245218e-02 -5.06869813e-03 2.27099524e+01] [-9.26245170e-02 9.95701081e-01 2.36199651e-04 -6.31405583e-01] [ 5.06878609e-03 2.34304509e-04 9.99987126e-01 -1.81592885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.045898227 meters Centerline goodness [0,1] 0.9720890593373814 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.63, Z:-0.18 [[ 9.95302410e-01 9.67743709e-02 -2.79898252e-03 2.27405033e+01] [-9.67743858e-02 9.95306335e-01 1.30424018e-04 -6.31407868e-01] [ 2.79846673e-03 1.41058475e-04 9.99996074e-01 -1.77727599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.075898227 meters Centerline goodness [0,1] 0.853246643586929 Centerline is valid? [True, False] Translation: X:22.76, Y:-0.63, Z:-0.18 [[ 9.94816018e-01 1.01686428e-01 9.80239654e-04 2.27592614e+01] [-1.01679882e-01 9.94803058e-01 -5.29885750e-03 -6.28304839e-01] [-1.51396729e-03 5.17171766e-03 9.99985481e-01 -1.79127172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.105898227 meters Centerline goodness [0,1] 0.780753758204531 Centerline is valid? [False, False] Translation: X:22.76, Y:-0.63, Z:-0.18 [[ 9.94832104e-01 1.01529914e-01 8.72216039e-04 2.27597095e+01] [-1.01523252e-01 9.94816417e-01 -5.77282147e-03 -6.25948737e-01] [-1.45380890e-03 5.65443792e-03 9.99982957e-01 -1.79240885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.135898227 meters Centerline goodness [0,1] 0.8570422535211267 Centerline is valid? [False, False] Translation: X:22.76, Y:-0.62, Z:-0.18 [[ 9.94855416e-01 1.01302532e-01 7.06033811e-04 2.27601458e+01] [-1.01296152e-01 9.94836509e-01 -6.27779205e-03 -6.23544688e-01] [-1.33834444e-03 6.17397692e-03 9.99980045e-01 -1.79052827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.165898227 meters Centerline goodness [0,1] 0.8316865344977795 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.62, Z:-0.18 [[ 9.95320734e-01 9.66246432e-02 -5.61628303e-04 2.27780932e+01] [-9.66240972e-02 9.95320511e-01 9.29345717e-04 -6.22688770e-01] [ 6.48797868e-04 -8.70730233e-04 9.99999410e-01 -1.75403234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.195898227 meters Centerline goodness [0,1] 0.8436448080446546 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.62, Z:-0.17 [[ 9.95765578e-01 9.19248754e-02 -8.54418180e-04 2.27759312e+01] [-9.19277603e-02 9.95755980e-01 -4.39489225e-03 -6.18225170e-01] [ 4.46792089e-04 4.45482718e-03 9.99989977e-01 -1.72395831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.225898227 meters Centerline goodness [0,1] 0.8816140083745717 Centerline is valid? [False, False] Translation: X:22.80, Y:-0.62, Z:-0.18 [[ 9.96227257e-01 8.66263969e-02 5.20772764e-03 2.27978021e+01] [-8.66285292e-02 9.96240666e-01 1.84874473e-04 -6.22045399e-01] [-5.17213504e-03 -6.35314776e-04 9.99986423e-01 -1.79119433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.255898227 meters Centerline goodness [0,1] 0.8775007370593438 Centerline is valid? [False, False] Translation: X:22.80, Y:-0.62, Z:-0.18 [[ 9.96431851e-01 8.42845705e-02 4.43586356e-03 2.28024240e+01] [-8.42743811e-02 9.96439609e-01 -2.43624248e-03 -6.19643597e-01] [-4.62540780e-03 2.05371995e-03 9.99987194e-01 -1.82313404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.285898227 meters Centerline goodness [0,1] 0.910672188595094 Centerline is valid? [False, False] Translation: X:22.80, Y:-0.61, Z:-0.18 [[ 9.96794046e-01 7.99187189e-02 3.82474340e-03 2.28030238e+01] [-7.98877835e-02 9.96774481e-01 -7.65348685e-03 -6.14472826e-01] [-4.42406348e-03 7.32339985e-03 9.99963397e-01 -1.81711642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.315898226999998 meters Centerline goodness [0,1] 0.9688610018079337 Centerline is valid? [False, True] Translation: X:22.81, Y:-0.62, Z:-0.18 [[ 9.97133926e-01 7.56164326e-02 -2.46753575e-03 2.28053267e+01] [-7.56046078e-02 9.97127369e-01 4.57747249e-03 -6.16354682e-01] [ 2.80657957e-03 -4.37779604e-03 9.99986479e-01 -1.83815381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.345898227 meters Centerline goodness [0,1] 0.9972736954206602 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.62, Z:-0.18 [[ 9.97515008e-01 7.04369597e-02 -1.56328731e-03 2.28351739e+01] [-7.04369785e-02 9.97516231e-01 4.31096106e-05 -6.23913578e-01] [ 1.56244097e-03 6.71107508e-05 9.99998777e-01 -1.80946701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.375898227 meters Centerline goodness [0,1] 0.9987418969634937 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.63, Z:-0.18 [[ 9.97707090e-01 6.76761170e-02 7.11517844e-04 2.28650645e+01] [-6.76761202e-02 9.97707343e-01 -1.96161995e-05 -6.30411677e-01] [-7.11214126e-04 -2.85815458e-05 9.99999747e-01 -1.76059738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.405898227 meters Centerline goodness [0,1] 0.9995342140921409 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.64, Z:-0.17 [[ 9.98070071e-01 6.20192661e-02 3.12161723e-03 2.28943821e+01] [-6.20193001e-02 9.98074947e-01 -8.59975727e-05 -6.38313116e-01] [-3.12094145e-03 -1.07768912e-04 9.99995124e-01 -1.72932491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.435898227 meters Centerline goodness [0,1] 0.9996412442493563 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.64, Z:-0.17 [[ 9.98207131e-01 5.97864143e-02 2.84743115e-03 2.29228247e+01] [-5.97864339e-02 9.98211188e-01 -7.83185489e-05 -6.44481295e-01] [-2.84702002e-03 -9.20596201e-05 9.99995943e-01 -1.73710511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.465898227 meters Centerline goodness [0,1] 0.9997673828455422 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.65, Z:-0.18 [[ 9.98339159e-01 5.75687695e-02 2.18167333e-03 2.29516417e+01] [-5.75687764e-02 9.98341541e-01 -5.96892163e-05 -6.53311907e-01] [-2.18149135e-03 -6.60061823e-05 9.99997618e-01 -1.77089197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.495898227 meters Centerline goodness [0,1] 0.9999364823950372 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.66, Z:-0.17 [[ 9.98435951e-01 5.58799944e-02 1.75441009e-03 2.29789208e+01] [-5.58799964e-02 9.98437491e-01 -4.78826493e-05 -6.58419558e-01] [-1.75434449e-03 -5.02286711e-05 9.99998460e-01 -1.74357954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.525898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.66, Z:-0.17 [[ 9.98538857e-01 5.40199989e-02 1.41082934e-03 2.30067843e+01] [-5.40199985e-02 9.98539853e-01 -3.83915053e-05 -6.62948512e-01] [-1.41084323e-03 -3.78775890e-05 9.99999004e-01 -1.73684739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.555898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.67, Z:-0.17 [[ 9.98591226e-01 5.30240609e-02 2.00328674e-03 2.30355209e+01] [-5.30240588e-02 9.98593234e-01 -5.41831373e-05 -6.72842440e-01] [-2.00334159e-03 -5.21155882e-05 9.99997992e-01 -1.73097550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.585898227 meters Centerline goodness [0,1] 0.9999363165492061 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.68, Z:-0.17 [[ 9.98573944e-01 5.33557779e-02 1.79955315e-03 2.30634405e+01] [-5.33557770e-02 9.98575565e-01 -4.85473985e-05 -6.81863909e-01] [-1.79958009e-03 -4.75383896e-05 9.99998380e-01 -1.73949278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.615898227 meters Centerline goodness [0,1] 0.9999578530335279 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.69, Z:-0.18 [[ 9.98518953e-01 5.44032173e-02 4.36484129e-04 2.30918343e+01] [-5.44032174e-02 9.98519048e-01 -1.17323846e-05 -6.85834681e-01] [-4.36475996e-04 -1.20311326e-05 9.99999905e-01 -1.76366254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.645898227 meters Centerline goodness [0,1] 0.9999786589269708 Centerline is valid? [True, True] Translation: X:23.12, Y:-0.69, Z:-0.18 [[ 9.98435687e-01 5.59029276e-02 -1.02014632e-03 2.31195745e+01] [-5.59029289e-02 9.98436208e-01 2.72444900e-05 -6.87497098e-01] [ 1.02007407e-03 2.98272959e-05 9.99999479e-01 -1.77574052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.675898227 meters Centerline goodness [0,1] 0.9999153743626632 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.69, Z:-0.18 [[ 9.98353662e-01 5.73402526e-02 -1.43545548e-03 2.31479163e+01] [-5.73402570e-02 9.98354693e-01 3.80854248e-05 -6.92374069e-01] [ 1.43527755e-03 4.42866632e-05 9.99998969e-01 -1.77280255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.705898227 meters Centerline goodness [0,1] 0.9997458219482748 Centerline is valid? [True, True] Translation: X:23.18, Y:-0.70, Z:-0.18 [[ 9.98213134e-01 5.97539553e-02 -6.15688322e-05 2.31764631e+01] [-5.97539553e-02 9.98213136e-01 1.62891330e-06 -6.96592216e-01] [ 6.15561511e-05 2.05297860e-06 9.99999998e-01 -1.75787030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.735898227 meters Centerline goodness [0,1] 0.999261712405341 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.70, Z:-0.18 [[ 9.98130307e-01 6.11185700e-02 6.40472435e-04 2.32045435e+01] [-6.11185717e-02 9.98130512e-01 -1.69650818e-05 -6.96969636e-01] [-6.40311961e-04 -2.22113981e-05 9.99999795e-01 -1.75968020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.765898227 meters Centerline goodness [0,1] 0.9997885611586849 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.71, Z:-0.18 [[ 9.98105896e-01 6.15148674e-02 7.35879336e-04 2.32330460e+01] [-6.15148698e-02 9.98106167e-01 -1.93875833e-05 -7.05695559e-01] [-7.35678328e-04 -2.59166603e-05 9.99999729e-01 -1.76859592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.795898227 meters Centerline goodness [0,1] 0.9998519082677498 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.71, Z:-0.18 [[ 9.98133405e-01 6.10712841e-02 6.08828112e-05 2.32616618e+01] [-6.10712841e-02 9.98133407e-01 -1.62315033e-06 -7.12790433e-01] [-6.08682956e-05 -2.09807089e-06 9.99999998e-01 -1.78583577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.825898227 meters Centerline goodness [0,1] 0.9998730508008379 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.73, Z:-0.18 [[ 9.98391578e-01 5.66927697e-02 -4.31423219e-04 2.32904389e+01] [-5.66927702e-02 9.98391671e-01 1.12594983e-05 -7.26325472e-01] [ 4.31367681e-04 1.32171891e-05 9.99999907e-01 -1.78428341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.855898227 meters Centerline goodness [0,1] 0.9999574268806676 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.74, Z:-0.18 [[ 9.98567413e-01 5.35081384e-02 -3.50099103e-05 2.33194734e+01] [-5.35081385e-02 9.98567413e-01 9.08664815e-07 -7.39994652e-01] [ 3.50083765e-05 9.65952054e-07 9.99999999e-01 -1.76657650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.885898227 meters Centerline goodness [0,1] 0.9999788485130505 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.75, Z:-0.17 [[ 9.98747485e-01 5.00282545e-02 7.96421834e-04 2.33478790e+01] [-5.00282538e-02 9.98747803e-01 -2.07526262e-05 -7.48270783e-01] [-7.96462774e-04 -1.91169604e-05 9.99999683e-01 -1.74661508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.915898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.38, Y:-0.77, Z:-0.17 [[ 9.99061155e-01 4.32215012e-02 2.95146202e-03 2.33770493e+01] [-4.32214629e-02 9.99065513e-01 -7.68123303e-05 -7.70224225e-01] [-2.95202386e-03 -5.08262908e-05 9.99995641e-01 -1.71224247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.945898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.78, Z:-0.17 [[ 9.99172178e-01 4.06117085e-02 2.37658611e-03 2.34057001e+01] [-4.06116765e-02 9.99175004e-01 -6.17409579e-05 -7.80547588e-01] [-2.37713284e-03 -3.48272987e-05 9.99997174e-01 -1.72437650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.975898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.79, Z:-0.18 [[ 9.99230458e-01 3.92226603e-02 2.74815085e-04 2.34331729e+01] [-3.92226598e-02 9.99230495e-01 -7.13311747e-06 -7.88525165e-01] [-2.74883393e-04 -3.65135035e-06 9.99999962e-01 -1.75804202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.005898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.79, Z:-0.18 [[ 9.99262416e-01 3.83724669e-02 -1.47582251e-03 2.34604118e+01] [-3.83724524e-02 9.99263506e-01 3.81461288e-05 -7.92958782e-01] [ 1.47619933e-03 1.85129362e-05 9.99998910e-01 -1.79419104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.035898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.80, Z:-0.18 [[ 9.99299379e-01 3.74253764e-02 -3.04663657e-04 2.34888333e+01] [-3.74253758e-02 9.99299425e-01 7.85436271e-06 -8.04431398e-01] [ 3.04744169e-04 3.55329206e-06 9.99999954e-01 -1.75372292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.065898226999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.81, Z:-0.17 [[ 9.99301697e-01 3.73577090e-02 7.20733963e-04 2.35163136e+01] [-3.73577053e-02 9.99301957e-01 -1.85635358e-05 -8.09278762e-01] [-7.20924351e-04 -8.37439414e-06 9.99999740e-01 -1.70959716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.095898227 meters Centerline goodness [0,1] 0.9999787622647921 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.81, Z:-0.17 [[ 9.99295267e-01 3.75354815e-02 2.38683466e-04 2.35436789e+01] [-3.75354811e-02 9.99295296e-01 -6.14025444e-06 -8.11348037e-01] [-2.38745742e-04 -2.82317151e-06 9.99999971e-01 -1.70700575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.125898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.81, Z:-0.18 [[ 9.99263097e-01 3.82657170e-02 -2.99956248e-03 2.35718844e+01] [-3.82656587e-02 9.99267599e-01 7.68401665e-05 -8.14948532e-01] [ 3.00030594e-03 3.79966913e-05 9.99995498e-01 -1.77122038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.155898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.82, Z:-0.18 [[ 9.99268748e-01 3.81385689e-02 -2.72373643e-03 2.35993663e+01] [-3.81385209e-02 9.99272460e-01 6.95710355e-05 -8.18621218e-01] [ 2.72440814e-03 3.43591173e-05 9.99996288e-01 -1.77134574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.185898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.82, Z:-0.18 [[ 9.99297859e-01 3.74405536e-02 -1.41221681e-03 2.36274945e+01] [-3.74405401e-02 9.99298857e-01 3.59816048e-05 -8.19567662e-01] [ 1.41257381e-03 1.69178194e-05 9.99999002e-01 -1.76013037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.215898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.82, Z:-0.17 [[ 9.99322794e-01 3.67920019e-02 -5.49765134e-04 2.36562885e+01] [-3.67919998e-02 9.99322945e-01 1.39768042e-05 -8.21308178e-01] [ 5.49907147e-04 6.25961962e-06 9.99999849e-01 -1.74772720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.245898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.82, Z:-0.17 [[ 9.99407300e-01 3.44241785e-02 1.55733534e-04 2.36852919e+01] [-3.44241783e-02 9.99407312e-01 -3.96334950e-06 -8.24542854e-01] [-1.55777668e-04 -1.39999852e-06 9.99999988e-01 -1.74395267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.275898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.83, Z:-0.18 [[ 9.99463752e-01 3.27379222e-02 -6.60349974e-04 2.37141869e+01] [-3.27379183e-02 9.99463971e-01 1.67273055e-05 -8.27619220e-01] [ 6.60543625e-04 4.90014800e-06 9.99999782e-01 -1.75787785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.305898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.83, Z:-0.18 [[ 9.99510012e-01 3.11999760e-02 -2.50929890e-03 2.37415192e+01] [-3.11999150e-02 9.99513162e-01 6.34373097e-05 -8.29352893e-01] [ 2.51005652e-03 1.48836863e-05 9.99996850e-01 -1.79450432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.335898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.83, Z:-0.18 [[ 9.99604445e-01 2.75937099e-02 -5.43512411e-03 2.37686181e+01] [-2.75933730e-02 9.99619221e-01 1.36971234e-04 -8.30184161e-01] [ 5.43683407e-03 1.30563529e-05 9.99985220e-01 -1.83994266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.365898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.83, Z:-0.18 [[ 9.99675580e-01 2.51186190e-02 -4.21776350e-03 2.37978009e+01] [-2.51183949e-02 9.99684478e-01 1.06092922e-04 -8.31973944e-01] [ 4.21909761e-03 -1.15054185e-07 9.99991100e-01 -1.81324885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.395898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.83, Z:-0.18 [[ 9.99760536e-01 2.18291605e-02 -1.53602905e-03 2.38244089e+01] [-2.18291271e-02 9.99761715e-01 3.84968150e-05 -8.34934152e-01] [ 1.53650339e-03 -4.95742290e-06 9.99998820e-01 -1.78035138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.425898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.85, Y:-0.84, Z:-0.18 [[ 9.99840727e-01 1.78346333e-02 6.68835500e-04 2.38528348e+01] [-1.78346261e-02 9.99840950e-01 -1.67466246e-05 -8.39431085e-01] [-6.69027792e-04 4.81552629e-06 9.99999776e-01 -1.75075671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.455898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.88, Y:-0.85, Z:-0.18 [[ 9.99953518e-01 9.34272141e-03 -2.38212368e-03 2.38815432e+01] [-9.34260612e-03 9.99956355e-01 5.95205360e-05 -8.51669233e-01] [ 2.38257580e-03 -3.72625261e-05 9.99997161e-01 -1.79620737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.485898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.91, Y:-0.86, Z:-0.19 [[ 9.99968735e-01 5.17970851e-03 -5.97494018e-03 2.39096408e+01] [-5.17891053e-03 9.99986578e-01 1.49017389e-04 -8.59271288e-01] [ 5.97563185e-03 -1.18069050e-04 9.99982139e-01 -1.86113157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.94, Y:-0.86, Z:-0.19 [[ 9.99968977e-01 5.13275839e-03 -5.97494717e-03 2.39379524e+01] [-5.13196126e-03 9.99986820e-01 1.48736918e-04 -8.59896829e-01] [ 5.97563185e-03 -1.18069106e-04 9.99982139e-01 -1.86118509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.545898227 meters Centerline goodness [0,1] 0.9999572813875005 Centerline is valid? [True, True] Translation: X:23.97, Y:-0.87, Z:-0.19 [[ 9.99968474e-01 7.90650445e-04 -7.90094546e-03 2.39672633e+01] [-7.89121771e-04 9.99999669e-01 1.96595492e-04 -8.69231501e-01] [ 7.90109829e-03 -1.90354486e-04 9.99968768e-01 -1.90568551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.575898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.00, Y:-0.88, Z:-0.19 [[ 9.99966596e-01 -3.59780217e-03 -7.33915967e-03 2.39971879e+01] [ 3.59923866e-03 9.99993506e-01 1.82531867e-04 -8.77270438e-01] [ 7.33845530e-03 -2.08941157e-04 9.99973051e-01 -1.90952763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.605898227 meters Centerline goodness [0,1] 0.9999144769194587 Centerline is valid? [True, True] Translation: X:24.03, Y:-0.89, Z:-0.18 [[ 9.99948975e-01 -9.20585433e-03 -4.15929951e-03 2.40272225e+01] [ 9.20636396e-03 9.99957615e-01 1.03397755e-04 -8.86241068e-01] [ 4.15817135e-03 -1.41684504e-04 9.99991345e-01 -1.82533758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.635898227 meters Centerline goodness [0,1] 0.9996388127562836 Centerline is valid? [True, True] Translation: X:24.06, Y:-0.89, Z:-0.18 [[ 9.99950272e-01 -9.01580026e-03 -4.26239575e-03 2.40585581e+01] [ 9.01633441e-03 9.99959346e-01 1.06117465e-04 -8.86420250e-01] [ 4.26126573e-03 -1.44543374e-04 9.99990910e-01 -1.82565897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.665898227 meters Centerline goodness [0,1] 0.9998942022852306 Centerline is valid? [True, True] Translation: X:24.09, Y:-0.89, Z:-0.18 [[ 9.99967937e-01 -6.34657140e-03 -4.88324990e-03 2.40885438e+01] [ 6.34724066e-03 9.99979849e-01 1.21566862e-04 -8.85513053e-01] [ 4.88237997e-03 -1.52558126e-04 9.99988069e-01 -1.78643524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.695898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.12, Y:-0.87, Z:-0.18 [[ 9.99977782e-01 2.33857428e-03 -6.24224913e-03 2.41192844e+01] [-2.33765183e-03 9.99997256e-01 1.55068009e-04 -8.67698338e-01] [ 6.24259464e-03 -1.40472359e-04 9.99980505e-01 -1.81314173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.725898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.15, Y:-0.86, Z:-0.18 [[ 9.99956635e-01 7.16933543e-03 -5.94387408e-03 2.41486421e+01] [-7.16858514e-03 9.99974294e-01 1.47524836e-04 -8.62436900e-01] [ 5.94477895e-03 -1.04909271e-04 9.99982324e-01 -1.83539982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.755898227 meters Centerline goodness [0,1] 0.9999152183128445 Centerline is valid? [True, True] Translation: X:24.18, Y:-0.86, Z:-0.18 [[ 9.99932767e-01 1.06033255e-02 -4.69366315e-03 2.41772504e+01] [-1.06028964e-02 9.99943781e-01 1.16283702e-04 -8.55598516e-01] [ 4.69463227e-03 -6.65094593e-05 9.99988978e-01 -1.84890745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.785898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.85, Z:-0.18 [[ 9.99902627e-01 1.37125411e-02 -2.58898719e-03 2.42040669e+01] [-1.37138381e-02 9.99905844e-01 -4.83905603e-04 -8.47520451e-01] [ 2.58210784e-03 5.19363435e-04 9.99996531e-01 -1.78654524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.815898226999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.85, Z:-0.18 [[ 9.99932325e-01 1.14462184e-02 -2.08082800e-03 2.42339971e+01] [-1.14450121e-02 9.99934329e-01 5.90706591e-04 -8.49392378e-01] [ 2.08745271e-03 -5.66851513e-04 9.99997661e-01 -1.78023416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.845898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.85, Z:-0.18 [[ 9.99955174e-01 8.65519097e-03 -3.83901619e-03 2.42620563e+01] [-8.65489176e-03 9.99962541e-01 9.45465443e-05 -8.54465275e-01] [ 3.83969070e-03 -6.13160365e-05 9.99992626e-01 -1.80658786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.86, Z:-0.18 [[ 9.99974630e-01 4.94573526e-03 -5.12633227e-03 2.42912332e+01] [-4.94515389e-03 9.99987765e-01 1.26076889e-04 -8.59422274e-01] [ 5.12689309e-03 -1.00723189e-04 9.99986852e-01 -1.82277425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.905898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.32, Y:-0.87, Z:-0.18 [[ 9.99996033e-01 -1.11203285e-03 -2.58789290e-03 2.43211069e+01] [ 1.11220120e-03 9.99999379e-01 6.36170654e-05 -8.67077200e-01] [ 2.58782055e-03 -6.64950706e-05 9.99996649e-01 -1.77798060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.935898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.35, Y:-0.87, Z:-0.17 [[ 9.99994639e-01 -3.27292522e-03 1.01457531e-04 2.43503230e+01] [ 3.27292549e-03 9.99994644e-01 -2.49518988e-06 -8.72848249e-01] [-1.01448821e-04 2.82723944e-06 9.99999995e-01 -1.73655107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.965898227 meters Centerline goodness [0,1] 0.9999788713051195 Centerline is valid? [True, True] Translation: X:24.38, Y:-0.88, Z:-0.17 [[ 9.99986628e-01 -5.04085658e-03 1.15516887e-03 2.43817516e+01] [ 5.04089275e-03 9.99987294e-01 -2.84065664e-05 -8.77494326e-01] [-1.15501100e-03 3.42292689e-05 9.99999332e-01 -1.71511124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.995898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.41, Y:-0.88, Z:-0.18 [[ 9.99975033e-01 -6.98017272e-03 -1.09991372e-03 2.44123640e+01] [ 6.98020672e-03 9.99975638e-01 2.70812231e-05 -8.83811442e-01] [ 1.09969789e-03 -3.47581721e-05 9.99999395e-01 -1.75318770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.025898227 meters Centerline goodness [0,1] 0.9999786511816571 Centerline is valid? [True, True] Translation: X:24.44, Y:-0.88, Z:-0.18 [[ 9.99976832e-01 -6.65605337e-03 -1.42574616e-03 2.44432867e+01] [ 6.66688815e-03 9.99947864e-01 7.73442955e-03 -8.82272115e-01] [ 1.37419105e-03 -7.74375564e-03 9.99969072e-01 -1.80645582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.055898227 meters Centerline goodness [0,1] 0.9999788637132229 Centerline is valid? [True, True] Translation: X:24.47, Y:-0.88, Z:-0.18 [[ 9.99975169e-01 -5.92634411e-03 -3.81305764e-03 2.44743025e+01] [ 5.89720707e-03 9.99953671e-01 -7.60778220e-03 -8.79611177e-01] [ 3.85796732e-03 7.58510691e-03 9.99963790e-01 -1.76551134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.085898227 meters Centerline goodness [0,1] 0.9999785935994863 Centerline is valid? [True, True] Translation: X:24.50, Y:-0.88, Z:-0.18 [[ 9.99986345e-01 -3.93606433e-03 -3.43759226e-03 2.45047028e+01] [ 3.93637791e-03 9.99992249e-01 8.44614514e-05 -8.77562529e-01] [ 3.43723317e-03 -9.79919604e-05 9.99994088e-01 -1.77688198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.115898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.53, Y:-0.88, Z:-0.18 [[ 9.99994273e-01 -1.63970182e-03 -2.96079251e-03 2.45345939e+01] [ 1.63992439e-03 9.99998653e-01 7.27465079e-05 -8.80031599e-01] [ 2.96066924e-03 -7.76015671e-05 9.99995614e-01 -1.77281824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.145898226999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.56, Y:-0.87, Z:-0.18 [[ 9.99993380e-01 1.80345523e-03 -3.16040660e-03 2.45645817e+01] [-1.80321907e-03 9.99998371e-01 7.75723689e-05 -8.72296296e-01] [ 3.16054135e-03 -7.18729499e-05 9.99995003e-01 -1.76220099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.175898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.59, Y:-0.87, Z:-0.17 [[ 9.99994581e-01 2.49612878e-03 -2.14640832e-03 2.45929330e+01] [-2.49602168e-03 9.99996884e-01 5.25774885e-05 -8.72412220e-01] [ 2.14653287e-03 -4.72197219e-05 9.99997695e-01 -1.74837712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.62, Y:-0.87, Z:-0.17 [[ 9.99999415e-01 1.08032153e-03 5.97013155e-05 2.46213083e+01] [-1.08032144e-03 9.99999416e-01 -1.46713886e-06 -8.74588741e-01] [-5.97028656e-05 1.40264139e-06 9.99999998e-01 -1.72130282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.235898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.65, Y:-0.88, Z:-0.17 [[ 9.99999707e-01 -7.58211557e-04 1.09622898e-04 2.46508215e+01] [ 7.58211856e-04 9.99999713e-01 -2.68180206e-06 -8.78701474e-01] [-1.09620833e-04 2.76491866e-06 9.99999994e-01 -1.72762424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.68, Y:-0.88, Z:-0.17 [[ 9.99995706e-01 -2.87014616e-03 -5.92501611e-04 2.46811873e+01] [ 2.87015525e-03 9.99995881e-01 1.44972050e-05 -8.79558938e-01] [ 5.92457561e-04 -1.61977143e-05 9.99999824e-01 -1.73176984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.295898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.88, Z:-0.17 [[ 9.99989085e-01 -4.45926210e-03 -1.39469591e-03 2.47112216e+01] [ 4.45931405e-03 9.99990057e-01 3.41435620e-05 -8.84134473e-01] [ 1.39452979e-03 -4.03625764e-05 9.99999027e-01 -1.74322012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.325898227 meters Centerline goodness [0,1] 0.9999152165158227 Centerline is valid? [True, True] Translation: X:24.74, Y:-0.89, Z:-0.17 [[ 9.99975241e-01 -6.21276968e-03 -3.30447261e-03 2.47412627e+01] [ 6.21307101e-03 9.99980695e-01 8.09312965e-05 -8.89573661e-01] [ 3.30390601e-03 -1.01460216e-04 9.99994537e-01 -1.74803411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.355898227 meters Centerline goodness [0,1] 0.9999787919918561 Centerline is valid? [True, True] Translation: X:24.77, Y:-0.89, Z:-0.17 [[ 9.99975911e-01 -6.07488963e-03 -3.35757775e-03 2.47731327e+01] [ 6.07520021e-03 9.99981542e-01 8.23101601e-05 -8.87179180e-01] [ 3.35701575e-03 -1.02706134e-04 9.99994360e-01 -1.74128400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.385898227 meters Centerline goodness [0,1] 0.999978931844517 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.89, Z:-0.17 [[ 9.99980678e-01 -5.59556465e-03 -2.70792447e-03 2.48043726e+01] [ 5.59576509e-03 9.99984341e-01 6.64472062e-05 -8.86326325e-01] [ 2.70751026e-03 -8.15988315e-05 9.99996331e-01 -1.73252624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.415898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.83, Y:-0.89, Z:-0.17 [[ 9.99989838e-01 -4.07390254e-03 -1.93046601e-03 2.48343137e+01] [ 4.07400161e-03 9.99991700e-01 4.73910224e-05 -8.90706640e-01] [ 1.93025692e-03 -5.52552624e-05 9.99998136e-01 -1.73608005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.445898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.87, Y:-0.88, Z:-0.17 [[ 9.99992630e-01 -3.18978128e-03 -2.13649903e-03 2.48654376e+01] [ 3.18990057e-03 9.99994911e-01 5.24309796e-05 -8.83748524e-01] [ 2.13632091e-03 -5.92458126e-05 9.99997716e-01 -1.74554395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.475898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.90, Y:-0.89, Z:-0.18 [[ 9.99994187e-01 -2.34774986e-03 -2.47260228e-03 2.48954349e+01] [ 2.34790714e-03 9.99997242e-01 6.07119357e-05 -8.86345205e-01] [ 2.47245293e-03 -6.65170234e-05 9.99996941e-01 -1.75237986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.505898227 meters Centerline goodness [0,1] 0.9999786816747677 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.89, Z:-0.17 [[ 9.99992094e-01 -3.74349632e-03 -1.34133017e-03 2.49262968e+01] [ 3.74354386e-03 9.99992992e-01 3.29336206e-05 -8.86203741e-01] [ 1.34119748e-03 -3.79546885e-05 9.99999100e-01 -1.71676769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.535898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.89, Z:-0.17 [[ 9.99986827e-01 -5.08623021e-03 -6.89874386e-04 2.49563578e+01] [ 5.08624311e-03 9.99987065e-01 1.69484984e-05 -8.89175698e-01] [ 6.89779258e-04 -2.04571440e-05 9.99999762e-01 -1.69651706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.89, Z:-0.17 [[ 9.99982727e-01 -5.86771654e-03 -3.39375418e-04 2.49880306e+01] [ 5.86771971e-03 9.99982785e-01 8.34856346e-06 -8.89724057e-01] [ 3.39320588e-04 -1.03397791e-05 9.99999942e-01 -1.69034790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.595898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.89, Z:-0.17 [[ 9.99980491e-01 -6.23845454e-03 3.16044983e-04 2.50191003e+01] [ 6.23845731e-03 9.99980541e-01 -7.77921358e-06 -8.93382464e-01] [-3.15990303e-04 9.75069495e-06 9.99999950e-01 -1.70817354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.625898227 meters Centerline goodness [0,1] 0.9999577175958225 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.89, Z:-0.17 [[ 9.99980116e-01 -6.30576392e-03 7.70152573e-05 2.50512379e+01] [ 6.30576409e-03 9.99980118e-01 -1.89378760e-06 -8.92552128e-01] [-7.70017843e-05 2.37938999e-06 9.99999997e-01 -1.70779585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.655898227 meters Centerline goodness [0,1] 0.9999789176311851 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.89, Z:-0.17 [[ 9.99975747e-01 -6.94361032e-03 -5.40727037e-04 2.50818917e+01] [ 6.94361857e-03 9.99975893e-01 1.33724509e-05 -8.92188564e-01] [ 5.40621148e-04 -1.71267289e-05 9.99999854e-01 -1.71354488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.685898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.89, Z:-0.17 [[ 9.99967193e-01 -8.01999136e-03 -1.13668409e-03 2.51143803e+01] [ 8.02002854e-03 9.99967839e-01 2.81624826e-05 -8.88456407e-01] [ 1.13642167e-03 -3.72777975e-05 9.99999354e-01 -1.71451824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.715898227 meters Centerline goodness [0,1] 0.9999787933411091 Centerline is valid? [True, True] Translation: X:25.15, Y:-0.89, Z:-0.17 [[ 9.99931156e-01 -1.13950232e-02 -2.79940900e-03 2.51457280e+01] [ 1.13952621e-02 9.99935069e-01 6.94049364e-05 -8.89549280e-01] [ 2.79843636e-03 -1.01300157e-04 9.99996079e-01 -1.74903627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.745898227 meters Centerline goodness [0,1] 0.9998728032053592 Centerline is valid? [True, True] Translation: X:25.18, Y:-0.89, Z:-0.18 [[ 9.99898925e-01 -1.38514202e-02 -3.20589516e-03 2.51765498e+01] [ 1.38517462e-02 9.99904057e-01 7.95165018e-05 -8.92348783e-01] [ 3.20448616e-03 -1.23915711e-04 9.99994858e-01 -1.76407391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.775898227 meters Centerline goodness [0,1] 0.9995763160682131 Centerline is valid? [True, True] Translation: X:25.21, Y:-0.90, Z:-0.18 [[ 9.99854429e-01 -1.65175521e-02 -4.27674425e-03 2.52065200e+01] [ 1.65181575e-02 9.99863560e-01 1.06280605e-04 -8.95378521e-01] [ 4.27440524e-03 -1.76909069e-04 9.99990849e-01 -1.80476509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.805898227 meters Centerline goodness [0,1] 0.9998307594668924 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.89, Z:-0.18 [[ 9.99761252e-01 -2.13589933e-02 -4.60778343e-03 2.52375021e+01] [ 2.13597474e-02 9.99771848e-01 1.14507442e-04 -8.94797499e-01] [ 4.60428639e-03 -2.12901193e-04 9.99989378e-01 -1.79117741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.835898227 meters Centerline goodness [0,1] 0.9994481587604797 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.90, Z:-0.18 [[ 9.99713372e-01 -2.35467443e-02 -4.32712778e-03 2.52690625e+01] [ 2.35474302e-02 9.99722715e-01 1.07636736e-04 -8.95702335e-01] [ 4.32339343e-03 -2.09498624e-04 9.99990632e-01 -1.79170566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.865898227 meters Centerline goodness [0,1] 0.993900754436298 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.90, Z:-0.18 [[ 9.99680974e-01 -2.48741741e-02 -4.38475275e-03 2.53003767e+01] [ 2.48748923e-02 9.99690566e-01 1.09335324e-04 -9.03141184e-01] [ 4.38067634e-03 -2.18370696e-04 9.99990381e-01 -1.79808717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.895898226999996 meters Centerline goodness [0,1] 0.9983404255319149 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.90, Z:-0.18 [[ 9.99658721e-01 -2.56868100e-02 -4.75708094e-03 2.53331186e+01] [ 2.56876656e-02 9.99670010e-01 1.18835805e-04 -8.96020519e-01] [ 4.75245864e-03 -2.40993553e-04 9.99988678e-01 -1.80442203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.925898227 meters Centerline goodness [0,1] 0.9896416214599975 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.90, Z:-0.18 [[ 9.99583717e-01 -2.79462758e-02 -7.16926614e-03 2.53631342e+01] [ 2.79482770e-02 9.99609355e-01 1.79080912e-04 -8.97081534e-01] [ 7.16146086e-03 -3.79375000e-04 9.99974284e-01 -1.84157806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.955898227 meters Centerline goodness [0,1] 0.9570444185306901 Centerline is valid? [True, True] Translation: X:25.39, Y:-0.91, Z:-0.19 [[ 9.99521579e-01 -2.99189148e-02 -7.84038439e-03 2.53933835e+01] [ 2.99213695e-02 9.99552236e-01 1.95935415e-04 -9.06468902e-01] [ 7.83101158e-03 -4.30436714e-04 9.99969245e-01 -1.85843541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.985898227 meters Centerline goodness [0,1] 0.9769095269424224 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.90, Z:-0.18 [[ 9.99452963e-01 -3.23259779e-02 -6.98611746e-03 2.54240627e+01] [ 3.23279866e-02 9.99477299e-01 1.74754463e-04 -9.01559331e-01] [ 6.97681670e-03 -4.00505977e-04 9.99975582e-01 -1.83211448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.015898227 meters Centerline goodness [0,1] 0.9737299635315071 Centerline is valid? [True, True] Translation: X:25.45, Y:-0.90, Z:-0.18 [[ 9.99365421e-01 -3.52213441e-02 -5.31146763e-03 2.54546614e+01] [ 3.52225460e-02 9.99379485e-01 1.32873935e-04 -9.03961081e-01] [ 5.30349178e-03 -3.19873028e-04 9.99985885e-01 -1.80078051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.045898227 meters Centerline goodness [0,1] 0.9775758871312527 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.90, Z:-0.17 [[ 9.99217339e-01 -3.94605605e-02 -2.75196875e-03 2.54854667e+01] [ 3.94608992e-02 9.99221113e-01 6.88657669e-05 -9.02365155e-01] [ 2.74710780e-03 -1.77407030e-04 9.99996211e-01 -1.74376174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.075898227 meters Centerline goodness [0,1] 0.9508602082940425 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.91, Z:-0.18 [[ 9.99179101e-01 -4.04022720e-02 -2.96324347e-03 2.55167949e+01] [ 4.04026695e-02 9.99183476e-01 7.43821392e-05 -9.09164691e-01] [ 2.95781871e-03 -1.94044026e-04 9.99995607e-01 -1.75005405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.105898227 meters Centerline goodness [0,1] 0.9548954432616653 Centerline is valid? [True, True] Translation: X:25.55, Y:-0.91, Z:-0.18 [[ 9.99179515e-01 -4.02752003e-02 -4.26682666e-03 2.55493646e+01] [ 4.02760243e-02 9.99188586e-01 1.07332217e-04 -9.08030734e-01] [ 4.25904167e-03 -2.79094967e-04 9.99990891e-01 -1.77674343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.135898227 meters Centerline goodness [0,1] 0.967914552056569 Centerline is valid? [True, True] Translation: X:25.58, Y:-0.90, Z:-0.18 [[ 9.99216032e-01 -3.91233910e-02 -6.05647506e-03 2.55805542e+01] [ 3.91250309e-02 9.99234311e-01 1.52478230e-04 -9.01771780e-01] [ 6.04587222e-03 -3.89318466e-04 9.99981648e-01 -1.80480477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.165898227 meters Centerline goodness [0,1] 0.9303125530830644 Centerline is valid? [True, False] Translation: X:25.58, Y:-0.90, Z:-0.18 [[ 9.99370156e-01 -3.50144217e-02 -5.76901708e-03 2.55792365e+01] [ 3.50418597e-02 9.99374672e-01 4.72568682e-03 -9.04061024e-01] [ 5.59994236e-03 -4.92486746e-03 9.99972193e-01 -1.80570418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.195898227 meters Centerline goodness [0,1] 0.9461613257799949 Centerline is valid? [False, False] Translation: X:25.58, Y:-0.90, Z:-0.18 [[ 9.99362601e-01 -3.52514759e-02 -5.63255875e-03 2.55778817e+01] [ 3.52752710e-02 9.99368882e-01 4.18256285e-03 -9.01681092e-01] [ 5.48156242e-03 -4.37858692e-03 9.99975390e-01 -1.79131325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.225898227 meters Centerline goodness [0,1] 0.9770909555007232 Centerline is valid? [False, True] Translation: X:25.58, Y:-0.90, Z:-0.18 [[ 9.99350035e-01 -3.56268390e-02 -5.49871619e-03 2.55763936e+01] [ 3.56459595e-02 9.99358631e-01 3.41929606e-03 -8.98382563e-01] [ 5.37337077e-03 -3.61308065e-03 9.99979036e-01 -1.77397103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.255898227 meters Centerline goodness [0,1] 0.9714484532821627 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.90, Z:-0.18 [[ 9.99303267e-01 -3.68779157e-02 -5.74456815e-03 2.56061626e+01] [ 3.68794586e-02 9.99319708e-01 1.62847449e-04 -8.99688177e-01] [ 5.73465469e-03 -3.74590551e-04 9.99983487e-01 -1.77405640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.285898227 meters Centerline goodness [0,1] 0.9747160917077352 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.90, Z:-0.18 [[ 9.99243035e-01 -3.84119090e-02 -6.15481397e-03 2.56377546e+01] [ 3.84137094e-02 9.99261906e-01 1.74524452e-04 -8.99331140e-01] [ 6.14356732e-03 -4.10821579e-04 9.99981044e-01 -1.79151730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.315898227 meters Centerline goodness [0,1] 0.9597324015680927 Centerline is valid? [True, True] Translation: X:25.67, Y:-0.90, Z:-0.18 [[ 9.99153487e-01 -4.05823721e-02 -6.73657196e-03 2.56687770e+01] [ 4.05845790e-02 9.99176088e-01 1.91167207e-04 -9.04862031e-01] [ 6.72326360e-03 -4.64406318e-04 9.99977291e-01 -1.81890523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.345898227 meters Centerline goodness [0,1] 0.9030106747917244 Centerline is valid? [True, False] Translation: X:25.67, Y:-0.91, Z:-0.18 [[ 9.99163511e-01 -4.03753876e-02 -6.48887352e-03 2.56682491e+01] [ 4.03851492e-02 9.99183234e-01 1.38038388e-03 -9.11383902e-01] [ 6.42784010e-03 -1.64128333e-03 9.99977994e-01 -1.82150331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.375898227 meters Centerline goodness [0,1] 0.9506377199125655 Centerline is valid? [False, True] Translation: X:25.67, Y:-0.91, Z:-0.18 [[ 9.99173155e-01 -4.01197951e-02 -6.58846696e-03 2.56686771e+01] [ 4.01334801e-02 9.99192409e-01 1.95815356e-03 -9.14026622e-01] [ 6.50458545e-03 -2.22095258e-03 9.99976379e-01 -1.82280003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.405898227 meters Centerline goodness [0,1] 0.9585720393330484 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.92, Z:-0.18 [[ 9.99196962e-01 -3.92083259e-02 -8.25453420e-03 2.56997321e+01] [ 3.92118299e-02 9.99230886e-01 2.63015493e-04 -9.15032912e-01] [ 8.23787313e-03 -5.86479672e-04 9.99965896e-01 -1.83358267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.435898227 meters Centerline goodness [0,1] 0.9478120211135705 Centerline is valid? [True, False] Translation: X:25.70, Y:-0.92, Z:-0.18 [[ 9.99361809e-01 -3.47320714e-02 -8.34618073e-03 2.57004376e+01] [ 3.47788069e-02 9.99379783e-01 5.52126268e-03 -9.20102502e-01] [ 8.14923940e-03 -5.80800927e-03 9.99949927e-01 -1.84874583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.465898227 meters Centerline goodness [0,1] 0.9478120211135705 Centerline is valid? [False, False] Translation: X:25.70, Y:-0.92, Z:-0.18 [[ 9.99361809e-01 -3.47320714e-02 -8.34618073e-03 2.57004376e+01] [ 3.47788069e-02 9.99379783e-01 5.52126268e-03 -9.20102502e-01] [ 8.14923940e-03 -5.80800927e-03 9.99949927e-01 -1.84874583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.495898227 meters Centerline goodness [0,1] 0.9455786666666667 Centerline is valid? [False, False] Translation: X:25.70, Y:-0.92, Z:-0.18 [[ 9.99464175e-01 -3.08945962e-02 -1.08114595e-02 2.56957117e+01] [ 3.07828334e-02 9.99472451e-01 -1.03555546e-02 -9.16099217e-01] [ 1.11256866e-02 1.00171985e-02 9.99887931e-01 -1.77070592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.525898227 meters Centerline goodness [0,1] 0.9780495117354806 Centerline is valid? [False, True] Translation: X:25.70, Y:-0.92, Z:-0.18 [[ 9.99594146e-01 -2.63751732e-02 -1.07654030e-02 2.56958335e+01] [ 2.63194128e-02 9.99639593e-01 -5.28884399e-03 -9.19938152e-01] [ 1.09010172e-02 5.00335840e-03 9.99928065e-01 -1.78164472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.555898227 meters Centerline goodness [0,1] 0.9503658042360771 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.93, Z:-0.18 [[ 9.99642447e-01 -2.45937533e-02 -1.04940404e-02 2.57255681e+01] [ 2.45995244e-02 9.99697297e-01 4.21199937e-04 -9.30707943e-01] [ 1.04805049e-02 -6.79197738e-04 9.99944847e-01 -1.79831925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.585898227 meters Centerline goodness [0,1] 0.9838150534890151 Centerline is valid? [True, True] Translation: X:25.76, Y:-0.92, Z:-0.18 [[ 9.99702791e-01 -2.21134715e-02 -1.02627492e-02 2.57569198e+01] [ 2.21188612e-02 9.99755263e-01 4.11945877e-04 -9.22806918e-01] [ 1.02511280e-02 -6.38823768e-04 9.99947252e-01 -1.79838167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.615898227 meters Centerline goodness [0,1] 0.9653182869142821 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.93, Z:-0.18 [[ 9.99732362e-01 -2.05346588e-02 -1.06551766e-02 2.57876991e+01] [ 2.05403808e-02 9.99788933e-01 4.27845573e-04 -9.27675502e-01] [ 1.06441419e-02 -6.46592450e-04 9.99943140e-01 -1.82864536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.645898226999996 meters Centerline goodness [0,1] 0.9880174523784186 Centerline is valid? [True, True] Translation: X:25.82, Y:-0.92, Z:-0.18 [[ 9.99769890e-01 -1.86435778e-02 -1.06105495e-02 2.58186539e+01] [ 1.86491479e-02 9.99825999e-01 4.26250030e-04 -9.22051062e-01] [ 1.06007565e-02 -6.24029653e-04 9.99943616e-01 -1.81153220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.675898227 meters Centerline goodness [0,1] 0.9893314519060141 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.92, Z:-0.18 [[ 9.99792536e-01 -1.55811847e-02 -1.31191052e-02 2.58493070e+01] [ 1.55894392e-02 9.99878338e-01 5.27157459e-04 -9.19610110e-01] [ 1.31092954e-02 -7.31567586e-04 9.99913802e-01 -1.84975388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.705898227 meters Centerline goodness [0,1] 0.9862609142270159 Centerline is valid? [True, True] Translation: X:25.88, Y:-0.92, Z:-0.19 [[ 9.99802877e-01 -1.43868559e-02 -1.36830479e-02 2.58786996e+01] [ 1.43957233e-02 9.99896225e-01 5.49779963e-04 -9.19932397e-01] [ 1.36737183e-02 -7.46648960e-04 9.99906232e-01 -1.85509992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.735898227 meters Centerline goodness [0,1] 0.9764362178530303 Centerline is valid? [True, True] Translation: X:25.91, Y:-0.92, Z:-0.18 [[ 9.99826429e-01 -1.27747570e-02 -1.35616254e-02 2.59069806e+01] [ 1.27833157e-02 9.99918142e-01 5.44592079e-04 -9.23708534e-01] [ 1.35535583e-02 -7.17860092e-04 9.99907889e-01 -1.84898099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.765898227 meters Centerline goodness [0,1] 0.997306868545497 Centerline is valid? [True, True] Translation: X:25.94, Y:-0.91, Z:-0.18 [[ 9.99892581e-01 -8.39507541e-03 -1.20145022e-02 2.59378049e+01] [ 8.40147442e-03 9.99964591e-01 4.82233854e-04 -9.11641309e-01] [ 1.20100283e-02 -5.83121586e-04 9.99927707e-01 -1.81206522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.795898227 meters Centerline goodness [0,1] 0.9970340765671014 Centerline is valid? [True, True] Translation: X:25.97, Y:-0.91, Z:-0.18 [[ 9.99918897e-01 -6.31132440e-03 -1.10619578e-02 2.59666094e+01] [ 6.31661963e-03 9.99979951e-01 4.43815100e-04 -9.10551725e-01] [ 1.10589349e-02 -5.13653285e-04 9.99938716e-01 -1.80112991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.825898227 meters Centerline goodness [0,1] 0.9998293842905586 Centerline is valid? [True, True] Translation: X:26.00, Y:-0.90, Z:-0.18 [[ 9.99941692e-01 -4.13551426e-03 -9.97549064e-03 2.59966889e+01] [ 4.13970954e-03 9.99991351e-01 3.99947078e-04 -8.98515743e-01] [ 9.97375038e-03 -4.41219392e-04 9.99950164e-01 -1.77891481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.855898227 meters Centerline goodness [0,1] 0.9997463538363982 Centerline is valid? [True, True] Translation: X:26.03, Y:-0.90, Z:-0.18 [[ 9.99949078e-01 -2.48499744e-03 -9.78092471e-03 2.60251989e+01] [ 2.48894893e-03 9.99996826e-01 3.91847790e-04 -8.96915017e-01] [ 9.77991993e-03 -4.16172058e-04 9.99952089e-01 -1.79192256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.885898227 meters Centerline goodness [0,1] 0.9998720191118127 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.89, Z:-0.18 [[ 9.99929308e-01 -2.59378844e-03 -1.16039526e-02 2.60536429e+01] [ 2.59934252e-03 9.99996514e-01 4.63580042e-04 -8.92086928e-01] [ 1.16027097e-02 -4.93709918e-04 9.99932564e-01 -1.80127022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.915898227 meters Centerline goodness [0,1] 0.999423520368947 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.90, Z:-0.18 [[ 9.99905582e-01 -4.42749539e-03 -1.30085998e-02 2.60819266e+01] [ 4.43460907e-03 9.99990033e-01 5.18049842e-04 -8.96441754e-01] [ 1.30061765e-02 -5.75688984e-04 9.99915250e-01 -1.82287941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.945898227 meters Centerline goodness [0,1] 0.995724843172639 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.90, Z:-0.18 [[ 9.99879219e-01 -7.15636732e-03 -1.37961830e-02 2.61113956e+01] [ 7.16462279e-03 9.99974183e-01 5.49055388e-04 -9.02041286e-01] [ 1.37918975e-02 -6.47833519e-04 9.99904677e-01 -1.83207209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.975898227 meters Centerline goodness [0,1] 0.9928123338649655 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.91, Z:-0.18 [[ 9.99817007e-01 -1.47028015e-02 -1.22384596e-02 2.61416710e+01] [ 1.47098608e-02 9.99891686e-01 4.86992355e-04 -9.07558199e-01] [ 1.22299738e-02 -6.66929276e-04 9.99924989e-01 -1.82369168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.005898227 meters Centerline goodness [0,1] 0.9854980147355458 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.91, Z:-0.18 [[ 9.99756866e-01 -1.90603363e-02 -1.10866253e-02 2.61717114e+01] [ 1.90663964e-02 9.99818122e-01 4.41159031e-04 -9.14546119e-01] [ 1.10762002e-02 -6.52433762e-04 9.99938444e-01 -1.80976757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.035898227 meters Centerline goodness [0,1] 0.9842459337477646 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.92, Z:-0.18 [[ 9.99676251e-01 -2.32923846e-02 -1.02400480e-02 2.62029765e+01] [ 2.32977764e-02 9.99728487e-01 4.07544395e-04 -9.18523591e-01] [ 1.02277750e-02 -6.45982802e-04 9.99947486e-01 -1.78835317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.065898227 meters Centerline goodness [0,1] 0.9738687469360786 Centerline is valid? [True, True] Translation: X:26.23, Y:-0.92, Z:-0.18 [[ 9.99580771e-01 -2.72059169e-02 -9.90561577e-03 2.62338559e+01] [ 2.72111553e-02 9.99629630e-01 3.94417126e-04 -9.24404487e-01] [ 9.89121655e-03 -6.63795024e-04 9.99950860e-01 -1.77840699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.095898227 meters Centerline goodness [0,1] 0.9494633561130272 Centerline is valid? [True, False] Translation: X:26.23, Y:-0.93, Z:-0.18 [[ 9.99571875e-01 -2.76611445e-02 -9.53562494e-03 2.62333536e+01] [ 2.76725663e-02 9.99616471e-01 1.06792998e-03 -9.29880769e-01] [ 9.50242759e-03 -1.33134799e-03 9.99953965e-01 -1.78937199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.125898227 meters Centerline goodness [0,1] 0.9390078439686241 Centerline is valid? [False, False] Translation: X:26.23, Y:-0.93, Z:-0.18 [[ 9.99575706e-01 -2.75294511e-02 -9.51508811e-03 2.62336356e+01] [ 2.75464928e-02 9.99619137e-01 1.66459740e-03 -9.32914693e-01] [ 9.46563872e-03 -1.92599843e-03 9.99953345e-01 -1.79468416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.155898227 meters Centerline goodness [0,1] 0.9279400174665048 Centerline is valid? [False, False] Translation: X:26.23, Y:-0.93, Z:-0.18 [[ 9.99579206e-01 -2.74227548e-02 -9.45538100e-03 2.62335109e+01] [ 2.74430180e-02 9.99621329e-01 2.01996592e-03 -9.34718438e-01] [ 9.39640749e-03 -2.27860012e-03 9.99953257e-01 -1.79533905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.185898227 meters Centerline goodness [0,1] 0.9230720027291529 Centerline is valid? [False, False] Translation: X:26.23, Y:-0.94, Z:-0.18 [[ 9.99582606e-01 -2.72917860e-02 -9.47482797e-03 2.62337496e+01] [ 2.73155381e-02 9.99624012e-01 2.38654320e-03 -9.36466683e-01] [ 9.40613252e-03 -2.64435709e-03 9.99952265e-01 -1.79809981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.215898227 meters Centerline goodness [0,1] 0.8969833255547541 Centerline is valid? [False, False] Translation: X:26.23, Y:-0.94, Z:-0.18 [[ 9.99589373e-01 -2.69521457e-02 -9.72968712e-03 2.62349644e+01] [ 2.69831440e-02 9.99631178e-01 3.06883513e-03 -9.39455775e-01] [ 9.64338691e-03 -3.33011253e-03 9.99947956e-01 -1.80474493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.245898227 meters Centerline goodness [0,1] 0.9251301807713476 Centerline is valid? [False, False] Translation: X:26.25, Y:-0.94, Z:-0.17 [[ 9.99519154e-01 -2.77460273e-02 -1.38426480e-02 2.62491019e+01] [ 2.77022173e-02 9.99610618e-01 -3.34666130e-03 -9.35926610e-01] [ 1.39301145e-02 2.96158003e-03 9.99898585e-01 -1.72514191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.275898227 meters Centerline goodness [0,1] 0.9514472057632465 Centerline is valid? [False, True] Translation: X:26.25, Y:-0.94, Z:-0.17 [[ 9.99635231e-01 -2.32477285e-02 -1.37458501e-02 2.62486939e+01] [ 2.32682655e-02 9.99728365e-01 1.33598914e-03 -9.37816838e-01] [ 1.37110575e-02 -1.65534390e-03 9.99904629e-01 -1.72919608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.305898227 meters Centerline goodness [0,1] 0.9965119741375643 Centerline is valid? [True, True] Translation: X:26.28, Y:-0.92, Z:-0.17 [[ 9.99834872e-01 -1.23607697e-02 -1.33206986e-02 2.62805288e+01] [ 1.23702641e-02 9.99923287e-01 6.30590485e-04 -9.19918458e-01] [ 1.33118822e-02 -7.95266917e-04 9.99911077e-01 -1.71487853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.335898227 meters Centerline goodness [0,1] 0.993556402535324 Centerline is valid? [True, True] Translation: X:26.31, Y:-0.92, Z:-0.17 [[ 9.99883333e-01 -5.99620051e-03 -1.40487274e-02 2.63096841e+01] [ 6.00613505e-03 9.99981742e-01 6.65063431e-04 -9.20322887e-01] [ 1.40444830e-02 -7.49364394e-04 9.99901091e-01 -1.71938576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.365898227 meters Centerline goodness [0,1] 0.9985576923076923 Centerline is valid? [True, True] Translation: X:26.34, Y:-0.91, Z:-0.17 [[ 9.99893658e-01 2.24278499e-04 -1.45816029e-02 2.63393373e+01] [-2.14236593e-04 9.99999739e-01 6.90227901e-04 -9.11694976e-01] [ 1.45817539e-02 -6.87030588e-04 9.99893445e-01 -1.72277628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.395898226999996 meters Centerline goodness [0,1] 0.9999158850990453 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.89, Z:-0.17 [[ 9.99829520e-01 1.13471267e-02 -1.45661493e-02 2.63708835e+01] [-1.13382859e-02 9.99935482e-01 6.89383765e-04 -8.91960370e-01] [ 1.45730320e-02 -5.24111074e-04 9.99893670e-01 -1.70289879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.425898227 meters Centerline goodness [0,1] 0.9999575046744859 Centerline is valid? [True, True] Translation: X:26.40, Y:-0.88, Z:-0.17 [[ 9.99766921e-01 1.59417701e-02 -1.45589419e-02 2.64013806e+01] [-1.59334226e-02 9.99872817e-01 6.89178849e-04 -8.82508734e-01] [ 1.45680770e-02 -4.57044442e-04 9.99893775e-01 -1.68865306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.455898227 meters Centerline goodness [0,1] 0.9998099381243004 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.87, Z:-0.17 [[ 9.99681278e-01 2.04983922e-02 -1.47362913e-02 2.64318731e+01] [-2.04903368e-02 9.99789808e-01 6.97431599e-04 -8.70129170e-01] [ 1.47474901e-02 -3.95257741e-04 9.99891172e-01 -1.70387448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.485898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.46, Y:-0.85, Z:-0.17 [[ 9.99479792e-01 2.82790467e-02 -1.55061497e-02 2.64633992e+01] [-2.82710680e-02 9.99600024e-01 7.33558595e-04 -8.51380902e-01] [ 1.55206919e-02 -2.94801581e-04 9.99879503e-01 -1.68416304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.85, Z:-0.17 [[ 9.99384051e-01 3.12800250e-02 -1.59084643e-02 2.64915643e+01] [-3.12720125e-02 9.99510628e-01 7.52239337e-04 -8.46925982e-01] [ 1.59242092e-02 -2.54286301e-04 9.99873169e-01 -1.69899128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.545898227 meters Centerline goodness [0,1] 0.9998509274442575 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.84, Z:-0.17 [[ 9.99310982e-01 3.35175773e-02 -1.59415782e-02 2.65206219e+01] [-3.35098419e-02 9.99438105e-01 7.52173048e-04 -8.37058558e-01] [ 1.59578317e-02 -2.17455020e-04 9.99872642e-01 -1.70518634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.575898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.83, Z:-0.17 [[ 9.99272749e-01 3.51714424e-02 -1.47289983e-02 2.65485493e+01] [-3.51650483e-02 9.99381278e-01 6.92958147e-04 -8.33866017e-01] [ 1.47442575e-02 -1.74508256e-04 9.99891282e-01 -1.67333287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.605898227 meters Centerline goodness [0,1] 0.9997652381765408 Centerline is valid? [True, True] Translation: X:26.58, Y:-0.83, Z:-0.17 [[ 9.99243400e-01 3.65486691e-02 -1.32974823e-02 2.65781277e+01] [-3.65435911e-02 9.99331865e-01 6.24739892e-04 -8.25366302e-01] [ 1.33114312e-02 -1.38329458e-04 9.99911389e-01 -1.67390048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.635898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.82, Z:-0.16 [[ 9.99250242e-01 3.63221698e-02 -1.34034913e-02 2.66050354e+01] [-3.63170181e-02 9.99340122e-01 6.27631460e-04 -8.24253435e-01] [ 1.34174436e-02 -1.40386052e-04 9.99909972e-01 -1.64998016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.665898227 meters Centerline goodness [0,1] 0.9999575272356601 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.82, Z:-0.17 [[ 9.99256099e-01 3.54850296e-02 -1.51016816e-02 2.66340658e+01] [-3.54784187e-02 9.99370194e-01 7.05522446e-04 -8.20140811e-01] [ 1.51172059e-02 -1.69213826e-04 9.99885714e-01 -1.68268538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.695898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.66, Y:-0.82, Z:-0.17 [[ 9.99241488e-01 3.56518613e-02 -1.56650237e-02 2.66616617e+01] [-3.56448118e-02 9.99364256e-01 7.29079793e-04 -8.19326909e-01] [ 1.56810578e-02 -1.70149956e-04 9.99877030e-01 -1.69621807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.725898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.82, Z:-0.17 [[ 9.99225240e-01 3.62444846e-02 -1.53380674e-02 2.66892620e+01] [-3.62378331e-02 9.99342941e-01 7.11458881e-04 -8.19545642e-01] [ 1.53537759e-02 -1.55089344e-04 9.99882112e-01 -1.69953882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.755898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.82, Z:-0.17 [[ 9.99196357e-01 3.71691442e-02 -1.50031423e-02 2.67177316e+01] [-3.71629023e-02 9.99308979e-01 6.94720507e-04 -8.19273160e-01] [ 1.50185969e-02 -1.36601890e-04 9.99887205e-01 -1.68511537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.785898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.82, Z:-0.16 [[ 9.99104133e-01 4.04398269e-02 -1.24720568e-02 2.67458453e+01] [-4.04357892e-02 9.99181973e-01 5.75841740e-04 -8.17437741e-01] [ 1.24851412e-02 -7.10084042e-05 9.99922055e-01 -1.64004299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.815898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.77, Y:-0.82, Z:-0.16 [[ 9.99047903e-01 4.22848511e-02 -1.07367536e-02 2.67745827e+01] [-4.22819699e-02 9.99105595e-01 4.95308109e-04 -8.16257386e-01] [ 1.07480946e-02 -4.08654347e-05 9.99942237e-01 -1.60803076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.845898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.80, Y:-0.82, Z:-0.16 [[ 9.98981373e-01 4.41208544e-02 -9.46397886e-03 2.68020035e+01] [-4.41187129e-02 9.99026201e-01 4.35030977e-04 -8.15176040e-01] [ 9.47395679e-03 -1.70492756e-05 9.99955121e-01 -1.59177771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.83, Y:-0.81, Z:-0.16 [[ 9.98790028e-01 4.76994236e-02 -1.19684762e-02 2.68289024e+01] [-4.76962708e-02 9.98861734e-01 5.48891641e-04 -8.11616404e-01] [ 1.19810347e-02 2.26241838e-05 9.99928225e-01 -1.63349192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.905898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.81, Z:-0.17 [[ 9.98688668e-01 4.91567575e-02 -1.43023596e-02 2.68574414e+01] [-4.91524271e-02 9.98791075e-01 6.54344612e-04 -8.10941904e-01] [ 1.43172346e-02 4.95091408e-05 9.99897502e-01 -1.67475019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.935898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.89, Y:-0.81, Z:-0.17 [[ 9.98605041e-01 5.05070505e-02 -1.53951209e-02 2.68858402e+01] [-5.05022353e-02 9.98723702e-01 7.01630567e-04 -8.10398968e-01] [ 1.54109094e-02 7.68361964e-05 9.99881242e-01 -1.68287080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.965898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.91, Y:-0.81, Z:-0.17 [[ 9.98524758e-01 5.21622561e-02 -1.50799808e-02 2.69136826e+01] [-5.21578584e-02 9.98638618e-01 6.85035421e-04 -8.08752864e-01] [ 1.50951842e-02 1.02514677e-04 9.99886056e-01 -1.67019124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.995898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.94, Y:-0.81, Z:-0.16 [[ 9.98395135e-01 5.51816991e-02 -1.27331688e-02 2.69424489e+01] [-5.51788225e-02 9.98476321e-01 5.77389385e-04 -8.06427939e-01] [ 1.27456289e-02 1.26138509e-04 9.99918763e-01 -1.60749464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.025898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.97, Y:-0.81, Z:-0.16 [[ 9.98335198e-01 5.63183762e-02 -1.24528476e-02 2.69709275e+01] [-5.63157384e-02 9.98412851e-01 5.62655760e-04 -8.05675908e-01] [ 1.24647710e-02 1.39572260e-04 9.99922302e-01 -1.58648650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.055898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.00, Y:-0.80, Z:-0.16 [[ 9.98281986e-01 5.73911545e-02 -1.18038936e-02 2.69988733e+01] [-5.73888815e-02 9.98351759e-01 5.31474889e-04 -8.03646088e-01] [ 1.18149399e-02 1.46850444e-04 9.99930190e-01 -1.57111369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.03, Y:-0.80, Z:-0.16 [[ 9.98229209e-01 5.84428083e-02 -1.10853677e-02 2.70273271e+01] [-5.84408743e-02 9.98290747e-01 4.98592468e-04 -8.04006740e-01] [ 1.10955591e-02 1.50129013e-04 9.99938431e-01 -1.56944214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.115898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.06, Y:-0.81, Z:-0.16 [[ 9.98268329e-01 5.80336540e-02 -9.61448705e-03 2.70554409e+01] [-5.80321918e-02 9.98314619e-01 4.31225202e-04 -8.10000176e-01] [ 9.62330855e-03 1.27471295e-04 9.99953687e-01 -1.56076885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.145898226999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.08, Y:-0.81, Z:-0.15 [[ 9.98322945e-01 5.71251353e-02 -9.38169587e-03 2.70842216e+01] [-5.71237198e-02 9.98367019e-01 4.18993465e-04 -8.13422907e-01] [ 9.39031080e-03 1.17626577e-04 9.99955903e-01 -1.54941180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.175898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.82, Z:-0.15 [[ 9.98364655e-01 5.64016578e-02 -9.32030507e-03 2.71115206e+01] [-5.64002428e-02 9.98408153e-01 4.14796023e-04 -8.17281730e-01] [ 9.32886376e-03 1.11549781e-04 9.99956479e-01 -1.53431544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.14, Y:-0.83, Z:-0.16 [[ 9.98491864e-01 5.39653932e-02 -1.00863459e-02 2.71394461e+01] [-5.39636337e-02 9.98542802e-01 4.46713366e-04 -8.27739228e-01] [ 1.00957552e-02 9.82562166e-05 9.99949032e-01 -1.55896361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.235898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.84, Z:-0.16 [[ 9.98576550e-01 5.21426514e-02 -1.12257353e-02 2.71667576e+01] [-5.21403815e-02 9.98639643e-01 4.94977716e-04 -8.35920048e-01] [ 1.12362738e-02 9.10409826e-05 9.99936867e-01 -1.58205408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.84, Z:-0.16 [[ 9.98635402e-01 5.08556587e-02 -1.18758554e-02 2.71944457e+01] [-5.08530362e-02 9.98706010e-01 5.22889752e-04 -8.43264532e-01] [ 1.18870801e-02 8.17470882e-05 9.99929343e-01 -1.59411515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.295898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.22, Y:-0.85, Z:-0.16 [[ 9.98648157e-01 5.04146648e-02 -1.26577756e-02 2.72221951e+01] [-5.04116616e-02 9.98728369e-01 5.56415845e-04 -8.48859922e-01] [ 1.26697311e-02 8.24358432e-05 9.99919732e-01 -1.59683173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.325898226999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.85, Z:-0.16 [[ 9.98657760e-01 5.02240715e-02 -1.26578811e-02 2.72495651e+01] [-5.02210835e-02 9.98737972e-01 5.54006456e-04 -8.49901833e-01] [ 1.26697309e-02 8.24296571e-05 9.99919732e-01 -1.59356410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.355898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.28, Y:-0.86, Z:-0.16 [[ 9.98612829e-01 5.11342276e-02 -1.25582212e-02 2.72776808e+01] [-5.11313882e-02 9.98691785e-01 5.47278210e-04 -8.58784637e-01] [ 1.25697770e-02 9.56002429e-05 9.99920993e-01 -1.58292197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.86, Z:-0.16 [[ 9.98560638e-01 5.21072551e-02 -1.27077204e-02 2.73061293e+01] [-5.21044537e-02 9.98641488e-01 5.51654907e-04 -8.63794631e-01] [ 1.27192020e-02 1.11267952e-04 9.99919101e-01 -1.57877050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.415898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.33, Y:-0.87, Z:-0.16 [[ 9.98488515e-01 5.34286470e-02 -1.28865947e-02 2.73343889e+01] [-5.34259043e-02 9.98571661e-01 5.57244292e-04 -8.67914480e-01] [ 1.28979611e-02 1.32075951e-04 9.99916809e-01 -1.57100909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.445898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.87, Z:-0.15 [[ 9.98280073e-01 5.74778753e-02 -1.15408230e-02 2.73623179e+01] [-5.74759662e-02 9.98346766e-01 4.97297649e-04 -8.69905729e-01] [ 1.15503269e-02 1.66877620e-04 9.99933279e-01 -1.53521461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.475898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.39, Y:-0.87, Z:-0.15 [[ 9.98149569e-01 5.98450096e-02 -1.07709588e-02 2.73909008e+01] [-5.98434896e-02 9.98207665e-01 4.63646799e-04 -8.71541791e-01] [ 1.07794005e-02 1.81782907e-04 9.99941884e-01 -1.52298213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.42, Y:-0.87, Z:-0.15 [[ 9.97987922e-01 6.25543810e-02 -1.03468200e-02 2.74196313e+01] [-6.25531404e-02 9.98041536e-01 4.43795806e-04 -8.74459638e-01] [ 1.03543175e-02 2.04323227e-04 9.99946372e-01 -1.51801083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.535898227 meters Centerline goodness [0,1] 0.999853132474508 Centerline is valid? [True, True] Translation: X:27.45, Y:-0.87, Z:-0.16 [[ 9.97820837e-01 6.50770290e-02 -1.08884575e-02 2.74470547e+01] [-6.50758272e-02 9.97880213e-01 4.65012968e-04 -8.73850967e-01] [ 1.08956380e-02 2.44575750e-04 9.99940611e-01 -1.55718756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.48, Y:-0.88, Z:-0.16 [[ 9.97509676e-01 6.92496355e-02 -1.33765993e-02 2.74761841e+01] [-6.92482114e-02 9.97599298e-01 5.70161934e-04 -8.77602584e-01] [ 1.33839696e-02 3.57563533e-04 9.99910367e-01 -1.57112937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.595898227 meters Centerline goodness [0,1] 0.9999788032303877 Centerline is valid? [True, True] Translation: X:27.51, Y:-0.88, Z:-0.16 [[ 9.97421624e-01 7.03262908e-02 -1.42939408e-02 2.75051359e+01] [-7.03247903e-02 9.97523962e-01 6.08209477e-04 -8.81483002e-01] [ 1.43013216e-02 3.98577105e-04 9.99897651e-01 -1.57620254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.625898227 meters Centerline goodness [0,1] 0.9999787347155769 Centerline is valid? [True, True] Translation: X:27.53, Y:-0.88, Z:-0.16 [[ 9.97368515e-01 7.11413058e-02 -1.39627787e-02 2.75339746e+01] [-7.11399860e-02 9.97466166e-01 5.91815953e-04 -8.84571913e-01] [ 1.39695019e-02 4.03053284e-04 9.99902341e-01 -1.56510415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.655898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.56, Y:-0.89, Z:-0.15 [[ 9.97240804e-01 7.33344005e-02 -1.15257901e-02 2.75635834e+01] [-7.33336663e-02 9.97307343e-01 4.86881085e-04 -8.90830714e-01] [ 1.15304603e-02 3.59690763e-04 9.99933457e-01 -1.53036853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.685898227 meters Centerline goodness [0,1] 0.999873168875642 Centerline is valid? [True, True] Translation: X:27.59, Y:-0.89, Z:-0.15 [[ 9.97161806e-01 7.44847773e-02 -1.09704270e-02 2.75912127e+01] [-7.44841841e-02 9.97222087e-01 4.63203831e-04 -8.92581444e-01] [ 1.09744537e-02 3.55234133e-04 9.99939716e-01 -1.52146457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.715898227 meters Centerline goodness [0,1] 0.9997862928215758 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.90, Z:-0.15 [[ 9.97102996e-01 7.52528002e-02 -1.10738786e-02 2.76198768e+01] [-7.52522496e-02 9.97164420e-01 4.66989228e-04 -8.97964848e-01] [ 1.10776200e-02 3.67697918e-04 9.99938574e-01 -1.52601489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.745898227 meters Centerline goodness [0,1] 0.9997438743276701 Centerline is valid? [True, True] Translation: X:27.65, Y:-0.90, Z:-0.16 [[ 9.96928578e-01 7.73666424e-02 -1.21578154e-02 2.76479023e+01] [-7.73661627e-02 9.97002616e-01 5.10471658e-04 -8.98882079e-01] [ 1.21608673e-02 4.31699744e-04 9.99925961e-01 -1.55486121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.775898227 meters Centerline goodness [0,1] 0.9996392726038152 Centerline is valid? [True, True] Translation: X:27.68, Y:-0.90, Z:-0.15 [[ 9.96766917e-01 7.94868513e-02 -1.17282895e-02 2.76773777e+01] [-7.94865579e-02 9.96835817e-01 4.91886457e-04 -9.01078597e-01] [ 1.17302775e-02 4.41945212e-04 9.99931100e-01 -1.52634534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.805898227 meters Centerline goodness [0,1] 0.9980945928780116 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.90, Z:-0.15 [[ 9.96617374e-01 8.14737887e-02 -1.07624893e-02 2.77059805e+01] [-8.14736597e-02 9.96675393e-01 4.51156711e-04 -9.00045058e-01] [ 1.07634657e-02 4.27228774e-04 9.99941981e-01 -1.51201688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.835898227 meters Centerline goodness [0,1] 0.9958099671992382 Centerline is valid? [True, True] Translation: X:27.74, Y:-0.90, Z:-0.15 [[ 9.96466305e-01 8.33704864e-02 -1.02110311e-02 2.77353972e+01] [-8.33704734e-02 9.96518530e-01 4.27673304e-04 -9.02999545e-01] [ 1.02111370e-02 4.25136457e-04 9.99947775e-01 -1.49777211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.865898227 meters Centerline goodness [0,1] 0.9790294223559067 Centerline is valid? [True, True] Translation: X:27.77, Y:-0.90, Z:-0.15 [[ 9.96114888e-01 8.74757333e-02 -1.01550706e-02 2.77654516e+01] [-8.74759361e-02 9.96166542e-01 4.25058924e-04 -9.03118099e-01] [ 1.01533239e-02 4.64916786e-04 9.99948346e-01 -1.50105187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.895898226999996 meters Centerline goodness [0,1] 0.9241874190603571 Centerline is valid? [True, False] Translation: X:27.77, Y:-0.90, Z:-0.15 [[ 9.96436731e-01 8.36909444e-02 -1.04722435e-02 2.77650030e+01] [-8.37367468e-02 9.96479828e-01 -4.01368258e-03 -9.00803179e-01] [ 1.00994705e-02 4.87629235e-03 9.99937109e-01 -1.49248164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.925898227 meters Centerline goodness [0,1] 0.9260268142157906 Centerline is valid? [False, False] Translation: X:27.76, Y:-0.90, Z:-0.15 [[ 9.96410480e-01 8.40162266e-02 -1.03648151e-02 2.77648543e+01] [-8.40563640e-02 9.96454859e-01 -3.49883815e-03 -9.03104563e-01] [ 1.00341112e-02 4.35750767e-03 9.99940163e-01 -1.49642415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.955898227 meters Centerline goodness [0,1] 0.8349568133104136 Centerline is valid? [False, False] Translation: X:27.76, Y:-0.91, Z:-0.15 [[ 9.96349842e-01 8.47482561e-02 -1.02335815e-02 2.77648294e+01] [-8.47761815e-02 9.96397305e-01 -2.32577485e-03 -9.08143214e-01] [ 9.99960766e-03 3.18484937e-03 9.99944931e-01 -1.50372324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.985898227 meters Centerline goodness [0,1] 0.8569276788934382 Centerline is valid? [False, False] Translation: X:27.76, Y:-0.91, Z:-0.15 [[ 9.96662847e-01 8.09399164e-02 -1.05782286e-02 2.77646763e+01] [-8.10118723e-02 9.96691549e-01 -6.55994695e-03 -9.07083290e-01] [ 1.00122695e-02 7.39501751e-03 9.99922531e-01 -1.49987508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.015898227 meters Centerline goodness [0,1] 0.8931074022168429 Centerline is valid? [False, False] Translation: X:27.77, Y:-0.91, Z:-0.15 [[ 9.96633902e-01 8.12861480e-02 -1.06501929e-02 2.77652734e+01] [-8.13512176e-02 9.96668473e-01 -5.82528544e-03 -9.10367924e-01] [ 1.01411965e-02 6.67208312e-03 9.99926317e-01 -1.50667179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.045898227 meters Centerline goodness [0,1] 0.7839112050739958 Centerline is valid? [False, False] Translation: X:27.77, Y:-0.92, Z:-0.15 [[ 9.96560952e-01 8.21743789e-02 -1.06601823e-02 2.77663549e+01] [-8.22213014e-02 9.96605908e-01 -4.03998497e-03 -9.18369395e-01] [ 1.02920174e-02 4.90258533e-03 9.99935017e-01 -1.52479104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.075898226999996 meters Centerline goodness [0,1] 0.8492804686505073 Centerline is valid? [False, False] Translation: X:27.77, Y:-0.92, Z:-0.15 [[ 9.96878607e-01 7.81683330e-02 -1.10794926e-02 2.77666688e+01] [-7.82627618e-02 9.96897700e-01 -8.36153016e-03 -9.17382186e-01] [ 1.03915139e-02 9.20254223e-03 9.99903660e-01 -1.52464102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.105898227 meters Centerline goodness [0,1] 0.8573655328507677 Centerline is valid? [False, False] Translation: X:27.77, Y:-0.92, Z:-0.15 [[ 9.96859357e-01 7.84084860e-02 -1.11144531e-02 2.77671199e+01] [-7.84974861e-02 9.96883714e-01 -7.81062092e-03 -9.19981341e-01] [ 1.04673983e-02 8.65854718e-03 9.99907727e-01 -1.53111519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.135898227 meters Centerline goodness [0,1] 0.8181395250481085 Centerline is valid? [False, False] Translation: X:27.79, Y:-0.93, Z:-0.16 [[ 9.96985403e-01 7.73115808e-02 -6.55932730e-03 2.77924780e+01] [-7.73015183e-02 9.97006182e-01 1.77436813e-03 -9.29533230e-01] [ 6.67686908e-03 -1.26197317e-03 9.99976913e-01 -1.60872981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.165898227 meters Centerline goodness [0,1] 0.754382993139663 Centerline is valid? [False, False] Translation: X:27.79, Y:-0.93, Z:-0.16 [[ 9.97290195e-01 7.32655077e-02 -6.66572503e-03 2.77913834e+01] [-7.32836673e-02 9.97307949e-01 -2.52180955e-03 -9.28988095e-01] [ 6.46301889e-03 3.00346472e-03 9.99974604e-01 -1.60064813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.195898227 meters Centerline goodness [0,1] 0.8189284650410655 Centerline is valid? [False, False] Translation: X:27.79, Y:-0.93, Z:-0.16 [[ 9.97584104e-01 6.91333150e-02 -6.82197777e-03 2.77904510e+01] [-6.91800366e-02 9.97580548e-01 -6.86818858e-03 -9.28292386e-01] [ 6.33065168e-03 7.32354043e-03 9.99953143e-01 -1.59209831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.225898227 meters Centerline goodness [0,1] 0.8245233231188287 Centerline is valid? [False, False] Translation: X:27.80, Y:-0.93, Z:-0.17 [[ 9.97861675e-01 6.53438583e-02 -1.50260170e-03 2.77973191e+01] [-6.53324799e-02 9.97841267e-01 6.66878037e-03 -9.34434209e-01] [ 1.93512183e-03 -6.55635165e-03 9.99976635e-01 -1.67386379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.255898227 meters Centerline goodness [0,1] 0.8407829450845177 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.94, Z:-0.18 [[ 9.97987381e-01 6.33616881e-02 2.54648510e-03 2.78250294e+01] [-6.33934511e-02 9.97870433e-01 1.53580661e-02 -9.43525943e-01] [-1.56794919e-03 -1.54885866e-02 9.99878815e-01 -1.76893348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.285898227 meters Centerline goodness [0,1] 0.8463983496821454 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.94, Z:-0.18 [[ 9.98433037e-01 5.59145473e-02 2.24385011e-03 2.78244110e+01] [-5.59283859e-02 9.98412508e-01 6.66922931e-03 -9.39498560e-01] [-1.86738108e-03 -6.78427379e-03 9.99975243e-01 -1.76339433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.315898227 meters Centerline goodness [0,1] 0.9336809933958836 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.94, Z:-0.18 [[ 9.98656102e-01 5.17876737e-02 2.00648902e-03 2.78241962e+01] [-5.17921270e-02 9.98655386e-01 2.23496696e-03 -9.38424087e-01] [-1.88804733e-03 -2.33588372e-03 9.99995489e-01 -1.75917909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.345898227 meters Centerline goodness [0,1] 0.8153589597450024 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.94, Z:-0.18 [[ 9.98823080e-01 4.81166916e-02 6.10237001e-03 2.78474053e+01] [-4.81739590e-02 9.98792702e-01 9.61293678e-03 -9.44924034e-01] [-5.63245991e-03 -9.89559845e-03 9.99935174e-01 -1.81226588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.375898227 meters Centerline goodness [0,1] 0.833137361945156 Centerline is valid? [False, False] Translation: X:27.85, Y:-0.94, Z:-0.18 [[ 9.99012320e-01 4.40517443e-02 5.81619431e-03 2.78472249e+01] [-4.40819850e-02 9.99014499e-01 5.17775045e-03 -9.43685949e-01] [-5.58237350e-03 -5.42902588e-03 9.99969681e-01 -1.80415263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.405898227 meters Centerline goodness [0,1] 0.9452792924305525 Centerline is valid? [False, False] Translation: X:27.79, Y:-0.95, Z:-0.18 [[ 9.99162462e-01 4.06763009e-02 4.45111357e-03 2.77852553e+01] [-4.07106463e-02 9.99139599e-01 7.91861645e-03 -9.46455339e-01] [-4.12518380e-03 -8.09319202e-03 9.99958741e-01 -1.80134071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.435898227 meters Centerline goodness [0,1] 0.9431880743658154 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.95, Z:-0.18 [[ 9.99213424e-01 3.92620541e-02 5.56987180e-03 2.78260568e+01] [-3.93156940e-02 9.99178072e-01 9.87198272e-03 -9.53183367e-01] [-5.17769945e-03 -1.00832010e-02 9.99935758e-01 -1.80943708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.465898227 meters Centerline goodness [0,1] 0.8431259968102074 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.95, Z:-0.18 [[ 9.99359639e-01 3.53486249e-02 5.54862627e-03 2.78251459e+01] [-3.53787944e-02 9.99359186e-01 5.43668571e-03 -9.51571406e-01] [-5.35289128e-03 -5.62950797e-03 9.99969827e-01 -1.79999353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.495898227 meters Centerline goodness [0,1] 0.9189050580165395 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.95, Z:-0.18 [[ 9.99489811e-01 3.14581242e-02 5.52307709e-03 2.78241614e+01] [-3.14639209e-02 9.99504422e-01 9.65785968e-04 -9.49736438e-01] [-5.48995816e-03 -1.13907090e-03 9.99984281e-01 -1.78745688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.525898227 meters Centerline goodness [0,1] 0.7716036295793758 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.95, Z:-0.18 [[ 9.99479879e-01 3.17656317e-02 5.56029200e-03 2.78239573e+01] [-3.17749149e-02 9.99493786e-01 1.58924332e-03 -9.52602320e-01] [-5.50699399e-03 -1.76509452e-03 9.99983279e-01 -1.78579180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.555898227 meters Centerline goodness [0,1] 0.7663728357141355 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.96, Z:-0.18 [[ 9.99450996e-01 3.26192633e-02 5.80430264e-03 2.78232820e+01] [-3.26383665e-02 9.99462016e-01 3.22747268e-03 -9.59947278e-01] [-5.69590223e-03 -3.41514374e-03 9.99977947e-01 -1.78687959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.585898227 meters Centerline goodness [0,1] 0.7911770899136661 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.96, Z:-0.18 [[ 9.99562562e-01 2.89616802e-02 5.99209793e-03 2.78221540e+01] [-2.89556012e-02 9.99580095e-01 -1.09878910e-03 -9.58295301e-01] [-6.02140460e-03 9.24803645e-04 9.99981444e-01 -1.78273287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.615898227 meters Centerline goodness [0,1] 0.8206643483455294 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.96, Z:-0.18 [[ 9.99557271e-01 2.91267315e-02 6.07423883e-03 2.78218744e+01] [-2.91225287e-02 9.99575545e-01 -7.79229666e-04 -9.59796623e-01] [-6.09435701e-03 6.01987483e-04 9.99981248e-01 -1.78242320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.645898226999996 meters Centerline goodness [0,1] 0.7457002979991485 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.96, Z:-0.18 [[ 9.99549316e-01 2.93857940e-02 6.13512955e-03 2.78217884e+01] [-2.93852005e-02 9.99568144e-01 -1.86870044e-04 -9.62598200e-01] [-6.13797138e-03 6.50381330e-06 9.99981162e-01 -1.78400082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.675898227 meters Centerline goodness [0,1] 0.7590540483165626 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.96, Z:-0.18 [[ 9.99656531e-01 2.55373881e-02 5.88735541e-03 2.78222086e+01] [-2.55118445e-02 9.99664952e-01 -4.37374881e-03 -9.62145900e-01] [-5.99707698e-03 4.22204927e-03 9.99973104e-01 -1.78411522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.705898227 meters Centerline goodness [0,1] 0.7590889830508475 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.97, Z:-0.18 [[ 9.99639618e-01 2.61772335e-02 5.94861021e-03 2.78231022e+01] [-2.61592182e-02 9.99653025e-01 -3.08640705e-03 -9.67936231e-01] [-6.02733978e-03 2.92968377e-03 9.99977544e-01 -1.80192170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.735898227 meters Centerline goodness [0,1] 0.7630238186218317 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.97, Z:-0.18 [[ 9.99634504e-01 2.63498366e-02 6.04522667e-03 2.78229156e+01] [-2.63331278e-02 9.99649225e-01 -2.82711726e-03 -9.69033024e-01] [-6.11760024e-03 2.66689423e-03 9.99977731e-01 -1.80367338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.765898227 meters Centerline goodness [0,1] 0.7437081161578556 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.97, Z:-0.18 [[ 9.99632137e-01 2.64413378e-02 6.03716192e-03 2.78229154e+01] [-2.64256884e-02 9.99647248e-01 -2.65741071e-03 -9.69786517e-01] [-6.10529779e-03 2.49689698e-03 9.99978245e-01 -1.80348014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.795898227 meters Centerline goodness [0,1] 0.7312081030533549 Centerline is valid? [False, False] Translation: X:27.82, Y:-0.97, Z:-0.18 [[ 9.99626189e-01 2.67534316e-02 5.63344130e-03 2.78248684e+01] [-2.67430953e-02 9.99640530e-01 -1.90223247e-03 -9.73234118e-01] [-5.68230750e-03 1.75086574e-03 9.99982323e-01 -1.81514862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.825898226999996 meters Centerline goodness [0,1] 0.7219141248634569 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.97, Z:-0.18 [[ 9.99726242e-01 2.27723402e-02 5.37223895e-03 2.78256630e+01] [-2.27390634e-02 9.99722357e-01 -6.17605649e-03 -9.72673604e-01] [-5.51139064e-03 6.05220606e-03 9.99966497e-01 -1.82056042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.855898227 meters Centerline goodness [0,1] 0.7270620945319741 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.98, Z:-0.18 [[ 9.99721606e-01 2.29688242e-02 5.39840935e-03 2.78258043e+01] [-2.29396332e-02 9.99722222e-01 -5.40845143e-03 -9.76638100e-01] [-5.52113556e-03 5.28310823e-03 9.99970802e-01 -1.82458544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.885898227 meters Centerline goodness [0,1] 0.8029458179905313 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.98, Z:-0.19 [[ 9.99761370e-01 1.86742938e-02 1.13346549e-02 2.78325480e+01] [-1.87571958e-02 9.99797765e-01 7.25232196e-03 -9.82185453e-01] [-1.11969306e-02 -7.46319768e-03 9.99909461e-01 -1.89896500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.915898227 meters Centerline goodness [0,1] 0.8510821601176718 Centerline is valid? [False, False] Translation: X:27.83, Y:-0.98, Z:-0.19 [[ 9.99873107e-01 1.12848492e-02 1.12437550e-02 2.78296328e+01] [-1.12830098e-02 9.99936319e-01 -2.27012035e-04 -9.84178309e-01] [-1.12456008e-02 1.00119831e-04 9.99936761e-01 -1.85922846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.945898227 meters Centerline goodness [0,1] 0.943399850602924 Centerline is valid? [False, False] Translation: X:27.81, Y:-0.99, Z:-0.18 [[ 9.99954426e-01 7.25858550e-03 6.20146940e-03 2.78101758e+01] [-7.29623083e-03 9.99954962e-01 6.06948554e-03 -9.91272272e-01] [-6.15713422e-03 -6.11445628e-03 9.99962351e-01 -1.83260354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.975898227 meters Centerline goodness [0,1] 0.9512750263435195 Centerline is valid? [False, True] Translation: X:27.85, Y:-1.00, Z:-0.18 [[ 9.99969069e-01 4.82245082e-03 6.21333155e-03 2.78522195e+01] [-4.86384674e-03 9.99965962e-01 6.66463936e-03 -9.95563681e-01] [-6.18098017e-03 -6.69465391e-03 9.99958488e-01 -1.83051218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.005898227 meters Centerline goodness [0,1] 0.9430496019595835 Centerline is valid? [True, False] Translation: X:27.85, Y:-1.00, Z:-0.18 [[ 9.99978739e-01 1.44668895e-03 6.35827996e-03 2.78515982e+01] [-1.47333612e-03 9.99990144e-01 4.18825613e-03 -1.00400223e+00] [-6.35215819e-03 -4.19753497e-03 9.99971015e-01 -1.82694790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.035898227 meters Centerline goodness [0,1] 0.8741755561682183 Centerline is valid? [False, False] Translation: X:27.85, Y:-1.01, Z:-0.18 [[ 9.99975243e-01 3.09884296e-05 7.03644594e-03 2.78466663e+01] [-5.20485993e-05 9.99995520e-01 2.99284898e-03 -1.00783926e+00] [-7.03632167e-03 -2.99314112e-03 9.99970765e-01 -1.79413992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.065898227 meters Centerline goodness [0,1] 0.953393866277224 Centerline is valid? [False, True] Translation: X:27.85, Y:-1.01, Z:-0.18 [[ 9.99975710e-01 5.28304670e-04 6.94988439e-03 2.78474372e+01] [-5.56747581e-04 9.99991476e-01 4.09127539e-03 -1.01296354e+00] [-6.94766370e-03 -4.09504535e-03 9.99967480e-01 -1.80160428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.095898227 meters Centerline goodness [0,1] 0.8705214465937763 Centerline is valid? [True, False] Translation: X:27.87, Y:-1.02, Z:-0.18 [[ 9.99994587e-01 2.81570245e-03 1.70213202e-03 2.78686637e+01] [-2.81800749e-03 9.99995114e-01 1.35332576e-03 -1.02094815e+00] [-1.69831314e-03 -1.35811506e-03 9.99997636e-01 -1.78048867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.125898227 meters Centerline goodness [0,1] 0.8612681403982451 Centerline is valid? [False, False] Translation: X:27.87, Y:-1.02, Z:-0.18 [[ 9.99993494e-01 3.18481531e-03 1.69378419e-03 2.78688575e+01] [-3.18787541e-03 9.99993286e-01 1.80704517e-03 -1.02270940e+00] [-1.68801772e-03 -1.81243298e-03 9.99996933e-01 -1.78311298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.155898227 meters Centerline goodness [0,1] 0.817268733739924 Centerline is valid? [False, False] Translation: X:27.83, Y:-1.02, Z:-0.18 [[ 9.99990276e-01 3.91332037e-03 2.03330396e-03 2.78254155e+01] [-3.91271135e-03 9.99992299e-01 -3.03413097e-04 -1.02447555e+00] [-2.03447566e-03 2.95454415e-04 9.99997887e-01 -1.78170172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.185898227 meters Centerline goodness [0,1] 0.7362273287176655 Centerline is valid? [False, False] Translation: X:27.82, Y:-1.03, Z:-0.18 [[ 9.99984959e-01 4.87996354e-03 2.50338248e-03 2.78237623e+01] [-4.88123372e-03 9.99987961e-01 5.01527483e-04 -1.02664126e+00] [-2.50090491e-03 -5.13739535e-04 9.99996741e-01 -1.77740475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.215898227 meters Centerline goodness [0,1] 0.7260230110786177 Centerline is valid? [False, False] Translation: X:27.82, Y:-1.03, Z:-0.18 [[ 9.99982984e-01 5.20085552e-03 2.64238203e-03 2.78234877e+01] [-5.20365622e-03 9.99985905e-01 1.05414791e-03 -1.02908598e+00] [-2.63686231e-03 -1.06788002e-03 9.99995953e-01 -1.78000925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.245898227 meters Centerline goodness [0,1] 0.7260230110786177 Centerline is valid? [False, False] Translation: X:27.82, Y:-1.03, Z:-0.18 [[ 9.99982984e-01 5.20085552e-03 2.64238203e-03 2.78234877e+01] [-5.20365622e-03 9.99985905e-01 1.05414791e-03 -1.02908598e+00] [-2.63686231e-03 -1.06788002e-03 9.99995953e-01 -1.78000925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.275898227 meters Centerline goodness [0,1] 0.7187633080657525 Centerline is valid? [False, False] Translation: X:27.82, Y:-1.03, Z:-0.18 [[ 9.99980970e-01 5.51248239e-03 2.76976362e-03 2.78234049e+01] [-5.51708610e-03 9.99983408e-01 1.65724818e-03 -1.03181806e+00] [-2.76058211e-03 -1.67249766e-03 9.99994791e-01 -1.78503626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.305898227 meters Centerline goodness [0,1] 0.7122517399422849 Centerline is valid? [False, False] Translation: X:27.82, Y:-1.03, Z:-0.18 [[ 9.99979324e-01 5.78719008e-03 2.80346736e-03 2.78235916e+01] [-5.79350016e-03 9.99980691e-01 2.24794370e-03 -1.03453458e+00] [-2.79040395e-03 -2.26413911e-03 9.99993544e-01 -1.78972159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.335898227 meters Centerline goodness [0,1] 0.7257081163470087 Centerline is valid? [False, False] Translation: X:27.82, Y:-1.04, Z:-0.18 [[ 9.99994206e-01 1.92372626e-03 2.80849624e-03 2.78236650e+01] [-1.91941605e-03 9.99996977e-01 -1.53659349e-03 -1.03643659e+00] [-2.81144374e-03 1.53119392e-03 9.99994876e-01 -1.79189179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.365898227 meters Centerline goodness [0,1] 0.7079779654167642 Centerline is valid? [False, False] Translation: X:27.82, Y:-1.04, Z:-0.18 [[ 9.99993997e-01 2.17747009e-03 2.69547302e-03 2.78241244e+01] [-2.17542803e-03 9.99997345e-01 -7.60289337e-04 -1.04028405e+00] [-2.69712137e-03 7.54420965e-04 9.99996078e-01 -1.79303329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.395898226999996 meters Centerline goodness [0,1] 0.7144130190320596 Centerline is valid? [False, False] Translation: X:27.82, Y:-1.04, Z:-0.18 [[ 9.99993930e-01 2.45485422e-03 2.47261844e-03 2.78249239e+01] [-2.45510888e-03 9.99996981e-01 9.99594571e-05 -1.04452842e+00] [-2.47236559e-03 -1.06029398e-04 9.99996938e-01 -1.79397945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.425898227 meters Centerline goodness [0,1] 0.722182126936956 Centerline is valid? [False, False] Translation: X:27.83, Y:-1.05, Z:-0.18 [[ 9.99993757e-01 2.70678253e-03 2.27147385e-03 2.78257992e+01] [-2.71037387e-03 9.99995080e-01 1.57947188e-03 -1.05253444e+00] [-2.26718739e-03 -1.58561856e-03 9.99996173e-01 -1.79678534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.455898227 meters Centerline goodness [0,1] 0.7253716782252763 Centerline is valid? [False, False] Translation: X:27.83, Y:-1.06, Z:-0.18 [[ 9.99993442e-01 2.92356521e-03 2.13743358e-03 2.78263960e+01] [-2.92856650e-03 9.99992973e-01 2.34048389e-03 -1.05642443e+00] [-2.13057600e-03 -2.34672816e-03 9.99994977e-01 -1.79873818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.485898227 meters Centerline goodness [0,1] 0.7305139027338862 Centerline is valid? [False, False] Translation: X:27.83, Y:-1.06, Z:-0.18 [[ 9.99992754e-01 3.19814969e-03 2.06502199e-03 2.78266042e+01] [-3.20485236e-03 9.99989581e-01 3.25069998e-03 -1.06103626e+00] [-2.05460425e-03 -3.25729452e-03 9.99992584e-01 -1.79735912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.515898227 meters Centerline goodness [0,1] 0.7456491785903551 Centerline is valid? [False, False] Translation: X:27.83, Y:-1.06, Z:-0.18 [[ 9.99997595e-01 -8.04537342e-04 2.04017519e-03 2.78263360e+01] [ 8.05986581e-04 9.99999423e-01 -7.09627601e-04 -1.06229837e+00] [-2.03960309e-03 7.11270248e-04 9.99997667e-01 -1.79151381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.545898227 meters Centerline goodness [0,1] 0.8029281896351382 Centerline is valid? [False, False] Translation: X:27.83, Y:-1.07, Z:-0.18 [[ 9.99987931e-01 -4.48887267e-03 1.99707295e-03 2.78261090e+01] [ 4.49503842e-03 9.99985112e-01 -3.09368828e-03 -1.07173706e+00] [-1.98315605e-03 3.10262786e-03 9.99993220e-01 -1.78314625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.575898226999996 meters Centerline goodness [0,1] 0.9568769762950702 Centerline is valid? [False, True] Translation: X:27.83, Y:-1.08, Z:-0.18 [[ 9.99989293e-01 -4.23774945e-03 1.85888078e-03 2.78267050e+01] [ 4.24108237e-03 9.99989400e-01 -1.79270953e-03 -1.07851493e+00] [-1.85126402e-03 1.80057400e-03 9.99996665e-01 -1.78455938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.605898227 meters Centerline goodness [0,1] 0.9594252437017344 Centerline is valid? [True, True] Translation: X:27.86, Y:-1.08, Z:-0.18 [[ 9.99973564e-01 -7.06724269e-03 1.71031358e-03 2.78569190e+01] [ 7.06707478e-03 9.99975022e-01 1.04201509e-04 -1.08301245e+00] [-1.71100727e-03 -9.21118405e-05 9.99998532e-01 -1.78890554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.635898227 meters Centerline goodness [0,1] 0.9813528644189081 Centerline is valid? [True, True] Translation: X:27.89, Y:-1.10, Z:-0.18 [[ 9.99941664e-01 -1.06367000e-02 1.87882473e-03 2.78875093e+01] [ 1.06365037e-02 9.99943424e-01 1.14483213e-04 -1.09575572e+00] [-1.87993616e-03 -9.44924086e-05 9.99998228e-01 -1.78252394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.665898227 meters Centerline goodness [0,1] 0.9816593700854338 Centerline is valid? [True, True] Translation: X:27.92, Y:-1.10, Z:-0.18 [[ 9.99943853e-01 -1.05085923e-02 1.36412973e-03 2.79201896e+01] [ 1.05084887e-02 9.99944781e-01 8.30803232e-05 -1.09893690e+00] [-1.36492746e-03 -6.87407166e-05 9.99999066e-01 -1.79052182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.695898227 meters Centerline goodness [0,1] 0.9899728076138681 Centerline is valid? [True, True] Translation: X:27.95, Y:-1.10, Z:-0.18 [[ 9.99962040e-01 -8.69908826e-03 4.93541399e-04 2.79518415e+01] [ 8.69907449e-03 9.99962162e-01 3.00495253e-05 -1.10469047e+00] [-4.93784128e-04 -2.57550313e-05 9.99999878e-01 -1.80236302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.725898227 meters Centerline goodness [0,1] 0.9402227038973182 Centerline is valid? [True, False] Translation: X:27.95, Y:-1.11, Z:-0.18 [[ 9.99994290e-01 -3.36691994e-03 2.89645849e-04 2.79535471e+01] [ 3.36500947e-03 9.99974105e-01 6.36121486e-03 -1.11366374e+00] [-3.11056050e-04 -6.36020388e-03 9.99979725e-01 -1.81822729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.755898227 meters Centerline goodness [0,1] 0.8165094540953519 Centerline is valid? [False, False] Translation: X:27.93, Y:-1.12, Z:-0.19 [[ 9.99993539e-01 7.21992143e-04 3.52151935e-03 2.79348892e+01] [-7.24597289e-04 9.99999465e-01 7.38559089e-04 -1.11568350e+00] [-3.52098423e-03 -7.41106001e-04 9.99993527e-01 -1.87586545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.785898227 meters Centerline goodness [0,1] 0.8399863890602072 Centerline is valid? [False, False] Translation: X:27.93, Y:-1.12, Z:-0.19 [[ 9.99992937e-01 1.15175755e-03 3.57773970e-03 2.79348175e+01] [-1.15542527e-03 9.99998809e-01 1.02325381e-03 -1.11623334e+00] [-3.57655689e-03 -1.02738040e-03 9.99993076e-01 -1.87774403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.815898227 meters Centerline goodness [0,1] 0.7812112133533062 Centerline is valid? [False, False] Translation: X:27.93, Y:-1.12, Z:-0.19 [[ 9.99991876e-01 1.49804843e-03 3.74206615e-03 2.79343895e+01] [-1.50281234e-03 9.99998064e-01 1.27058030e-03 -1.11685358e+00] [-3.74015551e-03 -1.27619360e-03 9.99992191e-01 -1.87898743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.845898227 meters Centerline goodness [0,1] 0.6814349096873226 Centerline is valid? [False, False] Translation: X:27.98, Y:-1.12, Z:-0.19 [[ 9.99987227e-01 2.55679010e-03 4.35981969e-03 2.79759789e+01] [-2.56412103e-03 9.99995307e-01 1.67671716e-03 -1.11554095e+00] [-4.35551221e-03 -1.68787485e-03 9.99989090e-01 -1.87821389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.875898227 meters Centerline goodness [0,1] 0.6331661468431257 Centerline is valid? [False, False] Translation: X:27.98, Y:-1.12, Z:-0.19 [[ 9.99984233e-01 3.18468370e-03 4.62503407e-03 2.79757005e+01] [-3.19504702e-03 9.99992398e-01 2.23504521e-03 -1.11727014e+00] [-4.61788100e-03 -2.24978718e-03 9.99986807e-01 -1.88713124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.905898227 meters Centerline goodness [0,1] 0.6743728999809809 Centerline is valid? [False, False] Translation: X:27.98, Y:-1.12, Z:-0.19 [[ 9.99983648e-01 3.32582651e-03 4.65212558e-03 2.79757696e+01] [-3.33686873e-03 9.99991629e-01 2.36784184e-03 -1.11770048e+00] [-4.64421161e-03 -2.38332665e-03 9.99986375e-01 -1.88992034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.935898227 meters Centerline goodness [0,1] 0.6773836627869865 Centerline is valid? [False, False] Translation: X:27.98, Y:-1.12, Z:-0.19 [[ 9.99983105e-01 3.46427094e-03 4.66788562e-03 2.79757963e+01] [-3.47617783e-03 9.99990719e-01 2.54511502e-03 -1.11840722e+00] [-4.65902533e-03 -2.56129842e-03 9.99985867e-01 -1.89125377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.965898227 meters Centerline goodness [0,1] 0.6427208750211972 Centerline is valid? [False, False] Translation: X:27.98, Y:-1.12, Z:-0.19 [[ 9.99982108e-01 3.89368289e-03 4.54123755e-03 2.79762161e+01] [-3.90906345e-03 9.99986637e-01 3.38292068e-03 -1.12219765e+00] [-4.52800485e-03 -3.40061214e-03 9.99983966e-01 -1.89056179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.995898227 meters Centerline goodness [0,1] 0.6293299836062083 Centerline is valid? [False, False] Translation: X:27.97, Y:-1.12, Z:-0.19 [[ 9.99984913e-01 2.17615410e-03 5.04355975e-03 2.79718047e+01] [-2.18491012e-03 9.99996115e-01 1.73122083e-03 -1.12350435e+00] [-5.03977275e-03 -1.74221444e-03 9.99985783e-01 -1.85909284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.025898227 meters Centerline goodness [0,1] 0.5482442397276013 Centerline is valid? [False, False] Translation: X:28.02, Y:-1.12, Z:-0.19 [[ 9.99989946e-01 1.81575509e-03 4.10021961e-03 2.80163138e+01] [-1.82410649e-03 9.99996268e-01 2.03399752e-03 -1.12334514e+00] [-4.09651107e-03 -2.04145631e-03 9.99989525e-01 -1.86277511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.055898227 meters Centerline goodness [0,1] 0.460812066925807 Centerline is valid? [False, False] Translation: X:27.97, Y:-1.13, Z:-0.19 [[ 9.99990125e-01 6.32203302e-04 4.39889364e-03 2.79729080e+01] [-6.43696443e-04 9.99996382e-01 2.61180951e-03 -1.13350447e+00] [-4.39722653e-03 -2.61461527e-03 9.99986914e-01 -1.86193976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.085898227 meters Centerline goodness [0,1] 0.6411626639842407 Centerline is valid? [False, False] Translation: X:27.97, Y:-1.14, Z:-0.19 [[ 9.99989478e-01 8.25785181e-04 4.51242040e-03 2.79721137e+01] [-8.40202665e-04 9.99994546e-01 3.19410574e-03 -1.13637146e+00] [-4.50975814e-03 -3.19786348e-03 9.99984718e-01 -1.85392349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.115898227 meters Centerline goodness [0,1] 0.6573977695167286 Centerline is valid? [False, False] Translation: X:27.93, Y:-1.14, Z:-0.19 [[ 9.99985881e-01 -8.45347969e-04 5.24628304e-03 2.79275953e+01] [ 8.38390272e-04 9.99998766e-01 1.32827206e-03 -1.14060689e+00] [-5.24739942e-03 -1.32385487e-03 9.99985356e-01 -1.85412468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.145898226999996 meters Centerline goodness [0,1] 0.6926524629861717 Centerline is valid? [False, False] Translation: X:27.93, Y:-1.14, Z:-0.19 [[ 9.99986763e-01 -6.92417953e-04 5.09843723e-03 2.79282922e+01] [ 6.82821824e-04 9.99997993e-01 1.88367086e-03 -1.14344897e+00] [-5.09973129e-03 -1.88016460e-03 9.99985229e-01 -1.85784777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.175898227 meters Centerline goodness [0,1] 0.6507784380124806 Centerline is valid? [False, False] Translation: X:27.93, Y:-1.15, Z:-0.19 [[ 9.99988845e-01 -4.54320046e-04 4.70146583e-03 2.79305685e+01] [ 4.42055058e-04 9.99996498e-01 2.60946860e-03 -1.14713127e+00] [-4.70263490e-03 -2.60736118e-03 9.99985543e-01 -1.87527173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.205898227 meters Centerline goodness [0,1] 0.6468797564687976 Centerline is valid? [False, False] Translation: X:27.93, Y:-1.15, Z:-0.19 [[ 9.99988891e-01 -2.66378523e-04 4.70601827e-03 2.79307778e+01] [ 2.52533254e-04 9.99995639e-01 2.94238403e-03 -1.14855547e+00] [-4.70678154e-03 -2.94116291e-03 9.99984598e-01 -1.87864494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.235898227 meters Centerline goodness [0,1] 0.6403855975485189 Centerline is valid? [False, False] Translation: X:27.93, Y:-1.15, Z:-0.19 [[ 9.99988562e-01 -8.68678436e-05 4.78216878e-03 2.79302677e+01] [ 7.07623934e-05 9.99994326e-01 3.36787920e-03 -1.15059825e+00] [-4.78243420e-03 -3.36750228e-03 9.99982894e-01 -1.87336818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.265898227 meters Centerline goodness [0,1] 0.7010602809000701 Centerline is valid? [False, False] Translation: X:27.93, Y:-1.16, Z:-0.19 [[ 9.99988144e-01 9.88926770e-05 4.86857393e-03 2.79294670e+01] [-1.20284702e-04 9.99990340e-01 4.39380296e-03 -1.15601791e+00] [-4.86809239e-03 -4.39433648e-03 9.99978496e-01 -1.86278734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.295898227 meters Centerline goodness [0,1] 0.6660654798531689 Centerline is valid? [False, False] Translation: X:27.93, Y:-1.16, Z:-0.19 [[ 9.99989356e-01 1.52443071e-04 4.61126231e-03 2.79303190e+01] [-1.75991328e-04 9.99986945e-01 5.10670890e-03 -1.16000944e+00] [-4.61042363e-03 -5.10746609e-03 9.99976329e-01 -1.86319348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.325898226999996 meters Centerline goodness [0,1] 0.6472663880195753 Centerline is valid? [False, False] Translation: X:27.93, Y:-1.16, Z:-0.19 [[ 9.99981577e-01 -3.96353365e-03 4.59732981e-03 2.79307158e+01] [ 3.95866838e-03 9.99991595e-01 1.06689716e-03 -1.16106560e+00] [-4.60151986e-03 -1.04867820e-03 9.99988863e-01 -1.86875693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.355898227 meters Centerline goodness [0,1] 0.7778769145794829 Centerline is valid? [False, False] Translation: X:27.89, Y:-1.18, Z:-0.19 [[ 9.99973780e-01 -6.63785655e-03 2.89465291e-03 2.78929722e+01] [ 6.63143092e-03 9.99975539e-01 2.22380232e-03 -1.17644539e+00] [-2.90934339e-03 -2.20454832e-03 9.99993338e-01 -1.88369682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.385898227 meters Centerline goodness [0,1] 0.7870486739801896 Centerline is valid? [False, False] Translation: X:27.89, Y:-1.18, Z:-0.19 [[ 9.99976585e-01 -6.29868153e-03 2.67496859e-03 2.78938675e+01] [ 6.28975614e-03 9.99974668e-01 3.33204235e-03 -1.18192648e+00] [-2.69588830e-03 -3.31513943e-03 9.99990871e-01 -1.88617952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.415898227 meters Centerline goodness [0,1] 0.8050298488505017 Centerline is valid? [False, False] Translation: X:27.90, Y:-1.18, Z:-0.19 [[ 9.99963241e-01 -8.37207359e-03 1.85056249e-03 2.78995541e+01] [ 8.36972751e-03 9.99964164e-01 1.27189247e-03 -1.18433005e+00] [-1.86114455e-03 -1.25635701e-03 9.99997479e-01 -1.92188789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.445898227 meters Centerline goodness [0,1] 0.8259926876966244 Centerline is valid? [False, False] Translation: X:27.90, Y:-1.19, Z:-0.19 [[ 9.99968597e-01 -7.78318568e-03 1.49199689e-03 2.79009308e+01] [ 7.77884357e-03 9.99965556e-01 2.89430537e-03 -1.19222015e+00] [-1.51447242e-03 -2.88260847e-03 9.99994698e-01 -1.92429269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.475898227 meters Centerline goodness [0,1] 0.8106188704768347 Centerline is valid? [False, False] Translation: X:27.90, Y:-1.20, Z:-0.19 [[ 9.99971847e-01 -7.41029104e-03 1.18035864e-03 2.79023249e+01] [ 7.40573991e-03 9.99965302e-01 3.81452341e-03 -1.19656934e+00] [-1.20858441e-03 -3.80567459e-03 9.99992028e-01 -1.93057883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.505898227 meters Centerline goodness [0,1] 0.8182856901038912 Centerline is valid? [False, False] Translation: X:27.90, Y:-1.20, Z:-0.19 [[ 9.99974651e-01 -7.05330635e-03 9.74083119e-04 2.79035359e+01] [ 7.04866491e-03 9.99964165e-01 4.68887826e-03 -1.20078304e+00] [-1.00712031e-03 -4.68189341e-03 9.99988533e-01 -1.93891912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.535898227 meters Centerline goodness [0,1] 0.914663894957894 Centerline is valid? [False, False] Translation: X:27.90, Y:-1.21, Z:-0.19 [[ 9.99978629e-01 -6.41690045e-03 1.25062808e-03 2.79029343e+01] [ 6.40941242e-03 9.99962041e-01 5.90217198e-03 -1.20620533e+00] [-1.28845426e-03 -5.89403005e-03 9.99981800e-01 -1.94234602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.565898227 meters Centerline goodness [0,1] 0.7808543113270418 Centerline is valid? [False, False] Translation: X:27.88, Y:-1.21, Z:-0.19 [[ 9.99984118e-01 -4.50283376e-03 3.38952917e-03 2.78787809e+01] [ 4.51065363e-03 9.99987175e-01 -2.30296724e-03 -1.20784101e+00] [-3.37911582e-03 2.31821966e-03 9.99991604e-01 -1.94727098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.595898227 meters Centerline goodness [0,1] 0.7888323372262466 Centerline is valid? [False, False] Translation: X:27.92, Y:-1.21, Z:-0.19 [[ 9.99985152e-01 -2.79305693e-03 4.67914429e-03 2.79186098e+01] [ 2.79148469e-03 9.99996045e-01 3.42507849e-04 -1.20931445e+00] [-4.68008243e-03 -3.29441004e-04 9.99988994e-01 -1.93022738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.625898227 meters Centerline goodness [0,1] 0.881051352561233 Centerline is valid? [False, False] Translation: X:27.92, Y:-1.21, Z:-0.19 [[ 9.99965184e-01 -6.79427311e-03 4.84440941e-03 2.79181105e+01] [ 6.81384876e-03 9.99968641e-01 -4.03588594e-03 -1.20819402e+00] [-4.81683658e-03 4.06875451e-03 9.99980121e-01 -1.92968033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.655898227 meters Centerline goodness [0,1] 0.817202714665093 Centerline is valid? [False, False] Translation: X:27.96, Y:-1.22, Z:-0.19 [[ 9.99971165e-01 -6.38087105e-03 4.11742982e-03 2.79619768e+01] [ 6.38349569e-03 9.99979430e-01 -6.24619398e-04 -1.21643947e+00] [-4.11335951e-03 6.50884983e-04 9.99991328e-01 -1.93311900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.685898227 meters Centerline goodness [0,1] 0.7770919931141622 Centerline is valid? [False, False] Translation: X:27.96, Y:-1.22, Z:-0.19 [[ 9.99972930e-01 -6.12687395e-03 4.07433140e-03 2.79616047e+01] [ 6.12483894e-03 9.99981112e-01 5.11762694e-04 -1.22227566e+00] [-4.07738995e-03 -4.86794217e-04 9.99991569e-01 -1.92330939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.715898227 meters Centerline goodness [0,1] 0.8537057934294292 Centerline is valid? [False, False] Translation: X:27.96, Y:-1.22, Z:-0.19 [[ 9.99938460e-01 -1.01320792e-02 4.51843057e-03 2.79595463e+01] [ 1.01469635e-02 9.99943127e-01 -3.28344823e-03 -1.22453692e+00] [-4.48490544e-03 3.32909451e-03 9.99984401e-01 -1.90928784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.745898227 meters Centerline goodness [0,1] 0.9722033898305085 Centerline is valid? [False, True] Translation: X:27.96, Y:-1.24, Z:-0.19 [[ 9.99902585e-01 -1.30831416e-02 4.86330788e-03 2.79562198e+01] [ 1.31053787e-02 9.99903682e-01 -4.56901359e-03 -1.23719400e+00] [-4.80306240e-03 4.63230399e-03 9.99977736e-01 -1.87274015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.775898227 meters Centerline goodness [0,1] 0.9966910895769322 Centerline is valid? [True, True] Translation: X:27.99, Y:-1.25, Z:-0.19 [[ 9.99880023e-01 -1.51861167e-02 3.05297608e-03 2.79878756e+01] [ 1.51855411e-02 9.99884671e-01 2.11649500e-04 -1.25075929e+00] [-3.05583812e-03 -1.65263013e-04 9.99995317e-01 -1.92445036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.805898227 meters Centerline goodness [0,1] 0.9908746702969454 Centerline is valid? [True, True] Translation: X:28.02, Y:-1.25, Z:-0.19 [[ 9.99860427e-01 -1.65826623e-02 2.03491698e-03 2.80178133e+01] [ 1.65824094e-02 9.99862492e-01 1.41079296e-04 -1.25167970e+00] [-2.03697664e-03 -1.07315779e-04 9.99997920e-01 -1.92849475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.835898227 meters Centerline goodness [0,1] 0.9881114130434783 Centerline is valid? [True, True] Translation: X:28.05, Y:-1.26, Z:-0.19 [[ 9.99881391e-01 -1.51515879e-02 2.76285716e-03 2.80486013e+01] [ 1.51511161e-02 9.99885197e-01 1.91594007e-04 -1.25951855e+00] [-2.76544293e-03 -1.49710913e-04 9.99996165e-01 -1.91430729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.865898227 meters Centerline goodness [0,1] 0.968400067865626 Centerline is valid? [True, True] Translation: X:28.08, Y:-1.26, Z:-0.19 [[ 9.99917972e-01 -1.24927120e-02 2.82515865e-03 2.80796594e+01] [ 1.24922082e-02 9.99921950e-01 1.95885526e-04 -1.26072629e+00] [-2.82738529e-03 -1.60576987e-04 9.99995990e-01 -1.86626504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.895898226999996 meters Centerline goodness [0,1] 0.9438015825746617 Centerline is valid? [True, False] Translation: X:28.08, Y:-1.26, Z:-0.19 [[ 9.99924836e-01 -1.19720018e-02 2.64466568e-03 2.80802740e+01] [ 1.19690994e-02 9.99927751e-01 1.11056555e-03 -1.26462746e+00] [-2.65777030e-03 -1.07882780e-03 9.99995886e-01 -1.86646324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.925898227 meters Centerline goodness [0,1] 0.9190066857688635 Centerline is valid? [False, False] Translation: X:28.08, Y:-1.27, Z:-0.19 [[ 9.99931912e-01 -1.14284998e-02 2.35807537e-03 2.80814883e+01] [ 1.14236546e-02 9.99932630e-01 2.05804888e-03 -1.26878178e+00] [-2.38143692e-03 -2.03097091e-03 9.99995102e-01 -1.87114627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.955898227 meters Centerline goodness [0,1] 0.9554709273876135 Centerline is valid? [False, True] Translation: X:28.08, Y:-1.28, Z:-0.18 [[ 9.99981794e-01 -4.81259360e-03 -3.64026228e-03 2.80800401e+01] [ 4.78595482e-03 9.99961964e-01 -7.29146964e-03 -1.27745887e+00] [ 3.67521470e-03 7.27391476e-03 9.99966791e-01 -1.84258121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.985898227 meters Centerline goodness [0,1] 0.7221669664585758 Centerline is valid? [True, False] Translation: X:28.08, Y:-1.29, Z:-0.18 [[ 9.99992391e-01 -7.89050133e-05 -3.90014389e-03 2.80807757e+01] [ 7.30485619e-05 9.99998870e-01 -1.50171843e-03 -1.28509366e+00] [ 3.90025797e-03 1.50142210e-03 9.99991267e-01 -1.84026955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.015898227 meters Centerline goodness [0,1] 0.7035701329463733 Centerline is valid? [False, False] Translation: X:28.08, Y:-1.29, Z:-0.18 [[ 9.99992522e-01 4.22909982e-04 -3.84398567e-03 2.80807618e+01] [-4.25401594e-04 9.99999700e-01 -6.47390165e-04 -1.28876050e+00] [ 3.84371073e-03 6.49020562e-04 9.99992402e-01 -1.84254427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.045898227 meters Centerline goodness [0,1] 0.6729776247848537 Centerline is valid? [False, False] Translation: X:28.08, Y:-1.29, Z:-0.18 [[ 9.99992022e-01 8.54519797e-04 -3.90192606e-03 2.80813236e+01] [-8.54038009e-04 9.99999627e-01 1.25138860e-04 -1.29221948e+00] [ 3.90203154e-03 -1.21805468e-04 9.99992380e-01 -1.84887581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.075898226999996 meters Centerline goodness [0,1] 0.6980723964628793 Centerline is valid? [False, False] Translation: X:28.08, Y:-1.30, Z:-0.19 [[ 9.99990934e-01 1.33469863e-03 -4.04350127e-03 2.80830730e+01] [-1.33031693e-03 9.99998525e-01 1.08613580e-03 -1.29669217e+00] [ 4.04494497e-03 -1.08074682e-03 9.99991235e-01 -1.86966856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.105898227 meters Centerline goodness [0,1] 0.7037605364387363 Centerline is valid? [False, False] Translation: X:28.08, Y:-1.30, Z:-0.19 [[ 9.99990610e-01 1.51432455e-03 -4.06038452e-03 2.80831438e+01] [-1.50843881e-03 9.99997808e-01 1.45222332e-03 -1.29836572e+00] [ 4.06257476e-03 -1.44608484e-03 9.99990702e-01 -1.87011856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.135898227 meters Centerline goodness [0,1] 0.7037605364387363 Centerline is valid? [False, False] Translation: X:28.08, Y:-1.30, Z:-0.19 [[ 9.99990610e-01 1.51432455e-03 -4.06038452e-03 2.80831438e+01] [-1.50843881e-03 9.99997808e-01 1.45222332e-03 -1.29836572e+00] [ 4.06257476e-03 -1.44608484e-03 9.99990702e-01 -1.87011856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.165898227 meters Centerline goodness [0,1] 0.6145043808719519 Centerline is valid? [False, False] Translation: X:28.08, Y:-1.30, Z:-0.18 [[ 9.99994740e-01 3.88487426e-04 -3.22016264e-03 2.80770288e+01] [-3.86295100e-04 9.99999693e-01 6.81406248e-04 -1.30251136e+00] [ 3.22042637e-03 -6.80158731e-04 9.99994583e-01 -1.82841679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.195898227 meters Centerline goodness [0,1] 0.692161138042719 Centerline is valid? [False, False] Translation: X:28.08, Y:-1.31, Z:-0.18 [[ 9.99994845e-01 7.14293414e-04 -3.13057625e-03 2.80764663e+01] [-7.10036184e-04 9.99998822e-01 1.36078759e-03 -1.30563791e+00] [ 3.13154456e-03 -1.35855776e-03 9.99994174e-01 -1.82297916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.225898227 meters Centerline goodness [0,1] 0.6972617603880769 Centerline is valid? [False, False] Translation: X:28.08, Y:-1.31, Z:-0.18 [[ 9.99994628e-01 9.29616443e-04 -3.14327825e-03 2.80767220e+01] [-9.23965929e-04 9.99997956e-01 1.79862463e-03 -1.30769692e+00] [ 3.14494385e-03 -1.79571068e-03 9.99993442e-01 -1.82658428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.255898227 meters Centerline goodness [0,1] 0.7361757981200778 Centerline is valid? [False, False] Translation: X:28.08, Y:-1.31, Z:-0.18 [[ 9.99994270e-01 9.92325831e-04 -3.23640335e-03 2.80776293e+01] [-9.86087905e-04 9.99997654e-01 1.92845196e-03 -1.30839163e+00] [ 3.23830941e-03 -1.92524953e-03 9.99992903e-01 -1.83694741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.285898227 meters Centerline goodness [0,1] 0.6488909368912721 Centerline is valid? [False, False] Translation: X:28.08, Y:-1.31, Z:-0.18 [[ 9.99993908e-01 9.90058546e-04 -3.34719150e-03 2.80785462e+01] [-9.83772521e-04 9.99997751e-01 1.87912508e-03 -1.30812579e+00] [ 3.34904441e-03 -1.87582076e-03 9.99992633e-01 -1.84629958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.315898227 meters Centerline goodness [0,1] 0.6740659154452258 Centerline is valid? [False, False] Translation: X:28.04, Y:-1.31, Z:-0.19 [[ 9.99988627e-01 6.69911791e-04 -4.72192079e-03 2.80384838e+01] [-6.60057128e-04 9.99997602e-01 2.08825265e-03 -1.31016804e+00] [ 4.72330841e-03 -2.08511217e-03 9.99986671e-01 -1.87195475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.345898227 meters Centerline goodness [0,1] 0.7251571112969993 Centerline is valid? [False, False] Translation: X:28.00, Y:-1.31, Z:-0.19 [[ 9.99983648e-01 -1.04226618e-04 -5.71778694e-03 2.79972900e+01] [ 1.16061912e-04 9.99997852e-01 2.06961531e-03 -1.31273716e+00] [ 5.71755894e-03 -2.07024508e-03 9.99981512e-01 -1.88811348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.375898227 meters Centerline goodness [0,1] 0.5930051704569339 Centerline is valid? [False, False] Translation: X:28.04, Y:-1.31, Z:-0.19 [[ 9.99987128e-01 2.33014058e-04 -5.06847415e-03 2.80391695e+01] [-2.32641954e-04 9.99999970e-01 7.40048173e-05 -1.30830225e+00] [ 5.06849124e-03 -7.28247250e-05 9.99987152e-01 -1.88694860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.405898227 meters Centerline goodness [0,1] 0.5801690908703707 Centerline is valid? [False, False] Translation: X:28.00, Y:-1.31, Z:-0.19 [[ 9.99982453e-01 -1.03316974e-03 -5.83319685e-03 2.79971629e+01] [ 1.04196243e-03 9.99998325e-01 1.50451529e-03 -1.31422644e+00] [ 5.83163266e-03 -1.51056686e-03 9.99981855e-01 -1.88879925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.435898227 meters Centerline goodness [0,1] 0.730797039809459 Centerline is valid? [False, False] Translation: X:28.00, Y:-1.32, Z:-0.19 [[ 9.99980505e-01 -1.10168346e-03 -6.14619860e-03 2.79977157e+01] [ 1.11374644e-03 9.99997460e-01 1.95959584e-03 -1.31701359e+00] [ 6.14402413e-03 -1.96640294e-03 9.99979192e-01 -1.88113666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.465898227 meters Centerline goodness [0,1] 0.8780352257181943 Centerline is valid? [False, False] Translation: X:28.00, Y:-1.32, Z:-0.19 [[ 9.99978346e-01 -1.20742019e-03 -6.46910058e-03 2.79984518e+01] [ 1.22457473e-03 9.99995743e-01 2.64846173e-03 -1.32125783e+00] [ 6.46587524e-03 -2.65632628e-03 9.99975568e-01 -1.87553916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.495898227 meters Centerline goodness [0,1] 0.9114192877014887 Centerline is valid? [False, False] Translation: X:28.00, Y:-1.33, Z:-0.19 [[ 9.99963515e-01 -5.43509940e-03 -6.59001838e-03 2.79981868e+01] [ 5.43319800e-03 9.99985193e-01 -3.06396385e-04 -1.32885081e+00] [ 6.59158610e-03 2.70580332e-04 9.99978239e-01 -1.86143342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.525898227 meters Centerline goodness [0,1] 0.9237349295296315 Centerline is valid? [False, False] Translation: X:28.00, Y:-1.33, Z:-0.19 [[ 9.99965186e-01 -5.18044710e-03 -6.54132222e-03 2.79976338e+01] [ 5.18564910e-03 9.99986251e-01 7.78543221e-04 -1.33435204e+00] [ 6.53719909e-03 -8.12437119e-04 9.99978302e-01 -1.85310666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.555898227 meters Centerline goodness [0,1] 0.9205564011500085 Centerline is valid? [False, False] Translation: X:28.00, Y:-1.34, Z:-0.19 [[ 9.99965769e-01 -4.94583870e-03 -6.63317053e-03 2.79978113e+01] [ 4.95622582e-03 9.99986516e-01 1.55041355e-03 -1.33824969e+00] [ 6.62541300e-03 -1.58323597e-03 9.99976798e-01 -1.85085120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.585898227 meters Centerline goodness [0,1] 0.9498344901227976 Centerline is valid? [False, False] Translation: X:28.00, Y:-1.34, Z:-0.19 [[ 9.99938149e-01 -9.07763789e-03 -6.42601729e-03 2.79977253e+01] [ 9.05945211e-03 9.99954891e-01 -2.85349847e-03 -1.33714689e+00] [ 6.45163044e-03 2.79510578e-03 9.99975282e-01 -1.85912783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.615898227 meters Centerline goodness [0,1] 0.9874482373892334 Centerline is valid? [False, True] Translation: X:28.00, Y:-1.34, Z:-0.19 [[ 9.99941362e-01 -8.42285388e-03 -6.80654151e-03 2.79993020e+01] [ 8.41410793e-03 9.99963739e-01 -1.31255008e-03 -1.34447872e+00] [ 6.81735012e-03 1.25520214e-03 9.99975974e-01 -1.86481298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.645898226999996 meters Centerline goodness [0,1] 0.9513185442087677 Centerline is valid? [True, True] Translation: X:28.03, Y:-1.34, Z:-0.18 [[ 9.99944943e-01 -8.05247163e-03 -6.72823262e-03 2.80268542e+01] [ 8.04933073e-03 9.99967482e-01 -4.93773453e-04 -1.34004489e+00] [ 6.73198993e-03 4.39588497e-04 9.99977243e-01 -1.82967229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.675898227 meters Centerline goodness [0,1] 0.930274035838684 Centerline is valid? [True, False] Translation: X:28.03, Y:-1.34, Z:-0.18 [[ 9.99948059e-01 -7.70677437e-03 -6.66966386e-03 2.80264246e+01] [ 7.70895648e-03 9.99970240e-01 3.01523366e-04 -1.34386186e+00] [ 6.66714160e-03 -3.52923853e-04 9.99977712e-01 -1.82480912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.705898227 meters Centerline goodness [0,1] 0.927430319510537 Centerline is valid? [False, False] Translation: X:28.02, Y:-1.35, Z:-0.18 [[ 9.99939728e-01 -9.43585306e-03 -5.61301889e-03 2.80201044e+01] [ 9.42976607e-03 9.99954923e-01 -1.10992089e-03 -1.34939130e+00] [ 5.62323892e-03 1.05692453e-03 9.99983631e-01 -1.78767994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.735898227 meters Centerline goodness [0,1] 0.9183973730223037 Centerline is valid? [False, False] Translation: X:28.02, Y:-1.35, Z:-0.18 [[ 9.99942850e-01 -9.06497910e-03 -5.66776583e-03 2.80203268e+01] [ 9.06268866e-03 9.99958841e-01 -4.29669306e-04 -1.35237559e+00] [ 5.67142750e-03 3.78279554e-04 9.99983846e-01 -1.78779619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.765898227 meters Centerline goodness [0,1] 0.8981989036805011 Centerline is valid? [False, False] Translation: X:28.02, Y:-1.36, Z:-0.18 [[ 9.99944728e-01 -8.69060309e-03 -5.91722807e-03 2.80215175e+01] [ 8.69220347e-03 9.99962192e-01 2.44797345e-04 -1.35543845e+00] [ 5.91487691e-03 -2.96217565e-04 9.99982463e-01 -1.79409959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.795898227 meters Centerline goodness [0,1] 0.8850818871210995 Centerline is valid? [False, False] Translation: X:28.02, Y:-1.36, Z:-0.18 [[ 9.99947695e-01 -8.13412263e-03 -6.20030583e-03 2.80234993e+01] [ 8.14147828e-03 9.99966182e-01 1.16202064e-03 -1.35941783e+00] [ 6.19064414e-03 -1.21243951e-03 9.99980103e-01 -1.81097730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.825898226999996 meters Centerline goodness [0,1] 0.8105653972631802 Centerline is valid? [False, False] Translation: X:28.02, Y:-1.36, Z:-0.18 [[ 9.99949016e-01 -7.97960369e-03 -6.18804814e-03 2.80237211e+01] [ 7.98757034e-03 9.99967300e-01 1.26378055e-03 -1.35954534e+00] [ 6.17776132e-03 -1.31314359e-03 9.99980055e-01 -1.81578819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.855898227 meters Centerline goodness [0,1] 0.7479601862531504 Centerline is valid? [False, False] Translation: X:28.02, Y:-1.36, Z:-0.18 [[ 9.99951420e-01 -7.70104262e-03 -6.15242338e-03 2.80233708e+01] [ 7.71204315e-03 9.99968702e-01 1.76628043e-03 -1.36173851e+00] [ 6.13862862e-03 -1.81364237e-03 9.99979514e-01 -1.81213875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.885898227 meters Centerline goodness [0,1] 0.7756677441306566 Centerline is valid? [False, False] Translation: X:28.02, Y:-1.36, Z:-0.18 [[ 9.99951883e-01 -7.50575426e-03 -6.31623444e-03 2.80238370e+01] [ 7.52106476e-03 9.99968827e-01 2.40373910e-03 -1.36499612e+00] [ 6.29799567e-03 -2.45112825e-03 9.99977163e-01 -1.81061994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.915898227 meters Centerline goodness [0,1] 0.8786178948490988 Centerline is valid? [False, False] Translation: X:28.02, Y:-1.37, Z:-0.18 [[ 9.99951816e-01 -7.28876305e-03 -6.57574631e-03 2.80245611e+01] [ 7.31003924e-03 9.99968106e-01 3.21734247e-03 -1.36924347e+00] [ 6.55208613e-03 -3.26525641e-03 9.99973204e-01 -1.80840486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.945898227 meters Centerline goodness [0,1] 0.8926534506519666 Centerline is valid? [False, False] Translation: X:28.02, Y:-1.37, Z:-0.18 [[ 9.99913559e-01 -1.14661951e-02 -6.43435103e-03 2.80245501e+01] [ 1.14611402e-02 9.99933981e-01 -8.21939675e-04 -1.37045676e+00] [ 6.44335076e-03 7.48123626e-04 9.99978962e-01 -1.81373747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.975898227 meters Centerline goodness [0,1] 0.9876358985290983 Centerline is valid? [False, True] Translation: X:28.02, Y:-1.38, Z:-0.18 [[ 9.99859613e-01 -1.55524181e-02 -6.23511443e-03 2.80236714e+01] [ 1.55321179e-02 9.99873953e-01 -3.29110501e-03 -1.38055196e+00] [ 6.28551315e-03 3.19379845e-03 9.99975146e-01 -1.80322682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.005898227 meters Centerline goodness [0,1] 0.9846915042077219 Centerline is valid? [True, True] Translation: X:28.05, Y:-1.38, Z:-0.18 [[ 9.99778160e-01 -2.03729894e-02 -5.34536090e-03 2.80530507e+01] [ 2.03710428e-02 9.99792401e-01 -4.18361633e-04 -1.38341560e+00] [ 5.35277449e-03 3.09378248e-04 9.99985626e-01 -1.77308854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.035898227 meters Centerline goodness [0,1] 0.9982762289848904 Centerline is valid? [True, True] Translation: X:28.08, Y:-1.40, Z:-0.18 [[ 9.99669817e-01 -2.51751443e-02 -5.14482753e-03 2.80845180e+01] [ 2.51734037e-02 9.99683019e-01 -4.02802977e-04 -1.39767726e+00] [ 5.15333734e-03 2.73157157e-04 9.99986684e-01 -1.79711512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.065898227 meters Centerline goodness [0,1] 0.9995541590590633 Centerline is valid? [True, True] Translation: X:28.12, Y:-1.41, Z:-0.18 [[ 9.99558633e-01 -2.89942255e-02 -6.47106924e-03 2.81160297e+01] [ 2.89915512e-02 9.99579528e-01 -5.06712211e-04 -1.40719352e+00] [ 6.48304006e-03 3.18882230e-04 9.99978934e-01 -1.77649694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.095898227 meters Centerline goodness [0,1] 0.9997027853260869 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.42, Z:-0.18 [[ 9.99331218e-01 -3.55392165e-02 -8.60706901e-03 2.81465311e+01] [ 3.55347273e-02 9.99368215e-01 -6.73991435e-04 -1.41908081e+00] [ 8.62558432e-03 3.67690832e-04 9.99962731e-01 -1.83130589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.125898227 meters Centerline goodness [0,1] 0.9998931327078034 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.42, Z:-0.18 [[ 9.99249157e-01 -3.78699544e-02 -8.18464016e-03 2.81773690e+01] [ 3.78659730e-02 9.99282621e-01 -6.40918427e-04 -1.42457193e+00] [ 8.20304022e-03 3.30517835e-04 9.99966300e-01 -1.77907265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.155898227 meters Centerline goodness [0,1] 0.999915365409843 Centerline is valid? [True, True] Translation: X:28.21, Y:-1.43, Z:-0.17 [[ 9.99216908e-01 -3.90346600e-02 -6.47046856e-03 2.82069480e+01] [ 3.90321970e-02 9.99237825e-01 -5.06533112e-04 -1.42854841e+00] [ 6.48530928e-03 2.53579845e-04 9.99978938e-01 -1.74352508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.185898227 meters Centerline goodness [0,1] 0.999765243186717 Centerline is valid? [True, True] Translation: X:28.24, Y:-1.43, Z:-0.17 [[ 9.99280475e-01 -3.77469195e-02 -3.70158209e-03 2.82365126e+01] [ 3.77461025e-02 9.99287320e-01 -2.90370812e-04 -1.43129010e+00] [ 3.70990465e-03 1.50441586e-04 9.99993107e-01 -1.72260463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.215898227 meters Centerline goodness [0,1] 0.99991533495608 Centerline is valid? [True, True] Translation: X:28.27, Y:-1.43, Z:-0.17 [[ 9.99369114e-01 -3.52685133e-02 -4.18405173e-03 2.82657481e+01] [ 3.52674469e-02 9.99377856e-01 -3.28401994e-04 -1.42968323e+00] [ 4.19303090e-03 1.80633987e-04 9.99991193e-01 -1.69639465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.245898227 meters Centerline goodness [0,1] 0.9997486753094436 Centerline is valid? [True, True] Translation: X:28.30, Y:-1.43, Z:-0.17 [[ 9.99452005e-01 -3.27405754e-02 -4.87278972e-03 2.82963382e+01] [ 3.27390975e-02 9.99463859e-01 -3.82780814e-04 -1.42643595e+00] [ 4.88270968e-03 2.23040314e-04 9.99988055e-01 -1.71140900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.275898227 meters Centerline goodness [0,1] 0.999402845016955 Centerline is valid? [True, True] Translation: X:28.33, Y:-1.42, Z:-0.17 [[ 9.99594018e-01 -2.81290739e-02 -4.53370147e-03 2.83263347e+01] [ 2.81277472e-02 9.99604273e-01 -3.56145327e-04 -1.42290908e+00] [ 4.54192540e-03 2.28477930e-04 9.99989659e-01 -1.71571188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.305898227 meters Centerline goodness [0,1] 0.9979168880858752 Centerline is valid? [True, True] Translation: X:28.36, Y:-1.42, Z:-0.17 [[ 9.99654771e-01 -2.60004544e-02 -3.78351454e-03 2.83551141e+01] [ 2.59995155e-02 9.99661911e-01 -2.97117394e-04 -1.41532335e+00] [ 3.78996057e-03 1.98645275e-04 9.99992798e-01 -1.69691293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.335898227 meters Centerline goodness [0,1] 0.9961352452957699 Centerline is valid? [True, True] Translation: X:28.39, Y:-1.41, Z:-0.17 [[ 9.99705597e-01 -2.40447121e-02 -3.25144891e-03 2.83854817e+01] [ 2.40440079e-02 9.99710868e-01 -2.55490745e-04 -1.41328599e+00] [ 3.25665202e-03 1.77237665e-04 9.99994681e-01 -1.68972051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.365898227 meters Centerline goodness [0,1] 0.9925268566090611 Centerline is valid? [True, True] Translation: X:28.42, Y:-1.41, Z:-0.17 [[ 9.99792646e-01 -1.98605949e-02 -4.49681184e-03 2.84154999e+01] [ 1.98592060e-02 9.99802724e-01 -3.53312068e-04 -1.41295452e+00] [ 4.50294172e-03 2.63935694e-04 9.99989827e-01 -1.70877358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.395898226999996 meters Centerline goodness [0,1] 0.9968444100978877 Centerline is valid? [True, True] Translation: X:28.45, Y:-1.42, Z:-0.18 [[ 9.99833134e-01 -1.74354349e-02 -5.45074236e-03 2.84463015e+01] [ 1.74333579e-02 9.99847936e-01 -4.28336466e-04 -1.41698820e+00] [ 5.45738173e-03 3.33240249e-04 9.99985053e-01 -1.76061009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.425898227 meters Centerline goodness [0,1] 0.9904818942099972 Centerline is valid? [True, True] Translation: X:28.47, Y:-1.41, Z:-0.17 [[ 9.99878461e-01 -1.43394165e-02 -6.11918851e-03 2.84748038e+01] [ 1.43367406e-02 9.99897108e-01 -4.80947878e-04 -1.40949350e+00] [ 6.12545540e-03 3.93160206e-04 9.99981162e-01 -1.73529910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.455898227 meters Centerline goodness [0,1] 0.9604736348922396 Centerline is valid? [True, True] Translation: X:28.50, Y:-1.40, Z:-0.18 [[ 9.99945491e-01 -7.08341019e-03 -7.67068594e-03 2.85041168e+01] [ 7.07899174e-03 9.99974762e-01 -6.03015575e-04 -1.39999641e+00] [ 7.67476375e-03 5.48681983e-04 9.99970398e-01 -1.76091912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.485898227 meters Centerline goodness [0,1] 0.8591690483299919 Centerline is valid? [True, False] Translation: X:28.51, Y:-1.40, Z:-0.18 [[ 9.99944441e-01 -7.07442081e-03 -7.81457983e-03 2.85051343e+01] [ 7.06628373e-03 9.99974463e-01 -1.06838986e-03 -1.39731884e+00] [ 7.82193851e-03 1.01311046e-03 9.99968895e-01 -1.77162983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.515898227 meters Centerline goodness [0,1] 0.8832800170612071 Centerline is valid? [False, False] Translation: X:28.51, Y:-1.40, Z:-0.18 [[ 9.99962517e-01 -2.68505143e-03 -8.23134027e-03 2.85062956e+01] [ 2.71512461e-03 9.99989673e-01 3.64450192e-03 -1.39967613e+00] [ 8.22146959e-03 -3.66671443e-03 9.99959481e-01 -1.76992494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.545898227 meters Centerline goodness [0,1] 0.6765063779791877 Centerline is valid? [False, False] Translation: X:28.53, Y:-1.40, Z:-0.18 [[ 9.99993531e-01 -1.03949822e-03 -3.44331932e-03 2.85286067e+01] [ 1.02050963e-03 9.99984289e-01 -5.51179148e-03 -1.39542263e+00] [ 3.44899472e-03 5.50824189e-03 9.99978882e-01 -1.82376040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.575898226999996 meters Centerline goodness [0,1] 0.8406517242114692 Centerline is valid? [False, False] Translation: X:28.48, Y:-1.40, Z:-0.18 [[ 9.99995850e-01 -6.28611461e-04 -2.81165280e-03 2.84846409e+01] [ 6.27769384e-04 9.99999758e-01 -3.00367727e-04 -1.40358196e+00] [ 2.81184093e-03 2.98601411e-04 9.99996002e-01 -1.80577509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.605898227 meters Centerline goodness [0,1] 0.8075201244246412 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.40, Z:-0.18 [[ 9.99999849e-01 1.18923853e-04 -5.37119050e-04 2.85220925e+01] [-1.19474606e-04 9.99999467e-01 -1.02546665e-03 -1.40390457e+00] [ 5.36996811e-04 1.02553067e-03 9.99999330e-01 -1.77976795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.635898227 meters Centerline goodness [0,1] 0.7981587887430273 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.41, Z:-0.18 [[ 9.99999744e-01 2.63536893e-04 -6.65253707e-04 2.85220900e+01] [-2.63758879e-04 9.99999910e-01 -3.33620679e-04 -1.40765566e+00] [ 6.65165725e-04 3.33796060e-04 9.99999723e-01 -1.77297051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.665898227 meters Centerline goodness [0,1] 0.8970634870298725 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.41, Z:-0.18 [[ 9.99993685e-01 -3.50747633e-03 -5.73150193e-04 2.85216217e+01] [ 3.50548503e-03 9.99987942e-01 -3.43915005e-03 -1.41327754e+00] [ 5.85206019e-04 3.43711916e-03 9.99993922e-01 -1.76930925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.695898227 meters Centerline goodness [0,1] 0.9289655024365112 Centerline is valid? [False, False] Translation: X:28.48, Y:-1.42, Z:-0.18 [[ 9.99994224e-01 -3.11775229e-03 -1.35351795e-03 2.84808529e+01] [ 3.12086191e-03 9.99992482e-01 2.30143844e-03 -1.42424758e+00] [ 1.34633246e-03 -2.30564929e-03 9.99996436e-01 -1.75853534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.725898227 meters Centerline goodness [0,1] 0.9290522491719201 Centerline is valid? [False, False] Translation: X:28.48, Y:-1.43, Z:-0.18 [[ 9.99994553e-01 -2.85315066e-03 -1.65921842e-03 2.84817361e+01] [ 2.85843679e-03 9.99990819e-01 3.19231989e-03 -1.42884347e+00] [ 1.65009502e-03 -3.19704527e-03 9.99993528e-01 -1.75653232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.755898227 meters Centerline goodness [0,1] 0.9251157728504663 Centerline is valid? [False, False] Translation: X:28.48, Y:-1.44, Z:-0.18 [[ 9.99994312e-01 -2.48608919e-03 -2.27939934e-03 2.84842160e+01] [ 2.49623152e-03 9.99986949e-01 4.45756596e-03 -1.43564616e+00] [ 2.26828769e-03 -4.46323052e-03 9.99987467e-01 -1.76449044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.785898227 meters Centerline goodness [0,1] 0.911596758617794 Centerline is valid? [False, False] Translation: X:28.53, Y:-1.43, Z:-0.18 [[ 9.99995248e-01 -2.39367816e-03 -1.94249994e-03 2.85262925e+01] [ 2.39656974e-03 9.99996022e-01 1.48762736e-03 -1.43471442e+00] [ 1.93893131e-03 -1.49227562e-03 9.99997007e-01 -1.76766708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.815898227 meters Centerline goodness [0,1] 0.890175744310092 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.44, Z:-0.18 [[ 9.99986043e-01 -5.17997983e-03 -1.04041274e-03 2.85219859e+01] [ 5.17839828e-03 9.99985441e-01 -1.51710359e-03 -1.43616147e+00] [ 1.04825616e-03 1.51169474e-03 9.99998308e-01 -1.75012461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.845898227 meters Centerline goodness [0,1] 0.8362625423403848 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.44, Z:-0.17 [[ 9.99989442e-01 -4.52388211e-03 -8.06388824e-04 2.85207448e+01] [ 4.52365072e-03 9.99989727e-01 -2.88543985e-04 -1.44146465e+00] [ 8.07685879e-04 2.84893117e-04 9.99999633e-01 -1.74112701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.875898227 meters Centerline goodness [0,1] 0.7878484357684767 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.44, Z:-0.17 [[ 9.99990336e-01 -4.31320057e-03 -8.50616710e-04 2.85209665e+01] [ 4.31322278e-03 9.99990698e-01 2.42799052e-05 -1.44276306e+00] [ 8.50504074e-04 -2.79485699e-05 9.99999638e-01 -1.74235089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.905898227 meters Centerline goodness [0,1] 0.6904551387310007 Centerline is valid? [False, False] Translation: X:28.55, Y:-1.44, Z:-0.18 [[ 9.99999226e-01 7.79811204e-04 9.69804197e-04 2.85465703e+01] [-7.73765649e-04 9.99980365e-01 -6.21861829e-03 -1.44270114e+00] [-9.74634503e-04 6.21786307e-03 9.99980194e-01 -1.79917734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.935898227 meters Centerline goodness [0,1] 0.8940736490937294 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.45, Z:-0.17 [[ 9.99992553e-01 9.04065777e-04 -3.75187604e-03 2.85240875e+01] [-8.83916094e-04 9.99985198e-01 5.36874962e-03 -1.44977899e+00] [ 3.75667421e-03 -5.36539330e-03 9.99978550e-01 -1.73674021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.965898227 meters Centerline goodness [0,1] 0.8016428419031363 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.45, Z:-0.17 [[ 9.99992471e-01 1.01692696e-03 -3.74475617e-03 2.85240774e+01] [-9.96391317e-04 9.99984479e-01 5.48162759e-03 -1.45023969e+00] [ 3.75027247e-03 -5.47785508e-03 9.99977964e-01 -1.73678835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.995898227 meters Centerline goodness [0,1] 0.807872440073232 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.45, Z:-0.17 [[ 9.99992895e-01 1.41382047e-03 -3.49434360e-03 2.85224892e+01] [-1.39239018e-03 9.99980256e-01 6.12769469e-03 -1.45290858e+00] [ 3.50293806e-03 -6.12278566e-03 9.99975120e-01 -1.72245250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.025898227 meters Centerline goodness [0,1] 0.8623189946628675 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.45, Z:-0.17 [[ 9.99991810e-01 -2.56169819e-03 -3.13325195e-03 2.85214059e+01] [ 2.56726335e-03 9.99995132e-01 1.77342866e-03 -1.45172546e+00] [ 3.12869371e-03 -1.78145802e-03 9.99993519e-01 -1.72392904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.055898227 meters Centerline goodness [0,1] 0.8623189946628675 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.45, Z:-0.17 [[ 9.99991810e-01 -2.56169819e-03 -3.13325195e-03 2.85214059e+01] [ 2.56726335e-03 9.99995132e-01 1.77342866e-03 -1.45172546e+00] [ 3.12869371e-03 -1.78145802e-03 9.99993519e-01 -1.72392904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.085898227 meters Centerline goodness [0,1] 0.863340655626901 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.46, Z:-0.17 [[ 9.99991956e-01 -2.35534984e-03 -3.24671373e-03 2.85214653e+01] [ 2.36320614e-03 9.99994284e-01 2.41806280e-03 -1.45500240e+00] [ 3.24099979e-03 -2.42571600e-03 9.99991806e-01 -1.71839344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.115898227 meters Centerline goodness [0,1] 0.7661551486929834 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.46, Z:-0.17 [[ 9.99991875e-01 -2.07000823e-03 -3.45892524e-03 2.85220211e+01] [ 2.08121677e-03 9.99992585e-01 3.24001567e-03 -1.45912490e+00] [ 3.45219274e-03 -3.24718812e-03 9.99988769e-01 -1.71611975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.145898226999996 meters Centerline goodness [0,1] 0.9093610067698054 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.47, Z:-0.17 [[ 9.99990245e-01 -1.88455642e-03 -3.99466987e-03 2.85239808e+01] [ 1.90257210e-03 9.99988016e-01 4.51093848e-03 -1.46635062e+00] [ 3.98612088e-03 -4.51849463e-03 9.99981847e-01 -1.71943515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.175898227 meters Centerline goodness [0,1] 0.8869457918475023 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.47, Z:-0.17 [[ 9.99990322e-01 -1.70394989e-03 -4.05616328e-03 2.85242058e+01] [ 1.72460453e-03 9.99985538e-01 5.09412414e-03 -1.46935404e+00] [ 4.04742448e-03 -5.10107011e-03 9.99978798e-01 -1.71916010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.205898227 meters Centerline goodness [0,1] 0.8464038494006416 Centerline is valid? [False, False] Translation: X:28.54, Y:-1.47, Z:-0.18 [[ 9.99999961e-01 -1.92930991e-04 -2.02108490e-04 2.85444115e+01] [ 1.91911102e-04 9.99987310e-01 -5.03416538e-03 -1.46770017e+00] [ 2.03077172e-04 5.03412640e-03 9.99987308e-01 -1.75835378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.235898227 meters Centerline goodness [0,1] 0.8874432936745699 Centerline is valid? [False, False] Translation: X:28.50, Y:-1.48, Z:-0.17 [[ 9.99999841e-01 5.41122602e-04 -1.60229011e-04 2.85012849e+01] [-5.40998352e-04 9.99999554e-01 7.74481157e-04 -1.47630348e+00] [ 1.60648029e-04 -7.74394350e-04 9.99999687e-01 -1.73643104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.265898227 meters Centerline goodness [0,1] 0.722894100326007 Centerline is valid? [False, False] Translation: X:28.54, Y:-1.47, Z:-0.17 [[ 9.99997214e-01 2.05819027e-03 1.15575201e-03 2.85411777e+01] [-2.05597638e-03 9.99996056e-01 -1.91347225e-03 -1.47409071e+00] [-1.15968574e-03 1.91109072e-03 9.99997501e-01 -1.74193512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.295898227 meters Centerline goodness [0,1] 0.8022843555612169 Centerline is valid? [False, False] Translation: X:28.54, Y:-1.48, Z:-0.17 [[ 9.99978576e-01 6.50568423e-03 7.24107985e-04 2.85424805e+01] [-6.50793873e-03 9.99973843e-01 3.15595021e-03 -1.47823389e+00] [-7.03557429e-04 -3.16059504e-03 9.99994758e-01 -1.73954462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.325898226999996 meters Centerline goodness [0,1] 0.6038514442916094 Centerline is valid? [False, False] Translation: X:28.54, Y:-1.48, Z:-0.18 [[ 9.99978122e-01 6.59396546e-03 5.25432971e-04 2.85437604e+01] [-6.59560362e-03 9.99973194e-01 3.17950944e-03 -1.47838248e+00] [-5.04453310e-04 -3.18290543e-03 9.99994807e-01 -1.75044165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.355898227 meters Centerline goodness [0,1] 0.7080491132332878 Centerline is valid? [False, False] Translation: X:28.54, Y:-1.48, Z:-0.18 [[ 9.99976750e-01 6.80986254e-03 3.54106264e-04 2.85448640e+01] [-6.81102254e-03 9.99971076e-01 3.38488360e-03 -1.47925948e+00] [-3.31045430e-04 -3.38721672e-03 9.99994209e-01 -1.76016219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.385898227 meters Centerline goodness [0,1] 0.7503245716718101 Centerline is valid? [False, False] Translation: X:28.54, Y:-1.48, Z:-0.18 [[ 9.99995685e-01 2.85791886e-03 6.80184516e-04 2.85441337e+01] [-2.85700949e-03 9.99995029e-01 -1.33419225e-03 -1.47585391e+00] [-6.83994148e-04 1.33224320e-03 9.99998879e-01 -1.76810029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.415898227 meters Centerline goodness [0,1] 0.9128110042688974 Centerline is valid? [False, False] Translation: X:28.50, Y:-1.48, Z:-0.18 [[ 9.99997613e-01 2.18490736e-03 -1.96349546e-05 2.85024762e+01] [-2.18485671e-03 9.99994995e-01 2.28810906e-03 -1.48119375e+00] [ 2.46341627e-05 -2.28806069e-03 9.99997382e-01 -1.76008130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.445898227 meters Centerline goodness [0,1] 0.8512067201091591 Centerline is valid? [False, False] Translation: X:28.54, Y:-1.48, Z:-0.18 [[ 9.99998154e-01 1.79506632e-03 6.85448218e-04 2.85444324e+01] [-1.79398163e-03 9.99997143e-01 -1.57980502e-03 -1.47821033e+00] [-6.88282114e-04 1.57857242e-03 9.99998517e-01 -1.76927136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.475898227 meters Centerline goodness [0,1] 0.731769623780771 Centerline is valid? [False, False] Translation: X:28.55, Y:-1.48, Z:-0.18 [[ 9.99998192e-01 1.84542471e-03 4.59039142e-04 2.85454645e+01] [-1.84480869e-03 9.99997402e-01 -1.33879121e-03 -1.47955719e+00] [-4.61508588e-04 1.33794195e-03 9.99998998e-01 -1.77440145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.505898227 meters Centerline goodness [0,1] 0.6281043090702607 Centerline is valid? [False, False] Translation: X:28.51, Y:-1.48, Z:-0.18 [[ 9.99998624e-01 8.40149958e-04 -1.43071381e-03 2.85063462e+01] [-8.37904267e-04 9.99998417e-01 1.56950652e-03 -1.48449088e+00] [ 1.43203017e-03 -1.56830556e-03 9.99997745e-01 -1.78122839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.535898227 meters Centerline goodness [0,1] 0.5793823680164019 Centerline is valid? [False, False] Translation: X:28.51, Y:-1.48, Z:-0.18 [[ 9.99998735e-01 6.35907924e-04 -1.45767653e-03 2.85068556e+01] [-6.34471508e-04 9.99999313e-01 9.85665438e-04 -1.48173596e+00] [ 1.45830232e-03 -9.84739338e-04 9.99998452e-01 -1.78876266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.565898227 meters Centerline goodness [0,1] 0.5577341583102198 Centerline is valid? [False, False] Translation: X:28.51, Y:-1.48, Z:-0.18 [[ 9.99998956e-01 4.54727656e-04 -1.37165233e-03 2.85066361e+01] [-4.54160228e-04 9.99999811e-01 4.13965220e-04 -1.47889515e+00] [ 1.37184031e-03 -4.13341838e-04 9.99998974e-01 -1.78977820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.595898227 meters Centerline goodness [0,1] 0.605557323151978 Centerline is valid? [False, False] Translation: X:28.51, Y:-1.48, Z:-0.18 [[ 9.99999059e-01 3.25457384e-04 -1.33245481e-03 2.85064581e+01] [-3.25548048e-04 9.99999945e-01 -6.78263220e-05 -1.47645671e+00] [ 1.33243266e-03 6.82600363e-05 9.99999110e-01 -1.78912125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.625898227 meters Centerline goodness [0,1] 0.5291311754684838 Centerline is valid? [False, False] Translation: X:28.51, Y:-1.47, Z:-0.18 [[ 9.99999310e-01 2.18735550e-04 -1.15420711e-03 2.85056421e+01] [-2.19366294e-04 9.99999827e-01 -5.46375354e-04 -1.47382619e+00] [ 1.15408740e-03 5.46628171e-04 9.99999185e-01 -1.78551731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.655898227 meters Centerline goodness [0,1] 0.7426203379024545 Centerline is valid? [False, False] Translation: X:28.51, Y:-1.47, Z:-0.18 [[ 9.99999246e-01 7.02977189e-05 -1.22630860e-03 2.85059718e+01] [-7.12253364e-05 9.99999711e-01 -7.56403460e-04 -1.47301529e+00] [ 1.22625507e-03 7.56490234e-04 9.99998962e-01 -1.78714850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.685898227 meters Centerline goodness [0,1] 0.8086697522927917 Centerline is valid? [False, False] Translation: X:28.50, Y:-1.47, Z:-0.18 [[ 9.99996224e-01 -2.69796902e-03 -5.23247891e-04 2.85012279e+01] [ 2.69604510e-03 9.99989729e-01 -3.64337754e-03 -1.47135154e+00] [ 5.33072236e-04 3.64195308e-03 9.99993226e-01 -1.75968793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.715898227 meters Centerline goodness [0,1] 0.7485574883326263 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.47, Z:-0.17 [[ 9.99962125e-01 -8.51326028e-03 1.80901475e-03 2.85204061e+01] [ 8.51160804e-03 9.99963353e-01 9.19083336e-04 -1.47308065e+00] [-1.81677286e-03 -9.03650901e-04 9.99997941e-01 -1.74674141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.745898227 meters Centerline goodness [0,1] 0.9352205960901613 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.48, Z:-0.17 [[ 9.99960720e-01 -8.70597120e-03 1.66269706e-03 2.85202577e+01] [ 8.70326941e-03 9.99960805e-01 1.62532230e-03 -1.47753560e+00] [-1.67678190e-03 -1.61078756e-03 9.99997297e-01 -1.73374940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.775898227 meters Centerline goodness [0,1] 0.8885844748858447 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.48, Z:-0.17 [[ 9.99958556e-01 -9.01009297e-03 1.30555031e-03 2.85210672e+01] [ 9.00732278e-03 9.99957202e-01 2.11242425e-03 -1.48128326e+00] [-1.32452758e-03 -2.10057718e-03 9.99996917e-01 -1.72682100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.805898227 meters Centerline goodness [0,1] 0.9316000588025285 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.48, Z:-0.17 [[ 9.99908387e-01 -1.34457346e-02 1.55893055e-03 2.85208450e+01] [ 1.34495824e-02 9.99906463e-01 -2.48464466e-03 -1.47994043e+00] [-1.52537686e-03 2.50538400e-03 9.99995698e-01 -1.73429269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.835898227 meters Centerline goodness [0,1] 0.8853361566966649 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.48, Z:-0.17 [[ 9.99908161e-01 -1.34636899e-02 1.54866181e-03 2.85210086e+01] [ 1.34676505e-02 9.99905989e-01 -2.57607521e-03 -1.47943149e+00] [-1.51383274e-03 2.59669546e-03 9.99995483e-01 -1.73637314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.865898227 meters Centerline goodness [0,1] 0.9034153120525562 Centerline is valid? [False, False] Translation: X:28.52, Y:-1.48, Z:-0.17 [[ 9.99908045e-01 -1.34880415e-02 1.40544426e-03 2.85216534e+01] [ 1.34919692e-02 9.99904992e-01 -2.82367962e-03 -1.47810447e+00] [-1.36722482e-03 2.84238217e-03 9.99995026e-01 -1.74020074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.895898226999996 meters Centerline goodness [0,1] 0.962360992301112 Centerline is valid? [False, True] Translation: X:28.51, Y:-1.47, Z:-0.18 [[ 9.99883198e-01 -1.41105702e-02 5.87213795e-03 2.85066462e+01] [ 1.41662625e-02 9.99854016e-01 -9.55318749e-03 -1.47383745e+00] [-5.73647979e-03 9.63525791e-03 9.99937125e-01 -1.81995336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.925898227 meters Centerline goodness [0,1] 0.9398911804554937 Centerline is valid? [True, False] Translation: X:28.51, Y:-1.47, Z:-0.18 [[ 9.99935623e-01 -9.89595742e-03 5.55158854e-03 2.85074818e+01] [ 9.92461710e-03 9.99937442e-01 -5.15885390e-03 -1.47452409e+00] [-5.50018945e-03 5.21361917e-03 9.99971283e-01 -1.82011620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.955898227 meters Centerline goodness [0,1] 0.9583377594595168 Centerline is valid? [False, True] Translation: X:28.51, Y:-1.47, Z:-0.18 [[ 9.99935654e-01 -9.96100391e-03 5.42828232e-03 2.85079888e+01] [ 9.99007612e-03 9.99935758e-01 -5.35515650e-03 -1.47358205e+00] [-5.37459086e-03 5.40904087e-03 9.99970928e-01 -1.82268371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.985898227 meters Centerline goodness [0,1] 0.935226581029742 Centerline is valid? [True, False] Translation: X:28.55, Y:-1.47, Z:-0.18 [[ 9.99940095e-01 -9.43720655e-03 5.54495571e-03 2.85503122e+01] [ 9.48494778e-03 9.99917624e-01 -8.64757555e-03 -1.46939117e+00] [-5.46288999e-03 8.69965113e-03 9.99947235e-01 -1.83373243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.015898227 meters Centerline goodness [0,1] 0.9595725696804894 Centerline is valid? [False, True] Translation: X:28.52, Y:-1.48, Z:-0.17 [[ 9.99955513e-01 -9.40683681e-03 6.95201115e-04 2.85244831e+01] [ 9.40513400e-03 9.99952858e-01 2.41335220e-03 -1.47666809e+00] [-7.17870352e-04 -2.40670638e-03 9.99996846e-01 -1.74849314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.045898227 meters Centerline goodness [0,1] 0.9830010850371252 Centerline is valid? [True, True] Translation: X:28.55, Y:-1.48, Z:-0.17 [[ 9.99950223e-01 -9.82576681e-03 1.73376143e-03 2.85537247e+01] [ 9.82554313e-03 9.99951719e-01 1.37485997e-04 -1.47736709e+00] [-1.73502863e-03 -1.20444006e-04 9.99998488e-01 -1.74451242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.075898226999996 meters Centerline goodness [0,1] 0.9570617158358765 Centerline is valid? [True, True] Translation: X:28.58, Y:-1.46, Z:-0.17 [[ 9.99949877e-01 -9.76049356e-03 2.23089881e-03 2.85808892e+01] [ 9.76012227e-03 9.99952353e-01 1.77260223e-04 -1.46446872e+00] [-2.23252267e-03 -1.55477493e-04 9.99997496e-01 -1.74333730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.105898227 meters Centerline goodness [0,1] 0.9774342990115497 Centerline is valid? [True, True] Translation: X:28.61, Y:-1.46, Z:-0.17 [[ 9.99958701e-01 -8.86975239e-03 1.98080965e-03 2.86104458e+01] [ 8.86945776e-03 9.99960653e-01 1.57476448e-04 -1.45959961e+00] [-1.98212849e-03 -1.39901237e-04 9.99998026e-01 -1.74995935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.135898227 meters Centerline goodness [0,1] 0.9756525835670999 Centerline is valid? [True, True] Translation: X:28.64, Y:-1.45, Z:-0.18 [[ 9.99959797e-01 -8.87503740e-03 1.27952158e-03 2.86385704e+01] [ 8.87491447e-03 9.99960612e-01 1.01719483e-04 -1.45447302e+00] [-1.28037394e-03 -9.03597494e-05 9.99999176e-01 -1.76122723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.165898227 meters Centerline goodness [0,1] 0.9774133860779685 Centerline is valid? [True, True] Translation: X:28.67, Y:-1.45, Z:-0.18 [[ 9.99933810e-01 -1.15053415e-02 -5.15198569e-05 2.86680512e+01] [ 1.15053413e-02 9.99933811e-01 -4.12621099e-06 -1.44907539e+00] [ 5.15639204e-05 3.53318434e-06 9.99999999e-01 -1.78933619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.195898227 meters Centerline goodness [0,1] 0.9831280580394803 Centerline is valid? [True, True] Translation: X:28.70, Y:-1.45, Z:-0.18 [[ 9.99898637e-01 -1.42377204e-02 -5.21667885e-05 2.86986596e+01] [ 1.42377202e-02 9.99898639e-01 -4.16074027e-06 -1.44750935e+00] [ 5.22207403e-05 3.41758239e-06 9.99999999e-01 -1.79126018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.225898227 meters Centerline goodness [0,1] 0.8626978082423626 Centerline is valid? [True, False] Translation: X:28.70, Y:-1.45, Z:-0.18 [[ 9.99896345e-01 -1.43964780e-02 -1.99443691e-04 2.86988171e+01] [ 1.43965341e-02 9.99896325e-01 2.82653221e-04 -1.44946373e+00] [ 1.95353803e-04 -2.85495221e-04 9.99999940e-01 -1.78574788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.255898226999996 meters Centerline goodness [0,1] 0.9985593876322353 Centerline is valid? [False, True] Translation: X:28.70, Y:-1.45, Z:-0.18 [[ 9.99823947e-01 -1.87636598e-02 1.90705835e-05 2.86984649e+01] [ 1.87635780e-02 9.99815381e-01 -4.13897650e-03 -1.44894116e+00] [ 5.85952843e-05 4.13860565e-03 9.99991434e-01 -1.78804944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.285898227 meters Centerline goodness [0,1] 0.999553086892677 Centerline is valid? [True, True] Translation: X:28.73, Y:-1.46, Z:-0.17 [[ 9.99642059e-01 -2.67443897e-02 7.01324589e-04 2.87284145e+01] [ 2.67443593e-02 9.99642304e-01 5.27070934e-05 -1.45724369e+00] [-7.02483347e-04 -3.39317506e-05 9.99999753e-01 -1.74942386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.315898227 meters Centerline goodness [0,1] 0.9996160573354379 Centerline is valid? [True, True] Translation: X:28.76, Y:-1.46, Z:-0.17 [[ 9.99600676e-01 -2.82181101e-02 1.49202857e-03 2.87573749e+01] [ 2.82179740e-02 9.99601787e-01 1.12199797e-04 -1.45711096e+00] [-1.49460049e-03 -7.00529696e-05 9.99998881e-01 -1.72692256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.345898227 meters Centerline goodness [0,1] 0.9996614974506527 Centerline is valid? [True, True] Translation: X:28.79, Y:-1.45, Z:-0.17 [[ 9.99658485e-01 -2.60326458e-02 2.28373860e-03 2.87860784e+01] [ 2.60323211e-02 9.99661087e-01 1.71790913e-04 -1.44898444e+00] [-2.28743679e-03 -1.12281227e-04 9.99997378e-01 -1.68332098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.375898227 meters Centerline goodness [0,1] 0.9984428327645051 Centerline is valid? [True, True] Translation: X:28.82, Y:-1.44, Z:-0.17 [[ 9.99728285e-01 -2.32882608e-02 1.00646671e-03 2.88155801e+01] [ 2.32881963e-02 9.99728790e-01 7.57214658e-05 -1.44137251e+00] [-1.00795717e-03 -5.22620967e-05 9.99999491e-01 -1.73618475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.405898227 meters Centerline goodness [0,1] 0.9943822624743678 Centerline is valid? [True, True] Translation: X:28.85, Y:-1.44, Z:-0.18 [[ 9.99832513e-01 -1.82914794e-02 -6.06262155e-04 2.88455808e+01] [ 1.82914551e-02 9.99832696e-01 -4.56117288e-05 -1.43503269e+00] [ 6.06995031e-04 3.45146724e-05 9.99999815e-01 -1.75330049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.435898227 meters Centerline goodness [0,1] 0.9778231379303013 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.42, Z:-0.17 [[ 9.99968646e-01 -7.88972071e-03 6.77476822e-04 2.88749749e+01] [ 7.88968798e-03 9.99968875e-01 5.09748249e-05 -1.42090768e+00] [-6.77857912e-04 -4.56281459e-05 9.99999769e-01 -1.69026713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.465898227 meters Centerline goodness [0,1] 0.9681546347714651 Centerline is valid? [True, True] Translation: X:28.90, Y:-1.41, Z:-0.17 [[ 9.99985170e-01 -5.02326209e-03 2.10415173e-03 2.89037983e+01] [ 5.02293996e-03 9.99987372e-01 1.58346646e-04 -1.41327454e+00] [-2.10492057e-03 -1.47775270e-04 9.99997774e-01 -1.66863710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.495898227 meters Centerline goodness [0,1] 0.8390382615707829 Centerline is valid? [True, False] Translation: X:28.90, Y:-1.41, Z:-0.17 [[ 9.99984102e-01 -5.13994789e-03 2.31892274e-03 2.89032183e+01] [ 5.14110074e-03 9.99986664e-01 -4.91461407e-04 -1.40972474e+00] [-2.31636573e-03 5.03375409e-04 9.99997191e-01 -1.67116687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.525898227 meters Centerline goodness [0,1] 0.9527218493661447 Centerline is valid? [False, True] Translation: X:28.90, Y:-1.41, Z:-0.17 [[ 9.99982958e-01 -5.28275465e-03 2.48510200e-03 2.89029142e+01] [ 5.28506629e-03 9.99985607e-01 -9.24550779e-04 -1.40755787e+00] [-2.48018206e-03 9.37668952e-04 9.99996485e-01 -1.67565647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.555898227 meters Centerline goodness [0,1] 0.8769834606666107 Centerline is valid? [True, False] Translation: X:28.95, Y:-1.40, Z:-0.17 [[ 9.99977424e-01 -6.40060030e-03 2.04566555e-03 2.89467919e+01] [ 6.41281696e-03 9.99961303e-01 -6.02228090e-03 -1.40081388e+00] [-2.00704018e-03 6.03526342e-03 9.99979773e-01 -1.69584283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.585898227 meters Centerline goodness [0,1] 0.9661489955476024 Centerline is valid? [False, True] Translation: X:28.91, Y:-1.41, Z:-0.17 [[ 9.99978221e-01 -6.59351408e-03 2.87169870e-04 2.89079460e+01] [ 6.59393838e-03 9.99977131e-01 -1.50254449e-03 -1.40686718e+00] [-2.77256254e-04 1.50440535e-03 9.99998830e-01 -1.69597105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.615898227 meters Centerline goodness [0,1] 0.9898402555910543 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.41, Z:-0.17 [[ 9.99951902e-01 -9.72071167e-03 -1.30402234e-03 2.89386886e+01] [ 9.72059351e-03 9.99952749e-01 -9.69158164e-05 -1.41147695e+00] [ 1.30490282e-03 8.42352839e-05 9.99999145e-01 -1.70608047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.645898226999996 meters Centerline goodness [0,1] 0.9966111028742084 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.41, Z:-0.17 [[ 9.99880778e-01 -1.53963567e-02 -1.17579556e-03 2.89680606e+01] [ 1.53962646e-02 9.99881467e-01 -8.73842487e-05 -1.41060618e+00] [ 1.17700159e-03 6.92709710e-05 9.99999305e-01 -1.70562684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.675898227 meters Centerline goodness [0,1] 0.9970649718110602 Centerline is valid? [True, True] Translation: X:29.00, Y:-1.41, Z:-0.17 [[ 9.99840864e-01 -1.78348340e-02 -4.07513099e-04 2.89967699e+01] [ 1.78348232e-02 9.99840946e-01 -3.02525008e-05 -1.40768083e+00] [ 4.07987831e-04 2.29797624e-05 9.99999917e-01 -1.69460066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.705898227 meters Centerline goodness [0,1] 0.9985299367872819 Centerline is valid? [True, True] Translation: X:29.03, Y:-1.41, Z:-0.17 [[ 9.99810570e-01 -1.94625236e-02 -1.86849147e-04 2.90267455e+01] [ 1.94625214e-02 9.99810587e-01 -1.38712853e-05 -1.40656235e+00] [ 1.87083726e-04 1.02321021e-05 9.99999982e-01 -1.68658470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.735898227 meters Centerline goodness [0,1] 0.9995553955920649 Centerline is valid? [True, True] Translation: X:29.06, Y:-1.41, Z:-0.17 [[ 9.99782314e-01 -2.08502617e-02 -7.68739868e-04 2.90560611e+01] [ 2.08502240e-02 9.99782609e-01 -5.69689886e-05 -1.40606132e+00] [ 7.69760569e-04 4.09281888e-05 9.99999703e-01 -1.68613344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.765898227 meters Centerline goodness [0,1] 0.9988880573078157 Centerline is valid? [True, True] Translation: X:29.08, Y:-1.40, Z:-0.17 [[ 9.99782987e-01 -2.08125785e-02 -9.02587446e-04 2.90837939e+01] [ 2.08125263e-02 9.99783394e-01 -6.71887987e-05 -1.39948208e+00] [ 9.03790312e-04 4.83890930e-05 9.99999590e-01 -1.68015449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.795898227 meters Centerline goodness [0,1] 0.9994670986720099 Centerline is valid? [True, True] Translation: X:29.11, Y:-1.40, Z:-0.17 [[ 9.99821378e-01 -1.87453316e-02 -2.41326557e-03 2.91137346e+01] [ 1.87449517e-02 9.99824282e-01 -1.79971272e-04 -1.39741444e+00] [ 2.41621513e-03 1.34702579e-04 9.99997072e-01 -1.70477776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.825898226999996 meters Centerline goodness [0,1] 0.9977899613243232 Centerline is valid? [True, True] Translation: X:29.14, Y:-1.39, Z:-0.17 [[ 9.99850418e-01 -1.70286495e-02 -3.02773418e-03 2.91411039e+01] [ 1.70280433e-02 9.99854987e-01 -2.25875079e-04 -1.38788267e+00] [ 3.03114147e-03 1.74284903e-04 9.99995391e-01 -1.71055216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.855898227 meters Centerline goodness [0,1] 0.9793188880490468 Centerline is valid? [True, True] Translation: X:29.17, Y:-1.37, Z:-0.17 [[ 9.99882204e-01 -1.49980595e-02 -3.26124638e-03 2.91692978e+01] [ 1.49973451e-02 9.99887504e-01 -2.43408985e-04 -1.37453413e+00] [ 3.26453016e-03 1.94470275e-04 9.99994652e-01 -1.71830035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.885898227 meters Centerline goodness [0,1] 0.988266303885724 Centerline is valid? [True, True] Translation: X:29.20, Y:-1.37, Z:-0.17 [[ 9.99918600e-01 -1.24424827e-02 -2.82463008e-03 2.91994250e+01] [ 1.24419366e-02 9.99922574e-01 -2.10841263e-04 -1.37166744e+00] [ 2.82703477e-03 1.75680232e-04 9.99995988e-01 -1.70500418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.915898227 meters Centerline goodness [0,1] 0.9487195861804713 Centerline is valid? [True, False] Translation: X:29.20, Y:-1.37, Z:-0.17 [[ 9.99961709e-01 -8.23081141e-03 -2.97240735e-03 2.91991666e+01] [ 8.24374308e-03 9.99956493e-01 4.36484458e-03 -1.37339577e+00] [ 2.93635182e-03 -4.38918121e-03 9.99986056e-01 -1.69390714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.945898227 meters Centerline goodness [0,1] 0.9771633341108119 Centerline is valid? [False, True] Translation: X:29.20, Y:-1.37, Z:-0.17 [[ 9.99961318e-01 -8.34019490e-03 -2.79350393e-03 2.91984873e+01] [ 8.35108169e-03 9.99957491e-01 3.90845748e-03 -1.37094411e+00] [ 2.76078788e-03 -3.93163507e-03 9.99988460e-01 -1.69254339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.975898227 meters Centerline goodness [0,1] 0.9771633341108119 Centerline is valid? [True, True] Translation: X:29.23, Y:-1.37, Z:-0.17 [[ 9.99960454e-01 -8.53582319e-03 -2.49614718e-03 2.92258583e+01] [ 8.53539716e-03 9.99963556e-01 -1.81278961e-04 -1.36698589e+00] [ 2.49760357e-03 1.59966184e-04 9.99996868e-01 -1.70125923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.005898226999996 meters Centerline goodness [0,1] 0.9748820604360576 Centerline is valid? [True, True] Translation: X:29.26, Y:-1.36, Z:-0.17 [[ 9.99971299e-01 -7.33481032e-03 -1.89789333e-03 2.92550418e+01] [ 7.33456102e-03 9.99973092e-01 -1.38285421e-04 -1.36335160e+00] [ 1.89885656e-03 1.24361238e-04 9.99998189e-01 -1.69129817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.035898227 meters Centerline goodness [0,1] 0.9717439762233309 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.36, Z:-0.17 [[ 9.99987165e-01 -4.66008875e-03 -1.98852866e-03 2.92847454e+01] [ 4.65980954e-03 9.99989133e-01 -1.45018017e-04 -1.35844908e+00] [ 1.98918284e-03 1.35749991e-04 9.99998012e-01 -1.68348101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.065898227 meters Centerline goodness [0,1] 0.9672834654033269 Centerline is valid? [True, True] Translation: X:29.31, Y:-1.35, Z:-0.17 [[ 9.99991256e-01 -3.61877614e-03 -2.09603391e-03 2.93143966e+01] [ 3.61846370e-03 9.99993442e-01 -1.52833840e-04 -1.35383708e+00] [ 2.09657324e-03 1.45248081e-04 9.99997792e-01 -1.68528391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.095898227 meters Centerline goodness [0,1] 0.9316552864837355 Centerline is valid? [True, False] Translation: X:29.31, Y:-1.35, Z:-0.17 [[ 9.99990867e-01 -3.74156680e-03 -2.06576789e-03 2.93145225e+01] [ 3.74041173e-03 9.99992846e-01 -5.62729109e-04 -1.35174369e+00] [ 2.06785860e-03 5.54997147e-04 9.99997708e-01 -1.68953933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.125898227 meters Centerline goodness [0,1] 0.9584691768416118 Centerline is valid? [False, True] Translation: X:29.31, Y:-1.35, Z:-0.17 [[ 9.99996062e-01 -2.49571357e-03 -1.28324571e-03 2.93096723e+01] [ 2.49627521e-03 9.99996789e-01 4.36253148e-04 -1.35097074e+00] [ 1.28215282e-03 -4.39454765e-04 9.99999081e-01 -1.66117964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.155898227 meters Centerline goodness [0,1] 0.7776041886585314 Centerline is valid? [True, False] Translation: X:29.31, Y:-1.35, Z:-0.17 [[ 9.99996052e-01 -2.51465321e-03 -1.25398958e-03 2.93096344e+01] [ 2.51500122e-03 9.99996799e-01 2.76022022e-04 -1.35012073e+00] [ 1.25329147e-03 -2.79174717e-04 9.99999176e-01 -1.66248676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.185898227 meters Centerline goodness [0,1] 0.7624650338451027 Centerline is valid? [False, False] Translation: X:29.31, Y:-1.35, Z:-0.17 [[ 9.99978041e-01 -6.57728738e-03 -8.10191611e-04 2.93087119e+01] [ 6.57340279e-03 9.99967315e-01 -4.70747013e-03 -1.34542570e+00] [ 8.41127513e-04 4.70204104e-03 9.99988592e-01 -1.67120216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.215898227 meters Centerline goodness [0,1] 0.7250550060880525 Centerline is valid? [False, False] Translation: X:29.31, Y:-1.35, Z:-0.17 [[ 9.99996203e-01 -2.41197424e-03 -1.33276998e-03 2.93103697e+01] [ 2.41175230e-03 9.99997078e-01 -1.68102530e-04 -1.34726102e+00] [ 1.33317155e-03 1.64887580e-04 9.99999098e-01 -1.67299356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.245898227 meters Centerline goodness [0,1] 0.7482737374381201 Centerline is valid? [False, False] Translation: X:29.31, Y:-1.35, Z:-0.17 [[ 9.99996089e-01 -2.41443190e-03 -1.41174364e-03 2.93107609e+01] [ 2.41411822e-03 9.99997061e-01 -2.23851292e-04 -1.34697876e+00] [ 1.41227997e-03 2.20442301e-04 9.99998978e-01 -1.67558079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.275898227 meters Centerline goodness [0,1] 0.8916251948995066 Centerline is valid? [False, False] Translation: X:29.31, Y:-1.35, Z:-0.17 [[ 9.99996195e-01 -2.37283405e-03 -1.40686148e-03 2.93105484e+01] [ 2.37261422e-03 9.99997173e-01 -1.57900826e-04 -1.34719657e+00] [ 1.40723217e-03 1.54562286e-04 9.99998998e-01 -1.67254639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.305898227 meters Centerline goodness [0,1] 0.724597398739683 Centerline is valid? [False, False] Translation: X:29.31, Y:-1.35, Z:-0.17 [[ 9.99996284e-01 -2.37441858e-03 -1.33981554e-03 2.93100063e+01] [ 2.37431724e-03 9.99997178e-01 -7.72257088e-05 -1.34758973e+00] [ 1.33999512e-03 7.40442746e-05 9.99999099e-01 -1.66688890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.335898227 meters Centerline goodness [0,1] 0.6755959902282874 Centerline is valid? [False, False] Translation: X:29.31, Y:-1.35, Z:-0.17 [[ 9.99996136e-01 -2.41565968e-03 -1.37547091e-03 2.93101029e+01] [ 2.41552224e-03 9.99997077e-01 -1.01572368e-04 -1.34755156e+00] [ 1.37571226e-03 9.82494953e-05 9.99999049e-01 -1.66670069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.365898227 meters Centerline goodness [0,1] 0.9289812571720005 Centerline is valid? [False, False] Translation: X:29.31, Y:-1.34, Z:-0.17 [[ 9.99976682e-01 -6.72647078e-03 -1.17888114e-03 2.93102444e+01] [ 6.72037659e-03 9.99964416e-01 -5.09936057e-03 -1.34359156e+00] [ 1.21313989e-03 5.09131914e-03 9.99986303e-01 -1.67968302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.395898226999996 meters Centerline goodness [0,1] 0.6598103266596418 Centerline is valid? [False, False] Translation: X:29.31, Y:-1.34, Z:-0.17 [[ 9.99977197e-01 -6.62767316e-03 -1.29622420e-03 2.93104559e+01] [ 6.62126933e-03 9.99966153e-01 -4.88379314e-03 -1.34457606e+00] [ 1.32854852e-03 4.87509912e-03 9.99987234e-01 -1.67698360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.425898227 meters Centerline goodness [0,1] 0.9614031323750268 Centerline is valid? [False, True] Translation: X:29.27, Y:-1.35, Z:-0.16 [[ 9.99985874e-01 -4.95404411e-03 -1.92571811e-03 2.92671397e+01] [ 4.95760367e-03 9.99986003e-01 1.84807156e-03 -1.35385897e+00] [ 1.91653573e-03 -1.85759240e-03 9.99996438e-01 -1.64564913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.455898227 meters Centerline goodness [0,1] 0.9046188350295157 Centerline is valid? [True, False] Translation: X:29.29, Y:-1.35, Z:-0.17 [[ 9.99986089e-01 -4.41364425e-03 2.88814859e-03 2.92894884e+01] [ 4.43745453e-03 9.99955789e-01 -8.29032167e-03 -1.35061802e+00] [-2.85143037e-03 8.30302238e-03 9.99961464e-01 -1.69986967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.485898227 meters Centerline goodness [0,1] 0.942533869286884 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.36, Z:-0.17 [[ 9.99987856e-01 -4.08433646e-03 2.75779397e-03 2.92894447e+01] [ 4.10375280e-03 9.99966573e-01 -7.07197010e-03 -1.35682523e+00] [-2.72881748e-03 7.08320152e-03 9.99971190e-01 -1.69169986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.515898227 meters Centerline goodness [0,1] 0.913972371612359 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.36, Z:-0.17 [[ 9.99989357e-01 -3.91464913e-03 2.44172697e-03 2.92906161e+01] [ 3.93039798e-03 9.99971288e-01 -6.47878039e-03 -1.35988291e+00] [-2.41629471e-03 6.48830839e-03 9.99976031e-01 -1.69493510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.545898227 meters Centerline goodness [0,1] 0.9216217933781007 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.37, Z:-0.17 [[ 9.99991992e-01 -3.42379875e-03 2.07211260e-03 2.92919917e+01] [ 3.43439397e-03 9.99980936e-01 -5.13147140e-03 -1.36658064e+00] [-2.05450397e-03 5.13854676e-03 9.99984687e-01 -1.69846126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.575898226999996 meters Centerline goodness [0,1] 0.9102208174945543 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.37, Z:-0.17 [[ 9.99993290e-01 -3.09216992e-03 1.96428827e-03 2.92922755e+01] [ 3.10077368e-03 9.99985547e-01 -4.39225178e-03 -1.37007112e+00] [-1.95067829e-03 4.39831312e-03 9.99988425e-01 -1.69738082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.605898227 meters Centerline goodness [0,1] 0.8816378074099441 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.37, Z:-0.17 [[ 9.99994489e-01 -2.72307824e-03 1.89922220e-03 2.92922459e+01] [ 2.72993794e-03 9.99989726e-01 -3.61865511e-03 -1.37355933e+00] [-1.88934881e-03 3.62381993e-03 9.99991649e-01 -1.69323740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.635898227 meters Centerline goodness [0,1] 0.8464762958549664 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.38, Z:-0.17 [[ 9.99995316e-01 -2.39125138e-03 1.91068318e-03 2.92922166e+01] [ 2.39702086e-03 9.99992558e-01 -3.02303133e-03 -1.37618359e+00] [-1.90344013e-03 3.02759712e-03 9.99993605e-01 -1.69297133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.665898227 meters Centerline goodness [0,1] 0.7032591498787049 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.38, Z:-0.17 [[ 9.99995384e-01 2.43699290e-03 1.81455500e-03 2.92923362e+01] [-2.44136992e-03 9.99994106e-01 2.41388056e-03 -1.38145241e+00] [-1.80866170e-03 -2.41829942e-03 9.99995440e-01 -1.68877802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.695898227 meters Centerline goodness [0,1] 0.5829661954774183 Centerline is valid? [False, False] Translation: X:29.33, Y:-1.38, Z:-0.17 [[ 9.99989447e-01 3.85035757e-03 2.50614192e-03 2.93323898e+01] [-3.84622034e-03 9.99991236e-01 -1.65356614e-03 -1.37504516e+00] [-2.51248677e-03 1.64390952e-03 9.99995492e-01 -1.70553133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.725898227 meters Centerline goodness [0,1] 0.49602054460173606 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.38, Z:-0.17 [[ 9.99977476e-01 6.71172535e-03 -1.80735621e-05 2.92945076e+01] [-6.71159329e-03 9.99968932e-01 4.13393532e-03 -1.37961222e+00] [ 4.58188391e-05 -4.13372090e-03 9.99991455e-01 -1.71845221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.755898226999996 meters Centerline goodness [0,1] 0.5584792823579667 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.37, Z:-0.17 [[ 9.99970552e-01 7.67382553e-03 8.54285655e-05 2.92947599e+01] [-7.67408574e-03 9.99963924e-01 3.64134230e-03 -1.37351987e+00] [-5.74824581e-05 -3.64189065e-03 9.99993367e-01 -1.73312239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.785898227 meters Centerline goodness [0,1] 0.46389589470783965 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.37, Z:-0.17 [[ 9.99970907e-01 7.62695971e-03 1.19894424e-04 2.92949745e+01] [-7.62728617e-03 9.99966379e-01 3.01084020e-03 -1.37007713e+00] [-9.69268357e-05 -3.01166708e-03 9.99995460e-01 -1.73967026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.815898227 meters Centerline goodness [0,1] 0.46951012076883825 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.37, Z:-0.17 [[ 9.99972272e-01 7.44320192e-03 2.31797634e-04 2.92947930e+01] [-7.44374158e-03 9.99969363e-01 2.42150324e-03 -1.36715819e+00] [-2.13766795e-04 -2.42316154e-03 9.99997041e-01 -1.74331155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.845898227 meters Centerline goodness [0,1] 0.6409060768753609 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.36, Z:-0.17 [[ 9.99973651e-01 7.25165495e-03 3.33797640e-04 2.92946353e+01] [-7.25229248e-03 9.99971800e-01 1.95009089e-03 -1.36488981e+00] [-3.19646840e-04 -1.95246031e-03 9.99998043e-01 -1.74652751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.875898227 meters Centerline goodness [0,1] 0.4370932069510268 Centerline is valid? [False, False] Translation: X:29.31, Y:-1.36, Z:-0.17 [[ 9.99966755e-01 7.20633183e-03 -3.81548229e-03 2.93098273e+01] [-7.17689410e-03 9.99944802e-01 7.67362026e-03 -1.36356038e+00] [ 3.87057034e-03 -7.64598183e-03 9.99963278e-01 -1.67152547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.905898227 meters Centerline goodness [0,1] 0.5364883079095442 Centerline is valid? [False, False] Translation: X:29.26, Y:-1.36, Z:-0.17 [[ 9.99990825e-01 3.70770519e-03 -2.14540800e-03 2.92636754e+01] [-3.69448884e-03 9.99974375e-01 6.13181419e-03 -1.36338564e+00] [ 2.16808799e-03 -6.12383175e-03 9.99978899e-01 -1.67046327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.935898227 meters Centerline goodness [0,1] 0.5593652954439103 Centerline is valid? [False, False] Translation: X:29.26, Y:-1.36, Z:-0.17 [[ 9.99991796e-01 3.52505914e-03 -1.99557824e-03 2.92625986e+01] [-3.51326029e-03 9.99976509e-01 5.88544183e-03 -1.36231265e+00] [ 2.01627789e-03 -5.87838256e-03 9.99980689e-01 -1.66031654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.965898227 meters Centerline goodness [0,1] 0.584277848006342 Centerline is valid? [False, False] Translation: X:29.26, Y:-1.36, Z:-0.16 [[ 9.99999067e-01 7.29433656e-04 -1.15510824e-03 2.92568486e+01] [-7.26188247e-04 9.99995795e-01 2.80754562e-03 -1.35930443e+00] [ 1.15715130e-03 -2.80670418e-03 9.99995392e-01 -1.62411193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.995898227 meters Centerline goodness [0,1] 0.6221025871093167 Centerline is valid? [False, False] Translation: X:29.26, Y:-1.36, Z:-0.16 [[ 9.99997774e-01 -6.89638429e-04 -1.99411443e-03 2.92608962e+01] [ 6.92336201e-04 9.99998846e-01 1.35249386e-03 -1.35600371e+00] [ 1.99317940e-03 -1.35387145e-03 9.99997097e-01 -1.64296598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.025898227 meters Centerline goodness [0,1] 0.6600767754318618 Centerline is valid? [False, False] Translation: X:29.26, Y:-1.36, Z:-0.17 [[ 9.99996993e-01 -8.98291208e-04 -2.28179160e-03 2.92622616e+01] [ 9.00976032e-04 9.99998903e-01 1.17587483e-03 -1.35569626e+00] [ 2.28073282e-03 -1.17792714e-03 9.99996705e-01 -1.65124144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.055898227 meters Centerline goodness [0,1] 0.7894134356517499 Centerline is valid? [False, False] Translation: X:29.26, Y:-1.36, Z:-0.17 [[ 9.99996317e-01 -1.15602702e-03 -2.45555296e-03 2.92631801e+01] [ 1.15827429e-03 9.99998912e-01 9.13954482e-04 -1.35500146e+00] [ 2.45449373e-03 -9.16795320e-04 9.99996567e-01 -1.65756617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.085898227 meters Centerline goodness [0,1] 0.7592711133871036 Centerline is valid? [False, False] Translation: X:29.26, Y:-1.35, Z:-0.17 [[ 9.99996257e-01 -1.22291301e-03 -2.44736218e-03 2.92629769e+01] [ 1.22488103e-03 9.99998928e-01 8.02803784e-04 -1.35445597e+00] [ 2.44637779e-03 -8.05798507e-04 9.99996683e-01 -1.65457267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.115898227 meters Centerline goodness [0,1] 0.8302136752136752 Centerline is valid? [False, False] Translation: X:29.26, Y:-1.35, Z:-0.16 [[ 9.99996173e-01 -1.24330355e-03 -2.47129147e-03 2.92627308e+01] [ 1.24528923e-03 9.99998903e-01 8.02121581e-04 -1.35445797e+00] [ 2.47029148e-03 -8.05195985e-04 9.99996625e-01 -1.64935766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.145898226999996 meters Centerline goodness [0,1] 0.7567807726484154 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.35, Z:-0.17 [[ 9.99996050e-01 -1.25555260e-03 2.51452581e-03 2.92867327e+01] [ 1.28030490e-03 9.99950506e-01 -9.86642604e-03 -1.34733222e+00] [-2.50201354e-03 9.86960643e-03 9.99948164e-01 -1.71707323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.175898227 meters Centerline goodness [0,1] 0.7962025048210388 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.35, Z:-0.17 [[ 9.99993208e-01 2.90358521e-03 2.26992277e-03 2.92871200e+01] [-2.89192299e-03 9.99982689e-01 -5.12422886e-03 -1.35008115e+00] [-2.28476211e-03 5.11762961e-03 9.99984295e-01 -1.70966859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.205898227 meters Centerline goodness [0,1] 0.7972200544177511 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.35, Z:-0.17 [[ 9.99984633e-01 5.39257818e-03 1.28623755e-03 2.92931719e+01] [-5.38947380e-03 9.99982585e-01 -2.40490844e-03 -1.35097808e+00] [-1.29918381e-03 2.39793934e-03 9.99996281e-01 -1.74290167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.235898227 meters Centerline goodness [0,1] 0.7721696311075265 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.35, Z:-0.18 [[ 9.99985354e-01 5.30353964e-03 1.07875123e-03 2.92945248e+01] [-5.30064004e-03 9.99982378e-01 -2.67324685e-03 -1.34979411e+00] [-1.09290989e-03 2.66748963e-03 9.99995845e-01 -1.75476275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.265898227 meters Centerline goodness [0,1] 0.5233765137769526 Centerline is valid? [False, False] Translation: X:29.30, Y:-1.35, Z:-0.18 [[ 9.99986152e-01 5.21177426e-03 7.29716457e-04 2.92964226e+01] [-5.20959938e-03 9.99982075e-01 -2.95127480e-03 -1.34864196e+00] [-7.45084755e-04 2.94743241e-03 9.99995379e-01 -1.76839044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.295898227 meters Centerline goodness [0,1] 0.6829112304937324 Centerline is valid? [False, False] Translation: X:29.28, Y:-1.35, Z:-0.17 [[ 9.99960364e-01 7.18686869e-03 -5.25544612e-03 2.92766500e+01] [-7.13419301e-03 9.99924808e-01 9.97404536e-03 -1.35418588e+00] [ 5.32673311e-03 -9.93615666e-03 9.99936447e-01 -1.71533580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.325898226999996 meters Centerline goodness [0,1] 0.6717291466410338 Centerline is valid? [False, False] Translation: X:29.28, Y:-1.35, Z:-0.17 [[ 9.99983863e-01 3.20070384e-03 -4.69358161e-03 2.92750153e+01] [-3.17843693e-03 9.99983696e-01 4.74392800e-03 -1.34766045e+00] [ 4.70868900e-03 -4.72893319e-03 9.99977732e-01 -1.72074974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.355898227 meters Centerline goodness [0,1] 0.6771705409884833 Centerline is valid? [False, False] Translation: X:29.27, Y:-1.34, Z:-0.17 [[ 9.99985274e-01 3.05965230e-03 -4.48224743e-03 2.92738746e+01] [-3.04108682e-03 9.99986794e-01 4.14297967e-03 -1.34443641e+00] [ 4.49486432e-03 -4.12928775e-03 9.99981372e-01 -1.71329532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.385898227 meters Centerline goodness [0,1] 0.7302159044617397 Centerline is valid? [False, False] Translation: X:29.27, Y:-1.34, Z:-0.17 [[ 9.99987338e-01 2.99192725e-03 -4.04622242e-03 2.92719212e+01] [-2.97847319e-03 9.99990030e-01 3.32703904e-03 -1.33962808e+00] [ 4.05613633e-03 -3.31494535e-03 9.99986279e-01 -1.70324383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.415898227 meters Centerline goodness [0,1] 0.4863907062573394 Centerline is valid? [False, False] Translation: X:29.31, Y:-1.33, Z:-0.17 [[ 9.99991750e-01 2.85553828e-03 -2.88875489e-03 2.93125072e+01] [-2.85963542e-03 9.99994910e-01 -1.41517185e-03 -1.33070017e+00] [ 2.88469910e-03 1.42342096e-03 9.99994826e-01 -1.71476542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.445898227 meters Centerline goodness [0,1] 0.6064215101414692 Centerline is valid? [False, False] Translation: X:29.27, Y:-1.33, Z:-0.17 [[ 9.99991777e-01 1.89068590e-03 -3.58763740e-03 2.92703247e+01] [-1.89143311e-03 9.99998190e-01 -2.04892659e-04 -1.33138853e+00] [ 3.58724352e-03 2.11676750e-04 9.99993543e-01 -1.72187640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.475898227 meters Centerline goodness [0,1] 0.6099389228206552 Centerline is valid? [False, False] Translation: X:29.27, Y:-1.33, Z:-0.17 [[ 9.99993477e-01 1.39059909e-03 -3.33344203e-03 2.92696895e+01] [-1.39510908e-03 9.99998114e-01 -1.35100890e-03 -1.32593877e+00] [ 3.33155703e-03 1.35565060e-03 9.99993531e-01 -1.72567924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.505898226999996 meters Centerline goodness [0,1] 0.6473570032433361 Centerline is valid? [False, False] Translation: X:29.27, Y:-1.32, Z:-0.17 [[ 9.99993964e-01 1.21886643e-03 -3.25362594e-03 2.92693302e+01] [-1.22439871e-03 9.99997807e-01 -1.69889264e-03 -1.32432657e+00] [ 3.25154809e-03 1.70286612e-03 9.99993264e-01 -1.72426875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.535898227 meters Centerline goodness [0,1] 0.7253726886903111 Centerline is valid? [False, False] Translation: X:29.27, Y:-1.32, Z:-0.17 [[ 9.99993980e-01 7.27607383e-04 -3.39285248e-03 2.92692383e+01] [-7.35235630e-04 9.99997204e-01 -2.24762342e-03 -1.32240868e+00] [ 3.39120761e-03 2.25010443e-03 9.99991718e-01 -1.71581049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.565898227 meters Centerline goodness [0,1] 0.6822441742654508 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.32, Z:-0.16 [[ 9.99968716e-01 7.30812112e-04 -7.87612426e-03 2.92851028e+01] [-6.98873377e-04 9.99991526e-01 4.05712304e-03 -1.32437246e+00] [ 7.87902251e-03 -4.05149171e-03 9.99960752e-01 -1.63809065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.595898227 meters Centerline goodness [0,1] 0.6926854046732136 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.33, Z:-0.16 [[ 9.99967723e-01 7.64376655e-04 -7.99803906e-03 2.92852518e+01] [-7.29664643e-04 9.99990307e-01 4.34208357e-03 -1.32594932e+00] [ 8.00128052e-03 -4.33610754e-03 9.99958588e-01 -1.63379559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.625898227 meters Centerline goodness [0,1] 0.7997415473264977 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.33, Z:-0.16 [[ 9.99962617e-01 -3.48688691e-03 -7.91241780e-03 2.92853043e+01] [ 3.48805789e-03 9.99993908e-01 1.34197113e-04 -1.32635750e+00] [ 7.91190167e-03 -1.61791067e-04 9.99968687e-01 -1.63939595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.655898227 meters Centerline goodness [0,1] 0.8169413470353709 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.33, Z:-0.16 [[ 9.99962832e-01 -3.37047930e-03 -7.93570499e-03 2.92854234e+01] [ 3.37466555e-03 9.99994174e-01 5.14188722e-04 -1.32824208e+00] [ 7.93392569e-03 -5.40949961e-04 9.99968380e-01 -1.64023075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.685898227 meters Centerline goodness [0,1] 0.7382574475287745 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.33, Z:-0.16 [[ 9.99962412e-01 -3.37722246e-03 -7.98556950e-03 2.92858707e+01] [ 3.38227765e-03 9.99994088e-01 6.19620452e-04 -1.32894364e+00] [ 7.98342969e-03 -6.46606575e-04 9.99967923e-01 -1.64470129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.715898227 meters Centerline goodness [0,1] 0.8195439185599218 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.33, Z:-0.17 [[ 9.99962122e-01 -3.32742269e-03 -8.04252422e-03 2.92863600e+01] [ 3.33355839e-03 9.99994163e-01 7.49621710e-04 -1.32959372e+00] [ 8.03998296e-03 -7.76403540e-04 9.99967377e-01 -1.65016795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.745898227 meters Centerline goodness [0,1] 0.7325598596758174 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.33, Z:-0.17 [[ 9.99959115e-01 -3.21740600e-03 -8.45088090e-03 2.92882438e+01] [ 3.22658265e-03 9.99994219e-01 1.07247122e-03 -1.33136579e+00] [ 8.44738148e-03 -1.09969484e-03 9.99963716e-01 -1.65962210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.775898227 meters Centerline goodness [0,1] 0.6892143977614789 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.33, Z:-0.17 [[ 9.99958332e-01 -3.13595143e-03 -8.57321799e-03 2.92887617e+01] [ 3.14630725e-03 9.99994337e-01 1.19470711e-03 -1.33192039e+00] [ 8.56942289e-03 -1.22163131e-03 9.99962536e-01 -1.66146151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.805898227 meters Centerline goodness [0,1] 0.8395655383317515 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.33, Z:-0.17 [[ 9.99957604e-01 -3.08947663e-03 -8.67445288e-03 2.92891926e+01] [ 3.09949816e-03 9.99994544e-01 1.14208668e-03 -1.33153276e+00] [ 8.67087711e-03 -1.16892471e-03 9.99961724e-01 -1.66324008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.835898227 meters Centerline goodness [0,1] 0.7818711956753075 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.33, Z:-0.17 [[ 9.99959845e-01 -2.73436445e-03 -8.53410593e-03 2.92887001e+01] [ 2.74362137e-03 9.99995660e-01 1.07317762e-03 -1.33007494e+00] [ 8.53113443e-03 -1.09654888e-03 9.99963008e-01 -1.66225130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.865898227 meters Centerline goodness [0,1] 0.7871254351679802 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.33, Z:-0.17 [[ 9.99960419e-01 -2.74572790e-03 -8.46288458e-03 2.92885650e+01] [ 2.75272544e-03 9.99995879e-01 8.15312865e-04 -1.32857393e+00] [ 8.46061108e-03 -8.38576592e-04 9.99963857e-01 -1.66433211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.895898226999996 meters Centerline goodness [0,1] 0.7871254351679802 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.33, Z:-0.17 [[ 9.99960419e-01 -2.74572790e-03 -8.46288458e-03 2.92885650e+01] [ 2.75272544e-03 9.99995879e-01 8.15312865e-04 -1.32857393e+00] [ 8.46061108e-03 -8.38576592e-04 9.99963857e-01 -1.66433211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.925898227 meters Centerline goodness [0,1] 0.8673467191770504 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.33, Z:-0.17 [[ 9.99960411e-01 -2.86566589e-03 -8.42401341e-03 2.92886017e+01] [ 2.86929709e-03 9.99995796e-01 4.18999416e-04 -1.32653316e+00] [ 8.42277729e-03 -4.43153826e-04 9.99964430e-01 -1.66748236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.955898227 meters Centerline goodness [0,1] 0.7186885946176848 Centerline is valid? [False, False] Translation: X:29.29, Y:-1.32, Z:-0.17 [[ 9.99958677e-01 -3.22404150e-04 -9.08517693e-03 2.92930324e+01] [ 3.47893213e-04 9.99996008e-01 2.80412523e-03 -1.32331974e+00] [ 9.08423660e-03 -2.80717003e-03 9.99954797e-01 -1.69585698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.985898227 meters Centerline goodness [0,1] 0.5429458795878539 Centerline is valid? [False, False] Translation: X:29.33, Y:-1.32, Z:-0.17 [[ 9.99976835e-01 -3.16813251e-04 -6.79918725e-03 2.93308251e+01] [ 3.12458253e-04 9.99999745e-01 -6.41570132e-04 -1.31605714e+00] [ 6.79938878e-03 6.39430807e-04 9.99976679e-01 -1.68153341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.015898227 meters Centerline goodness [0,1] 0.715098925464779 Centerline is valid? [False, False] Translation: X:29.28, Y:-1.32, Z:-0.17 [[ 9.99987930e-01 -1.47056988e-03 -4.68802115e-03 2.92838155e+01] [ 1.47572494e-03 9.99998310e-01 1.09635452e-03 -1.31872537e+00] [ 4.68640097e-03 -1.10325952e-03 9.99988410e-01 -1.66933047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.045898227 meters Centerline goodness [0,1] 0.8051859287895939 Centerline is valid? [False, False] Translation: X:29.28, Y:-1.32, Z:-0.17 [[ 9.99986605e-01 -1.68970949e-03 -4.89241163e-03 2.92839233e+01] [ 1.69452633e-03 9.99998084e-01 9.80575532e-04 -1.31849185e+00] [ 4.89074536e-03 -9.88852717e-04 9.99987551e-01 -1.65988439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.075898226999996 meters Centerline goodness [0,1] 0.7560309801929914 Centerline is valid? [False, False] Translation: X:29.28, Y:-1.32, Z:-0.17 [[ 9.99985161e-01 -1.85508599e-03 -5.12222392e-03 2.92848687e+01] [ 1.86013756e-03 9.99997788e-01 9.81618337e-04 -1.31902066e+00] [ 5.12039160e-03 -9.91131811e-04 9.99986400e-01 -1.66384680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.105898227 meters Centerline goodness [0,1] 0.9206022831930434 Centerline is valid? [False, False] Translation: X:29.28, Y:-1.32, Z:-0.16 [[ 9.99978956e-01 -4.91725693e-03 -4.23191934e-03 2.92801510e+01] [ 4.90711357e-03 9.99985071e-01 -2.40392399e-03 -1.31768586e+00] [ 4.24367687e-03 2.38310689e-03 9.99988156e-01 -1.64229817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.135898227 meters Centerline goodness [0,1] 0.8958275707993787 Centerline is valid? [False, False] Translation: X:29.28, Y:-1.32, Z:-0.16 [[ 9.99980164e-01 -4.98129260e-03 -3.85463704e-03 2.92783477e+01] [ 4.97257002e-03 9.99985062e-01 -2.26916392e-03 -1.31847497e+00] [ 3.86588283e-03 2.24995146e-03 9.99989996e-01 -1.63191289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.165898227 meters Centerline goodness [0,1] 0.8690046633327003 Centerline is valid? [False, False] Translation: X:29.28, Y:-1.32, Z:-0.16 [[ 9.99980468e-01 -4.97587619e-03 -3.78211435e-03 2.92778775e+01] [ 4.96755738e-03 9.99985229e-01 -2.20573559e-03 -1.31874598e+00] [ 3.79303395e-03 2.18690464e-03 9.99990415e-01 -1.62819120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.195898227 meters Centerline goodness [0,1] 0.8548936895479142 Centerline is valid? [False, False] Translation: X:29.28, Y:-1.32, Z:-0.16 [[ 9.99980410e-01 -4.94338229e-03 -3.83962568e-03 2.92780728e+01] [ 4.93525512e-03 9.99985567e-01 -2.12325564e-03 -1.31909495e+00] [ 3.85006633e-03 2.10426451e-03 9.99990374e-01 -1.62855774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.225898227 meters Centerline goodness [0,1] 0.8880871105733915 Centerline is valid? [False, False] Translation: X:29.24, Y:-1.33, Z:-0.16 [[ 9.99977143e-01 -4.11621230e-03 -5.36383502e-03 2.92383757e+01] [ 4.12903668e-03 9.99988638e-01 2.38202022e-03 -1.32549015e+00] [ 5.35396918e-03 -2.40411324e-03 9.99982777e-01 -1.63580437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.255898226999996 meters Centerline goodness [0,1] 0.8207884546204796 Centerline is valid? [False, False] Translation: X:29.28, Y:-1.32, Z:-0.17 [[ 9.99977343e-01 -3.04318983e-03 -6.00443705e-03 2.92833313e+01] [ 3.04534447e-03 9.99995302e-01 3.49730193e-04 -1.32236580e+00] [ 6.00334454e-03 -3.68007848e-04 9.99981912e-01 -1.65082467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.285898227 meters Centerline goodness [0,1] 0.7085951645542656 Centerline is valid? [False, False] Translation: X:29.28, Y:-1.32, Z:-0.17 [[ 9.99977341e-01 -3.06232236e-03 -5.99496085e-03 2.92834548e+01] [ 3.06355076e-03 9.99995288e-01 1.95732934e-04 -1.32146444e+00] [ 5.99433321e-03 -2.14094365e-04 9.99982011e-01 -1.65365306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.315898227 meters Centerline goodness [0,1] 0.9204302911295142 Centerline is valid? [False, False] Translation: X:29.28, Y:-1.32, Z:-0.17 [[ 9.99977382e-01 -3.13464561e-03 -5.95052043e-03 2.92835981e+01] [ 3.13397620e-03 9.99995082e-01 -1.21816165e-04 -1.31976449e+00] [ 5.95087301e-03 1.03164621e-04 9.99982288e-01 -1.65884223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.345898227 meters Centerline goodness [0,1] 0.6880390424502503 Centerline is valid? [False, False] Translation: X:29.33, Y:-1.31, Z:-0.17 [[ 9.99980899e-01 -8.03902139e-04 -6.12820880e-03 2.93263870e+01] [ 7.91485621e-04 9.99997630e-01 -2.02828132e-03 -1.31476680e+00] [ 6.12982482e-03 2.02339219e-03 9.99979165e-01 -1.66867944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.375898227 meters Centerline goodness [0,1] 0.7548562219017728 Centerline is valid? [False, False] Translation: X:29.33, Y:-1.31, Z:-0.17 [[ 9.99980143e-01 -7.38599204e-04 -6.25841253e-03 2.93270250e+01] [ 7.25903366e-04 9.99997675e-01 -2.03063234e-03 -1.31461595e+00] [ 6.25989780e-03 2.02604902e-03 9.99978354e-01 -1.67252597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.405898227 meters Centerline goodness [0,1] 0.7879156269328386 Centerline is valid? [False, False] Translation: X:29.33, Y:-1.31, Z:-0.17 [[ 9.99979490e-01 -7.18801779e-04 -6.36411594e-03 2.93277117e+01] [ 7.05682371e-04 9.99997622e-01 -2.06347148e-03 -1.31445161e+00] [ 6.36558404e-03 2.05893811e-03 9.99977620e-01 -1.67880735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.435898227 meters Centerline goodness [0,1] 0.5639193132321225 Centerline is valid? [False, False] Translation: X:29.33, Y:-1.31, Z:-0.17 [[ 9.99978665e-01 -7.43553963e-04 -6.48968429e-03 2.93284368e+01] [ 7.29501433e-04 9.99997385e-01 -2.16746276e-03 -1.31395242e+00] [ 6.49127895e-03 2.16268228e-03 9.99976593e-01 -1.68418149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.465898227 meters Centerline goodness [0,1] 0.582843638221768 Centerline is valid? [False, False] Translation: X:29.33, Y:-1.31, Z:-0.17 [[ 9.99977373e-01 -8.09350276e-04 -6.67826804e-03 2.93297585e+01] [ 7.93909628e-04 9.99997007e-01 -2.31440090e-03 -1.31339583e+00] [ 6.68012121e-03 2.30904659e-03 9.99975022e-01 -1.69670392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.495898227 meters Centerline goodness [0,1] 0.7211823294552011 Centerline is valid? [False, False] Translation: X:29.33, Y:-1.31, Z:-0.17 [[ 9.99976453e-01 -7.65566189e-04 -6.81958161e-03 2.93305440e+01] [ 7.50840340e-04 9.99997382e-01 -2.16164653e-03 -1.31423147e+00] [ 6.82121864e-03 2.15647521e-03 9.99974410e-01 -1.70266423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.525898227 meters Centerline goodness [0,1] 0.6969489933172492 Centerline is valid? [False, False] Translation: X:29.33, Y:-1.31, Z:-0.17 [[ 9.99975744e-01 -7.38816788e-04 -6.92578098e-03 2.93311165e+01] [ 7.24647055e-04 9.99997640e-01 -2.04822630e-03 -1.31483966e+00] [ 6.92727790e-03 2.04315787e-03 9.99973919e-01 -1.70637962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.555898227 meters Centerline goodness [0,1] 0.6722506690266978 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.31, Z:-0.17 [[ 9.99990917e-01 1.57726754e-03 -3.95968764e-03 2.93663202e+01] [-1.58953085e-03 9.99993945e-01 -3.09580678e-03 -1.30799292e+00] [ 3.95478074e-03 3.10207271e-03 9.99987368e-01 -1.67921262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.585898227 meters Centerline goodness [0,1] 0.5994025745170095 Centerline is valid? [False, False] Translation: X:29.32, Y:-1.31, Z:-0.17 [[ 9.99992797e-01 2.71795046e-03 -2.64935657e-03 2.93198778e+01] [-2.71875971e-03 9.99996259e-01 -3.01899245e-04 -1.30883374e+00] [ 2.64852611e-03 3.09100035e-04 9.99996445e-01 -1.66908920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.615898227 meters Centerline goodness [0,1] 0.5601710704607046 Centerline is valid? [False, False] Translation: X:29.36, Y:-1.30, Z:-0.17 [[ 9.99990593e-01 4.24170314e-03 -9.06316591e-04 2.93580004e+01] [-4.24492764e-03 9.99984560e-01 -3.58600888e-03 -1.29868704e+00] [ 8.91091813e-04 3.58982239e-03 9.99993160e-01 -1.66783150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.645898226999996 meters Centerline goodness [0,1] 0.45341827354739406 Centerline is valid? [False, False] Translation: X:29.36, Y:-1.29, Z:-0.17 [[ 9.99965792e-01 8.24653362e-03 -6.40506256e-04 2.93575299e+01] [-8.24699299e-03 9.99965735e-01 -7.17891682e-04 -1.29095048e+00] [ 6.34564191e-04 7.23149375e-04 9.99999537e-01 -1.67336538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.675898227 meters Centerline goodness [0,1] 0.44979443055143475 Centerline is valid? [False, False] Translation: X:29.36, Y:-1.29, Z:-0.17 [[ 9.99924943e-01 1.22305147e-02 -7.22691688e-04 2.93578981e+01] [-1.22282414e-02 9.99920518e-01 3.07046292e-03 -1.28875893e+00] [ 7.60187589e-04 -3.06139522e-03 9.99995025e-01 -1.67328659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.705898227 meters Centerline goodness [0,1] 0.5869346733668341 Centerline is valid? [False, False] Translation: X:29.36, Y:-1.28, Z:-0.17 [[ 9.99876592e-01 1.57028147e-02 -4.72226016e-04 2.93567715e+01] [-1.56998422e-02 9.99860219e-01 5.74948341e-03 -1.28137848e+00] [ 5.62443081e-04 -5.74136000e-03 9.99983360e-01 -1.66678008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.735898227 meters Centerline goodness [0,1] 0.5054435353990852 Centerline is valid? [False, False] Translation: X:29.36, Y:-1.27, Z:-0.17 [[ 9.99938061e-01 1.11296558e-02 -6.44299932e-05 2.93555077e+01] [-1.11296604e-02 9.99938061e-01 -7.11327802e-05 -1.27315941e+00] [ 6.36343191e-05 7.18454583e-05 9.99999995e-01 -1.67171171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.765898227 meters Centerline goodness [0,1] 0.4292410007389422 Centerline is valid? [False, False] Translation: X:29.38, Y:-1.27, Z:-0.16 [[ 9.99946853e-01 1.03095370e-02 7.26248779e-05 2.93755280e+01] [-1.03097657e-02 9.99903285e-01 9.33430471e-03 -1.27160631e+00] [ 2.36145055e-05 -9.33455737e-03 9.99956432e-01 -1.64091623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.795898227 meters Centerline goodness [0,1] 0.5749782871184359 Centerline is valid? [False, False] Translation: X:29.38, Y:-1.26, Z:-0.16 [[ 9.99986958e-01 5.10713220e-03 8.36340390e-06 2.93756102e+01] [-5.10713133e-03 9.99981262e-01 3.37537594e-03 -1.26434071e+00] [ 8.87524397e-06 -3.37537464e-03 9.99994303e-01 -1.64290323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.825898226999996 meters Centerline goodness [0,1] 0.6114712363348522 Centerline is valid? [False, False] Translation: X:29.38, Y:-1.26, Z:-0.16 [[ 9.99988855e-01 4.71400423e-03 -2.59126185e-04 2.93764411e+01] [-4.71320804e-03 9.99984417e-01 2.99182999e-03 -1.26315130e+00] [ 2.73225646e-04 -2.99057534e-03 9.99995491e-01 -1.64351262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.855898227 meters Centerline goodness [0,1] 0.6821043735474329 Centerline is valid? [False, False] Translation: X:29.40, Y:-1.26, Z:-0.16 [[ 9.99995907e-01 1.10794922e-03 -2.63801898e-03 2.93966694e+01] [-1.08589168e-03 9.99964564e-01 8.34820256e-03 -1.26076686e+00] [ 2.64717488e-03 -8.34530378e-03 9.99961673e-01 -1.59881428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.885898227 meters Centerline goodness [0,1] 0.6104522103126784 Centerline is valid? [False, False] Translation: X:29.40, Y:-1.26, Z:-0.16 [[ 9.99990759e-01 -3.54821599e-03 -2.42719612e-03 2.93962037e+01] [ 3.55578700e-03 9.99988804e-01 3.12206944e-03 -1.25627872e+00] [ 2.41609117e-03 -3.13067118e-03 9.99992181e-01 -1.60327135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.915898227 meters Centerline goodness [0,1] 0.8153393963919832 Centerline is valid? [False, False] Translation: X:29.40, Y:-1.25, Z:-0.16 [[ 9.99962985e-01 -8.29221897e-03 -2.29495609e-03 2.93959184e+01] [ 8.28730584e-03 9.99963365e-01 -2.14213118e-03 -1.25177482e+00] [ 2.31263504e-03 2.12303289e-03 9.99995072e-01 -1.60498768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.945898227 meters Centerline goodness [0,1] 0.9431640666795061 Centerline is valid? [False, False] Translation: X:29.40, Y:-1.25, Z:-0.16 [[ 9.99961103e-01 -8.46869195e-03 -2.46453233e-03 2.93966046e+01] [ 8.46251773e-03 9.99961055e-01 -2.50496748e-03 -1.25007673e+00] [ 2.48565014e-03 2.48401389e-03 9.99993826e-01 -1.60773106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.975898227 meters Centerline goodness [0,1] 0.8312478573877271 Centerline is valid? [False, False] Translation: X:29.40, Y:-1.25, Z:-0.16 [[ 9.99986745e-01 -4.30967174e-03 -2.81703707e-03 2.93975028e+01] [ 4.31500838e-03 9.99988902e-01 1.89109026e-03 -1.25096865e+00] [ 2.80885583e-03 -1.90322074e-03 9.99994244e-01 -1.60533607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.005898226999996 meters Centerline goodness [0,1] 0.6733258240707287 Centerline is valid? [False, False] Translation: X:29.42, Y:-1.24, Z:-0.16 [[ 9.99996799e-01 2.22326581e-03 -1.20753028e-03 2.94186429e+01] [-2.22809852e-03 9.99989455e-01 -4.01565492e-03 -1.24160760e+00] [ 1.19858968e-03 4.01833257e-03 9.99991208e-01 -1.62051564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.035898227 meters Centerline goodness [0,1] 0.6602245850290853 Centerline is valid? [False, False] Translation: X:29.42, Y:-1.24, Z:-0.16 [[ 9.99997207e-01 2.11140798e-03 -1.06212666e-03 2.94186413e+01] [-2.11673058e-03 9.99985082e-01 -5.03535763e-03 -1.23596190e+00] [ 1.05147912e-03 5.03759181e-03 9.99986758e-01 -1.62940471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.065898227 meters Centerline goodness [0,1] 0.5745777027027027 Centerline is valid? [False, False] Translation: X:29.42, Y:-1.23, Z:-0.16 [[ 9.99981401e-01 5.97652392e-03 -1.21609870e-03 2.94195890e+01] [-5.97913880e-03 9.99979796e-01 -2.15806901e-03 -1.22883501e+00] [ 1.20317638e-03 2.16530009e-03 9.99996932e-01 -1.63751074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.095898227 meters Centerline goodness [0,1] 0.5078214421976345 Centerline is valid? [False, False] Translation: X:29.42, Y:-1.22, Z:-0.16 [[ 9.99983232e-01 5.69358028e-03 -1.05740438e-03 2.94189616e+01] [-5.69686273e-03 9.99978882e-01 -3.12763397e-03 -1.22387306e+00] [ 1.03957462e-03 3.13360541e-03 9.99994550e-01 -1.63583155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.125898227 meters Centerline goodness [0,1] 0.5397425549088746 Centerline is valid? [False, False] Translation: X:29.42, Y:-1.22, Z:-0.16 [[ 9.99985075e-01 5.40953132e-03 -7.66611727e-04 2.94175991e+01] [-5.41259373e-03 9.99977148e-01 -4.05060746e-03 -1.21918294e+00] [ 7.44682321e-04 4.05469636e-03 9.99991502e-01 -1.62903667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.155898227 meters Centerline goodness [0,1] 0.5741120218579234 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.22, Z:-0.16 [[ 9.99971894e-01 7.49587959e-03 1.51364362e-04 2.94116139e+01] [-7.49556446e-03 9.99969938e-01 -1.98500464e-03 -1.21620650e+00] [-1.66239167e-04 1.98381429e-03 9.99998018e-01 -1.58977565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.185898227 meters Centerline goodness [0,1] 0.527569108978315 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.21, Z:-0.16 [[ 9.99976459e-01 6.85785524e-03 2.24979083e-04 2.94118686e+01] [-6.85689478e-03 9.99968398e-01 -4.02327308e-03 -1.20598707e+00] [-2.52562998e-04 4.02163571e-03 9.99991881e-01 -1.59996266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.215898227 meters Centerline goodness [0,1] 0.5685970757379624 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.20, Z:-0.16 [[ 9.99979040e-01 6.47306233e-03 1.38164246e-04 2.94125331e+01] [-6.47227624e-03 9.99966128e-01 -5.08449471e-03 -1.20091137e+00] [-1.71071818e-04 5.08349390e-03 9.99987064e-01 -1.60774725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.245898227 meters Centerline goodness [0,1] 0.6030261998409525 Centerline is valid? [False, False] Translation: X:29.39, Y:-1.20, Z:-0.16 [[ 9.99959098e-01 7.85858907e-03 -4.47716237e-03 2.93926426e+01] [-7.82444135e-03 9.99940551e-01 7.59422364e-03 -1.20395852e+00] [ 4.53657609e-03 -7.55888172e-03 9.99961141e-01 -1.56732016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.275898227 meters Centerline goodness [0,1] 0.5093006031107818 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.19, Z:-0.16 [[ 9.99982453e-01 5.30678708e-03 -2.63295071e-03 2.94298059e+01] [-5.30651135e-03 9.99985914e-01 1.11698273e-04 -1.19058605e+00] [ 2.63350639e-03 -9.77245304e-05 9.99996528e-01 -1.56567507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.305898227 meters Centerline goodness [0,1] 0.6241324988291395 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.18, Z:-0.16 [[ 9.99986470e-01 4.61851728e-03 -2.39360069e-03 2.94280800e+01] [-4.62185977e-03 9.99988349e-01 -1.39278010e-03 -1.18346016e+00] [ 2.38714022e-03 1.40382414e-03 9.99996165e-01 -1.55132684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.335898227 meters Centerline goodness [0,1] 0.6094725143199111 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.18, Z:-0.15 [[ 9.99987757e-01 4.34222711e-03 -2.37303471e-03 2.94277400e+01] [-4.34661225e-03 9.99988850e-01 -1.84588178e-03 -1.18150689e+00] [ 2.36499301e-03 1.85617384e-03 9.99995481e-01 -1.54686009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.365898227 meters Centerline goodness [0,1] 0.6137297044240632 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.18, Z:-0.15 [[ 9.99988823e-01 4.02066732e-03 -2.48747661e-03 2.94280761e+01] [-4.02638027e-03 9.99989258e-01 -2.29595889e-03 -1.17975527e+00] [ 2.47821860e-03 2.30594876e-03 9.99994271e-01 -1.54663985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.395898226999996 meters Centerline goodness [0,1] 0.6680609501045713 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.18, Z:-0.16 [[ 9.99990072e-01 3.43861783e-03 -2.83420303e-03 2.94294572e+01] [-3.44729793e-03 9.99989366e-01 -3.06345098e-03 -1.17686301e+00] [ 2.82363885e-03 3.07319091e-03 9.99991291e-01 -1.55251187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.425898227 meters Centerline goodness [0,1] 0.6686775238744884 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.18, Z:-0.16 [[ 9.99990460e-01 3.24139506e-03 -2.92798144e-03 2.94297843e+01] [-3.25132080e-03 9.99988963e-01 -3.39158599e-03 -1.17543702e+00] [ 2.91695566e-03 3.40107344e-03 9.99989962e-01 -1.55288104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.455898227 meters Centerline goodness [0,1] 0.6955056419444978 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.17, Z:-0.16 [[ 9.99991290e-01 3.05449563e-03 -2.84433687e-03 2.94294814e+01] [-3.06539431e-03 9.99987947e-01 -3.83526829e-03 -1.17325253e+00] [ 2.83258777e-03 3.84395390e-03 9.99988600e-01 -1.55192468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.485898227 meters Centerline goodness [0,1] 0.6071375684880793 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.17, Z:-0.15 [[ 9.99971163e-01 7.00620256e-03 -2.93020955e-03 2.94292745e+01] [-7.00618722e-03 9.99975456e-01 1.54983355e-05 -1.17143460e+00] [ 2.93024622e-03 5.03170817e-06 9.99995707e-01 -1.54292733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.515898227 meters Centerline goodness [0,1] 0.545695698856818 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.17, Z:-0.15 [[ 9.99972970e-01 6.76110246e-03 -2.88893493e-03 2.94290632e+01] [-6.76293550e-03 9.99976936e-01 -6.25204813e-04 -1.16834099e+00] [ 2.88464123e-03 6.44725594e-04 9.99995632e-01 -1.54207812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.545898227 meters Centerline goodness [0,1] 0.6337397257379509 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.17, Z:-0.15 [[ 9.99974894e-01 6.53559785e-03 -2.73810650e-03 2.94284364e+01] [-6.53885660e-03 9.99977922e-01 -1.18289314e-03 -1.16563872e+00] [ 2.73031513e-03 1.20076753e-03 9.99995552e-01 -1.53999620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.575898226999996 meters Centerline goodness [0,1] 0.5716195888350326 Centerline is valid? [False, False] Translation: X:29.45, Y:-1.17, Z:-0.15 [[ 9.99980441e-01 5.87961612e-03 -2.13260121e-03 2.94471772e+01] [-5.86076324e-03 9.99944618e-01 8.74138605e-03 -1.16539514e+00] [ 2.18387910e-03 -8.72871640e-03 9.99959519e-01 -1.51136621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.605898227 meters Centerline goodness [0,1] 0.562507868563515 Centerline is valid? [False, False] Translation: X:29.45, Y:-1.16, Z:-0.15 [[ 9.99997435e-01 1.58521812e-03 -1.61770879e-03 2.94452758e+01] [-1.57937462e-03 9.99992247e-01 3.60711314e-03 -1.16056289e+00] [ 1.62341431e-03 -3.60454892e-03 9.99992186e-01 -1.50976604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.635898227 meters Centerline goodness [0,1] 0.5709046195594565 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.16, Z:-0.15 [[ 9.99993672e-01 2.28352657e-03 -2.72783711e-03 2.94257840e+01] [-2.30134563e-03 9.99975919e-01 -6.54712294e-03 -1.15954188e+00] [ 2.71282089e-03 6.55335921e-03 9.99974847e-01 -1.52750200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.665898227 meters Centerline goodness [0,1] 0.5580497478849764 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.16, Z:-0.15 [[ 9.99992911e-01 2.29575261e-03 -2.98469114e-03 2.94270200e+01] [-2.31506916e-03 9.99976295e-01 -6.48460946e-03 -1.15993368e+00] [ 2.96973333e-03 6.49147326e-03 9.99974520e-01 -1.53461020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.695898227 meters Centerline goodness [0,1] 0.666951871657754 Centerline is valid? [False, False] Translation: X:29.39, Y:-1.17, Z:-0.16 [[ 9.99979712e-01 3.05149477e-03 -5.59143525e-03 2.93905148e+01] [-3.06973239e-03 9.99989987e-01 -3.25603365e-03 -1.16665250e+00] [ 5.58144350e-03 3.27313180e-03 9.99979067e-01 -1.56562485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.725898227 meters Centerline goodness [0,1] 0.5247651939519016 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.17, Z:-0.15 [[ 9.99980410e-01 2.35008159e-03 -5.80138151e-03 2.94114347e+01] [-2.31235468e-03 9.99976193e-01 6.50125483e-03 -1.16803934e+00] [ 5.81652187e-03 -6.48771262e-03 9.99962038e-01 -1.54808485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.755898226999996 meters Centerline goodness [0,1] 0.5247651939519016 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.17, Z:-0.15 [[ 9.99980410e-01 2.35008159e-03 -5.80138151e-03 2.94114347e+01] [-2.31235468e-03 9.99976193e-01 6.50125483e-03 -1.16803934e+00] [ 5.81652187e-03 -6.48771262e-03 9.99962038e-01 -1.54808485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.785898227 meters Centerline goodness [0,1] 0.6212108364777208 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.16, Z:-0.16 [[ 9.99983381e-01 -1.81616213e-03 -5.47176199e-03 2.94107121e+01] [ 1.82463014e-03 9.99997145e-01 1.54299015e-03 -1.16386794e+00] [ 5.46894405e-03 -1.55294845e-03 9.99983839e-01 -1.55439952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.815898227 meters Centerline goodness [0,1] 0.6353137431027845 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.16, Z:-0.16 [[ 9.99983197e-01 -1.83946067e-03 -5.49751855e-03 2.94107926e+01] [ 1.84740385e-03 9.99997257e-01 1.44013673e-03 -1.16336029e+00] [ 5.49485440e-03 -1.45026866e-03 9.99983852e-01 -1.55449817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.845898227 meters Centerline goodness [0,1] 0.6582251406326867 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.16, Z:-0.16 [[ 9.99982459e-01 -1.80114122e-03 -5.64251485e-03 2.94120347e+01] [ 1.80787251e-03 9.99997660e-01 1.18808705e-03 -1.16185081e+00] [ 5.64036174e-03 -1.19826715e-03 9.99983375e-01 -1.56866792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.875898227 meters Centerline goodness [0,1] 0.5488090466043587 Centerline is valid? [False, False] Translation: X:29.44, Y:-1.15, Z:-0.16 [[ 9.99996509e-01 -3.66446992e-04 -2.61685968e-03 2.94359641e+01] [ 3.43460711e-04 9.99961405e-01 -8.77897195e-03 -1.15478943e+00] [ 2.61997571e-03 8.77804251e-03 9.99958040e-01 -1.61958389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.905898227 meters Centerline goodness [0,1] 0.5376344086021505 Centerline is valid? [False, False] Translation: X:29.44, Y:-1.16, Z:-0.16 [[ 9.99987603e-01 3.82763669e-03 -3.18493841e-03 2.94382886e+01] [-3.84083879e-03 9.99984015e-01 -4.14942601e-03 -1.15703827e+00] [ 3.16900500e-03 4.16160740e-03 9.99986319e-01 -1.62749629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.935898227 meters Centerline goodness [0,1] 0.5199684428239408 Centerline is valid? [False, False] Translation: X:29.39, Y:-1.16, Z:-0.16 [[ 9.99983042e-01 4.82791248e-03 -3.25691977e-03 2.93948757e+01] [-4.83422441e-03 9.99986447e-01 -1.93292495e-03 -1.16000507e+00] [ 3.24754363e-03 1.94863686e-03 9.99992828e-01 -1.63133526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.965898227 meters Centerline goodness [0,1] 0.48169487201292627 Centerline is valid? [False, False] Translation: X:29.39, Y:-1.16, Z:-0.16 [[ 9.99983814e-01 4.75800265e-03 -3.11981190e-03 2.93939637e+01] [-4.76472200e-03 9.99986338e-01 -2.14988424e-03 -1.15889337e+00] [ 3.10954012e-03 2.16471448e-03 9.99992822e-01 -1.62338303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.995898227 meters Centerline goodness [0,1] 0.6169209908959817 Centerline is valid? [False, False] Translation: X:29.39, Y:-1.16, Z:-0.16 [[ 9.99984732e-01 4.64916883e-03 -2.98689879e-03 2.93932847e+01] [-4.65659631e-03 9.99986071e-01 -2.48456023e-03 -1.15713062e+00] [ 2.97530605e-03 2.49843107e-03 9.99992453e-01 -1.61935548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.025898227 meters Centerline goodness [0,1] 0.46311172960549896 Centerline is valid? [False, False] Translation: X:29.44, Y:-1.15, Z:-0.16 [[ 9.99981547e-01 5.58438200e-03 -2.39166182e-03 2.94359680e+01] [-5.59278461e-03 9.99978161e-01 -3.52113585e-03 -1.15116658e+00] [ 2.37194622e-03 3.53444693e-03 9.99990941e-01 -1.62212306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.055898227 meters Centerline goodness [0,1] 0.5561676595562958 Centerline is valid? [False, False] Translation: X:29.42, Y:-1.15, Z:-0.16 [[ 9.99959504e-01 4.47991399e-03 -7.80515740e-03 2.94176618e+01] [-4.43457826e-03 9.99973253e-01 5.81608800e-03 -1.15263232e+00] [ 7.83100421e-03 -5.78123989e-03 9.99952625e-01 -1.60514954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.085898227 meters Centerline goodness [0,1] 0.4142835785831749 Centerline is valid? [False, False] Translation: X:29.42, Y:-1.15, Z:-0.16 [[ 9.99972105e-01 5.98442179e-05 -7.46896689e-03 2.94168897e+01] [-5.61398273e-05 9.99999875e-01 4.96179629e-04 -1.14690391e+00] [ 7.46899565e-03 -4.95746481e-04 9.99971984e-01 -1.61228259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.115898227 meters Centerline goodness [0,1] 0.5625848320325755 Centerline is valid? [False, False] Translation: X:29.42, Y:-1.15, Z:-0.16 [[ 9.99972701e-01 -1.13969976e-04 -7.38814885e-03 2.94163043e+01] [ 1.15701315e-04 9.99999966e-01 2.33912997e-04 -1.14582827e+00] [ 7.38812194e-03 -2.34761430e-04 9.99972680e-01 -1.60701154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.145898226999996 meters Centerline goodness [0,1] 0.6069478802354347 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.14, Z:-0.16 [[ 9.99976634e-01 -1.80383214e-03 -6.59375716e-03 2.94104515e+01] [ 1.79300322e-03 9.99997035e-01 -1.64784127e-03 -1.14178923e+00] [ 6.59671004e-03 1.63598014e-03 9.99976903e-01 -1.56313148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.175898227 meters Centerline goodness [0,1] 0.6058384882637065 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.14, Z:-0.16 [[ 9.99976085e-01 -1.99073709e-03 -6.62323646e-03 2.94102907e+01] [ 1.97733113e-03 9.99995985e-01 -2.03001234e-03 -1.13996205e+00] [ 6.62725109e-03 2.01686746e-03 9.99976006e-01 -1.55906343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.205898227 meters Centerline goodness [0,1] 0.608847670824006 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.14, Z:-0.16 [[ 9.99975747e-01 -2.19386361e-03 -6.60995162e-03 2.94103144e+01] [ 2.17756925e-03 9.99994575e-01 -2.47131509e-03 -1.13785439e+00] [ 6.61533750e-03 2.45686152e-03 9.99975100e-01 -1.56057470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.235898227 meters Centerline goodness [0,1] 0.5750426558254165 Centerline is valid? [False, False] Translation: X:29.46, Y:-1.13, Z:-0.16 [[ 9.99971829e-01 -1.46372741e-03 -7.36196731e-03 2.94555543e+01] [ 1.43256329e-03 9.99989999e-01 -4.23661681e-03 -1.12757334e+00] [ 7.36809494e-03 4.22595098e-03 9.99963926e-01 -1.57934593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.265898227 meters Centerline goodness [0,1] 0.6663740122914837 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.13, Z:-0.16 [[ 9.99968117e-01 -9.05167869e-04 -7.93385538e-03 2.94129048e+01] [ 8.89125910e-04 9.99997554e-01 -2.02525671e-03 -1.13049554e+00] [ 7.93566917e-03 2.01813794e-03 9.99966476e-01 -1.58589973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.295898227 meters Centerline goodness [0,1] 0.6735221231440494 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.13, Z:-0.16 [[ 9.99986375e-01 -2.99187161e-03 -4.27770786e-03 2.94335712e+01] [ 3.01669530e-03 9.99978581e-01 5.80840923e-03 -1.12730523e+00] [ 4.26023822e-03 -5.82123463e-03 9.99973981e-01 -1.60355639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.325898226999996 meters Centerline goodness [0,1] 0.675379746835443 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.13, Z:-0.16 [[ 9.99986122e-01 -3.16774984e-03 -4.20962817e-03 2.94329885e+01] [ 3.19073387e-03 9.99979979e-01 5.46441961e-03 -1.12575144e+00] [ 4.19223398e-03 -5.47777558e-03 9.99976209e-01 -1.59812801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.355898227 meters Centerline goodness [0,1] 0.6542945814460661 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.12, Z:-0.16 [[ 9.99985095e-01 -3.38803107e-03 -4.28154818e-03 2.94332623e+01] [ 3.40951498e-03 9.99981585e-01 5.02049324e-03 -1.12374875e+00] [ 4.26445975e-03 -5.03501641e-03 9.99978231e-01 -1.59895547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.385898227 meters Centerline goodness [0,1] 0.6545985962067715 Centerline is valid? [False, False] Translation: X:29.39, Y:-1.12, Z:-0.16 [[ 9.99975674e-01 -4.98720859e-03 -4.87645519e-03 2.93909700e+01] [ 5.00265994e-03 9.99982489e-01 3.16151456e-03 -1.12297407e+00] [ 4.86060266e-03 -3.18583290e-03 9.99983112e-01 -1.61719717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.415898227 meters Centerline goodness [0,1] 0.6055468980331045 Centerline is valid? [False, False] Translation: X:29.41, Y:-1.11, Z:-0.17 [[ 9.99984766e-01 -5.51402859e-03 -2.52895470e-04 2.94149531e+01] [ 5.51184534e-03 9.99953243e-01 -7.94556031e-03 -1.11159660e+00] [ 2.96695692e-04 7.94404535e-03 9.99968402e-01 -1.67596985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.445898227 meters Centerline goodness [0,1] 0.7165562349532352 Centerline is valid? [False, False] Translation: X:29.38, Y:-1.12, Z:-0.17 [[ 9.99989239e-01 -4.18433644e-03 -2.00353902e-03 2.93754097e+01] [ 4.17638490e-03 9.99983451e-01 -3.95661431e-03 -1.11766436e+00] [ 2.02006167e-03 3.94820418e-03 9.99990165e-01 -1.68365687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.475898227 meters Centerline goodness [0,1] 0.6474198343597366 Centerline is valid? [False, False] Translation: X:29.38, Y:-1.12, Z:-0.17 [[ 9.99988162e-01 -4.32417255e-03 -2.23090452e-03 2.93762914e+01] [ 4.31508624e-03 9.99982441e-01 -4.06179047e-03 -1.11744309e+00] [ 2.24842923e-03 4.05211584e-03 9.99989262e-01 -1.68634451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.505898226999996 meters Centerline goodness [0,1] 0.6051456964797035 Centerline is valid? [False, False] Translation: X:29.38, Y:-1.12, Z:-0.17 [[ 9.99985883e-01 -4.61222771e-03 -2.63828185e-03 2.93776333e+01] [ 4.60061586e-03 9.99979778e-01 -4.39055741e-03 -1.11624348e+00] [ 2.65847875e-03 4.37835771e-03 9.99986881e-01 -1.68706194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.535898227 meters Centerline goodness [0,1] 0.6990344827586207 Centerline is valid? [False, False] Translation: X:29.38, Y:-1.12, Z:-0.17 [[ 9.99985606e-01 -4.68908972e-03 -2.60754833e-03 2.93772454e+01] [ 4.67719330e-03 9.99978711e-01 -4.54983341e-03 -1.11544896e+00] [ 2.62882740e-03 4.53757192e-03 9.99986250e-01 -1.68238555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.565898227 meters Centerline goodness [0,1] 0.7058301272565848 Centerline is valid? [False, False] Translation: X:29.38, Y:-1.12, Z:-0.17 [[ 9.99995983e-01 -5.90693599e-04 -2.77221113e-03 2.93772705e+01] [ 5.91462776e-04 9.99999787e-01 2.76648127e-04 -1.11898336e+00] [ 2.77204712e-03 -2.78286675e-04 9.99996119e-01 -1.67365781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.595898227 meters Centerline goodness [0,1] 0.7938248511040874 Centerline is valid? [False, False] Translation: X:29.33, Y:-1.12, Z:-0.17 [[ 9.99998121e-01 -1.19855101e-03 -1.52346535e-03 2.93311591e+01] [ 1.19920470e-03 9.99999189e-01 4.28241936e-04 -1.12209125e+00] [ 1.52295085e-03 -4.30068078e-04 9.99998748e-01 -1.66956639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.625898227 meters Centerline goodness [0,1] 0.6893638698448411 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.12, Z:-0.17 [[ 9.99999600e-01 -5.15184101e-04 -7.30936440e-04 2.93723650e+01] [ 5.15334735e-04 9.99999846e-01 2.05910317e-04 -1.11934735e+00] [ 7.30830246e-04 -2.06286911e-04 9.99999712e-01 -1.65901096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.655898227 meters Centerline goodness [0,1] 0.7320702205095269 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.12, Z:-0.16 [[ 9.99994391e-01 -3.33635535e-03 2.92881834e-04 2.93679507e+01] [ 3.33731054e-03 9.99988907e-01 -3.32380640e-03 -1.11727352e+00] [-2.81789186e-04 3.32476520e-03 9.99994433e-01 -1.64442395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.685898227 meters Centerline goodness [0,1] 0.7097620266120778 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.12, Z:-0.16 [[ 9.99994531e-01 -3.29833248e-03 2.40808861e-04 2.93682972e+01] [ 3.29911851e-03 9.99988980e-01 -3.34013229e-03 -1.11707041e+00] [-2.29789341e-04 3.34090848e-03 9.99994393e-01 -1.64802561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.715898227 meters Centerline goodness [0,1] 0.6678884224433694 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.12, Z:-0.17 [[ 9.99994643e-01 -3.26783517e-03 1.87784482e-04 2.93687288e+01] [ 3.26843496e-03 9.99989254e-01 -3.28782103e-03 -1.11726705e+00] [-1.77038407e-04 3.28841718e-03 9.99994577e-01 -1.65266647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.745898227 meters Centerline goodness [0,1] 0.7455031547428083 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.12, Z:-0.17 [[ 9.99994143e-01 -3.42249087e-03 -1.54474084e-05 2.93699031e+01] [ 3.42241421e-03 9.99987809e-01 -3.55941508e-03 -1.11602925e+00] [ 2.76292857e-05 3.55934136e-03 9.99993665e-01 -1.66188381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.775898227 meters Centerline goodness [0,1] 0.6427679081881128 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.12, Z:-0.17 [[ 9.99999685e-01 6.63553988e-04 -4.36096552e-04 2.93712534e+01] [-6.63146949e-04 9.99999345e-01 9.32850831e-04 -1.11765787e+00] [ 4.36715263e-04 -9.32561341e-04 9.99999470e-01 -1.66253505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.805898227 meters Centerline goodness [0,1] 0.6574345560782162 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.11, Z:-0.17 [[ 9.99999806e-01 4.27369394e-04 -4.52782574e-04 2.93712977e+01] [-4.27256044e-04 9.99999877e-01 2.50409336e-04 -1.11431859e+00] [ 4.52889536e-04 -2.50215833e-04 9.99999866e-01 -1.66290196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.835898227 meters Centerline goodness [0,1] 0.6414769831832852 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.11, Z:-0.17 [[ 9.99989069e-01 4.66129804e-03 -3.65399292e-04 2.93703835e+01] [-4.65960641e-03 9.99979013e-01 4.50120321e-03 -1.11408531e+00] [ 3.86373074e-04 -4.49945139e-03 9.99989803e-01 -1.65132939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.865898227 meters Centerline goodness [0,1] 0.5591115255817897 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.11, Z:-0.16 [[ 9.99989402e-01 4.59854912e-03 -2.23659367e-04 2.93697677e+01] [-4.59756177e-03 9.99980480e-01 4.23103843e-03 -1.11269198e+00] [ 2.43111639e-04 -4.22996530e-03 9.99991024e-01 -1.64900571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.895898226999996 meters Centerline goodness [0,1] 0.6761322789360172 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.11, Z:-0.16 [[ 9.99989980e-01 4.47155921e-03 -2.11370645e-04 2.93696800e+01] [-4.47069221e-03 9.99982251e-01 3.93827335e-03 -1.11133131e+00] [ 2.28977116e-04 -3.93728892e-03 9.99992223e-01 -1.64850153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.925898227 meters Centerline goodness [0,1] 0.6795724816762774 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.11, Z:-0.17 [[ 9.99991058e-01 4.20917013e-03 -4.07801752e-04 2.93706840e+01] [-4.20762556e-03 9.99984239e-01 3.71712419e-03 -1.11075722e+00] [ 4.23441333e-04 -3.71537507e-03 9.99993008e-01 -1.65563115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.955898227 meters Centerline goodness [0,1] 0.735332879857155 Centerline is valid? [False, False] Translation: X:29.37, Y:-1.11, Z:-0.16 [[ 9.99998477e-01 1.72299632e-03 2.78138498e-04 2.93656516e+01] [-1.72333291e-03 9.99997778e-01 1.21448841e-03 -1.11044900e+00] [-2.76045321e-04 -1.21496589e-03 9.99999224e-01 -1.62427104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.985898227 meters Centerline goodness [0,1] 0.6850472674505452 Centerline is valid? [False, False] Translation: X:29.36, Y:-1.11, Z:-0.16 [[ 9.99999535e-01 9.59838761e-06 9.64695005e-04 2.93611153e+01] [-9.33122978e-06 9.99999962e-01 -2.76939141e-04 -1.10994983e+00] [-9.64697626e-04 2.76930010e-04 9.99999496e-01 -1.59653518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.015898227 meters Centerline goodness [0,1] 0.6905391007884083 Centerline is valid? [False, False] Translation: X:29.36, Y:-1.11, Z:-0.16 [[ 9.99999643e-01 -6.58767328e-05 8.42489106e-04 2.93615525e+01] [ 6.61172014e-05 9.99999957e-01 -2.85401654e-04 -1.11009493e+00] [-8.42470268e-04 2.85457255e-04 9.99999604e-01 -1.59706925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.045898227 meters Centerline goodness [0,1] 0.7458838544990427 Centerline is valid? [False, False] Translation: X:29.36, Y:-1.10, Z:-0.16 [[ 9.99999533e-01 -4.22098016e-04 8.69419958e-04 2.93618649e+01] [ 4.23272049e-04 9.99998998e-01 -1.35062205e-03 -1.10484954e+00] [-8.68848992e-04 1.35098942e-03 9.99998710e-01 -1.60477484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.075898226999996 meters Centerline goodness [0,1] 0.6211653849404208 Centerline is valid? [False, False] Translation: X:29.36, Y:-1.11, Z:-0.16 [[ 9.99992473e-01 3.80687586e-03 7.49343818e-04 2.93623379e+01] [-3.80911773e-03 9.99988205e-01 3.01344512e-03 -1.10536445e+00] [-7.37863168e-04 -3.01627678e-03 9.99995179e-01 -1.60565920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.105898227 meters Centerline goodness [0,1] 0.6072288139171558 Centerline is valid? [False, False] Translation: X:29.36, Y:-1.10, Z:-0.16 [[ 9.99990859e-01 4.15582874e-03 1.00550216e-03 2.93614326e+01] [-4.15761219e-03 9.99989776e-01 1.77815598e-03 -1.09694694e+00] [-9.98102172e-04 -1.78232021e-03 9.99997914e-01 -1.60602350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.135898227 meters Centerline goodness [0,1] 0.6478254377919501 Centerline is valid? [False, False] Translation: X:29.36, Y:-1.10, Z:-0.16 [[ 9.99964890e-01 8.32771585e-03 9.32002799e-04 2.93616430e+01] [-8.33312734e-03 9.99947509e-01 5.96139766e-03 -1.09656482e+00] [-8.82309052e-04 -5.96895485e-03 9.99981796e-01 -1.60444464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.165898227 meters Centerline goodness [0,1] 0.6018443755046534 Centerline is valid? [False, False] Translation: X:29.36, Y:-1.09, Z:-0.16 [[ 9.99966957e-01 8.08170977e-03 8.78352616e-04 2.93619470e+01] [-8.08606914e-03 9.99954412e-01 5.07838349e-03 -1.09213476e+00] [-8.37270552e-04 -5.08531810e-03 9.99986719e-01 -1.60789507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.195898227 meters Centerline goodness [0,1] 0.5577035980877296 Centerline is valid? [False, False] Translation: X:29.40, Y:-1.08, Z:-0.16 [[ 9.99973626e-01 7.06423996e-03 1.68649661e-03 2.94025720e+01] [-7.06328611e-03 9.99974892e-01 -5.70864368e-04 -1.07835676e+00] [-1.69048699e-03 5.58937104e-04 9.99998415e-01 -1.62296428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.225898227 meters Centerline goodness [0,1] 0.5698483534612212 Centerline is valid? [False, False] Translation: X:29.40, Y:-1.08, Z:-0.16 [[ 9.99975213e-01 6.82924609e-03 1.71304262e-03 2.94026481e+01] [-6.82740289e-03 9.99976110e-01 -1.07953101e-03 -1.07604368e+00] [-1.72037408e-03 1.06780862e-03 9.99997950e-01 -1.62615275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.255898226999996 meters Centerline goodness [0,1] 0.5702733678580525 Centerline is valid? [False, False] Translation: X:29.40, Y:-1.07, Z:-0.16 [[ 9.99976524e-01 6.64486403e-03 1.67252128e-03 2.94028013e+01] [-6.64242008e-03 9.99976869e-01 -1.46257311e-03 -1.07432312e+00] [-1.68220120e-03 1.45142918e-03 9.99997532e-01 -1.62699813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.285898227 meters Centerline goodness [0,1] 0.6539138922486049 Centerline is valid? [False, False] Translation: X:29.40, Y:-1.07, Z:-0.16 [[ 9.99979523e-01 6.16849956e-03 1.70381155e-03 2.94020033e+01] [-6.16473231e-03 9.99978561e-01 -2.20754941e-03 -1.07122933e+00] [-1.71739229e-03 2.19700066e-03 9.99996112e-01 -1.61605637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.315898227 meters Centerline goodness [0,1] 0.687005674002751 Centerline is valid? [False, False] Translation: X:29.38, Y:-1.07, Z:-0.17 [[ 9.99970223e-01 3.27502006e-03 6.98759503e-03 2.93809406e+01] [-3.29623420e-03 9.99989987e-01 3.02661853e-03 -1.07221633e+00] [-6.97761283e-03 -3.04956116e-03 9.99971006e-01 -1.66413608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.345898227 meters Centerline goodness [0,1] 0.5918648230884875 Centerline is valid? [False, False] Translation: X:29.42, Y:-1.07, Z:-0.17 [[ 9.99976723e-01 1.94252473e-03 6.54069025e-03 2.94244323e+01] [-1.94739952e-03 9.99997831e-01 7.39015993e-04 -1.06682256e+00] [-6.53924050e-03 -7.51736128e-04 9.99978336e-01 -1.66214859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.375898227 meters Centerline goodness [0,1] 0.6896515087122822 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.07, Z:-0.17 [[ 9.99979360e-01 1.82476217e-03 6.16039951e-03 2.94260827e+01] [-1.82939960e-03 9.99998047e-01 7.47230307e-04 -1.06720939e+00] [-6.15902396e-03 -7.58484716e-04 9.99980745e-01 -1.67009248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.405898227 meters Centerline goodness [0,1] 0.7151574426466524 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.07, Z:-0.17 [[ 9.99981894e-01 1.48009560e-03 5.83275790e-03 2.94273815e+01] [-1.48271979e-03 9.99998801e-01 4.45607411e-04 -1.06641745e+00] [-5.83209137e-03 -4.54247688e-04 9.99982890e-01 -1.67491577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.435898227 meters Centerline goodness [0,1] 0.7416081520808357 Centerline is valid? [False, False] Translation: X:29.43, Y:-1.06, Z:-0.17 [[ 9.99981377e-01 1.25094505e-03 5.97325928e-03 2.94266963e+01] [-1.25044692e-03 9.99999214e-01 -8.71278546e-05 -1.06390499e+00] [-5.97336357e-03 7.96569884e-05 9.99982156e-01 -1.67090470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.465898227 meters Centerline goodness [0,1] 0.6532996724321392 Centerline is valid? [False, False] Translation: X:29.48, Y:-1.06, Z:-0.16 [[ 9.99991964e-01 3.64572643e-04 3.99240786e-03 2.94847770e+01] [-3.90218096e-04 9.99979286e-01 6.42466148e-03 -1.05777372e+00] [-3.98998290e-03 -6.42616776e-03 9.99971392e-01 -1.62578178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.495898227 meters Centerline goodness [0,1] 0.6205984425258169 Centerline is valid? [False, False] Translation: X:29.46, Y:-1.05, Z:-0.16 [[ 9.99991691e-01 3.97355243e-03 9.10623974e-04 2.94601125e+01] [-3.97229706e-03 9.99991163e-01 -1.37627361e-03 -1.04876292e+00] [-9.16084622e-04 1.37264491e-03 9.99998638e-01 -1.57890145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.525898227 meters Centerline goodness [0,1] 0.6527582534611289 Centerline is valid? [False, False] Translation: X:29.46, Y:-1.05, Z:-0.16 [[ 9.99967924e-01 7.97187293e-03 7.75368658e-04 2.94609735e+01] [-7.97367265e-03 9.99965457e-01 2.34640346e-03 -1.04618958e+00] [-7.56636644e-04 -2.35251073e-03 9.99996947e-01 -1.58581614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.555898227 meters Centerline goodness [0,1] 0.639737621667372 Centerline is valid? [False, False] Translation: X:29.46, Y:-1.04, Z:-0.16 [[ 9.99969740e-01 7.75060383e-03 6.69234293e-04 2.94616301e+01] [-7.75128016e-03 9.99969444e-01 1.01399355e-03 -1.03905479e+00] [-6.61354782e-04 -1.01915029e-03 9.99999262e-01 -1.59390448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.585898227 meters Centerline goodness [0,1] 0.5384274966809264 Centerline is valid? [False, False] Translation: X:29.46, Y:-1.03, Z:-0.16 [[ 9.99970680e-01 7.62854903e-03 6.66861596e-04 2.94617382e+01] [-7.62794870e-03 9.99970503e-01 -8.98187617e-04 -1.02724244e+00] [-6.73693794e-04 8.93074496e-04 9.99999374e-01 -1.59858915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.615898227 meters Centerline goodness [0,1] 0.5882414986077125 Centerline is valid? [False, False] Translation: X:29.46, Y:-1.02, Z:-0.16 [[ 9.99973650e-01 7.22564665e-03 6.99679813e-04 2.94612982e+01] [-7.22435956e-03 9.99972239e-01 -1.82493098e-03 -1.02287454e+00] [-7.12846696e-04 1.81982815e-03 9.99998090e-01 -1.59388539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.645898226999996 meters Centerline goodness [0,1] 0.6303998647392003 Centerline is valid? [False, False] Translation: X:29.46, Y:-1.02, Z:-0.16 [[ 9.99976083e-01 6.88173571e-03 6.90002567e-04 2.94610586e+01] [-6.87999643e-03 9.99973227e-01 -2.49214382e-03 -1.01987801e+00] [-7.07134369e-04 2.48733699e-03 9.99996657e-01 -1.58973821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.675898227 meters Centerline goodness [0,1] 0.6303998647392003 Centerline is valid? [False, False] Translation: X:29.46, Y:-1.02, Z:-0.16 [[ 9.99976083e-01 6.88173571e-03 6.90002567e-04 2.94610586e+01] [-6.87999643e-03 9.99973227e-01 -2.49214382e-03 -1.01987801e+00] [-7.07134369e-04 2.48733699e-03 9.99996657e-01 -1.58973821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.705898227 meters Centerline goodness [0,1] 0.6412535881067649 Centerline is valid? [False, False] Translation: X:29.44, Y:-1.02, Z:-0.16 [[ 9.99996079e-01 2.29065267e-03 -1.61115275e-03 2.94419675e+01] [-2.28487993e-03 9.99990997e-01 3.57574862e-03 -1.01578288e+00] [ 1.61932904e-03 -3.57205331e-03 9.99992309e-01 -1.59432173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.735898227 meters Centerline goodness [0,1] 0.650060598328762 Centerline is valid? [False, False] Translation: X:29.44, Y:-1.01, Z:-0.16 [[ 9.99996626e-01 1.92223297e-03 -1.74741104e-03 2.94424485e+01] [-1.91700468e-03 9.99993696e-01 2.98878461e-03 -1.01332668e+00] [ 1.75314517e-03 -2.98542473e-03 9.99994007e-01 -1.59592802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.765898227 meters Centerline goodness [0,1] 0.6202985201204257 Centerline is valid? [False, False] Translation: X:29.44, Y:-1.01, Z:-0.16 [[ 9.99997107e-01 1.54421905e-03 -1.84410094e-03 2.94427873e+01] [-1.54002202e-03 9.99996226e-01 2.27517549e-03 -1.01020027e+00] [ 1.84760735e-03 -2.27232895e-03 9.99995711e-01 -1.59731034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.795898227 meters Centerline goodness [0,1] 0.651131144752509 Centerline is valid? [False, False] Translation: X:29.44, Y:-1.01, Z:-0.16 [[ 9.99997705e-01 1.13074521e-03 -1.81984366e-03 2.94425226e+01] [-1.12826475e-03 9.99998434e-01 1.36346067e-03 -1.00594041e+00] [ 1.82138254e-03 -1.36140427e-03 9.99997415e-01 -1.59503423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.825898226999996 meters Centerline goodness [0,1] 0.6469932946292766 Centerline is valid? [False, False] Translation: X:29.44, Y:-1.00, Z:-0.16 [[ 9.99998313e-01 5.14962163e-04 -1.76301353e-03 2.94420239e+01] [-5.15993869e-04 9.99999696e-01 -5.84789826e-04 -9.96145559e-01] [ 1.76271185e-03 5.85698544e-04 9.99998275e-01 -1.59223814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.855898227 meters Centerline goodness [0,1] 0.5998429174892271 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.99, Z:-0.16 [[ 9.99992094e-01 2.86096283e-03 -2.76157623e-03 2.94478606e+01] [-2.85683307e-03 9.99994797e-01 1.49822244e-03 -9.92019943e-01] [ 2.76584822e-03 -1.49032123e-03 9.99995065e-01 -1.62530084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.885898227 meters Centerline goodness [0,1] 0.6485819450649986 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.99, Z:-0.16 [[ 9.99992653e-01 2.45887688e-03 -2.94084290e-03 2.94487635e+01] [-2.45797928e-03 9.99996931e-01 3.08793229e-04 -9.86194779e-01] [ 2.94159316e-03 -3.01562429e-04 9.99995628e-01 -1.63360091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.915898227 meters Centerline goodness [0,1] 0.5621403546023994 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.97, Z:-0.16 [[ 9.99993823e-01 1.85881117e-03 -2.98298504e-03 2.94490700e+01] [-1.86483039e-03 9.99996228e-01 -2.01633738e-03 -9.73810089e-01] [ 2.97922580e-03 2.02188769e-03 9.99993518e-01 -1.63975126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.945898227 meters Centerline goodness [0,1] 0.5691745768830563 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.97, Z:-0.16 [[ 9.99995341e-01 1.38260032e-03 -2.72134111e-03 2.94477866e+01] [-1.39126762e-03 9.99993958e-01 -3.18562606e-03 -9.68176827e-01] [ 2.71692022e-03 3.18939733e-03 9.99991223e-01 -1.63322777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.975898227 meters Centerline goodness [0,1] 0.6607116144887275 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.96, Z:-0.16 [[ 9.99996401e-01 9.69763412e-04 -2.50146273e-03 2.94462994e+01] [-9.79940973e-04 9.99991235e-01 -4.07063190e-03 -9.63993676e-01] [ 2.49749325e-03 4.07306853e-03 9.99988586e-01 -1.62055013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.005898226999996 meters Centerline goodness [0,1] 0.6916386679709097 Centerline is valid? [False, False] Translation: X:29.46, Y:-0.96, Z:-0.15 [[ 9.99985477e-01 -4.73513879e-03 -2.57390783e-03 2.94573329e+01] [ 4.73796301e-03 9.99988179e-01 1.09225977e-03 -9.59138765e-01] [ 2.56870540e-03 -1.10443899e-03 9.99996091e-01 -1.52089063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.035898227 meters Centerline goodness [0,1] 0.6755325854027481 Centerline is valid? [False, False] Translation: X:29.46, Y:-0.95, Z:-0.15 [[ 9.99906165e-01 -1.34541606e-02 -2.57829492e-03 2.94571269e+01] [ 1.34310095e-02 9.99871115e-01 -8.79548683e-03 -9.51718211e-01] [ 2.69629851e-03 8.76003240e-03 9.99957995e-01 -1.51501579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.065898227 meters Centerline goodness [0,1] 0.7383355023147654 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.95, Z:-0.15 [[ 9.99864026e-01 -1.54715829e-02 -5.70613521e-03 2.94208728e+01] [ 1.54081968e-02 9.99820888e-01 -1.09899436e-02 -9.53742330e-01] [ 5.87514499e-03 1.09005280e-02 9.99923328e-01 -1.54474360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.095898227 meters Centerline goodness [0,1] 0.741786327868157 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.96, Z:-0.16 [[ 9.99904964e-01 -1.20993773e-02 -6.60825011e-03 2.94242659e+01] [ 1.20557079e-02 9.99905488e-01 -6.60865045e-03 -9.57017949e-01] [ 6.68758611e-03 6.52835525e-03 9.99956327e-01 -1.55794980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.125898227 meters Centerline goodness [0,1] 0.7769275041033402 Centerline is valid? [False, False] Translation: X:29.43, Y:-0.96, Z:-0.16 [[ 9.99937325e-01 -8.64922978e-03 -7.10886546e-03 2.94262801e+01] [ 8.63369351e-03 9.99960280e-01 -2.21326905e-03 -9.60139479e-01] [ 7.12772616e-03 2.15175456e-03 9.99972282e-01 -1.56769163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.155898227 meters Centerline goodness [0,1] 0.8250931148238799 Centerline is valid? [False, False] Translation: X:29.43, Y:-0.96, Z:-0.16 [[ 9.99963586e-01 -4.48408707e-03 -7.26076674e-03 2.94266445e+01] [ 4.50369977e-03 9.99986248e-01 2.68709468e-03 -9.64006569e-01] [ 7.24861773e-03 -2.71969715e-03 9.99970030e-01 -1.56584166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.185898227 meters Centerline goodness [0,1] 0.7514976375295309 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.96, Z:-0.15 [[ 9.99984323e-01 -1.45583435e-03 -5.40692853e-03 2.94446663e+01] [ 1.42742286e-03 9.99985175e-01 -5.25479187e-03 -9.60587314e-01] [ 5.41449847e-03 5.24699151e-03 9.99971576e-01 -1.54062793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.215898227 meters Centerline goodness [0,1] 0.7344186637310526 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.96, Z:-0.15 [[ 9.99983741e-01 -1.49831518e-03 -5.50214388e-03 2.94452094e+01] [ 1.46822806e-03 9.99983971e-01 -5.46822680e-03 -9.59407958e-01] [ 5.51024882e-03 5.46005949e-03 9.99969912e-01 -1.54509531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.245898227 meters Centerline goodness [0,1] 0.7656858594411515 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.96, Z:-0.15 [[ 9.99983625e-01 -1.57311558e-03 -5.50223804e-03 2.94452862e+01] [ 1.54118164e-03 9.99981973e-01 -5.80324352e-03 -9.57588215e-01] [ 5.51126803e-03 5.79466854e-03 9.99968023e-01 -1.54681916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.275898227 meters Centerline goodness [0,1] 0.7044467512658094 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.96, Z:-0.15 [[ 9.99984514e-01 -1.65707572e-03 -5.31270924e-03 2.94444487e+01] [ 1.62438825e-03 9.99979762e-01 -6.15111569e-03 -9.55769067e-01] [ 5.32279459e-03 6.14239053e-03 9.99966969e-01 -1.54333453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.305898227 meters Centerline goodness [0,1] 0.7269530588035926 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.96, Z:-0.15 [[ 9.99982703e-01 2.57215183e-03 -5.28943517e-03 2.94443618e+01] [-2.57993669e-03 9.99995598e-01 -1.46548044e-03 -9.58159842e-01] [ 5.28564245e-03 1.47910150e-03 9.99984937e-01 -1.54229331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.335898227 meters Centerline goodness [0,1] 0.7108474792869162 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.95, Z:-0.16 [[ 9.99983462e-01 2.30093102e-03 -5.27075069e-03 2.94446759e+01] [-2.31418512e-03 9.99994172e-01 -2.50993525e-03 -9.52810438e-01] [ 5.26494479e-03 2.52209124e-03 9.99982960e-01 -1.55029704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.365898227 meters Centerline goodness [0,1] 0.6954769178547182 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.95, Z:-0.16 [[ 9.99983180e-01 2.07826233e-03 -5.41478495e-03 2.94454531e+01] [-2.09536344e-03 9.99992829e-01 -3.15446899e-03 -9.49583115e-01] [ 5.40819030e-03 3.16576188e-03 9.99980365e-01 -1.55649514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.395898226999996 meters Centerline goodness [0,1] 0.7205897975226805 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.95, Z:-0.16 [[ 9.99983487e-01 1.79253349e-03 -5.46010836e-03 2.94455910e+01] [-1.81374695e-03 9.99990817e-01 -3.88270005e-03 -9.46041710e-01] [ 5.45309836e-03 3.89253919e-03 9.99977556e-01 -1.55724306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.425898227 meters Centerline goodness [0,1] 0.7185269889672405 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.94, Z:-0.15 [[ 9.99984063e-01 1.37728884e-03 -5.47509440e-03 2.94448662e+01] [-1.40415945e-03 9.99986975e-01 -4.90697876e-03 -9.41090357e-01] [ 5.46826476e-03 4.91458846e-03 9.99972972e-01 -1.54512612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.455898227 meters Centerline goodness [0,1] 0.708410302142387 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.94, Z:-0.15 [[ 9.99984144e-01 1.25311965e-03 -5.49014006e-03 2.94446914e+01] [-1.28105514e-03 9.99986237e-01 -5.08774371e-03 -9.40376077e-01] [ 5.48368895e-03 5.09469621e-03 9.99971986e-01 -1.54180944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.485898227 meters Centerline goodness [0,1] 0.7077949497508657 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.94, Z:-0.15 [[ 9.99983756e-01 1.13026148e-03 -5.58658372e-03 2.94451828e+01] [-1.15914110e-03 9.99985969e-01 -5.16892781e-03 -9.40151264e-01] [ 5.58066309e-03 5.17531949e-03 9.99971036e-01 -1.54480526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.515898227 meters Centerline goodness [0,1] 0.7423610233067813 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.94, Z:-0.15 [[ 9.99982580e-01 6.14376220e-04 -5.87044772e-03 2.94459093e+01] [-6.46736162e-04 9.99984599e-01 -5.51203914e-03 -9.39324384e-01] [ 5.86697085e-03 5.51573976e-03 9.99967577e-01 -1.54228536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.545898227 meters Centerline goodness [0,1] 0.7784991568296796 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.94, Z:-0.15 [[ 9.99982203e-01 4.78065296e-04 -5.94688009e-03 2.94460349e+01] [-5.11512521e-04 9.99984054e-01 -5.62408267e-03 -9.38976253e-01] [ 5.94409658e-03 5.62702448e-03 9.99966502e-01 -1.54010517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.575898226999996 meters Centerline goodness [0,1] 0.8784218487036919 Centerline is valid? [False, False] Translation: X:29.43, Y:-0.94, Z:-0.16 [[ 9.99998951e-01 -1.31527982e-03 -6.06545998e-04 2.94258557e+01] [ 1.31471170e-03 9.99998698e-01 -9.36096939e-04 -9.37841864e-01] [ 6.07776437e-04 9.35298524e-04 9.99999378e-01 -1.58844643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.605898227 meters Centerline goodness [0,1] 0.7541056463218488 Centerline is valid? [False, False] Translation: X:29.43, Y:-0.93, Z:-0.16 [[ 9.99998640e-01 -1.53515020e-03 -6.02750890e-04 2.94257004e+01] [ 1.53423286e-03 9.99997669e-01 -1.51943143e-03 -9.34966500e-01] [ 6.05082040e-04 1.51850460e-03 9.99998664e-01 -1.58670748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.635898227 meters Centerline goodness [0,1] 0.7419810922596438 Centerline is valid? [False, False] Translation: X:29.43, Y:-0.93, Z:-0.16 [[ 9.99998250e-01 -1.79808973e-03 -5.16146054e-04 2.94252332e+01] [ 1.79689919e-03 9.99995745e-01 -2.29787558e-03 -9.31107445e-01] [ 5.20275645e-04 2.29694409e-03 9.99997227e-01 -1.58412958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.665898227 meters Centerline goodness [0,1] 0.7831047793725607 Centerline is valid? [False, False] Translation: X:29.38, Y:-0.93, Z:-0.16 [[ 9.99999182e-01 -2.79194181e-04 -1.24855550e-03 2.93832789e+01] [ 2.76205963e-04 9.99997099e-01 -2.39287251e-03 -9.30627952e-01] [ 1.24921995e-03 2.39252569e-03 9.99996358e-01 -1.59295207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.695898227 meters Centerline goodness [0,1] 0.7074557708508846 Centerline is valid? [False, False] Translation: X:29.43, Y:-0.92, Z:-0.16 [[ 9.99993837e-01 8.31528207e-04 -3.41101573e-03 2.94286952e+01] [-8.39600493e-04 9.99996849e-01 -2.36578519e-03 -9.21553890e-01] [ 3.40903777e-03 2.36863450e-03 9.99991384e-01 -1.59443968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.725898227 meters Centerline goodness [0,1] 0.7473136475167104 Centerline is valid? [False, False] Translation: X:29.43, Y:-0.92, Z:-0.16 [[ 9.99993562e-01 5.14263765e-04 -3.55137426e-03 2.94294950e+01] [-5.25345210e-04 9.99994994e-01 -3.12009835e-03 -9.17961495e-01] [ 3.54975193e-03 3.12194396e-03 9.99988826e-01 -1.60104739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.755898226999996 meters Centerline goodness [0,1] 0.7190021701114553 Centerline is valid? [False, False] Translation: X:29.43, Y:-0.91, Z:-0.16 [[ 9.99992881e-01 1.60215815e-04 -3.76987580e-03 2.94302926e+01] [-1.75127676e-04 9.99992162e-01 -3.95553339e-03 -9.13898578e-01] [ 3.76921251e-03 3.95616545e-03 9.99985071e-01 -1.60345682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.785898227 meters Centerline goodness [0,1] 0.7873317667165136 Centerline is valid? [False, False] Translation: X:29.39, Y:-0.91, Z:-0.16 [[ 9.99986998e-01 8.55101884e-04 -5.02724688e-03 2.93888383e+01] [-8.79017401e-04 9.99988300e-01 -4.75689652e-03 -9.12477680e-01] [ 5.02312042e-03 4.76125371e-03 9.99976049e-01 -1.61160746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.815898227 meters Centerline goodness [0,1] 0.8267366720516963 Centerline is valid? [False, False] Translation: X:29.39, Y:-0.91, Z:-0.16 [[ 9.99987135e-01 2.20011051e-04 -5.06776665e-03 2.93882725e+01] [-2.50429674e-04 9.99981953e-01 -6.00252003e-03 -9.06844887e-01] [ 5.06635458e-03 6.00371192e-03 9.99969143e-01 -1.60083467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.845898227 meters Centerline goodness [0,1] 0.7974888618874039 Centerline is valid? [False, False] Translation: X:29.39, Y:-0.90, Z:-0.16 [[ 9.99986974e-01 -1.01010528e-06 -5.10405461e-03 2.93879970e+01] [-3.19193403e-05 9.99979188e-01 -6.45153927e-03 -9.04757051e-01] [ 5.10395491e-03 6.45161815e-03 9.99966163e-01 -1.59453391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.875898227 meters Centerline goodness [0,1] 0.8256207191780822 Centerline is valid? [False, False] Translation: X:29.38, Y:-0.90, Z:-0.16 [[ 9.99988114e-01 1.95983793e-03 -4.46449252e-03 2.93825440e+01] [-1.97930321e-03 9.99988537e-01 -4.35978304e-03 -9.03453528e-01] [ 4.45589688e-03 4.36856780e-03 9.99980530e-01 -1.55300429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.905898227 meters Centerline goodness [0,1] 0.7869502827720098 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.90, Z:-0.16 [[ 9.99999567e-01 4.63453596e-04 -8.06577553e-04 2.94052578e+01] [-4.59621275e-04 9.99988637e-01 4.74505229e-03 -9.02889111e-01] [ 8.08767499e-04 -4.74467952e-03 9.99988417e-01 -1.60377015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.935898227 meters Centerline goodness [0,1] 0.8242556899079839 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.90, Z:-0.16 [[ 9.99999759e-01 3.18153184e-04 -6.17725469e-04 2.94042883e+01] [-3.15343853e-04 9.99989632e-01 4.54264780e-03 -9.02151320e-01] [ 6.19164322e-04 -4.54245191e-03 9.99989491e-01 -1.59766436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.965898227 meters Centerline goodness [0,1] 0.8754117172060605 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.90, Z:-0.16 [[ 9.99999838e-01 2.02937091e-04 -5.30869885e-04 2.94035139e+01] [-2.00579354e-04 9.99990134e-01 4.43756143e-03 -9.01868665e-01] [ 5.31765193e-04 -4.43745423e-03 9.99990013e-01 -1.58901001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.995898227 meters Centerline goodness [0,1] 0.8196576709020267 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.90, Z:-0.16 [[ 9.99998157e-01 -4.88934164e-04 1.85640974e-03 2.94206830e+01] [ 5.02208638e-04 9.99974263e-01 -7.15689646e-03 -8.98313795e-01] [-1.85286271e-03 7.15781557e-03 9.99972666e-01 -1.56064481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.025898227 meters Centerline goodness [0,1] 0.858195873022578 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.90, Z:-0.16 [[ 9.99998668e-01 -1.93549612e-04 1.62047761e-03 2.94221411e+01] [ 2.04013438e-04 9.99979116e-01 -6.45957513e-03 -9.01602726e-01] [-1.61919352e-03 6.45989713e-03 9.99977824e-01 -1.57240279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.055898227 meters Centerline goodness [0,1] 0.8689787234042553 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.91, Z:-0.16 [[ 9.99991055e-01 3.98298415e-03 1.42355250e-03 2.94236504e+01] [-3.98139685e-03 9.99991451e-01 -1.11612764e-03 -9.08170829e-01] [-1.42798585e-03 1.11044993e-03 9.99998364e-01 -1.58756664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.085898227 meters Centerline goodness [0,1] 0.7907056137580813 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.91, Z:-0.16 [[ 9.99990661e-01 4.10797977e-03 1.34250443e-03 2.94244812e+01] [-4.10677406e-03 9.99991163e-01 -8.99626493e-04 -9.09129110e-01] [-1.34618822e-03 8.94104729e-04 9.99998694e-01 -1.59731929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.115898227 meters Centerline goodness [0,1] 0.7741446468049269 Centerline is valid? [False, False] Translation: X:29.46, Y:-0.91, Z:-0.16 [[ 9.99972097e-01 6.49486464e-03 3.69091939e-03 2.94625325e+01] [-6.50245509e-03 9.99976761e-01 2.04825387e-03 -9.08005118e-01] [-3.67753049e-03 -2.07219675e-03 9.99991091e-01 -1.57732276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.145898226999996 meters Centerline goodness [0,1] 0.761022814662907 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.91, Z:-0.16 [[ 9.99968852e-01 6.67755018e-03 4.20787996e-03 2.94178992e+01] [-6.67321924e-03 9.99977190e-01 -1.04244653e-03 -9.07792830e-01] [-4.21474497e-03 1.01433396e-03 9.99990603e-01 -1.56105345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.175898227 meters Centerline goodness [0,1] 0.7007747002016342 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.91, Z:-0.16 [[ 9.99966916e-01 6.93611457e-03 4.24941543e-03 2.94177329e+01] [-6.93131589e-03 9.99975325e-01 -1.14294435e-03 -9.06587163e-01] [-4.25723817e-03 1.11345249e-03 9.99990318e-01 -1.56069758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.205898227 meters Centerline goodness [0,1] 0.6935064385849914 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.90, Z:-0.16 [[ 9.99961039e-01 7.78580271e-03 4.15954344e-03 2.94190642e+01] [-7.78125566e-03 9.99969111e-01 -1.10822775e-03 -9.04489326e-01] [-4.16804340e-03 1.07581810e-03 9.99990735e-01 -1.57944034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.235898227 meters Centerline goodness [0,1] 0.5927204932098896 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.90, Z:-0.16 [[ 9.99960511e-01 7.84745131e-03 4.17064036e-03 2.94195973e+01] [-7.84219795e-03 9.99968437e-01 -1.27447064e-03 -9.03387289e-01] [-4.18051007e-03 1.24171333e-03 9.99990491e-01 -1.58989857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.265898227 meters Centerline goodness [0,1] 0.6253946058179198 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.90, Z:-0.16 [[ 9.99960695e-01 7.87996795e-03 4.06386205e-03 2.94203450e+01] [-7.87456452e-03 9.99968092e-01 -1.34391906e-03 -9.02961337e-01] [-4.07432242e-03 1.31186509e-03 9.99990839e-01 -1.59736028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.295898227 meters Centerline goodness [0,1] 0.616810435514412 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.91, Z:-0.16 [[ 9.99962692e-01 7.91432727e-03 3.46084359e-03 2.94226122e+01] [-7.91195102e-03 9.99968455e-01 -6.99764719e-04 -9.06660291e-01] [-3.46627259e-03 6.72356588e-04 9.99993766e-01 -1.60295222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.325898226999996 meters Centerline goodness [0,1] 0.6653220670035243 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.91, Z:-0.16 [[ 9.99962702e-01 7.98828744e-03 3.28355047e-03 2.94229623e+01] [-7.98797307e-03 9.99968090e-01 -1.08846123e-04 -9.09942972e-01] [-3.28431518e-03 8.26131505e-05 9.99994603e-01 -1.59855358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.355898227 meters Centerline goodness [0,1] 0.7015995235461777 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.91, Z:-0.16 [[ 9.99986712e-01 3.73492272e-03 3.55319649e-03 2.94212161e+01] [-3.71855050e-03 9.99982491e-01 -4.60324672e-03 -9.08763616e-01] [-3.57032705e-03 4.58997281e-03 9.99983092e-01 -1.58416852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.385898227 meters Centerline goodness [0,1] 0.697002954833263 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.91, Z:-0.16 [[ 9.99962931e-01 -7.83611102e-04 8.57454151e-03 2.94388534e+01] [ 7.65601973e-04 9.99997495e-01 2.10338314e-03 -9.12531876e-01] [-8.57616827e-03 -2.09674048e-03 9.99961026e-01 -1.60742728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.415898227 meters Centerline goodness [0,1] 0.7044875439593994 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.92, Z:-0.16 [[ 9.99962257e-01 -6.44081249e-04 8.66423449e-03 2.94385531e+01] [ 6.21680484e-04 9.99996458e-01 2.58787403e-03 -9.15024185e-01] [-8.66587060e-03 -2.58238997e-03 9.99959116e-01 -1.60651622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.445898227 meters Centerline goodness [0,1] 0.7632583431069411 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.92, Z:-0.16 [[ 9.99982483e-01 2.86627736e-04 5.91197307e-03 2.94149158e+01] [-2.41391831e-04 9.99970703e-01 -7.65086963e-03 -9.15117716e-01] [-5.91399282e-03 7.64930851e-03 9.99953255e-01 -1.55760783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.475898227 meters Centerline goodness [0,1] 0.7141917273286784 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.92, Z:-0.16 [[ 9.99984996e-01 2.50269218e-03 4.87285870e-03 2.94220288e+01] [-2.47605297e-03 9.99982000e-01 -5.46523393e-03 -9.15155988e-01] [-4.88644879e-03 5.45308647e-03 9.99973193e-01 -1.60648219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.505898226999996 meters Centerline goodness [0,1] 0.7063563306830811 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.92, Z:-0.16 [[ 9.99965898e-01 6.84130772e-03 4.62596500e-03 2.94233303e+01] [-6.83768157e-03 9.99976303e-01 -7.99230976e-04 -9.17016464e-01] [-4.63132317e-03 7.67572845e-04 9.99988981e-01 -1.61451333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.535898227 meters Centerline goodness [0,1] 0.6842306710895636 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.91, Z:-0.16 [[ 9.99966551e-01 6.81123151e-03 4.52811145e-03 2.94236613e+01] [-6.80538052e-03 9.99975990e-01 -1.30630239e-03 -9.14184219e-01] [-4.53690026e-03 1.27544317e-03 9.99988895e-01 -1.61598164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.565898227 meters Centerline goodness [0,1] 0.6842306710895636 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.91, Z:-0.16 [[ 9.99966551e-01 6.81123151e-03 4.52811145e-03 2.94236613e+01] [-6.80538052e-03 9.99975990e-01 -1.30630239e-03 -9.14184219e-01] [-4.53690026e-03 1.27544317e-03 9.99988895e-01 -1.61598164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.595898227 meters Centerline goodness [0,1] 0.6358646314945005 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.91, Z:-0.16 [[ 9.99929555e-01 1.09536153e-02 4.57202854e-03 2.94236972e+01] [-1.09662364e-02 9.99936102e-01 2.74461011e-03 -9.13075587e-01] [-4.54167299e-03 -2.79455471e-03 9.99985782e-01 -1.61735603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.625898227 meters Centerline goodness [0,1] 0.6732173290971448 Centerline is valid? [False, False] Translation: X:29.42, Y:-0.91, Z:-0.16 [[ 9.99931415e-01 1.07807455e-02 4.57605141e-03 2.94238067e+01] [-1.07907582e-02 9.99939426e-01 2.16904315e-03 -9.10186489e-01] [-4.55239031e-03 -2.21827345e-03 9.99987177e-01 -1.62034375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.655898227 meters Centerline goodness [0,1] 0.6503241491085899 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.91, Z:-0.16 [[ 9.99937043e-01 1.12095943e-02 -5.04545005e-04 2.94069110e+01] [-1.12020838e-02 9.99852626e-01 1.30091798e-02 -9.12816764e-01] [ 6.50298276e-04 -1.30027089e-02 9.99915250e-01 -1.61382589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.685898226999996 meters Centerline goodness [0,1] 0.6526429570598957 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.91, Z:-0.16 [[ 9.99974965e-01 7.04198645e-03 -6.93115051e-04 2.94075476e+01] [-7.03662809e-03 9.99947480e-01 7.45140423e-03 -9.05041820e-01] [ 7.45551336e-04 -7.44634048e-03 9.99971998e-01 -1.61933670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.715898227 meters Centerline goodness [0,1] 0.6570297453456024 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.90, Z:-0.16 [[ 9.99979347e-01 6.39128979e-03 -6.76299898e-04 2.94069663e+01] [-6.38723450e-03 9.99962562e-01 5.83754599e-03 -8.97364064e-01] [ 7.13584027e-04 -5.83310574e-03 9.99982733e-01 -1.61322858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.745898227 meters Centerline goodness [0,1] 0.6356178322345409 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.89, Z:-0.16 [[ 9.99981482e-01 6.05464109e-03 -6.14073862e-04 2.94062311e+01] [-6.05142995e-03 9.99968670e-01 5.10282168e-03 -8.93921446e-01] [ 6.44950377e-04 -5.09901116e-03 9.99986792e-01 -1.60499597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.775898227 meters Centerline goodness [0,1] 0.659995737425405 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.89, Z:-0.16 [[ 9.99985571e-01 5.32861212e-03 -6.80621003e-04 2.94059518e+01] [-5.32608165e-03 9.99979092e-01 3.66711433e-03 -8.87456173e-01] [ 7.00147403e-04 -3.66343637e-03 9.99993044e-01 -1.59862822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.805898227 meters Centerline goodness [0,1] 0.6733209631667627 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.88, Z:-0.16 [[ 9.99999425e-01 7.37538537e-04 -7.79058353e-04 2.94059651e+01] [-7.39044501e-04 9.99997856e-01 -1.93454100e-03 -8.80601279e-01] [ 7.77629884e-04 1.93511565e-03 9.99997825e-01 -1.59613450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.835898227 meters Centerline goodness [0,1] 0.6555374420426396 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.88, Z:-0.16 [[ 9.99999420e-01 4.65932792e-04 -9.70730351e-04 2.94066218e+01] [-4.68294823e-04 9.99996927e-01 -2.43444660e-03 -8.78291572e-01] [ 9.69593079e-04 2.43489978e-03 9.99996566e-01 -1.59792280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.865898227 meters Centerline goodness [0,1] 0.6989441482016528 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.87, Z:-0.16 [[ 9.99999476e-01 -8.81430315e-05 -1.01963597e-03 2.94062483e+01] [ 8.48019474e-05 9.99994629e-01 -3.27632134e-03 -8.74829379e-01] [ 1.01991928e-03 3.27623315e-03 9.99994113e-01 -1.59022855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.895898226999996 meters Centerline goodness [0,1] 0.7023713399345544 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.87, Z:-0.16 [[ 9.99999484e-01 -2.97268636e-04 -9.71229603e-04 2.94056492e+01] [ 2.93827354e-04 9.99993686e-01 -3.54144544e-03 -8.73799965e-01] [ 9.72276231e-04 3.54115824e-03 9.99993257e-01 -1.58273834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.925898227 meters Centerline goodness [0,1] 0.6804180651739814 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.87, Z:-0.16 [[ 9.99999369e-01 -4.59440508e-04 -1.02508117e-03 2.94053309e+01] [ 4.55597027e-04 9.99992878e-01 -3.74652921e-03 -8.72991877e-01] [ 1.02679518e-03 3.74605982e-03 9.99992456e-01 -1.57454081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.955898227 meters Centerline goodness [0,1] 0.6953596140417698 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.87, Z:-0.16 [[ 9.99999118e-01 -7.19369023e-04 -1.11610766e-03 2.94055138e+01] [ 7.14880669e-04 9.99991678e-01 -4.01663559e-03 -8.72034061e-01] [ 1.11898782e-03 4.01583417e-03 9.99991310e-01 -1.57315326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.985898227 meters Centerline goodness [0,1] 0.7331345826235094 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.87, Z:-0.16 [[ 9.99999004e-01 -7.96243589e-04 -1.16520567e-03 2.94057007e+01] [ 7.91409406e-04 9.99991103e-01 -4.14337753e-03 -8.71481084e-01] [ 1.16849444e-03 4.14245125e-03 9.99990737e-01 -1.57374992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.015898227 meters Centerline goodness [0,1] 0.7239765338755109 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.87, Z:-0.16 [[ 9.99998965e-01 -8.48559637e-04 -1.16224745e-03 2.94056413e+01] [ 8.43634214e-04 9.99990690e-01 -4.23179865e-03 -8.71038409e-01] [ 1.16582756e-03 4.23081376e-03 9.99990370e-01 -1.57287840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.045898227 meters Centerline goodness [0,1] 0.7892081409269711 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.87, Z:-0.16 [[ 9.99997911e-01 1.98289109e-03 -4.96946499e-04 2.94023425e+01] [-1.98320979e-03 9.99997828e-01 -6.41660258e-04 -8.73412877e-01] [ 4.95673077e-04 6.42644467e-04 9.99999671e-01 -1.55802723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.075898226999996 meters Centerline goodness [0,1] 0.7579319449767897 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.87, Z:-0.16 [[ 9.99997887e-01 1.92594826e-03 -7.18189844e-04 2.94034237e+01] [-1.92654030e-03 9.99997804e-01 -8.24571707e-04 -8.72539662e-01] [ 7.16600185e-04 8.25953586e-04 9.99999402e-01 -1.56485604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.105898227 meters Centerline goodness [0,1] 0.7369689602414436 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.87, Z:-0.16 [[ 9.99997759e-01 1.74875720e-03 -1.19345194e-03 2.94470251e+01] [-1.74846085e-03 9.99998440e-01 2.49313689e-04 -8.69434449e-01] [ 1.19388606e-03 -2.47226426e-04 9.99999257e-01 -1.56932189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.135898227 meters Centerline goodness [0,1] 0.7395242763971184 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.87, Z:-0.16 [[ 9.99998126e-01 1.56309730e-03 -1.14227394e-03 2.94031088e+01] [-1.56556028e-03 9.99996445e-01 -2.15850362e-03 -8.70590019e-01] [ 1.13889593e-03 2.16028788e-03 9.99997018e-01 -1.56599642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.165898227 meters Centerline goodness [0,1] 0.7882732697657627 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.87, Z:-0.16 [[ 9.99998137e-01 1.62012893e-03 -1.04969855e-03 2.94021694e+01] [-1.62231041e-03 9.99996519e-01 -2.08068422e-03 -8.70938825e-01] [ 1.04632392e-03 2.08238328e-03 9.99997284e-01 -1.55514855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.195898227 meters Centerline goodness [0,1] 0.7469525815304103 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.87, Z:-0.16 [[ 9.99998081e-01 1.69993159e-03 -9.73454489e-04 2.94017770e+01] [-1.70179128e-03 9.99996723e-01 -1.91277344e-03 -8.71703230e-01] [ 9.70199715e-04 1.91442638e-03 9.99997697e-01 -1.55250067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.225898227 meters Centerline goodness [0,1] 0.7300386655116313 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.87, Z:-0.16 [[ 9.99997841e-01 1.83323879e-03 -9.78199477e-04 2.94018434e+01] [-1.83485613e-03 9.99996947e-01 -1.65505900e-03 -8.72842673e-01] [ 9.75162373e-04 1.65685028e-03 9.99998152e-01 -1.55310237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.255898226999996 meters Centerline goodness [0,1] 0.6945090739879014 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.87, Z:-0.16 [[ 9.99997688e-01 1.92678306e-03 -9.55001937e-04 2.94019625e+01] [-1.92811237e-03 9.99997171e-01 -1.39298251e-03 -8.74171613e-01] [ 9.52315261e-04 1.39482064e-03 9.99998574e-01 -1.55599437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.285898227 meters Centerline goodness [0,1] 0.7529963853129558 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.88, Z:-0.16 [[ 9.99997380e-01 2.06005320e-03 -9.97745684e-04 2.94023846e+01] [-2.06105542e-03 9.99997372e-01 -1.00450805e-03 -8.76131895e-01] [ 9.95673722e-04 1.00656183e-03 9.99998998e-01 -1.56053674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.315898227 meters Centerline goodness [0,1] 0.7551094423347698 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.88, Z:-0.16 [[ 9.99997318e-01 2.08562446e-03 -1.00710393e-03 2.94022654e+01] [-2.08647913e-03 9.99997463e-01 -8.48339440e-04 -8.77000200e-01] [ 1.00533206e-03 8.50438466e-04 9.99999133e-01 -1.55768127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.345898227 meters Centerline goodness [0,1] 0.7672136730306707 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.88, Z:-0.16 [[ 9.99997026e-01 2.14332244e-03 -1.16381525e-03 2.94024828e+01] [-2.14395988e-03 9.99997552e-01 -5.46751653e-04 -8.78617924e-01] [ 1.16264054e-03 5.49245200e-04 9.99999173e-01 -1.55279039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.375898227 meters Centerline goodness [0,1] 0.8028615490061686 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.88, Z:-0.15 [[ 9.99997128e-01 -2.03578635e-03 -1.26493455e-03 2.94026202e+01] [ 2.02985481e-03 9.99987022e-01 -4.67292530e-03 -8.79361610e-01] [ 1.27443121e-03 4.67034425e-03 9.99988282e-01 -1.54932328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.405898227 meters Centerline goodness [0,1] 0.8265191018410131 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.88, Z:-0.16 [[ 9.99997283e-01 -1.87657679e-03 -1.38315583e-03 2.94032816e+01] [ 1.87073625e-03 9.99989380e-01 -4.21188815e-03 -8.81588663e-01] [ 1.39104507e-03 4.20928918e-03 9.99990173e-01 -1.55354338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.435898226999996 meters Centerline goodness [0,1] 0.8167303317738959 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.88, Z:-0.16 [[ 9.99997414e-01 -1.72421356e-03 -1.48278081e-03 2.94037299e+01] [ 1.71850918e-03 9.99991151e-01 -3.83978928e-03 -8.83298135e-01] [ 1.48938830e-03 3.83723118e-03 9.99991529e-01 -1.55574688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.465898227 meters Centerline goodness [0,1] 0.8143404534580942 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.89, Z:-0.16 [[ 9.99998236e-01 -5.20184416e-04 -1.80456519e-03 2.94465939e+01] [ 5.21712893e-04 9.99999506e-01 8.46638519e-04 -8.87527555e-01] [ 1.80412389e-03 -8.47578490e-04 9.99998013e-01 -1.55778968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.495898227 meters Centerline goodness [0,1] 0.8214998937752284 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.89, Z:-0.16 [[ 9.99998391e-01 -3.71443460e-04 -1.75500185e-03 2.94464887e+01] [ 3.73674534e-04 9.99999122e-01 1.27110918e-03 -8.89666793e-01] [ 1.75452816e-03 -1.27176293e-03 9.99997652e-01 -1.55812969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.525898227 meters Centerline goodness [0,1] 0.8278347009055738 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.89, Z:-0.16 [[ 9.99998609e-01 -2.47238277e-04 -1.64974483e-03 2.94459492e+01] [ 2.49900049e-04 9.99998667e-01 1.61343366e-03 -8.91411721e-01] [ 1.64934373e-03 -1.61384369e-03 9.99997338e-01 -1.55420741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.555898227 meters Centerline goodness [0,1] 0.7388682745825603 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.89, Z:-0.15 [[ 9.99990257e-01 -4.16652262e-03 -1.45832224e-03 2.94449501e+01] [ 4.16203408e-03 9.99986634e-01 -3.06750059e-03 -8.88222113e-01] [ 1.47108356e-03 3.06140111e-03 9.99994232e-01 -1.54662734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.585898227 meters Centerline goodness [0,1] 0.757339255499154 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.89, Z:-0.15 [[ 9.99997747e-01 -1.97412032e-03 -7.79907016e-04 2.94404803e+01] [ 1.97338473e-03 9.99997608e-01 -9.42823915e-04 -8.89681864e-01] [ 7.81766399e-04 9.41282735e-04 9.99999251e-01 -1.52190732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.615898227 meters Centerline goodness [0,1] 0.7584817505733085 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.89, Z:-0.16 [[ 9.99996449e-01 -9.36130881e-04 -2.49498299e-03 2.94017208e+01] [ 9.31779000e-04 9.99998044e-01 -1.74484491e-03 -8.91117607e-01] [ 2.49661151e-03 1.74251394e-03 9.99995365e-01 -1.55235546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.645898226999996 meters Centerline goodness [0,1] 0.745745020768985 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.89, Z:-0.16 [[ 9.99993989e-01 7.20128010e-04 -3.39156209e-03 2.94079004e+01] [-7.20975350e-04 9.99999709e-01 -2.48621745e-04 -8.91354849e-01] [ 3.39138206e-03 2.51065483e-04 9.99994218e-01 -1.59462259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.675898227 meters Centerline goodness [0,1] 0.7488783461777901 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.89, Z:-0.16 [[ 9.99994339e-01 8.88605034e-04 -3.24528377e-03 2.94074760e+01] [-8.91859922e-04 9.99999101e-01 -1.00165019e-03 -8.86532037e-01] [ 3.24439078e-03 1.00453886e-03 9.99994232e-01 -1.59690627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.705898227 meters Centerline goodness [0,1] 0.6904156064461409 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.88, Z:-0.16 [[ 9.99997064e-01 2.20726427e-03 -9.99596511e-04 2.94458145e+01] [-2.20596729e-03 9.99996726e-01 1.29674724e-03 -8.82645174e-01] [ 1.00245550e-03 -1.29453835e-03 9.99998660e-01 -1.58106736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.735898227 meters Centerline goodness [0,1] 0.681450334903966 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.88, Z:-0.16 [[ 9.99997282e-01 2.12327795e-03 -9.63432880e-04 2.94453576e+01] [-2.12244391e-03 9.99997373e-01 8.65893656e-04 -8.80367306e-01] [ 9.65268882e-04 -8.63846470e-04 9.99999161e-01 -1.57573877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.765898227 meters Centerline goodness [0,1] 0.6762802775531054 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.88, Z:-0.16 [[ 9.99997437e-01 2.08651446e-03 -8.78504082e-04 2.94447972e+01] [-2.08605655e-03 9.99997688e-01 5.21839547e-04 -8.78560919e-01] [ 8.79590876e-04 -5.20005600e-04 9.99999478e-01 -1.57154254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.795898227 meters Centerline goodness [0,1] 0.6883674467044996 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.88, Z:-0.16 [[ 9.99997513e-01 2.06551162e-03 -8.41616858e-04 2.94444550e+01] [-2.06507836e-03 9.99997735e-01 5.15334508e-04 -8.78640850e-01] [ 8.42679382e-04 -5.13595221e-04 9.99999513e-01 -1.56765175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.825898226999996 meters Centerline goodness [0,1] 0.6671587338408655 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.88, Z:-0.16 [[ 9.99997584e-01 2.03332327e-03 -8.35072103e-04 2.94440651e+01] [-2.03280066e-03 9.99997738e-01 6.26199430e-04 -8.79405129e-01] [ 8.36343480e-04 -6.24500382e-04 9.99999455e-01 -1.56176115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.855898227 meters Centerline goodness [0,1] 0.7263801843810828 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.89, Z:-0.15 [[ 9.99998893e-01 -3.17408648e-04 1.45370162e-03 2.93962433e+01] [ 3.19435820e-04 9.99998977e-01 -1.39446967e-03 -8.85158841e-01] [-1.45325752e-03 1.39493249e-03 9.99997971e-01 -1.54059171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.885898227 meters Centerline goodness [0,1] 0.6886836617440524 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.89, Z:-0.15 [[ 9.99999162e-01 -1.70079021e-04 1.28361626e-03 2.93968295e+01] [ 1.71027657e-04 9.99999712e-01 -7.38960478e-04 -8.88528501e-01] [-1.28349020e-03 7.39179392e-04 9.99998903e-01 -1.54061049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.915898227 meters Centerline goodness [0,1] 0.6987285092721667 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.89, Z:-0.15 [[ 9.99999536e-01 -4.52960013e-05 9.62048846e-04 2.93981726e+01] [ 4.53481575e-05 9.99999998e-01 -5.41919557e-05 -8.92215786e-01] [-9.62046389e-04 5.42355577e-05 9.99999536e-01 -1.54571775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.945898227 meters Centerline goodness [0,1] 0.7239397967497105 Centerline is valid? [False, False] Translation: X:29.36, Y:-0.90, Z:-0.16 [[ 9.99999671e-01 -1.75517030e-04 -7.91512690e-04 2.93589299e+01] [ 1.75648068e-04 9.99999971e-01 1.65487991e-04 -9.01060177e-01] [ 7.91483621e-04 -1.65626965e-04 9.99999673e-01 -1.56649448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.975898227 meters Centerline goodness [0,1] 0.695780918579499 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.90, Z:-0.16 [[ 9.99999988e-01 6.90428857e-05 1.35596292e-04 2.94003622e+01] [-6.93179736e-05 9.99997938e-01 2.02977167e-03 -9.00252107e-01] [-1.35455871e-04 -2.02978105e-03 9.99997931e-01 -1.55885670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.005898226999996 meters Centerline goodness [0,1] 0.7351694915254237 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.90, Z:-0.16 [[ 9.99999983e-01 1.58157264e-04 9.97407818e-05 2.94003807e+01] [-1.58370236e-04 9.99997700e-01 2.13887069e-03 -9.00630778e-01] [-9.94022745e-05 -2.13888645e-03 9.99997708e-01 -1.55726771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.035898227 meters Centerline goodness [0,1] 0.6798041922932094 Centerline is valid? [False, False] Translation: X:29.45, Y:-0.90, Z:-0.16 [[ 9.99993189e-01 8.92063833e-04 -3.58136299e-03 2.94476693e+01] [-8.80386363e-04 9.99994296e-01 3.26087529e-03 -8.98950827e-01] [ 3.58425147e-03 -3.25770009e-03 9.99988270e-01 -1.56204997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.065898227 meters Centerline goodness [0,1] 0.7044525796015665 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.90, Z:-0.16 [[ 9.99990768e-01 2.09764161e-04 -4.29180400e-03 2.94054925e+01] [-2.06874242e-04 9.99999752e-01 6.73790641e-04 -9.01573588e-01] [ 4.29194427e-03 -6.72896557e-04 9.99990563e-01 -1.56986865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.095898227 meters Centerline goodness [0,1] 0.6719900933023037 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.90, Z:-0.16 [[ 9.99990870e-01 3.92136830e-04 -4.25514970e-03 2.94053198e+01] [-3.87407074e-04 9.99999306e-01 1.11230436e-03 -9.03684202e-01] [ 4.25558293e-03 -1.11064573e-03 9.99990328e-01 -1.56846138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.125898227 meters Centerline goodness [0,1] 0.7256955463873902 Centerline is valid? [False, False] Translation: X:29.40, Y:-0.91, Z:-0.16 [[ 9.99991702e-01 5.27437067e-04 -4.03948370e-03 2.94040936e+01] [-5.19906098e-04 9.99998125e-01 1.86516273e-03 -9.07791289e-01] [ 4.04045988e-03 -1.86304710e-03 9.99990102e-01 -1.55881443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.155898227 meters Centerline goodness [0,1] 0.728148068899112 Centerline is valid? [False, False] Translation: X:29.36, Y:-0.91, Z:-0.16 [[ 9.99990951e-01 -7.64574628e-04 -4.18493306e-03 2.93607650e+01] [ 7.64534350e-04 9.99999708e-01 -1.12243315e-05 -9.11684401e-01] [ 4.18494042e-03 8.02470485e-06 9.99991243e-01 -1.56112549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.185898226999996 meters Centerline goodness [0,1] 0.827074217256468 Centerline is valid? [False, False] Translation: X:29.36, Y:-0.92, Z:-0.16 [[ 9.99977388e-01 -5.06026590e-03 -4.42911240e-03 2.93617070e+01] [ 5.04438140e-03 9.99980832e-01 -3.59023681e-03 -9.15809120e-01] [ 4.44719505e-03 3.56781349e-03 9.99983746e-01 -1.56296679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.215898227 meters Centerline goodness [0,1] 0.8375648549800119 Centerline is valid? [False, False] Translation: X:29.36, Y:-0.92, Z:-0.16 [[ 9.99976369e-01 -5.22534530e-03 -4.46733021e-03 2.93615975e+01] [ 5.21409651e-03 9.99983216e-01 -2.52596162e-03 -9.22435297e-01] [ 4.48045425e-03 2.50260884e-03 9.99986831e-01 -1.55782008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.245898227 meters Centerline goodness [0,1] 0.9465162236246574 Centerline is valid? [False, False] Translation: X:29.36, Y:-0.93, Z:-0.15 [[ 9.99974204e-01 -5.65930269e-03 -4.42316007e-03 2.93610507e+01] [ 5.65302389e-03 9.99982998e-01 -1.43074488e-03 -9.30323957e-01] [ 4.43118189e-03 1.40570374e-03 9.99989194e-01 -1.54845796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.275898227 meters Centerline goodness [0,1] 0.9988740891806344 Centerline is valid? [False, True] Translation: X:29.36, Y:-0.94, Z:-0.15 [[ 9.99971456e-01 -6.11540856e-03 -4.43712338e-03 2.93607603e+01] [ 6.11432487e-03 9.99981274e-01 -2.57754783e-04 -9.38751467e-01] [ 4.43861657e-03 2.30617412e-04 9.99990123e-01 -1.54102433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.305898227 meters Centerline goodness [0,1] 0.9999144915453515 Centerline is valid? [True, True] Translation: X:29.39, Y:-0.96, Z:-0.15 [[ 9.99813418e-01 -1.87088516e-02 -4.80713710e-03 2.93909604e+01] [ 1.87079037e-02 9.99824963e-01 -2.42082138e-04 -9.56829080e-01] [ 4.81082475e-03 1.52105512e-04 9.99988416e-01 -1.54205878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.335898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.97, Z:-0.16 [[ 9.99724890e-01 -2.26876878e-02 -5.95083764e-03 2.94223409e+01] [ 2.26863052e-02 9.99742588e-01 -2.99751286e-04 -9.71305002e-01] [ 5.95610648e-03 1.64666303e-04 9.99982249e-01 -1.56035572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.365898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.45, Y:-0.98, Z:-0.16 [[ 9.99666308e-01 -2.48926168e-02 -6.90147978e-03 2.94521067e+01] [ 2.48908094e-02 9.99690115e-01 -3.47669835e-04 -9.75065461e-01] [ 6.90799553e-03 1.75770403e-04 9.99976124e-01 -1.57413199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.395898226999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.98, Z:-0.16 [[ 9.99660761e-01 -2.51128615e-02 -6.90704174e-03 2.94826465e+01] [ 2.51110561e-02 9.99684607e-01 -3.48000662e-04 -9.78425323e-01] [ 6.91360260e-03 1.74439494e-04 9.99976086e-01 -1.57067904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.425898227 meters Centerline goodness [0,1] 0.9999789628694646 Centerline is valid? [True, True] Translation: X:29.51, Y:-0.97, Z:-0.15 [[ 9.99761817e-01 -2.11399675e-02 -5.42322729e-03 2.95113075e+01] [ 2.11387959e-02 9.99776513e-01 -2.73271294e-04 -9.74040234e-01] [ 5.42779222e-03 1.58565711e-04 9.99985257e-01 -1.52370037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.455898227 meters Centerline goodness [0,1] 0.9999574486192077 Centerline is valid? [True, True] Translation: X:29.54, Y:-0.97, Z:-0.15 [[ 9.99825724e-01 -1.78679280e-02 -5.40922490e-03 2.95412899e+01] [ 1.78667140e-02 9.99840340e-01 -2.72679898e-04 -9.73047043e-01] [ 5.41323349e-03 1.75987302e-04 9.99985333e-01 -1.51184408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.485898227 meters Centerline goodness [0,1] 0.9999574486192077 Centerline is valid? [True, True] Translation: X:29.57, Y:-0.97, Z:-0.15 [[ 9.99825724e-01 -1.78679283e-02 -5.40922236e-03 2.95712675e+01] [ 1.78667140e-02 9.99840340e-01 -2.72730226e-04 -9.71535568e-01] [ 5.41323185e-03 1.76037667e-04 9.99985333e-01 -1.51059594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.515898227 meters Centerline goodness [0,1] 0.9999364150823424 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.97, Z:-0.15 [[ 9.99882012e-01 -1.42979083e-02 -5.61539202e-03 2.96006066e+01] [ 1.42965438e-02 9.99897759e-01 -2.83060351e-04 -9.66107656e-01] [ 5.61886507e-03 2.02746255e-04 9.99984193e-01 -1.51565982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.545898227 meters Centerline goodness [0,1] 0.9999364729798408 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.97, Z:-0.15 [[ 9.99923688e-01 -1.05197527e-02 -6.47704810e-03 2.96313766e+01] [ 1.05178596e-02 9.99944633e-01 -3.26282318e-04 -9.69552375e-01] [ 6.48012189e-03 2.58132736e-04 9.99978970e-01 -1.54464272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.575898226999996 meters Centerline goodness [0,1] 0.9999359097609434 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.97, Z:-0.16 [[ 9.99917324e-01 -1.03638601e-02 -7.61148948e-03 2.96613014e+01] [ 1.03612406e-02 9.99946247e-01 -3.83515074e-04 -9.72218246e-01] [ 7.61505504e-03 3.04618893e-04 9.99970959e-01 -1.56500786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.605898227 meters Centerline goodness [0,1] 0.9996633067485954 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.97, Z:-0.16 [[ 9.99906109e-01 -1.09972118e-02 -8.17528195e-03 2.96900923e+01] [ 1.09942088e-02 9.99939477e-01 -4.12179551e-04 -9.70777749e-01] [ 8.17931998e-03 3.22260094e-04 9.99966497e-01 -1.58222167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.635898227 meters Centerline goodness [0,1] 0.9996607869742198 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.97, Z:-0.16 [[ 9.99882317e-01 -1.23264292e-02 -9.13298668e-03 2.97184198e+01] [ 1.23227325e-02 9.99923966e-01 -4.60926703e-04 -9.74567609e-01] [ 9.13797384e-03 3.48329107e-04 9.99958187e-01 -1.59263731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.665898227 meters Centerline goodness [0,1] 0.9999359603808222 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.99, Z:-0.16 [[ 9.99881451e-01 -1.20560721e-02 -9.57781452e-03 2.97482091e+01] [ 1.20519827e-02 9.99927255e-01 -4.84565332e-04 -9.85102844e-01] [ 9.58295973e-03 3.69076233e-04 9.99954014e-01 -1.58519878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.695898227 meters Centerline goodness [0,1] 0.9998509210946651 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.98, Z:-0.16 [[ 9.99896670e-01 -1.03598021e-02 -9.96615991e-03 2.97770709e+01] [ 1.03552798e-02 9.99946255e-01 -5.05268641e-04 -9.81795265e-01] [ 9.97085876e-03 4.02014057e-04 9.99950209e-01 -1.59649569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.725898227 meters Centerline goodness [0,1] 0.9995067553077418 Centerline is valid? [True, True] Translation: X:29.81, Y:-0.97, Z:-0.16 [[ 9.99939069e-01 -2.37883242e-03 -1.07795746e-02 2.98071889e+01] [ 2.37307580e-03 9.99997035e-01 -5.46790018e-04 -9.71607453e-01] [ 1.07808433e-02 5.21175954e-04 9.99941749e-01 -1.62080436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.755898226999996 meters Centerline goodness [0,1] 0.9936720997123681 Centerline is valid? [True, True] Translation: X:29.84, Y:-0.96, Z:-0.16 [[ 9.99928584e-01 3.04240750e-03 -1.15572364e-02 2.98356855e+01] [-3.04938561e-03 9.99995179e-01 -5.86213292e-04 -9.55162563e-01] [ 1.15553972e-02 6.21413898e-04 9.99933041e-01 -1.61648064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.785898227 meters Centerline goodness [0,1] 0.9852175589690855 Centerline is valid? [True, True] Translation: X:29.87, Y:-0.95, Z:-0.16 [[ 9.99880798e-01 8.56632082e-03 -1.28455753e-02 2.98657646e+01] [-8.57539691e-03 9.99963018e-01 -6.51638944e-04 -9.47248146e-01] [ 1.28395181e-02 7.61717174e-04 9.99917280e-01 -1.62549176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.815898227 meters Centerline goodness [0,1] 0.7566910494551193 Centerline is valid? [True, False] Translation: X:29.87, Y:-0.94, Z:-0.16 [[ 9.99834203e-01 1.27800608e-02 -1.29706182e-02 2.98667678e+01] [-1.27544999e-02 9.99916554e-01 2.05149633e-03 -9.38069812e-01] [ 1.29957541e-02 -1.88572245e-03 9.99913773e-01 -1.63496924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.845898227 meters Centerline goodness [0,1] 0.6571585763257015 Centerline is valid? [False, False] Translation: X:29.89, Y:-0.93, Z:-0.17 [[ 9.99854384e-01 1.49668251e-02 -8.19784709e-03 2.98868920e+01] [-1.50206961e-02 9.99865731e-01 -6.54968290e-03 -9.27846274e-01] [ 8.09871842e-03 6.67186653e-03 9.99944947e-01 -1.66053705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.875898227 meters Centerline goodness [0,1] 0.7316455161637703 Centerline is valid? [False, False] Translation: X:29.91, Y:-0.92, Z:-0.16 [[ 9.99855127e-01 1.56832198e-02 -6.61523429e-03 2.99050991e+01] [-1.56482808e-02 9.99863508e-01 5.30069971e-03 -9.24909944e-01] [ 6.69746340e-03 -5.19641474e-03 9.99964070e-01 -1.64952961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.905898227 meters Centerline goodness [0,1] 0.7808098035499969 Centerline is valid? [False, False] Translation: X:29.90, Y:-0.91, Z:-0.16 [[ 9.99924828e-01 1.04374446e-02 -6.43415169e-03 2.99026560e+01] [-1.04475781e-02 9.99944232e-01 -1.54335644e-03 -9.11605415e-01] [ 6.41768417e-03 1.61046172e-03 9.99978110e-01 -1.62674483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.935898226999996 meters Centerline goodness [0,1] 0.8317920306839974 Centerline is valid? [False, False] Translation: X:29.90, Y:-0.91, Z:-0.16 [[ 9.99930072e-01 9.98173058e-03 -6.34156480e-03 2.99018512e+01] [-9.99576219e-03 9.99947654e-01 -2.18481191e-03 -9.09082430e-01] [ 6.31942464e-03 2.24804791e-03 9.99977505e-01 -1.61854444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.965898227 meters Centerline goodness [0,1] 0.860936467679717 Centerline is valid? [False, False] Translation: X:29.90, Y:-0.91, Z:-0.16 [[ 9.99934050e-01 9.61218385e-03 -6.28506240e-03 2.99012292e+01] [-9.62889360e-03 9.99950172e-01 -2.63381073e-03 -9.07382196e-01] [ 6.25943256e-03 2.69415523e-03 9.99976780e-01 -1.61150931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.995898227 meters Centerline goodness [0,1] 0.9220084108576526 Centerline is valid? [False, False] Translation: X:29.92, Y:-0.90, Z:-0.16 [[ 9.99977262e-01 4.12865014e-03 -5.33196518e-03 2.99210528e+01] [-4.11229767e-03 9.99986819e-01 3.07420558e-03 -9.02951493e-01] [ 5.34458722e-03 -3.05220905e-03 9.99981060e-01 -1.60348109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.025898227 meters Centerline goodness [0,1] 0.9851161794624692 Centerline is valid? [False, True] Translation: X:29.92, Y:-0.90, Z:-0.16 [[ 9.99976164e-01 3.97102623e-03 -5.64830196e-03 2.99223113e+01] [-3.95414678e-03 9.99987693e-01 2.99644533e-03 -9.02908400e-01] [ 5.66013141e-03 -2.97403969e-03 9.99979559e-01 -1.60846112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.055898227 meters Centerline goodness [0,1] 0.9951624641465816 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.90, Z:-0.16 [[ 9.99983303e-01 -8.56337313e-04 -5.71493552e-03 2.99511113e+01] [ 8.54742579e-04 9.99999595e-01 -2.81483182e-04 -9.02676435e-01] [ 5.71517425e-03 2.76593683e-04 9.99983630e-01 -1.61976638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.085898227 meters Centerline goodness [0,1] 0.9927419185668436 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.90, Z:-0.16 [[ 9.99984676e-01 -2.90678234e-03 -4.71155207e-03 2.99797597e+01] [ 2.90572044e-03 9.99995751e-01 -2.32213442e-04 -8.99792092e-01] [ 4.71220705e-03 2.18519431e-04 9.99988874e-01 -1.60672745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.115898227 meters Centerline goodness [0,1] 0.9993388218231455 Centerline is valid? [True, True] Translation: X:30.01, Y:-0.91, Z:-0.16 [[ 9.99983403e-01 -4.21865222e-03 -3.92375670e-03 3.00094233e+01] [ 4.21792415e-03 9.99991086e-01 -1.93811666e-04 -9.08508539e-01] [ 3.92453935e-03 1.77258341e-04 9.99992283e-01 -1.60895255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.145898226999996 meters Centerline goodness [0,1] 0.9981626187961985 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.91, Z:-0.16 [[ 9.99985132e-01 -4.22942514e-03 -3.44207874e-03 3.00391047e+01] [ 4.22886421e-03 9.99991044e-01 -1.70225827e-04 -9.05786596e-01] [ 3.44276787e-03 1.55667212e-04 9.99994062e-01 -1.58019889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.175898227 meters Centerline goodness [0,1] 0.9954742478327384 Centerline is valid? [True, True] Translation: X:30.07, Y:-0.90, Z:-0.16 [[ 9.99993858e-01 -1.63566108e-03 -3.09978887e-03 3.00696360e+01] [ 1.63519374e-03 9.99998651e-01 -1.53294030e-04 -9.02995938e-01] [ 3.10003543e-03 1.48224333e-04 9.99995184e-01 -1.55917762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.205898227 meters Centerline goodness [0,1] 0.9931035946186818 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.90, Z:-0.16 [[ 9.99992563e-01 3.88627709e-04 -3.83713664e-03 3.00992468e+01] [-3.89358909e-04 9.99999906e-01 -1.89813533e-04 -8.99241605e-01] [ 3.83706252e-03 1.91306145e-04 9.99992620e-01 -1.57120154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.235898227 meters Centerline goodness [0,1] 0.9705601020299713 Centerline is valid? [True, True] Translation: X:30.13, Y:-0.89, Z:-0.16 [[ 9.99977392e-01 4.45719773e-03 -5.03481674e-03 3.01280686e+01] [-4.45850832e-03 9.99990030e-01 -2.49111410e-04 -8.91734203e-01] [ 5.03365621e-03 2.71553550e-04 9.99987294e-01 -1.60316989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.265898227 meters Centerline goodness [0,1] 0.9648848510458483 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.89, Z:-0.16 [[ 9.99962538e-01 6.78798550e-03 -5.37090131e-03 3.01578302e+01] [-6.78951068e-03 9.99976916e-01 -2.65787888e-04 -8.89540243e-01] [ 5.36897316e-03 3.02243722e-04 9.99985541e-01 -1.61293429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.295898227 meters Centerline goodness [0,1] 0.9739137853806283 Centerline is valid? [True, True] Translation: X:30.19, Y:-0.89, Z:-0.16 [[ 9.99918180e-01 1.01006955e-02 -7.84921703e-03 3.01877467e+01] [-1.01040556e-02 9.99948877e-01 -3.88541549e-04 -8.87992528e-01] [ 7.84489122e-03 4.67818684e-04 9.99969119e-01 -1.63437419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.325898226999996 meters Centerline goodness [0,1] 0.9461649721359595 Centerline is valid? [True, False] Translation: X:30.19, Y:-0.89, Z:-0.16 [[ 9.99916472e-01 1.01375022e-02 -8.01750488e-03 3.01885294e+01] [-1.01412532e-02 9.99948485e-01 -4.27325236e-04 -8.87706577e-01] [ 8.01275984e-03 5.08597089e-04 9.99967768e-01 -1.63891766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.355898227 meters Centerline goodness [0,1] 0.9410064239828694 Centerline is valid? [False, False] Translation: X:30.19, Y:-0.89, Z:-0.16 [[ 9.99915473e-01 1.01858367e-02 -8.08062113e-03 3.01887996e+01] [-1.01889464e-02 9.99948032e-01 -3.43759936e-04 -8.88116624e-01] [ 8.07669972e-03 4.26063894e-04 9.99967292e-01 -1.64016817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.385898227 meters Centerline goodness [0,1] 0.9506359266663831 Centerline is valid? [False, True] Translation: X:30.21, Y:-0.89, Z:-0.17 [[ 9.99953086e-01 8.60963885e-03 -4.43856999e-03 3.02100400e+01] [-8.56880722e-03 9.99921536e-01 9.13764633e-03 -8.92225379e-01] [ 4.51689356e-03 -9.09918440e-03 9.99948400e-01 -1.67529112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.415898227 meters Centerline goodness [0,1] 0.9227427597955707 Centerline is valid? [True, False] Translation: X:30.21, Y:-0.89, Z:-0.17 [[ 9.99981557e-01 4.32076925e-03 -4.26819984e-03 3.02087616e+01] [-4.30289327e-03 9.99981971e-01 4.18851932e-03 -8.88518713e-01] [ 4.28622051e-03 -4.17007646e-03 9.99982119e-01 -1.66460032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.445898227 meters Centerline goodness [0,1] 0.8505454239144169 Centerline is valid? [False, False] Translation: X:30.23, Y:-0.89, Z:-0.17 [[ 9.99995167e-01 2.69275724e-03 -1.55376678e-03 3.02313415e+01] [-2.67143836e-03 9.99904443e-01 1.35634740e-02 -8.89685079e-01] [ 1.59014145e-03 -1.35592577e-02 9.99906805e-01 -1.70303858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.475898227 meters Centerline goodness [0,1] 0.9703483268749064 Centerline is valid? [False, True] Translation: X:30.21, Y:-0.89, Z:-0.16 [[ 9.99983330e-01 1.51230947e-03 -5.57242692e-03 3.02075426e+01] [-1.50393596e-03 9.99997734e-01 1.50655225e-03 -8.86429983e-01] [ 5.57469267e-03 -1.49814657e-03 9.99983339e-01 -1.64681074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.505898226999996 meters Centerline goodness [0,1] 0.9124294974324438 Centerline is valid? [True, False] Translation: X:30.25, Y:-0.89, Z:-0.17 [[ 9.99977294e-01 5.20018376e-04 -6.71877382e-03 3.02536163e+01] [-5.06273391e-04 9.99997776e-01 2.04729676e-03 -8.87236667e-01] [ 6.71982351e-03 -2.04384873e-03 9.99975333e-01 -1.66586547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.535898227 meters Centerline goodness [0,1] 0.9547602970965564 Centerline is valid? [False, True] Translation: X:30.25, Y:-0.89, Z:-0.17 [[ 9.99977906e-01 5.47463362e-04 -6.62479626e-03 3.02529374e+01] [-5.33091136e-04 9.99997501e-01 2.17103076e-03 -8.87938754e-01] [ 6.62596826e-03 -2.16745117e-03 9.99975699e-01 -1.65963866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.565898227 meters Centerline goodness [0,1] 0.9814315663372267 Centerline is valid? [True, True] Translation: X:30.28, Y:-0.89, Z:-0.16 [[ 9.99992790e-01 -2.97003948e-04 -3.78579414e-03 3.02818547e+01] [ 2.96168386e-04 9.99999932e-01 -2.21268400e-04 -8.92287226e-01] [ 3.78585959e-03 2.20145572e-04 9.99992809e-01 -1.58593385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.595898227 meters Centerline goodness [0,1] 0.9728597719628541 Centerline is valid? [True, True] Translation: X:30.31, Y:-0.89, Z:-0.16 [[ 9.99993277e-01 -1.15887354e-03 -3.47905351e-03 3.03106405e+01] [ 1.15817268e-03 9.99999309e-01 -2.03458924e-04 -8.90198513e-01] [ 3.47928689e-03 1.99428212e-04 9.99993927e-01 -1.58418115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.625898227 meters Centerline goodness [0,1] 0.9581922816519973 Centerline is valid? [True, True] Translation: X:30.34, Y:-0.89, Z:-0.16 [[ 9.99990751e-01 -2.70438881e-03 -3.34418681e-03 3.03396134e+01] [ 2.70374962e-03 9.99996326e-01 -1.95639493e-04 -8.88133722e-01] [ 3.34470360e-03 1.86595840e-04 9.99994389e-01 -1.59873023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.655898227 meters Centerline goodness [0,1] 0.9921385999017325 Centerline is valid? [True, True] Translation: X:30.37, Y:-0.89, Z:-0.16 [[ 9.99979852e-01 -5.12963588e-03 -3.73937842e-03 3.03698535e+01] [ 5.12885350e-03 9.99986823e-01 -2.18787927e-04 -8.94663201e-01] [ 3.74045145e-03 1.99604795e-04 9.99992985e-01 -1.60753825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.685898226999996 meters Centerline goodness [0,1] 0.9986248979416441 Centerline is valid? [True, True] Translation: X:30.40, Y:-0.90, Z:-0.16 [[ 9.99942018e-01 -1.03821697e-02 -2.85855776e-03 3.04007280e+01] [ 1.03817339e-02 9.99946094e-01 -1.67249293e-04 -9.01183259e-01] [ 2.86014007e-03 1.37562810e-04 9.99995900e-01 -1.59432684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.715898227 meters Centerline goodness [0,1] 0.9988201475888107 Centerline is valid? [True, True] Translation: X:30.43, Y:-0.90, Z:-0.16 [[ 9.99918487e-01 -1.26838299e-02 -1.46311782e-03 3.04308834e+01] [ 1.26837182e-02 9.99919555e-01 -8.56034405e-05 -9.01246321e-01] [ 1.46408590e-03 6.70386885e-05 9.99998926e-01 -1.57180045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.745898227 meters Centerline goodness [0,1] 0.9994278206323641 Centerline is valid? [True, True] Translation: X:30.46, Y:-0.91, Z:-0.15 [[ 9.99863780e-01 -1.64893530e-02 7.23292922e-04 3.04617463e+01] [ 1.64893267e-02 9.99864041e-01 4.23206028e-05 -9.06652998e-01] [-7.23892423e-04 -3.03882246e-05 9.99999738e-01 -1.53817380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.775898227 meters Centerline goodness [0,1] 0.999517151614393 Centerline is valid? [True, True] Translation: X:30.49, Y:-0.91, Z:-0.15 [[ 9.99833941e-01 -1.81740315e-02 1.33941650e-03 3.04923391e+01] [ 1.81739428e-02 9.99834837e-01 7.83538547e-05 -9.06661496e-01] [-1.34061929e-03 -5.39983644e-05 9.99999100e-01 -1.51996901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.805898227 meters Centerline goodness [0,1] 0.9997231981262642 Centerline is valid? [True, True] Translation: X:30.52, Y:-0.91, Z:-0.15 [[ 9.99824120e-01 -1.87338053e-02 8.79655611e-04 3.05244661e+01] [ 1.87337673e-02 9.99824506e-01 5.14600618e-05 -9.06738986e-01] [-8.80465279e-04 -3.49717476e-05 9.99999612e-01 -1.51781214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.835898227 meters Centerline goodness [0,1] 0.9997219548711368 Centerline is valid? [True, True] Translation: X:30.56, Y:-0.90, Z:-0.15 [[ 9.99835801e-01 -1.81147002e-02 -4.77822611e-04 3.05557025e+01] [ 1.81146889e-02 9.99835915e-01 -2.78111567e-05 -9.04075259e-01] [ 4.78247998e-04 1.91509822e-05 9.99999885e-01 -1.53974273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.865898227 meters Centerline goodness [0,1] 0.9993198580203617 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.90, Z:-0.16 [[ 9.99894727e-01 -1.44430739e-02 -1.38992076e-03 3.05859440e+01] [ 1.44429750e-02 9.99895692e-01 -8.11151539e-05 -9.00402240e-01] [ 1.39094734e-03 6.10320238e-05 9.99999031e-01 -1.56360567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.895898226999996 meters Centerline goodness [0,1] 0.9968773234200744 Centerline is valid? [True, True] Translation: X:30.62, Y:-0.89, Z:-0.16 [[ 9.99930829e-01 -1.17451241e-02 -6.24497660e-04 3.06158428e+01] [ 1.17451036e-02 9.99931023e-01 -3.64478953e-05 -8.94432281e-01] [ 6.24882669e-04 2.91105845e-05 9.99999804e-01 -1.55200437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.925898227 meters Centerline goodness [0,1] 0.98917725951234 Centerline is valid? [True, True] Translation: X:30.65, Y:-0.89, Z:-0.15 [[ 9.99959780e-01 -8.96396736e-03 2.92638179e-04 3.06465023e+01] [ 8.96396274e-03 9.99959823e-01 1.70942875e-05 -8.88913858e-01] [-2.92779654e-04 -1.44704023e-05 9.99999957e-01 -1.53405723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.955898227 meters Centerline goodness [0,1] 0.9935865917010497 Centerline is valid? [True, True] Translation: X:30.68, Y:-0.89, Z:-0.16 [[ 9.99987022e-01 -4.89423823e-03 -1.41523728e-03 3.06769603e+01] [ 4.89412626e-03 9.99988020e-01 -8.25667043e-05 -8.88107141e-01] [ 1.41562442e-03 7.56392828e-05 9.99998995e-01 -1.55948046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.985898227 meters Centerline goodness [0,1] 0.993920452112857 Centerline is valid? [True, True] Translation: X:30.71, Y:-0.89, Z:-0.16 [[ 9.99989160e-01 -3.70872014e-03 -2.81501022e-03 3.07078296e+01] [ 3.70827278e-03 9.99993111e-01 -1.64122044e-04 -8.86559190e-01] [ 2.81559951e-03 1.53681440e-04 9.99996024e-01 -1.58198775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.015898227 meters Centerline goodness [0,1] 0.9163136709447641 Centerline is valid? [True, False] Translation: X:30.75, Y:-0.89, Z:-0.16 [[ 9.99992195e-01 -2.79966463e-03 -2.78771975e-03 3.07511560e+01] [ 2.80413746e-03 9.99994785e-01 1.60186350e-03 -8.86955348e-01] [ 2.78322054e-03 -1.60966814e-03 9.99994831e-01 -1.58474497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.045898227 meters Centerline goodness [0,1] 0.8796784674458837 Centerline is valid? [False, False] Translation: X:30.75, Y:-0.89, Z:-0.16 [[ 9.99992446e-01 -2.75310667e-03 -2.74383442e-03 3.07510868e+01] [ 2.75743071e-03 9.99994961e-01 1.57337486e-03 -8.86635267e-01] [ 2.73948892e-03 -1.58092890e-03 9.99994998e-01 -1.58605616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.075898226999996 meters Centerline goodness [0,1] 0.8878828905060078 Centerline is valid? [False, False] Translation: X:30.75, Y:-0.89, Z:-0.16 [[ 9.99992274e-01 -2.80774249e-03 -2.75100948e-03 3.07511956e+01] [ 2.81125626e-03 9.99995237e-01 1.27423494e-03 -8.85036335e-01] [ 2.74741866e-03 -1.28195889e-03 9.99995404e-01 -1.58768173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.105898227 meters Centerline goodness [0,1] 0.9581975071907958 Centerline is valid? [False, True] Translation: X:30.75, Y:-0.88, Z:-0.16 [[ 9.99991695e-01 -2.91372955e-03 -2.84965914e-03 3.07517485e+01] [ 2.91623310e-03 9.99995365e-01 8.74781904e-04 -8.82946059e-01] [ 2.84709705e-03 -8.83084909e-04 9.99995557e-01 -1.59271314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.135898227 meters Centerline goodness [0,1] 0.8572715087542934 Centerline is valid? [True, False] Translation: X:30.80, Y:-0.88, Z:-0.16 [[ 9.99984354e-01 -2.06812057e-03 -5.19763030e-03 3.07982914e+01] [ 2.07600348e-03 9.99996702e-01 1.51169961e-03 -8.79541183e-01] [ 5.19448678e-03 -1.52246626e-03 9.99985350e-01 -1.60059052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.165898227 meters Centerline goodness [0,1] 0.9165574017152807 Centerline is valid? [False, False] Translation: X:30.73, Y:-0.88, Z:-0.16 [[ 9.99989188e-01 9.49141535e-04 -4.55222610e-03 3.07331093e+01] [-9.74668845e-04 9.99983796e-01 -5.60871798e-03 -8.83575336e-01] [ 4.54682887e-03 5.61309425e-03 9.99973909e-01 -1.59147062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.195898227 meters Centerline goodness [0,1] 0.7747609217677044 Centerline is valid? [False, False] Translation: X:30.77, Y:-0.88, Z:-0.16 [[ 9.99990842e-01 1.94891735e-03 -3.81025556e-03 3.07748460e+01] [-1.95974794e-03 9.99994045e-01 -2.84081753e-03 -8.84269820e-01] [ 3.80469635e-03 2.84825865e-03 9.99988706e-01 -1.58717150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.225898227 meters Centerline goodness [0,1] 0.8795026552069782 Centerline is valid? [False, False] Translation: X:30.73, Y:-0.89, Z:-0.16 [[ 9.99994972e-01 2.17866598e-03 -2.30437621e-03 3.07291673e+01] [-2.18572002e-03 9.99992920e-01 -3.06307580e-03 -8.87569477e-01] [ 2.29768647e-03 3.06809712e-03 9.99992654e-01 -1.58663367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.255898226999996 meters Centerline goodness [0,1] 0.9563163094368798 Centerline is valid? [False, True] Translation: X:30.73, Y:-0.89, Z:-0.16 [[ 9.99995132e-01 2.13948898e-03 -2.27123724e-03 3.07289712e+01] [-2.14669652e-03 9.99992653e-01 -3.17571758e-03 -8.86957871e-01] [ 2.26442614e-03 3.18057778e-03 9.99992378e-01 -1.58497499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.285898227 meters Centerline goodness [0,1] 0.9069205779259639 Centerline is valid? [True, False] Translation: X:30.73, Y:-0.89, Z:-0.16 [[ 9.99995255e-01 2.06955195e-03 -2.28187078e-03 3.07290020e+01] [-2.07740854e-03 9.99991904e-01 -3.44607061e-03 -8.85531322e-01] [ 2.27472048e-03 3.45079463e-03 9.99991459e-01 -1.58511866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.315898227 meters Centerline goodness [0,1] 0.7961670637346883 Centerline is valid? [False, False] Translation: X:30.75, Y:-0.88, Z:-0.16 [[ 9.99993027e-01 3.35337856e-03 1.64367700e-03 3.07515058e+01] [-3.36688296e-03 9.99960025e-01 8.28324204e-03 -8.84998513e-01] [-1.61583445e-03 -8.28871835e-03 9.99964342e-01 -1.63466920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.345898227 meters Centerline goodness [0,1] 0.7896291573690363 Centerline is valid? [False, False] Translation: X:30.75, Y:-0.88, Z:-0.16 [[ 9.99993016e-01 3.29515106e-03 1.76374335e-03 3.07506633e+01] [-3.30941818e-03 9.99961326e-01 8.14826416e-03 -8.84371830e-01] [-1.73682538e-03 -8.15404421e-03 9.99965247e-01 -1.62713354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.375898227 meters Centerline goodness [0,1] 0.7896291573690363 Centerline is valid? [False, False] Translation: X:30.75, Y:-0.88, Z:-0.16 [[ 9.99998666e-01 -6.53394759e-04 1.49686557e-03 3.07511986e+01] [ 6.48211743e-04 9.99993803e-01 3.46045190e-03 -8.80900550e-01] [-1.49911733e-03 -3.45947700e-03 9.99992892e-01 -1.62575385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.405898227 meters Centerline goodness [0,1] 0.9063649820257983 Centerline is valid? [False, False] Translation: X:30.75, Y:-0.88, Z:-0.16 [[ 9.99986496e-01 -4.96630954e-03 1.53080756e-03 3.07508785e+01] [ 4.96799147e-03 9.99987058e-01 -1.09688163e-03 -8.79508349e-01] [-1.52534029e-03 1.10447185e-03 9.99998227e-01 -1.62246074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.435898226999996 meters Centerline goodness [0,1] 0.9553126198695819 Centerline is valid? [False, True] Translation: X:30.75, Y:-0.88, Z:-0.16 [[ 9.99986679e-01 -4.99437361e-03 1.30299341e-03 3.07517440e+01] [ 4.99541786e-03 9.99987203e-01 -7.99408214e-04 -8.81291800e-01] [-1.29898419e-03 8.05906562e-04 9.99998832e-01 -1.62463536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.465898227 meters Centerline goodness [0,1] 0.9374777080754464 Centerline is valid? [True, False] Translation: X:30.79, Y:-0.88, Z:-0.16 [[ 9.99989036e-01 -4.58354440e-03 9.58290980e-04 3.07949297e+01] [ 4.58148578e-03 9.99987216e-01 2.13948333e-03 -8.81865460e-01] [-9.68085146e-04 -2.13506947e-03 9.99997252e-01 -1.62469938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.495898227 meters Centerline goodness [0,1] 0.9619800647684738 Centerline is valid? [False, True] Translation: X:30.80, Y:-0.88, Z:-0.16 [[ 9.99989573e-01 -4.49089967e-03 8.28600326e-04 3.07953727e+01] [ 4.48881372e-03 9.99986794e-01 2.50235827e-03 -8.83704090e-01] [-8.39827223e-04 -2.49861274e-03 9.99996526e-01 -1.62483225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.525898227 meters Centerline goodness [0,1] 0.9740992895805142 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.89, Z:-0.16 [[ 9.99989732e-01 -4.03142191e-03 2.06990992e-03 3.08265352e+01] [ 4.03116885e-03 9.99991867e-01 1.26416611e-04 -8.85264880e-01] [-2.07040272e-03 -1.18071156e-04 9.99997850e-01 -1.60024206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.555898227 meters Centerline goodness [0,1] 0.940380037408604 Centerline is valid? [True, False] Translation: X:30.83, Y:-0.89, Z:-0.16 [[ 9.99989636e-01 -3.96417184e-03 2.23917527e-03 3.08255543e+01] [ 3.96368043e-03 9.99992120e-01 2.23858439e-04 -8.85665644e-01] [-2.24004503e-03 -2.14980744e-04 9.99997468e-01 -1.59276091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.585898227 meters Centerline goodness [0,1] 0.9807737699289746 Centerline is valid? [False, True] Translation: X:30.82, Y:-0.89, Z:-0.16 [[ 9.99989519e-01 -3.92823017e-03 2.35162858e-03 3.08248176e+01] [ 3.92751839e-03 9.99992240e-01 3.07215560e-04 -8.86064441e-01] [-2.35281714e-03 -2.97976276e-04 9.99997188e-01 -1.58575664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.615898227 meters Centerline goodness [0,1] 0.9191861449864499 Centerline is valid? [True, False] Translation: X:30.87, Y:-0.89, Z:-0.16 [[ 9.99991266e-01 -3.52651683e-03 2.24327446e-03 3.08679207e+01] [ 3.52101293e-03 9.99990793e-01 2.45274594e-03 -8.87710537e-01] [-2.25190346e-03 -2.44482591e-03 9.99994476e-01 -1.58684130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.645898226999996 meters Centerline goodness [0,1] 0.9972128845581039 Centerline is valid? [False, True] Translation: X:30.87, Y:-0.89, Z:-0.16 [[ 9.99992356e-01 -3.31887143e-03 2.06715948e-03 3.08688461e+01] [ 3.31265417e-03 9.99990002e-01 3.00382811e-03 -8.90435648e-01] [-2.07710813e-03 -2.99695736e-03 9.99993352e-01 -1.59279151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.675898227 meters Centerline goodness [0,1] 0.9402254210815146 Centerline is valid? [True, False] Translation: X:30.87, Y:-0.89, Z:-0.16 [[ 9.99993320e-01 -3.12053468e-03 1.90329317e-03 3.08697526e+01] [ 3.11397654e-03 9.99989238e-01 3.43896346e-03 -8.92525010e-01] [-1.91400409e-03 -3.43301367e-03 9.99992275e-01 -1.59885404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.705898227 meters Centerline goodness [0,1] 0.9748017696467118 Centerline is valid? [False, True] Translation: X:30.85, Y:-0.89, Z:-0.16 [[ 9.99998225e-01 -9.78403611e-04 -1.61044009e-03 3.08473465e+01] [ 9.69941112e-04 9.99985763e-01 -5.24719449e-03 -8.92896287e-01] [ 1.61555104e-03 5.24562314e-03 9.99984937e-01 -1.55626519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.735898227 meters Centerline goodness [0,1] 0.9166218628357599 Centerline is valid? [True, False] Translation: X:30.85, Y:-0.90, Z:-0.16 [[ 9.99991943e-01 3.58369562e-03 -1.80838845e-03 3.08481860e+01] [-3.58440891e-03 9.99993499e-01 -3.91347751e-04 -8.95414852e-01] [ 1.80697423e-03 3.97826602e-04 9.99998288e-01 -1.55927102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.765898227 meters Centerline goodness [0,1] 0.8355761143818334 Centerline is valid? [False, False] Translation: X:30.89, Y:-0.89, Z:-0.16 [[ 9.99989398e-01 4.48081589e-03 -1.06162957e-03 3.08903135e+01] [-4.48084349e-03 9.99989961e-01 -2.36185068e-05 -8.91907169e-01] [ 1.06151308e-03 2.83752523e-05 9.99999436e-01 -1.55875048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.795898227 meters Centerline goodness [0,1] 0.7892767031118587 Centerline is valid? [False, False] Translation: X:30.89, Y:-0.89, Z:-0.16 [[ 9.99988684e-01 4.66100451e-03 -9.52169046e-04 3.08904335e+01] [-4.66134215e-03 9.99989074e-01 -3.52693632e-04 -8.89654179e-01] [ 9.50514736e-04 3.57128027e-04 9.99999484e-01 -1.56731876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.825898226999996 meters Centerline goodness [0,1] 0.7466081488827464 Centerline is valid? [False, False] Translation: X:30.89, Y:-0.89, Z:-0.16 [[ 9.99989139e-01 4.55561397e-03 -9.84134350e-04 3.08906578e+01] [-4.55627172e-03 9.99989398e-01 -6.67151294e-04 -8.88120266e-01] [ 9.81084632e-04 6.71628031e-04 9.99999293e-01 -1.57010970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.855898227 meters Centerline goodness [0,1] 0.777163471801221 Centerline is valid? [False, False] Translation: X:30.89, Y:-0.89, Z:-0.16 [[ 9.99961805e-01 8.66018053e-03 -1.17920916e-03 3.08915958e+01] [-8.65526317e-03 9.99954083e-01 4.11317474e-03 -8.91369689e-01] [ 1.21477585e-03 -4.10281127e-03 9.99990846e-01 -1.57429973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.885898227 meters Centerline goodness [0,1] 0.7975239955831139 Centerline is valid? [False, False] Translation: X:30.89, Y:-0.89, Z:-0.16 [[ 9.99962419e-01 8.56626084e-03 -1.33407193e-03 3.08921582e+01] [-8.56082376e-03 9.99955238e-01 4.02929240e-03 -8.91207109e-01] [ 1.36852818e-03 -4.01772022e-03 9.99990992e-01 -1.57592878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.915898227 meters Centerline goodness [0,1] 0.8050673168663204 Centerline is valid? [False, False] Translation: X:30.89, Y:-0.89, Z:-0.16 [[ 9.99990317e-01 4.22934827e-03 -1.21612143e-03 3.08910523e+01] [-4.23058217e-03 9.99990537e-01 -1.01384006e-03 -8.86938904e-01] [ 1.21182204e-03 1.01897515e-03 9.99998747e-01 -1.56499101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.945898227 meters Centerline goodness [0,1] 0.7595352683019908 Centerline is valid? [False, False] Translation: X:30.89, Y:-0.89, Z:-0.16 [[ 9.99990994e-01 4.11292938e-03 -1.04703688e-03 3.08901527e+01] [-4.11423367e-03 9.99990759e-01 -1.24660644e-03 -8.85951505e-01] [ 1.04190000e-03 1.25090297e-03 9.99998675e-01 -1.55913324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.975898227 meters Centerline goodness [0,1] 0.7956349206349207 Centerline is valid? [False, False] Translation: X:30.89, Y:-0.88, Z:-0.16 [[ 9.99991547e-01 3.99725951e-03 -9.63304621e-04 3.08896439e+01] [-3.99873398e-03 9.99990829e-01 -1.53360327e-03 -8.84565298e-01] [ 9.57165577e-04 1.53744231e-03 9.99998360e-01 -1.55498687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.005898226999996 meters Centerline goodness [0,1] 0.8049963670556054 Centerline is valid? [False, False] Translation: X:30.89, Y:-0.88, Z:-0.16 [[ 9.99992272e-01 3.77004085e-03 -1.11443263e-03 3.08905541e+01] [-3.77281736e-03 9.99989758e-01 -2.49989796e-03 -8.79548506e-01] [ 1.10499650e-03 2.50408320e-03 9.99996254e-01 -1.56425101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.035898227 meters Centerline goodness [0,1] 0.7694479498641799 Centerline is valid? [False, False] Translation: X:30.89, Y:-0.88, Z:-0.16 [[ 9.99993004e-01 3.51498250e-03 -1.27937185e-03 3.08913549e+01] [-3.51912535e-03 9.99988525e-01 -3.25047156e-03 -8.75886861e-01] [ 1.26793182e-03 3.25495108e-03 9.99993899e-01 -1.57037168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.065898227 meters Centerline goodness [0,1] 0.7745765597072092 Centerline is valid? [False, False] Translation: X:30.90, Y:-0.87, Z:-0.16 [[ 9.99982134e-01 5.55721309e-03 -2.20183763e-03 3.08974344e+01] [-5.56032709e-03 9.99983546e-01 -1.41068638e-03 -8.73301124e-01] [ 2.19396192e-03 1.42290412e-03 9.99996581e-01 -1.60829882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.095898227 meters Centerline goodness [0,1] 0.7101959028799216 Centerline is valid? [False, False] Translation: X:30.90, Y:-0.87, Z:-0.16 [[ 9.99984790e-01 5.13711239e-03 -2.00738798e-03 3.08962841e+01] [-5.14295426e-03 9.99982524e-01 -2.91594103e-03 -8.65641396e-01] [ 1.99237338e-03 2.92622059e-03 9.99993734e-01 -1.60038667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.125898227 meters Centerline goodness [0,1] 0.7154320195147001 Centerline is valid? [False, False] Translation: X:30.90, Y:-0.86, Z:-0.16 [[ 9.99986703e-01 4.81313981e-03 -1.85133083e-03 3.08955081e+01] [-4.82012068e-03 9.99981220e-01 -3.78493537e-03 -8.61513783e-01] [ 1.83307864e-03 3.79380868e-03 9.99991123e-01 -1.59639357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.155898227 meters Centerline goodness [0,1] 0.6675753925484478 Centerline is valid? [False, False] Translation: X:30.92, Y:-0.86, Z:-0.16 [[ 9.99993872e-01 3.41979004e-03 -7.49396122e-04 3.09160222e+01] [-3.41539321e-03 9.99977394e-01 5.79192516e-03 -8.58490553e-01] [ 7.69186349e-04 -5.78933018e-03 9.99982946e-01 -1.60476452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.185898226999996 meters Centerline goodness [0,1] 0.7141366163283562 Centerline is valid? [False, False] Translation: X:30.92, Y:-0.85, Z:-0.16 [[ 9.99995619e-01 2.80469668e-03 -9.46399736e-04 3.09168772e+01] [-2.80030013e-03 9.99985428e-01 4.61532858e-03 -8.53233391e-01] [ 9.59330542e-04 -4.61265816e-03 9.99988901e-01 -1.61046863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.215898227 meters Centerline goodness [0,1] 0.7843577569613756 Centerline is valid? [False, False] Translation: X:30.92, Y:-0.85, Z:-0.16 [[ 9.99996306e-01 2.49288111e-03 -1.08293365e-03 3.09174988e+01] [-2.48827637e-03 9.99987946e-01 4.23284164e-03 -8.51817010e-01] [ 1.09347257e-03 -4.23013137e-03 9.99990455e-01 -1.61433058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.245898227 meters Centerline goodness [0,1] 0.7898276856063032 Centerline is valid? [False, False] Translation: X:30.92, Y:-0.85, Z:-0.16 [[ 9.99996870e-01 2.17590835e-03 -1.23521734e-03 3.09179055e+01] [-2.17109392e-03 9.99990094e-01 3.88568981e-03 -8.50652733e-01] [ 1.24366001e-03 -3.88299587e-03 9.99991688e-01 -1.61335143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.275898227 meters Centerline goodness [0,1] 0.8292049454795226 Centerline is valid? [False, False] Translation: X:30.92, Y:-0.85, Z:-0.16 [[ 9.99997357e-01 1.87614423e-03 -1.32923506e-03 3.09178800e+01] [-1.87143442e-03 9.99991998e-01 3.53567509e-03 -8.49411541e-01] [ 1.33585786e-03 -3.53317817e-03 9.99992866e-01 -1.60788961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.305898227 meters Centerline goodness [0,1] 0.8332944939940258 Centerline is valid? [False, False] Translation: X:30.96, Y:-0.84, Z:-0.16 [[ 9.99998553e-01 -1.53052382e-03 7.42325068e-04 3.09560024e+01] [ 1.52966890e-03 9.99998168e-01 1.15087366e-03 -8.43789561e-01] [-7.44085147e-04 -1.14973648e-03 9.99999062e-01 -1.58181637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.335898227 meters Centerline goodness [0,1] 0.950076969126828 Centerline is valid? [False, True] Translation: X:30.96, Y:-0.84, Z:-0.16 [[ 9.99981393e-01 -6.03916963e-03 8.61498973e-04 3.09553238e+01] [ 6.04248070e-03 9.99974162e-01 -3.89399613e-03 -8.40106590e-01] [-8.37960210e-04 3.89912927e-03 9.99992047e-01 -1.57648334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.365898227 meters Centerline goodness [0,1] 0.9806253596777288 Centerline is valid? [True, True] Translation: X:30.99, Y:-0.84, Z:-0.16 [[ 9.99956381e-01 -9.32133789e-03 5.90627044e-04 3.09866341e+01] [ 9.32131733e-03 9.99956555e-01 3.75509822e-05 -8.43815274e-01] [-5.90951410e-04 -3.20439222e-05 9.99999825e-01 -1.58808372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.395898226999996 meters Centerline goodness [0,1] 0.9746794940165106 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.84, Z:-0.16 [[ 9.99912394e-01 -1.31741622e-02 1.28325020e-03 3.10158771e+01] [ 1.31740684e-02 9.99913215e-01 8.15084099e-05 -8.39687388e-01] [-1.28421264e-03 -6.45956434e-05 9.99999173e-01 -1.59085189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.425898227 meters Centerline goodness [0,1] 0.9994684018031811 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.86, Z:-0.16 [[ 9.99777879e-01 -2.09978939e-02 1.81115477e-03 3.10470993e+01] [ 2.09977197e-02 9.99779517e-01 1.15143588e-04 -8.56160134e-01] [-1.81317321e-03 -7.70878920e-05 9.99998353e-01 -1.56488166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.455898227 meters Centerline goodness [0,1] 0.9998743323908262 Centerline is valid? [True, True] Translation: X:31.08, Y:-0.86, Z:-0.16 [[ 9.99681483e-01 -2.51712826e-02 1.82731968e-03 3.10776793e+01] [ 2.51711123e-02 9.99683151e-01 1.16124694e-04 -8.62688071e-01] [-1.82966370e-03 -7.00920374e-05 9.99998324e-01 -1.56599494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.485898227 meters Centerline goodness [0,1] 0.9999787043741215 Centerline is valid? [True, True] Translation: X:31.11, Y:-0.88, Z:-0.16 [[ 9.99484005e-01 -3.21196691e-02 2.23013961e-04 3.11093610e+01] [ 3.21196668e-02 9.99484030e-01 1.41740308e-05 -8.80413661e-01] [-2.23354158e-04 -7.00358294e-06 9.99999975e-01 -1.58104459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.14, Y:-0.88, Z:-0.16 [[ 9.99453578e-01 -3.30529335e-02 -2.22072608e-04 3.11414819e+01] [ 3.30529312e-02 9.99453602e-01 -1.38448871e-05 -8.83454174e-01] [ 2.22408882e-04 6.49717135e-06 9.99999975e-01 -1.57844059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.545898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.17, Y:-0.89, Z:-0.16 [[ 9.99481502e-01 -3.21968797e-02 2.97628779e-04 3.11740236e+01] [ 3.21968754e-02 9.99481546e-01 1.91708115e-05 -8.88903644e-01] [-2.98091713e-04 -9.57815472e-06 9.99999956e-01 -1.56121806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.575898226999996 meters Centerline goodness [0,1] 0.9999362149979801 Centerline is valid? [True, True] Translation: X:31.20, Y:-0.88, Z:-0.15 [[ 9.99626281e-01 -2.72123538e-02 2.60486587e-03 3.12040125e+01] [ 2.72120149e-02 9.99629671e-01 1.65443224e-04 -8.83507888e-01] [-2.60840331e-03 -9.44977463e-05 9.99996594e-01 -1.52527404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.605898227 meters Centerline goodness [0,1] 0.9996594367935974 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.88, Z:-0.15 [[ 9.99697354e-01 -2.44608137e-02 2.62073840e-03 3.12338645e+01] [ 2.44604618e-02 9.99700784e-01 1.66266850e-04 -8.76821387e-01] [-2.62402126e-03 -1.02112059e-04 9.99996552e-01 -1.52762895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.635898227 meters Centerline goodness [0,1] 0.9994678360083443 Centerline is valid? [True, True] Translation: X:31.26, Y:-0.88, Z:-0.16 [[ 9.99804807e-01 -1.97254318e-02 1.12015466e-03 3.12648619e+01] [ 1.97253645e-02 9.99805434e-01 7.10470648e-05 -8.77813780e-01] [-1.12133815e-03 -4.89377380e-05 9.99999370e-01 -1.55143674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.665898227 meters Centerline goodness [0,1] 0.9985389094759132 Centerline is valid? [True, True] Translation: X:31.30, Y:-0.87, Z:-0.16 [[ 9.99838894e-01 -1.79492299e-02 -1.04378549e-04 3.12950953e+01] [ 1.79492293e-02 9.99838900e-01 -6.55293092e-06 -8.71410529e-01] [ 1.04479354e-04 4.67836069e-06 9.99999995e-01 -1.57058590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.695898227 meters Centerline goodness [0,1] 0.9988576264015232 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.87, Z:-0.16 [[ 9.99866925e-01 -1.63097072e-02 -3.55677382e-04 3.13263186e+01] [ 1.63097003e-02 9.99866988e-01 -2.24132913e-05 -8.70058708e-01] [ 3.55995627e-04 1.66093172e-05 9.99999936e-01 -1.57034251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.725898227 meters Centerline goodness [0,1] 0.998934765009161 Centerline is valid? [True, True] Translation: X:31.36, Y:-0.87, Z:-0.16 [[ 9.99886092e-01 -1.50891265e-02 3.49585982e-04 3.13573408e+01] [ 1.50891197e-02 9.99886153e-01 2.22186928e-05 -8.70278421e-01] [-3.49881443e-04 -1.69412172e-05 9.99999939e-01 -1.55238798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.755898226999996 meters Centerline goodness [0,1] 0.9995526680157631 Centerline is valid? [True, True] Translation: X:31.39, Y:-0.87, Z:-0.15 [[ 9.99880699e-01 -1.52644633e-02 2.36305767e-03 3.13894924e+01] [ 1.52641516e-02 9.99883485e-01 1.49894916e-04 -8.73786580e-01] [-2.36507040e-03 -1.13806963e-04 9.99997197e-01 -1.52177364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.785898227 meters Centerline goodness [0,1] 0.9995934089450033 Centerline is valid? [True, True] Translation: X:31.42, Y:-0.87, Z:-0.15 [[ 9.99844969e-01 -1.74632834e-02 2.25200330e-03 3.14204854e+01] [ 1.74630063e-02 9.99847500e-01 1.42668641e-04 -8.73720479e-01] [-2.25415133e-03 -1.03319775e-04 9.99997454e-01 -1.53782100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.815898227 meters Centerline goodness [0,1] 0.9997899071389554 Centerline is valid? [True, True] Translation: X:31.45, Y:-0.87, Z:-0.15 [[ 9.99781960e-01 -2.07590447e-02 2.25716881e-03 3.14501447e+01] [ 2.07587749e-02 9.99784503e-01 1.42858796e-04 -8.72847075e-01] [-2.25964801e-03 -9.59715877e-05 9.99997442e-01 -1.54311481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.845898227 meters Centerline goodness [0,1] 0.9997888736408741 Centerline is valid? [True, True] Translation: X:31.48, Y:-0.87, Z:-0.15 [[ 9.99683486e-01 -2.50557713e-02 2.26635467e-03 3.14796944e+01] [ 2.50555105e-02 9.99686051e-01 1.43415896e-04 -8.73926415e-01] [-2.26923655e-03 -8.65858291e-05 9.99997422e-01 -1.54955181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.51, Y:-0.89, Z:-0.15 [[ 9.99375054e-01 -3.52321193e-02 2.86342668e-03 3.15099572e+01] [ 3.52317445e-02 9.99379153e-01 1.81233063e-04 -8.90057015e-01] [-2.86803415e-03 -8.02362852e-05 9.99995884e-01 -1.54832662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.905898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.54, Y:-0.90, Z:-0.15 [[ 9.99167548e-01 -4.06415318e-02 3.53227766e-03 3.15418598e+01] [ 4.06409950e-02 9.99173788e-01 2.23637223e-04 -9.03304873e-01] [-3.53844821e-03 -7.98957764e-05 9.99993736e-01 -1.53634607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.935898226999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.57, Y:-0.92, Z:-0.15 [[ 9.98767508e-01 -4.93673195e-02 5.13145563e-03 3.15741006e+01] [ 4.93663023e-02 9.98780688e-01 3.24795145e-04 -9.21562654e-01] [-5.14123305e-03 -7.10738485e-05 9.99986781e-01 -1.49730128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.965898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.61, Y:-0.93, Z:-0.15 [[ 9.98673988e-01 -5.12344534e-02 5.02961167e-03 3.16063751e+01] [ 5.12335000e-02 9.98686651e-01 3.18304860e-04 -9.25304653e-01] [-5.03931421e-03 -6.01981737e-05 9.99987301e-01 -1.49117523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.995898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.92, Z:-0.15 [[ 9.98675274e-01 -5.12662675e-02 4.41219676e-03 3.16379467e+01] [ 5.12655349e-02 9.98685019e-01 2.79035570e-04 -9.24904457e-01] [-4.42069991e-03 -5.24722977e-05 9.99990227e-01 -1.49477507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.025898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.67, Y:-0.92, Z:-0.15 [[ 9.98844029e-01 -4.79746546e-02 3.00622464e-03 3.16699078e+01] [ 4.79742996e-02 9.98848552e-01 1.90101117e-04 -9.24890907e-01] [-3.01188316e-03 -4.56598443e-05 9.99995463e-01 -1.51063595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.055898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.92, Z:-0.15 [[ 9.98997422e-01 -4.47013754e-02 2.43697076e-03 3.17000897e+01] [ 4.47011329e-02 9.99000393e-01 1.53926592e-04 -9.18009929e-01] [-2.44141547e-03 -4.48369150e-05 9.99997019e-01 -1.52533356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.73, Y:-0.92, Z:-0.15 [[ 9.99172108e-01 -4.06512855e-02 1.60356770e-03 3.17309046e+01] [ 4.06511752e-02 9.99173394e-01 1.01290518e-04 -9.15265872e-01] [-1.60635977e-03 -3.60197484e-05 9.99998709e-01 -1.53449170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.115898227 meters Centerline goodness [0,1] 0.9999789145194619 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.91, Z:-0.16 [[ 9.99349382e-01 -3.60581533e-02 7.89388951e-04 3.17609072e+01] [ 3.60581251e-02 9.99349693e-01 4.98863062e-05 -9.05401269e-01] [-7.90674414e-04 -2.13899637e-05 9.99999687e-01 -1.55844216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.145898226999996 meters Centerline goodness [0,1] 0.9998123201401343 Centerline is valid? [True, True] Translation: X:31.79, Y:-0.89, Z:-0.16 [[ 9.99609397e-01 -2.79270301e-02 -1.06522650e-03 3.17901768e+01] [ 2.79269743e-02 9.99609964e-01 -6.71787541e-05 -8.90237371e-01] [ 1.06668713e-03 3.74039606e-05 9.99999430e-01 -1.58546475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.175898227 meters Centerline goodness [0,1] 0.9998522053079408 Centerline is valid? [True, True] Translation: X:31.82, Y:-0.88, Z:-0.16 [[ 9.99702870e-01 -2.43507417e-02 -1.10179622e-03 3.18203664e+01] [ 2.43506800e-02 9.99703476e-01 -6.94081437e-05 -8.83321126e-01] [ 1.10315965e-03 4.25580333e-05 9.99999391e-01 -1.58303246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.205898227 meters Centerline goodness [0,1] 0.999297767752644 Centerline is valid? [True, True] Translation: X:31.85, Y:-0.88, Z:-0.16 [[ 9.99807152e-01 -1.95538246e-02 1.81844166e-03 3.18509832e+01] [ 1.95536483e-02 9.99808803e-01 1.14724920e-04 -8.75002441e-01] [-1.82033729e-03 -7.91456266e-05 9.99998340e-01 -1.55582777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.235898227 meters Centerline goodness [0,1] 0.9978214890016921 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.87, Z:-0.15 [[ 9.99832785e-01 -1.81022600e-02 2.59025253e-03 3.18821780e+01] [ 1.81018971e-02 9.99836134e-01 1.63500074e-04 -8.69678859e-01] [-2.59278780e-03 -1.16584250e-04 9.99996632e-01 -1.51874037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.265898227 meters Centerline goodness [0,1] 0.984889764439601 Centerline is valid? [True, True] Translation: X:31.91, Y:-0.86, Z:-0.15 [[ 9.99849994e-01 -1.71071078e-02 2.70866921e-03 3.19129987e+01] [ 1.71067075e-02 9.99853655e-01 1.70870770e-04 -8.60007189e-01] [-2.71119591e-03 -1.24508727e-04 9.99996317e-01 -1.52815612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.295898227 meters Centerline goodness [0,1] 0.9974071791384184 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.87, Z:-0.15 [[ 9.99865572e-01 -1.63095863e-02 1.68390705e-03 3.19457875e+01] [ 1.63094304e-02 9.99866987e-01 1.06284094e-04 -8.65161725e-01] [-1.68541652e-03 -7.88062418e-05 9.99998577e-01 -1.54089883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.325898226999996 meters Centerline goodness [0,1] 0.9974071791384184 Centerline is valid? [True, True] Translation: X:31.98, Y:-0.86, Z:-0.15 [[ 9.99866328e-01 -1.62631753e-02 1.68391202e-03 3.19774424e+01] [ 1.62630194e-02 9.99867743e-01 1.06205330e-04 -8.63258577e-01] [-1.68541654e-03 -7.88056398e-05 9.99998577e-01 -1.54261848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.355898227 meters Centerline goodness [0,1] 0.9992274014936905 Centerline is valid? [True, True] Translation: X:32.01, Y:-0.87, Z:-0.16 [[ 9.99899100e-01 -1.41968644e-02 4.89487755e-04 3.20089984e+01] [ 1.41968510e-02 9.99899219e-01 3.09188027e-05 -8.65234895e-01] [-4.89877374e-04 -2.39664983e-05 9.99999880e-01 -1.55222177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.385898227 meters Centerline goodness [0,1] 0.9983872355066231 Centerline is valid? [True, True] Translation: X:32.04, Y:-0.86, Z:-0.15 [[ 9.99923151e-01 -1.23817805e-02 6.20162008e-04 3.20398146e+01] [ 1.23817587e-02 9.99923342e-01 3.90649151e-05 -8.61897018e-01] [-6.20598161e-04 -3.13832167e-05 9.99999807e-01 -1.53580767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.415898227 meters Centerline goodness [0,1] 0.9888620475874896 Centerline is valid? [True, True] Translation: X:32.07, Y:-0.85, Z:-0.15 [[ 9.99951796e-01 -9.76563938e-03 1.01867138e-03 3.20694138e+01] [ 9.76557904e-03 9.99952314e-01 6.41955453e-05 -8.51588421e-01] [-1.01924972e-03 -5.42445349e-05 9.99999479e-01 -1.52671276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.445898227 meters Centerline goodness [0,1] 0.9427422975775588 Centerline is valid? [True, False] Translation: X:32.07, Y:-0.85, Z:-0.15 [[ 9.99984561e-01 -5.49996659e-03 7.92171788e-04 3.20703536e+01] [ 5.49660881e-03 9.99976156e-01 4.18027973e-03 -8.50519013e-01] [-8.15144298e-04 -4.17586094e-03 9.99990949e-01 -1.53320457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.475898227 meters Centerline goodness [0,1] 0.9158564423402097 Centerline is valid? [False, False] Translation: X:32.07, Y:-0.85, Z:-0.15 [[ 9.99984718e-01 -5.49365018e-03 6.20042946e-04 3.20712788e+01] [ 5.49127215e-03 9.99977801e-01 3.77392804e-03 -8.48125069e-01] [-6.40761823e-04 -3.77046554e-03 9.99992686e-01 -1.54092066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.505898226999996 meters Centerline goodness [0,1] 0.8919877649857683 Centerline is valid? [False, False] Translation: X:32.07, Y:-0.84, Z:-0.15 [[ 9.99983475e-01 -5.72309539e-03 5.44783560e-04 3.20716051e+01] [ 5.72146731e-03 9.99979297e-01 2.94454743e-03 -8.43896761e-01] [-5.61624208e-04 -2.94138181e-03 9.99995516e-01 -1.54396786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.535898227 meters Centerline goodness [0,1] 0.8916145446835577 Centerline is valid? [False, False] Translation: X:32.07, Y:-0.84, Z:-0.15 [[ 9.99982264e-01 -5.93550013e-03 4.92035496e-04 3.20713301e+01] [ 5.93420908e-03 9.99979051e-01 2.58508024e-03 -8.42287570e-01] [-5.07368932e-04 -2.58211455e-03 9.99996538e-01 -1.53687219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.565898227 meters Centerline goodness [0,1] 0.9167379587646505 Centerline is valid? [False, False] Translation: X:32.07, Y:-0.84, Z:-0.15 [[ 9.99969054e-01 -7.77347748e-03 1.20973727e-03 3.20658333e+01] [ 7.77273255e-03 9.99969600e-01 6.19269212e-04 -8.39314401e-01] [-1.21451437e-03 -6.09847084e-04 9.99999077e-01 -1.49547300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.595898227 meters Centerline goodness [0,1] 0.9520847877133972 Centerline is valid? [False, True] Translation: X:32.06, Y:-0.84, Z:-0.15 [[ 9.99923704e-01 -1.22683424e-02 1.43979309e-03 3.20646212e+01] [ 1.22745613e-02 9.99915015e-01 -4.39302800e-03 -8.35703591e-01] [-1.38577556e-03 4.41036566e-03 9.99989314e-01 -1.48561857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.625898227 meters Centerline goodness [0,1] 0.9958592132505176 Centerline is valid? [True, True] Translation: X:32.10, Y:-0.85, Z:-0.15 [[ 9.99794543e-01 -2.02403294e-02 1.09541456e-03 3.20950002e+01] [ 2.02402610e-02 9.99795142e-01 7.34608151e-05 -8.46550005e-01] [-1.09667703e-03 -5.12742454e-05 9.99999397e-01 -1.50890970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.655898227 meters Centerline goodness [0,1] 0.9989111999832492 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.85, Z:-0.15 [[ 9.99707455e-01 -2.41700285e-02 9.02554372e-04 3.21253313e+01] [ 2.41699837e-02 9.99707861e-01 6.04906865e-05 -8.50372358e-01] [-9.03752762e-04 -3.86582659e-05 9.99999591e-01 -1.51779876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.685898226999996 meters Centerline goodness [0,1] 0.9997068308413954 Centerline is valid? [True, True] Translation: X:32.16, Y:-0.85, Z:-0.15 [[ 9.99619126e-01 -2.75902573e-02 6.16838638e-04 3.21560992e+01] [ 2.75902370e-02 9.99619316e-01 4.13746712e-05 -8.53416116e-01] [-6.17745355e-04 -2.43401884e-05 9.99999809e-01 -1.51223041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.715898227 meters Centerline goodness [0,1] 0.9998936758388977 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.86, Z:-0.15 [[ 9.99521230e-01 -3.09389559e-02 3.04539839e-04 3.21877849e+01] [ 3.09389510e-02 9.99521276e-01 2.04848070e-05 -8.58570345e-01] [-3.05027827e-04 -1.10528563e-05 9.99999953e-01 -1.50539142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.745898227 meters Centerline goodness [0,1] 0.9998071690270606 Centerline is valid? [True, True] Translation: X:32.22, Y:-0.86, Z:-0.15 [[ 9.99537595e-01 -3.03955666e-02 8.39780858e-04 3.22197745e+01] [ 3.03955298e-02 9.99537948e-01 5.65248146e-05 -8.57022597e-01] [-8.41110939e-04 -3.09730931e-05 9.99999646e-01 -1.51953344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.775898227 meters Centerline goodness [0,1] 0.999616678734188 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.85, Z:-0.15 [[ 9.99698296e-01 -2.43287610e-02 3.38048350e-03 3.22499674e+01] [ 2.43281338e-02 9.99704001e-01 2.26551294e-04 -8.50928186e-01] [-3.38499460e-03 -1.44242088e-04 9.99994260e-01 -1.46843722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.805898227 meters Centerline goodness [0,1] 0.9880627341418503 Centerline is valid? [True, True] Translation: X:32.28, Y:-0.84, Z:-0.14 [[ 9.99817489e-01 -1.87887409e-02 3.45997556e-03 3.22787961e+01] [ 1.87880505e-02 9.99823462e-01 2.31962394e-04 -8.35299022e-01] [-3.46372303e-03 -1.66913863e-04 9.99993987e-01 -1.43748393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.835898227 meters Centerline goodness [0,1] 0.9843653874710961 Centerline is valid? [True, True] Translation: X:32.31, Y:-0.83, Z:-0.15 [[ 9.99905923e-01 -1.36113466e-02 1.69578116e-03 3.23098441e+01] [ 1.36111735e-02 9.99907357e-01 1.13621308e-04 -8.28894884e-01] [-1.69717060e-03 -9.05290471e-05 9.99998556e-01 -1.48070941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.865898227 meters Centerline goodness [0,1] 0.9564270152505446 Centerline is valid? [True, True] Translation: X:32.34, Y:-0.82, Z:-0.16 [[ 9.99983155e-01 -3.71724636e-03 -4.45775392e-03 3.23395227e+01] [ 3.71595311e-03 9.99993051e-01 -2.98358639e-04 -8.16927814e-01] [ 4.45883202e-03 2.81788809e-04 9.99990020e-01 -1.57664161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.895898226999996 meters Centerline goodness [0,1] 0.7885690182431719 Centerline is valid? [True, False] Translation: X:32.36, Y:-0.81, Z:-0.16 [[ 9.99995303e-01 1.43841175e-03 -2.70634553e-03 3.23608731e+01] [-1.45474828e-03 9.99980676e-01 -6.04412731e-03 -8.12692116e-01] [ 2.69759929e-03 6.04803597e-03 9.99978072e-01 -1.58920571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.925898227 meters Centerline goodness [0,1] 0.7490362211395891 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.81, Z:-0.16 [[ 9.99980641e-01 5.66420159e-03 -2.57577590e-03 3.23604584e+01] [-5.66871555e-03 9.99982404e-01 -1.74855609e-03 -8.12890637e-01] [ 2.56582641e-03 1.76312358e-03 9.99995154e-01 -1.58870655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.955898227 meters Centerline goodness [0,1] 0.6783012888231565 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.81, Z:-0.16 [[ 9.99982452e-01 5.50411243e-03 -2.19087561e-03 3.23581128e+01] [-5.51003254e-03 9.99981160e-01 -2.70536518e-03 -8.07723479e-01] [ 2.17594370e-03 2.71738950e-03 9.99993941e-01 -1.57046248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.985898227 meters Centerline goodness [0,1] 0.7565431679129844 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.81, Z:-0.16 [[ 9.99983363e-01 5.38697075e-03 -2.06251735e-03 3.23572576e+01] [-5.39326205e-03 9.99980784e-01 -3.05698945e-03 -8.06036839e-01] [ 2.04600980e-03 3.06806229e-03 9.99993200e-01 -1.56311944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.015898227 meters Centerline goodness [0,1] 0.7558238214452413 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.80, Z:-0.16 [[ 9.99984359e-01 5.24640429e-03 -1.93809197e-03 3.23566709e+01] [-5.25310401e-03 9.99980188e-01 -3.46810263e-03 -8.03982269e-01] [ 1.91985851e-03 3.47822938e-03 9.99992108e-01 -1.55984899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.045898227 meters Centerline goodness [0,1] 0.7016320474777449 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.80, Z:-0.16 [[ 9.99985913e-01 5.01614945e-03 -1.73554448e-03 3.23557299e+01] [-5.02336677e-03 9.99978649e-01 -4.17946902e-03 -8.00395923e-01] [ 1.71454259e-03 4.18812842e-03 9.99989760e-01 -1.55537478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.075898226999996 meters Centerline goodness [0,1] 0.6971692736368817 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.80, Z:-0.16 [[ 9.99986267e-01 4.93130810e-03 -1.77441164e-03 3.23556830e+01] [-4.93907189e-03 9.99978131e-01 -4.39796705e-03 -7.99313506e-01] [ 1.75268510e-03 4.40667060e-03 9.99988755e-01 -1.55254342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.105898227 meters Centerline goodness [0,1] 0.739574954489649 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.80, Z:-0.15 [[ 9.99987121e-01 4.74873111e-03 -1.79070836e-03 3.23555171e+01] [-4.75728486e-03 9.99977149e-01 -4.80312482e-03 -7.97441000e-01] [ 1.76785869e-03 4.81158187e-03 9.99986862e-01 -1.54902034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.135898227 meters Centerline goodness [0,1] 0.7066110452312384 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.80, Z:-0.15 [[ 9.99987730e-01 4.59745427e-03 -1.84503748e-03 3.23555080e+01] [-4.60679891e-03 9.99976420e-01 -5.09286196e-03 -7.96100513e-01] [ 1.82157977e-03 5.10129919e-03 9.99985329e-01 -1.54596234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.165898227 meters Centerline goodness [0,1] 0.7308001693480102 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.79, Z:-0.15 [[ 9.99988495e-01 4.41103436e-03 -1.88503901e-03 3.23554590e+01] [-4.42121165e-03 9.99975487e-01 -5.42935629e-03 -7.94608607e-01] [ 1.86104373e-03 5.43762798e-03 9.99983484e-01 -1.54311795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.195898227 meters Centerline goodness [0,1] 0.7209772499946796 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.79, Z:-0.15 [[ 9.99988962e-01 4.26409626e-03 -1.97301600e-03 3.23556390e+01] [-4.27533004e-03 9.99974473e-01 -5.72496233e-03 -7.93266325e-01] [ 1.94855384e-03 5.73333443e-03 9.99981666e-01 -1.54173236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.225898227 meters Centerline goodness [0,1] 0.7609536491027836 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.79, Z:-0.15 [[ 9.99989164e-01 4.03351896e-03 -2.32452034e-03 3.23569246e+01] [-4.04792624e-03 9.99972419e-01 -6.22694710e-03 -7.90797023e-01] [ 2.29933971e-03 6.23628911e-03 9.99977911e-01 -1.54463443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.255898226999996 meters Centerline goodness [0,1] 0.7687309515746699 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.79, Z:-0.15 [[ 9.99989466e-01 3.89094834e-03 -2.43499923e-03 3.23574042e+01] [-3.90681647e-03 9.99970941e-01 -6.54622068e-03 -7.89242185e-01] [ 2.40945747e-03 6.55566481e-03 9.99975609e-01 -1.54699601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.285898227 meters Centerline goodness [0,1] 0.7486298168840548 Centerline is valid? [False, False] Translation: X:32.36, Y:-0.79, Z:-0.15 [[ 9.99990073e-01 3.71597683e-03 -2.45874178e-03 3.23572977e+01] [-3.73298276e-03 9.99968891e-01 -6.94846256e-03 -7.87276993e-01] [ 2.43284496e-03 6.95757202e-03 9.99972836e-01 -1.54436413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.315898227 meters Centerline goodness [0,1] 0.7360489149156045 Centerline is valid? [False, False] Translation: X:32.35, Y:-0.78, Z:-0.15 [[ 9.99980589e-01 6.00585068e-03 -1.65863867e-03 3.23520010e+01] [-6.01337737e-03 9.99971473e-01 -4.57079421e-03 -7.84761979e-01] [ 1.63113984e-03 4.58067951e-03 9.99988178e-01 -1.50856957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.345898227 meters Centerline goodness [0,1] 0.7606714424992582 Centerline is valid? [False, False] Translation: X:32.37, Y:-0.78, Z:-0.15 [[ 9.99988058e-01 4.84640628e-03 -6.29710489e-04 3.23730340e+01] [-4.84295353e-03 9.99973835e-01 5.37354844e-03 -7.84021072e-01] [ 6.55736411e-04 -5.37043461e-03 9.99985364e-01 -1.51991515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.375898227 meters Centerline goodness [0,1] 0.80738062320536 Centerline is valid? [False, False] Translation: X:32.37, Y:-0.78, Z:-0.15 [[ 9.99999618e-01 5.98177814e-04 -6.38025678e-04 3.23730261e+01] [-5.98019645e-04 9.99999790e-01 2.48065323e-04 -7.79169243e-01] [ 6.38173931e-04 -2.47683677e-04 9.99999766e-01 -1.52099978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.405898227 meters Centerline goodness [0,1] 0.8316292628555506 Centerline is valid? [False, False] Translation: X:32.37, Y:-0.78, Z:-0.15 [[ 9.99999549e-01 5.45015120e-04 -7.78024389e-04 3.23738620e+01] [-5.44899918e-04 9.99999841e-01 1.48273148e-04 -7.78733341e-01] [ 7.78105076e-04 -1.47849136e-04 9.99999686e-01 -1.52823698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.435898226999996 meters Centerline goodness [0,1] 0.7214108042604758 Centerline is valid? [False, False] Translation: X:32.38, Y:-0.78, Z:-0.15 [[ 9.99999437e-01 4.40392468e-04 -9.65879550e-04 3.23750301e+01] [-4.40306076e-04 9.99999899e-01 8.96542626e-05 -7.78732555e-01] [ 9.65918936e-04 -8.92289295e-05 9.99999530e-01 -1.53845775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.465898227 meters Centerline goodness [0,1] 0.8190638660838042 Centerline is valid? [False, False] Translation: X:32.37, Y:-0.78, Z:-0.15 [[ 9.99999488e-01 4.31594547e-04 -9.14730841e-04 3.23748780e+01] [-4.31482508e-04 9.99999899e-01 1.22677389e-04 -7.78979848e-01] [ 9.14783695e-04 -1.22282636e-04 9.99999574e-01 -1.53866815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.495898227 meters Centerline goodness [0,1] 0.7550049890665138 Centerline is valid? [False, False] Translation: X:32.37, Y:-0.78, Z:-0.15 [[ 9.99999562e-01 4.17352456e-04 -8.38236536e-04 3.23745105e+01] [-4.17297508e-04 9.99999911e-01 6.57258991e-05 -7.78697335e-01] [ 8.38263892e-04 -6.53760763e-05 9.99999647e-01 -1.53658858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.525898227 meters Centerline goodness [0,1] 0.8002817442530575 Centerline is valid? [False, False] Translation: X:32.37, Y:-0.78, Z:-0.15 [[ 9.99999616e-01 2.87919959e-04 -8.28187264e-04 3.23746013e+01] [-2.88197228e-04 9.99999902e-01 -3.34689461e-04 -7.76716177e-01] [ 8.28090819e-04 3.34928014e-04 9.99999601e-01 -1.53920041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.555898227 meters Centerline goodness [0,1] 0.7476133904705333 Centerline is valid? [False, False] Translation: X:32.38, Y:-0.77, Z:-0.16 [[ 9.99995205e-01 2.67924430e-03 -1.55300359e-03 3.23800456e+01] [-2.67674695e-03 9.99995125e-01 1.60793126e-03 -7.71859684e-01] [ 1.55730406e-03 -1.60376655e-03 9.99997501e-01 -1.57925728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.585898227 meters Centerline goodness [0,1] 0.7082846148940241 Centerline is valid? [False, False] Translation: X:32.38, Y:-0.77, Z:-0.16 [[ 9.99995592e-01 2.51007400e-03 -1.58628002e-03 3.23800973e+01] [-2.50834693e-03 9.99996260e-01 1.08980619e-03 -7.69324952e-01] [ 1.58900958e-03 -1.08582244e-03 9.99998148e-01 -1.57917889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.615898226999995 meters Centerline goodness [0,1] 0.711880518822088 Centerline is valid? [False, False] Translation: X:32.38, Y:-0.77, Z:-0.16 [[ 9.99996055e-01 2.37965899e-03 -1.49235422e-03 3.23797303e+01] [-2.37867617e-03 9.99996953e-01 6.60000653e-04 -7.67191458e-01] [ 1.49392025e-03 -6.56448222e-04 9.99998669e-01 -1.57861368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.645898226999996 meters Centerline goodness [0,1] 0.7201078304429963 Centerline is valid? [False, False] Translation: X:32.38, Y:-0.76, Z:-0.16 [[ 9.99997051e-01 2.00392995e-03 -1.37187938e-03 3.23787171e+01] [-2.00432836e-03 9.99997950e-01 -2.89097960e-04 -7.62629738e-01] [ 1.37129723e-03 2.91846804e-04 9.99999017e-01 -1.56895348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.675898227 meters Centerline goodness [0,1] 0.6882159703504043 Centerline is valid? [False, False] Translation: X:32.38, Y:-0.76, Z:-0.16 [[ 9.99997382e-01 1.80395688e-03 -1.40760581e-03 3.23783416e+01] [-1.80488033e-03 9.99998157e-01 -6.55042633e-04 -7.60950733e-01] [ 1.40642155e-03 6.57581478e-04 9.99998795e-01 -1.56093796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.705898227 meters Centerline goodness [0,1] 0.8004492858051117 Centerline is valid? [False, False] Translation: X:32.38, Y:-0.76, Z:-0.15 [[ 9.99995237e-01 -2.75848445e-03 -1.38436662e-03 3.23771422e+01] [ 2.75086299e-03 9.99981215e-01 -5.47741605e-03 -7.58566593e-01] [ 1.39944998e-03 5.47358176e-03 9.99984041e-01 -1.54204111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.735898227 meters Centerline goodness [0,1] 0.7978743674973006 Centerline is valid? [False, False] Translation: X:32.38, Y:-0.76, Z:-0.15 [[ 9.99994912e-01 -2.74122029e-03 -1.63130723e-03 3.23778450e+01] [ 2.73308566e-03 9.99983924e-01 -4.96808193e-03 -7.61417284e-01] [ 1.64489961e-03 4.96359815e-03 9.99986328e-01 -1.54069709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.765898227 meters Centerline goodness [0,1] 0.8314754376298055 Centerline is valid? [False, False] Translation: X:32.38, Y:-0.76, Z:-0.15 [[ 9.99994859e-01 -2.67985318e-03 -1.76050947e-03 3.23782497e+01] [ 2.67218622e-03 9.99986999e-01 -4.34297487e-03 -7.64839713e-01] [ 1.77212512e-03 4.33824814e-03 9.99989020e-01 -1.53996433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.795898227 meters Centerline goodness [0,1] 0.9679202363995834 Centerline is valid? [False, True] Translation: X:32.38, Y:-0.77, Z:-0.15 [[ 9.99993836e-01 -2.96723161e-03 -1.87729893e-03 3.23784411e+01] [ 2.96068213e-03 9.99989555e-01 -3.48199188e-03 -7.70578383e-01] [ 1.88761120e-03 3.47641233e-03 9.99992176e-01 -1.53629181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.825898226999996 meters Centerline goodness [0,1] 0.9910804046972257 Centerline is valid? [True, True] Translation: X:32.41, Y:-0.78, Z:-0.15 [[ 9.99984260e-01 -5.40943096e-03 -1.48933885e-03 3.24092931e+01] [ 5.40930614e-03 9.99985366e-01 -8.78294127e-05 -7.77592295e-01] [ 1.48979216e-03 7.97717405e-05 9.99998887e-01 -1.53304846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.855898227 meters Centerline goodness [0,1] 0.9787920312005903 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.77, Z:-0.15 [[ 9.99974412e-01 -7.14008823e-03 -4.40746751e-04 3.24394611e+01] [ 7.14007748e-03 9.99974509e-01 -2.59447205e-05 -7.74420380e-01] [ 4.40920764e-04 2.27970907e-05 9.99999903e-01 -1.52269723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.885898227 meters Centerline goodness [0,1] 0.9829836233367452 Centerline is valid? [True, True] Translation: X:32.47, Y:-0.78, Z:-0.15 [[ 9.99967729e-01 -7.99611671e-03 7.76064873e-04 3.24708725e+01] [ 7.99608355e-03 9.99968030e-01 4.58182005e-05 -7.77848067e-01] [-7.76406429e-04 -3.96112424e-05 9.99999698e-01 -1.50840245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.915898227 meters Centerline goodness [0,1] 0.9553730583142348 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.77, Z:-0.15 [[ 9.99973655e-01 -7.24536969e-03 4.41060684e-04 3.25021970e+01] [ 7.24535888e-03 9.99973752e-01 2.60983189e-05 -7.72476642e-01] [-4.41238199e-04 -2.29019884e-05 9.99999902e-01 -1.51799783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.945898227 meters Centerline goodness [0,1] 0.9880210112743423 Centerline is valid? [True, True] Translation: X:32.53, Y:-0.78, Z:-0.15 [[ 9.99983949e-01 -5.66508845e-03 -9.32399944e-05 3.25339563e+01] [ 5.66508797e-03 9.99983953e-01 -5.40779953e-06 -7.78926382e-01] [ 9.32691339e-05 4.87949996e-06 9.99999996e-01 -1.52772873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.975898227 meters Centerline goodness [0,1] 0.9747755360726735 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.78, Z:-0.15 [[ 9.99992469e-01 -3.85016935e-03 -4.88705057e-04 3.25642475e+01] [ 3.85015577e-03 9.99992588e-01 -2.87266386e-05 -7.75968799e-01] [ 4.88812037e-04 2.68448316e-05 9.99999880e-01 -1.53181134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.005898226999996 meters Centerline goodness [0,1] 0.951844568888129 Centerline is valid? [True, True] Translation: X:32.60, Y:-0.78, Z:-0.15 [[ 9.99996089e-01 2.05011410e-03 -1.90222692e-03 3.25950428e+01] [-2.05033086e-03 9.99997892e-01 -1.12008482e-04 -7.75020563e-01] [ 1.90199328e-03 1.15908239e-04 9.99998184e-01 -1.54200176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.035898227 meters Centerline goodness [0,1] 0.7830398576060009 Centerline is valid? [True, False] Translation: X:32.60, Y:-0.77, Z:-0.16 [[ 9.99988157e-01 4.09740179e-03 -2.62624797e-03 3.26004887e+01] [-4.09297101e-03 9.99990195e-01 1.69027285e-03 -7.74562000e-01] [ 2.63314794e-03 -1.67950367e-03 9.99995123e-01 -1.57877996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.065898227 meters Centerline goodness [0,1] 0.6967644686000595 Centerline is valid? [False, False] Translation: X:32.60, Y:-0.77, Z:-0.16 [[ 9.99986204e-01 4.74211429e-03 -2.25911151e-03 3.25993080e+01] [-4.73920415e-03 9.99987936e-01 1.29179501e-03 -7.70503318e-01] [ 2.26521010e-03 -1.28107080e-03 9.99996614e-01 -1.57806317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.095898227 meters Centerline goodness [0,1] 0.6784487813049669 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.76, Z:-0.16 [[ 9.99991384e-01 3.95761006e-03 -1.25279380e-03 3.26393773e+01] [-3.95874103e-03 9.99991758e-01 -9.01568230e-04 -7.64438363e-01] [ 1.24921542e-03 9.06519949e-04 9.99998809e-01 -1.56836616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.125898227 meters Centerline goodness [0,1] 0.7089391832090024 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.76, Z:-0.16 [[ 9.99991487e-01 3.93631825e-03 -1.23753758e-03 3.26394390e+01] [-3.93774728e-03 9.99991581e-01 -1.15442875e-03 -7.63072658e-01] [ 1.23298296e-03 1.15929204e-03 9.99998568e-01 -1.57070413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.155898227 meters Centerline goodness [0,1] 0.7083858831576922 Centerline is valid? [False, False] Translation: X:32.60, Y:-0.76, Z:-0.16 [[ 9.99991212e-01 3.80272353e-03 -1.76505052e-03 3.25970665e+01] [-3.80850020e-03 9.99987365e-01 -3.28106725e-03 -7.62521420e-01] [ 1.75255122e-03 3.28776062e-03 9.99993060e-01 -1.57552437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.185898226999996 meters Centerline goodness [0,1] 0.7083858831576922 Centerline is valid? [False, False] Translation: X:32.60, Y:-0.76, Z:-0.16 [[ 9.99991212e-01 3.80272353e-03 -1.76505052e-03 3.25970665e+01] [-3.80850020e-03 9.99987365e-01 -3.28106725e-03 -7.62521420e-01] [ 1.75255122e-03 3.28776062e-03 9.99993060e-01 -1.57552437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.215898227 meters Centerline goodness [0,1] 0.7233269234832956 Centerline is valid? [False, False] Translation: X:32.62, Y:-0.76, Z:-0.16 [[ 9.99998087e-01 1.54247732e-03 1.20284300e-03 3.26190322e+01] [-1.54882741e-03 9.99984775e-01 5.29629356e-03 -7.62057282e-01] [-1.19465527e-03 -5.29814642e-03 9.99985251e-01 -1.61253880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.245898227 meters Centerline goodness [0,1] 0.7746439839686194 Centerline is valid? [False, False] Translation: X:32.62, Y:-0.76, Z:-0.16 [[ 9.99994867e-01 -2.84695387e-03 1.46970579e-03 3.26177825e+01] [ 2.84623572e-03 9.99995829e-01 4.90497230e-04 -7.59417427e-01] [-1.47109609e-03 -4.86311583e-04 9.99998800e-01 -1.60598053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.275898227 meters Centerline goodness [0,1] 0.8390381653260311 Centerline is valid? [False, False] Translation: X:32.62, Y:-0.77, Z:-0.16 [[ 9.99992665e-01 -3.63826628e-03 1.19731757e-03 3.26190030e+01] [ 3.63672890e-03 9.99992563e-01 1.28369958e-03 -7.67089358e-01] [-1.20197910e-03 -1.27933584e-03 9.99998459e-01 -1.61122062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.305898227 meters Centerline goodness [0,1] 0.9742637589078733 Centerline is valid? [False, True] Translation: X:32.62, Y:-0.77, Z:-0.16 [[ 9.99992759e-01 -3.68916063e-03 9.34336747e-04 3.26203067e+01] [ 3.68714244e-03 9.99990886e-01 2.15260837e-03 -7.72207217e-01] [-9.42269549e-04 -2.14914775e-03 9.99997247e-01 -1.61886213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.335898227 meters Centerline goodness [0,1] 0.9227599974515259 Centerline is valid? [True, False] Translation: X:32.62, Y:-0.77, Z:-0.16 [[ 9.99968193e-01 -7.92216362e-03 9.23573934e-04 3.26205617e+01] [ 7.92405086e-03 9.99966487e-01 -2.05798135e-03 -7.72611950e-01] [-9.07239316e-04 2.06523434e-03 9.99997456e-01 -1.62131884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.365898226999995 meters Centerline goodness [0,1] 0.9938688051595383 Centerline is valid? [False, True] Translation: X:32.62, Y:-0.78, Z:-0.16 [[ 9.99966756e-01 -8.11915336e-03 7.52789834e-04 3.26212920e+01] [ 8.11982544e-03 9.99966634e-01 -8.94069246e-04 -7.80024585e-01] [-7.45505631e-04 9.00152045e-04 9.99999317e-01 -1.62323439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.395898226999996 meters Centerline goodness [0,1] 0.9983096329790606 Centerline is valid? [True, True] Translation: X:32.65, Y:-0.78, Z:-0.16 [[ 9.99952448e-01 -9.73050011e-03 6.46906245e-04 3.26529536e+01] [ 9.73047687e-03 9.99952657e-01 3.90525267e-05 -7.84759775e-01] [-6.47255620e-04 -3.27559635e-05 9.99999790e-01 -1.62358148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.425898227 meters Centerline goodness [0,1] 0.9948429640275606 Centerline is valid? [True, True] Translation: X:32.68, Y:-0.78, Z:-0.16 [[ 9.99944710e-01 -1.04611936e-02 1.06820711e-03 3.26836330e+01] [ 1.04611308e-02 9.99945279e-01 6.43470912e-05 -7.80610622e-01] [-1.06882180e-03 -5.31688791e-05 9.99999427e-01 -1.62346865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.455898227 meters Centerline goodness [0,1] 0.989971135410741 Centerline is valid? [True, True] Translation: X:32.72, Y:-0.78, Z:-0.16 [[ 9.99942455e-01 -1.05828579e-02 1.75774337e-03 3.27150162e+01] [ 1.05826882e-02 9.99943996e-01 1.05789390e-04 -7.78738773e-01] [-1.75876449e-03 -8.71816522e-05 9.99998450e-01 -1.61450127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.485898227 meters Centerline goodness [0,1] 0.9953032855939343 Centerline is valid? [True, True] Translation: X:32.75, Y:-0.79, Z:-0.16 [[ 9.99946164e-01 -9.81489407e-03 3.36701662e-03 3.27471787e+01] [ 9.81426837e-03 9.99951818e-01 2.02305573e-04 -7.86281670e-01] [-3.36883999e-03 -1.69249877e-04 9.99994311e-01 -1.58420928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.515898227 meters Centerline goodness [0,1] 0.9980351974309678 Centerline is valid? [True, True] Translation: X:32.78, Y:-0.79, Z:-0.16 [[ 9.99948308e-01 -9.35453966e-03 3.98432835e-03 3.27793356e+01] [ 9.35366044e-03 9.99956225e-01 2.39246729e-04 -7.91375745e-01] [-3.98639198e-03 -2.01966307e-04 9.99992034e-01 -1.57038677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.545898227 meters Centerline goodness [0,1] 0.9672408327168974 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.78, Z:-0.16 [[ 9.99951330e-01 -8.59306435e-03 4.84731407e-03 3.28099133e+01] [ 8.59175573e-03 9.99963048e-01 2.90727222e-04 -7.82819402e-01] [-4.84963319e-03 -2.49066134e-04 9.99988209e-01 -1.56412112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.575898226999996 meters Centerline goodness [0,1] 0.9779896197436713 Centerline is valid? [True, True] Translation: X:32.84, Y:-0.79, Z:-0.16 [[ 9.99978401e-01 -4.37289824e-03 4.90660853e-03 3.28403379e+01] [ 4.37150812e-03 9.99990402e-01 2.94004843e-04 -7.86494388e-01] [-4.90784709e-03 -2.72549214e-04 9.99987919e-01 -1.55842683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.605898227 meters Centerline goodness [0,1] 0.9588695540638762 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.78, Z:-0.16 [[ 9.99992488e-01 -1.18997247e-03 3.68878138e-03 3.28708863e+01] [ 1.18916495e-03 9.99999269e-01 2.21097417e-04 -7.81474393e-01] [-3.68904178e-03 -2.16709187e-04 9.99993172e-01 -1.57184143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.635898227 meters Centerline goodness [0,1] 0.9168767343826127 Centerline is valid? [True, False] Translation: X:32.88, Y:-0.78, Z:-0.16 [[ 9.99995873e-01 6.07504618e-04 2.80795089e-03 3.28765724e+01] [-6.12533779e-04 9.99998209e-01 1.79053037e-03 -7.81934854e-01] [-2.80685810e-03 -1.79224294e-03 9.99994455e-01 -1.60764940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.665898227 meters Centerline goodness [0,1] 0.8015711252653928 Centerline is valid? [False, False] Translation: X:32.88, Y:-0.78, Z:-0.16 [[ 9.99994950e-01 1.44849895e-03 2.82863568e-03 3.28768738e+01] [-1.45339066e-03 9.99997451e-01 1.72806241e-03 -7.79418728e-01] [-2.82612538e-03 -1.73216480e-03 9.99994506e-01 -1.61400122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.695898227 meters Centerline goodness [0,1] 0.7732419609910385 Centerline is valid? [False, False] Translation: X:32.88, Y:-0.78, Z:-0.16 [[ 9.99994719e-01 1.61000608e-03 2.82304590e-03 3.28768800e+01] [-1.61420372e-03 9.99997594e-01 1.48526995e-03 -7.77654180e-01] [-2.82064782e-03 -1.48981907e-03 9.99994912e-01 -1.61491206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.725898227 meters Centerline goodness [0,1] 0.7084777280027048 Centerline is valid? [False, False] Translation: X:32.88, Y:-0.78, Z:-0.16 [[ 9.99994373e-01 1.66334042e-03 2.91328941e-03 3.28766195e+01] [-1.66690592e-03 9.99997864e-01 1.22187282e-03 -7.76095381e-01] [-2.91125079e-03 -1.22672212e-03 9.99995010e-01 -1.61604499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.755898226999996 meters Centerline goodness [0,1] 0.7215870452227133 Centerline is valid? [False, False] Translation: X:32.88, Y:-0.77, Z:-0.16 [[ 9.99993275e-01 1.82009272e-03 3.18389755e-03 3.28759456e+01] [-1.82334238e-03 9.99997819e-01 1.01805156e-03 -7.74598159e-01] [-3.18203766e-03 -1.02385005e-03 9.99994413e-01 -1.62011234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.785898227 meters Centerline goodness [0,1] 0.6477627691008865 Centerline is valid? [False, False] Translation: X:32.88, Y:-0.77, Z:-0.16 [[ 9.99993441e-01 1.81796387e-03 3.13250645e-03 3.28765455e+01] [-1.82099541e-03 9.99997876e-01 9.65188387e-04 -7.74301467e-01] [-3.13074512e-03 -9.70886337e-04 9.99994628e-01 -1.62772139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.815898227 meters Centerline goodness [0,1] 0.659375596108603 Centerline is valid? [False, False] Translation: X:32.88, Y:-0.77, Z:-0.16 [[ 9.99994020e-01 1.70009084e-03 3.01147732e-03 3.28774421e+01] [-1.70239469e-03 9.99998260e-01 7.62622991e-04 -7.73475078e-01] [-3.01017556e-03 -7.67745153e-04 9.99995175e-01 -1.63691360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.845898227 meters Centerline goodness [0,1] 0.6927294448948245 Centerline is valid? [False, False] Translation: X:32.87, Y:-0.77, Z:-0.16 [[ 9.99993388e-01 -3.83321562e-04 3.61634616e-03 3.28731331e+01] [ 3.87778250e-04 9.99999166e-01 -1.23175250e-03 -7.71056301e-01] [-3.61587099e-03 1.23314670e-03 9.99992702e-01 -1.60975224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.875898227 meters Centerline goodness [0,1] 0.8134830021980837 Centerline is valid? [False, False] Translation: X:32.87, Y:-0.77, Z:-0.16 [[ 9.99993856e-01 -5.32698070e-04 3.46481634e-03 3.28731132e+01] [ 5.36716183e-04 9.99999184e-01 -1.15886370e-03 -7.71776639e-01] [-3.46419619e-03 1.16071620e-03 9.99993326e-01 -1.60152756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.905898227 meters Centerline goodness [0,1] 0.7681691162354146 Centerline is valid? [False, False] Translation: X:32.87, Y:-0.77, Z:-0.16 [[ 9.99994145e-01 -6.83264220e-04 3.35312295e-03 3.28728419e+01] [ 6.86533869e-04 9.99999290e-01 -9.74051508e-04 -7.73191600e-01] [-3.35245503e-03 9.76347837e-04 9.99993904e-01 -1.59041449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.935898226999996 meters Centerline goodness [0,1] 0.8811575041583145 Centerline is valid? [False, False] Translation: X:32.87, Y:-0.78, Z:-0.16 [[ 9.99994519e-01 -8.21709560e-04 3.20737419e-03 3.28728556e+01] [ 8.23831388e-04 9.99999443e-01 -6.60281775e-04 -7.75266236e-01] [-3.20682984e-03 6.62920492e-04 9.99994638e-01 -1.58243585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.965898227 meters Centerline goodness [0,1] 0.9773849475236731 Centerline is valid? [False, True] Translation: X:32.87, Y:-0.78, Z:-0.16 [[ 9.99994337e-01 -1.65945114e-03 2.92771608e-03 3.28733382e+01] [ 1.66102387e-03 9.99998477e-01 -5.34835852e-04 -7.78368772e-01] [-2.92682409e-03 5.39695830e-04 9.99995571e-01 -1.57574883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.995898227 meters Centerline goodness [0,1] 0.9939734833266372 Centerline is valid? [True, True] Translation: X:32.90, Y:-0.78, Z:-0.16 [[ 9.99980338e-01 -5.89415973e-03 2.14089544e-03 3.29032679e+01] [ 5.89390503e-03 9.99982623e-01 1.25259052e-04 -7.80824169e-01] [-2.14159654e-03 -1.12638355e-04 9.99997700e-01 -1.58887113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.025898227 meters Centerline goodness [0,1] 0.9983494858013457 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.78, Z:-0.16 [[ 9.99947599e-01 -1.01037735e-02 1.64712325e-03 3.29330683e+01] [ 1.01036285e-02 9.99948952e-01 9.63727857e-05 -7.82779419e-01] [-1.64801290e-03 -7.97258143e-05 9.99998639e-01 -1.59483865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.055898227 meters Centerline goodness [0,1] 0.999407131362751 Centerline is valid? [True, True] Translation: X:32.96, Y:-0.79, Z:-0.16 [[ 9.99860591e-01 -1.64136859e-02 3.06438210e-03 3.29632129e+01] [ 1.64132129e-02 9.99865278e-01 1.79446890e-04 -7.87573079e-01] [-3.06691465e-03 -1.29125517e-04 9.99995289e-01 -1.55347573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.085898227 meters Centerline goodness [0,1] 0.9999150616864502 Centerline is valid? [True, True] Translation: X:33.00, Y:-0.79, Z:-0.15 [[ 9.99818618e-01 -1.86503996e-02 3.85917670e-03 3.29956701e+01] [ 1.86496655e-02 9.99826054e-01 2.26113905e-04 -7.94003668e-01] [-3.86272253e-03 -1.54100538e-04 9.99992528e-01 -1.53260104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.115898226999995 meters Centerline goodness [0,1] 0.9999785066414478 Centerline is valid? [True, True] Translation: X:33.03, Y:-0.80, Z:-0.15 [[ 9.99728166e-01 -2.29173424e-02 4.28832988e-03 3.30266887e+01] [ 2.29164763e-02 9.99737352e-01 2.51007711e-04 -8.01438600e-01] [-4.29295599e-03 -1.52666068e-04 9.99990774e-01 -1.53143028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.145898226999996 meters Centerline goodness [0,1] 0.9998944635582667 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.80, Z:-0.15 [[ 9.99688532e-01 -2.44857133e-02 4.82588111e-03 3.30569887e+01] [ 2.44846350e-02 9.99700166e-01 2.82401576e-04 -7.99512712e-01] [-4.83134896e-03 -1.64153679e-04 9.99988315e-01 -1.53295477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.175898227 meters Centerline goodness [0,1] 0.999957497449847 Centerline is valid? [True, True] Translation: X:33.09, Y:-0.80, Z:-0.15 [[ 9.99656765e-01 -2.56580919e-02 5.29289708e-03 3.30889320e+01] [ 2.56568113e-02 9.99670762e-01 3.09717155e-04 -7.99228866e-01] [-5.29910121e-03 -1.73811987e-04 9.99985945e-01 -1.52616237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.205898227 meters Centerline goodness [0,1] 0.9999575614828018 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.80, Z:-0.15 [[ 9.99629752e-01 -2.66345041e-02 5.56439948e-03 3.31217892e+01] [ 2.66331053e-02 9.99645223e-01 3.25351361e-04 -8.02047567e-01] [-5.57109093e-03 -1.77033663e-04 9.99984466e-01 -1.52258639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.235898227 meters Centerline goodness [0,1] 0.9999788788915642 Centerline is valid? [True, True] Translation: X:33.15, Y:-0.80, Z:-0.15 [[ 9.99622343e-01 -2.68430288e-02 5.88412438e-03 3.31523511e+01] [ 2.68414711e-02 9.99639644e-01 3.43553367e-04 -7.96468452e-01] [-5.89122602e-03 -1.85485067e-04 9.99982629e-01 -1.52182327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.265898227 meters Centerline goodness [0,1] 0.9999572932459269 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.80, Z:-0.15 [[ 9.99616517e-01 -2.70522767e-02 5.91543284e-03 3.31847690e+01] [ 2.70507073e-02 9.99634003e-01 3.45173225e-04 -7.96598015e-01] [-5.92260553e-03 -1.85024215e-04 9.99982444e-01 -1.53351977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.295898227 meters Centerline goodness [0,1] 0.9999572357167293 Centerline is valid? [True, True] Translation: X:33.22, Y:-0.80, Z:-0.15 [[ 9.99587105e-01 -2.80928255e-02 6.03430833e-03 3.32165754e+01] [ 2.80912131e-02 9.99605302e-01 3.51808637e-04 -7.95133820e-01] [-6.04180990e-03 -1.82152336e-04 9.99981732e-01 -1.53232407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.325898226999996 meters Centerline goodness [0,1] 0.9999574875119567 Centerline is valid? [True, True] Translation: X:33.25, Y:-0.79, Z:-0.15 [[ 9.99567707e-01 -2.87463421e-02 6.16827436e-03 3.32480743e+01] [ 2.87446718e-02 9.99586722e-01 3.59288095e-04 -7.92281237e-01] [-6.17605337e-03 -1.81827755e-04 9.99980911e-01 -1.53355383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.355898227 meters Centerline goodness [0,1] 0.9999575596816976 Centerline is valid? [True, True] Translation: X:33.28, Y:-0.79, Z:-0.15 [[ 9.99547514e-01 -2.95201239e-02 5.77309977e-03 3.32791461e+01] [ 2.95186749e-02 9.99564172e-01 3.36067791e-04 -7.89824281e-01] [-5.78050446e-03 -1.65501470e-04 9.99983279e-01 -1.53637512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.31, Y:-0.79, Z:-0.15 [[ 9.99472981e-01 -3.19548330e-02 5.71384741e-03 3.33112172e+01] [ 3.19534545e-02 9.99489303e-01 3.32407084e-04 -7.94912350e-01] [-5.72155138e-03 -1.49654736e-04 9.99983621e-01 -1.53445210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.415898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.34, Y:-0.79, Z:-0.15 [[ 9.99435359e-01 -3.28305231e-02 7.14984195e-03 3.33425382e+01] [ 3.28283894e-02 9.99460917e-01 4.15615093e-04 -7.93645708e-01] [-7.15963246e-03 -1.80662624e-04 9.99974353e-01 -1.50822294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.445898227 meters Centerline goodness [0,1] 0.9999575100913533 Centerline is valid? [True, True] Translation: X:33.37, Y:-0.79, Z:-0.15 [[ 9.99413509e-01 -3.32200872e-02 8.31049893e-03 3.33733525e+01] [ 3.32172208e-02 9.99448039e-01 4.82733194e-04 -7.87768040e-01] [-8.32194830e-03 -2.06398397e-04 9.99965351e-01 -1.48960253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.475898227 meters Centerline goodness [0,1] 0.9999577765110731 Centerline is valid? [True, True] Translation: X:33.41, Y:-0.79, Z:-0.15 [[ 9.99486622e-01 -3.14873101e-02 5.91960082e-03 3.34053955e+01] [ 3.14858262e-02 9.99504139e-01 3.43721712e-04 -7.85174178e-01] [-5.92748840e-03 -1.57161730e-04 9.99982420e-01 -1.53093145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.505898226999996 meters Centerline goodness [0,1] 0.9999786580160491 Centerline is valid? [True, True] Translation: X:33.44, Y:-0.78, Z:-0.16 [[ 9.99547241e-01 -2.98253209e-02 3.97022603e-03 3.34371055e+01] [ 2.98246407e-02 9.99555120e-01 2.30453833e-04 -7.82501811e-01] [-3.97533311e-03 -1.11938929e-04 9.99992092e-01 -1.56255457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.535898227 meters Centerline goodness [0,1] 0.999957728319912 Centerline is valid? [True, True] Translation: X:33.47, Y:-0.78, Z:-0.16 [[ 9.99614952e-01 -2.76519189e-02 2.30648328e-03 3.34672829e+01] [ 2.76516838e-02 9.99617610e-01 1.33794161e-04 -7.75899909e-01] [-2.30930097e-03 -6.99644972e-05 9.99997331e-01 -1.59579940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.565898227 meters Centerline goodness [0,1] 0.999935938500961 Centerline is valid? [True, True] Translation: X:33.50, Y:-0.77, Z:-0.16 [[ 9.99676553e-01 -2.54184535e-02 8.31356297e-04 3.34982000e+01] [ 2.54184221e-02 9.99676899e-01 4.83141291e-05 -7.72117856e-01] [-8.32315755e-04 -2.71667368e-05 9.99999653e-01 -1.62754455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.595898227 meters Centerline goodness [0,1] 0.9999360368427785 Centerline is valid? [True, True] Translation: X:33.53, Y:-0.76, Z:-0.16 [[ 9.99765570e-01 -2.16167915e-02 1.23302312e-03 3.35273621e+01] [ 2.16167198e-02 9.99766329e-01 7.14009832e-05 -7.62121941e-01] [-1.23427846e-03 -4.47303292e-05 9.99999237e-01 -1.61975200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.625898227 meters Centerline goodness [0,1] 0.9998525508699498 Centerline is valid? [True, True] Translation: X:33.56, Y:-0.75, Z:-0.16 [[ 9.99808610e-01 -1.93751312e-02 2.71073778e-03 3.35573413e+01] [ 1.93747764e-02 9.99812279e-01 1.57102048e-04 -7.54294717e-01] [-2.71327279e-03 -1.04552042e-04 9.99996314e-01 -1.59699104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.655898227 meters Centerline goodness [0,1] 0.999217676287134 Centerline is valid? [True, True] Translation: X:33.59, Y:-0.74, Z:-0.16 [[ 9.99880963e-01 -1.45254843e-02 5.20292204e-03 3.35870057e+01] [ 1.45241137e-02 9.99894474e-01 3.01131203e-04 -7.44384025e-01] [-5.20674707e-03 -2.25527526e-04 9.99986419e-01 -1.55768609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.685898226999996 meters Centerline goodness [0,1] 0.9973145207698374 Centerline is valid? [True, True] Translation: X:33.62, Y:-0.74, Z:-0.16 [[ 9.99913044e-01 -1.21102552e-02 5.21972978e-03 3.36161615e+01] [ 1.21088424e-02 9.99926640e-01 3.02183084e-04 -7.35086995e-01] [-5.22300638e-03 -2.38951922e-04 9.99986331e-01 -1.56341737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.715898227 meters Centerline goodness [0,1] 0.9976218282195563 Centerline is valid? [True, True] Translation: X:33.65, Y:-0.73, Z:-0.16 [[ 9.99941866e-01 -9.64518005e-03 4.82031409e-03 3.36474798e+01] [ 9.64394805e-03 9.99953457e-01 2.78764985e-04 -7.31529855e-01] [-4.82277847e-03 -2.32261921e-04 9.99988343e-01 -1.58233732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.745898227 meters Centerline goodness [0,1] 0.9850060102490563 Centerline is valid? [True, True] Translation: X:33.68, Y:-0.72, Z:-0.16 [[ 9.99965801e-01 -7.17626766e-03 4.11060187e-03 3.36769082e+01] [ 7.17535096e-03 9.99974229e-01 2.37714225e-04 -7.20402984e-01] [-4.11220183e-03 -2.08211084e-04 9.99991523e-01 -1.60566282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.775898227 meters Centerline goodness [0,1] 0.9913303437967115 Centerline is valid? [True, True] Translation: X:33.71, Y:-0.72, Z:-0.16 [[ 9.99987676e-01 -3.92501093e-03 3.03997707e-03 3.37069989e+01] [ 3.92449529e-03 9.99992284e-01 1.75565687e-04 -7.16116061e-01] [-3.04064271e-03 -1.63633148e-04 9.99995364e-01 -1.62424658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.805898227 meters Centerline goodness [0,1] 0.9871906903386688 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.71, Z:-0.16 [[ 9.99990338e-01 -3.66635929e-03 2.42505998e-03 3.37381543e+01] [ 3.66603003e-03 9.99993270e-01 1.40203940e-04 -7.10470176e-01] [-2.42555770e-03 -1.31312243e-04 9.99997050e-01 -1.63284845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.835898227 meters Centerline goodness [0,1] 0.9556795519158144 Centerline is valid? [True, True] Translation: X:33.77, Y:-0.70, Z:-0.16 [[ 9.99989300e-01 -4.08334410e-03 2.17418258e-03 3.37686247e+01] [ 4.08308001e-03 9.99991656e-01 1.25891572e-04 -7.00876132e-01] [-2.17467850e-03 -1.17012864e-04 9.99997629e-01 -1.64047753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.865898226999995 meters Centerline goodness [0,1] 0.9905773984323833 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.70, Z:-0.16 [[ 9.99974842e-01 -6.57901692e-03 2.65186393e-03 3.37999127e+01] [ 6.57863463e-03 9.99978349e-01 1.52856941e-04 -7.03865663e-01] [-2.65281216e-03 -1.35407451e-04 9.99996472e-01 -1.62616328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.895898226999996 meters Centerline goodness [0,1] 0.9906842138617208 Centerline is valid? [True, True] Translation: X:33.83, Y:-0.70, Z:-0.16 [[ 9.99957091e-01 -8.75873424e-03 3.01677650e-03 3.38297687e+01] [ 8.75824968e-03 9.99961631e-01 1.73797139e-04 -7.02600799e-01] [-3.01818299e-03 -1.47367999e-04 9.99995434e-01 -1.62637208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.925898227 meters Centerline goodness [0,1] 0.9976410583359898 Centerline is valid? [True, True] Translation: X:33.86, Y:-0.71, Z:-0.16 [[ 9.99889060e-01 -1.45601620e-02 3.14149742e-03 3.38595564e+01] [ 1.45596653e-02 9.99893986e-01 1.80934016e-04 -7.06272530e-01] [-3.14379881e-03 -1.35174792e-04 9.99995049e-01 -1.62975599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.955898227 meters Centerline goodness [0,1] 0.9996407818277866 Centerline is valid? [True, True] Translation: X:33.89, Y:-0.71, Z:-0.16 [[ 9.99847094e-01 -1.70872820e-02 3.71669695e-03 3.38910154e+01] [ 1.70866036e-02 9.99853990e-01 2.14209632e-04 -7.13100535e-01] [-3.71981454e-03 -1.50671151e-04 9.99993070e-01 -1.61489103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.985898227 meters Centerline goodness [0,1] 0.9997876406880442 Centerline is valid? [True, True] Translation: X:33.92, Y:-0.71, Z:-0.16 [[ 9.99798535e-01 -1.93711265e-02 5.25824937e-03 3.39227568e+01] [ 1.93698005e-02 9.99812342e-01 3.02985478e-04 -7.14868452e-01] [-5.26313178e-03 -2.01073196e-04 9.99986129e-01 -1.58781820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.015898227 meters Centerline goodness [0,1] 0.9999151067532578 Centerline is valid? [True, True] Translation: X:33.95, Y:-0.72, Z:-0.16 [[ 9.99752711e-01 -2.12109945e-02 6.67907893e-03 3.39549504e+01] [ 2.12088981e-02 9.99774992e-01 3.84556699e-04 -7.21295705e-01] [-6.68573291e-03 -2.42805699e-04 9.99977621e-01 -1.55564178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.045898227 meters Centerline goodness [0,1] 0.9999361973628244 Centerline is valid? [True, True] Translation: X:33.99, Y:-0.73, Z:-0.16 [[ 9.99707084e-01 -2.31216550e-02 7.15087541e-03 3.39866310e+01] [ 2.31193027e-02 9.99732629e-01 4.11443302e-04 -7.26867249e-01] [-7.15847672e-03 -2.45999530e-04 9.99974348e-01 -1.55468458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.075898226999996 meters Centerline goodness [0,1] 0.9998729405785439 Centerline is valid? [True, True] Translation: X:34.02, Y:-0.73, Z:-0.16 [[ 9.99718673e-01 -2.29104113e-02 6.13898392e-03 3.40178116e+01] [ 2.29086744e-02 9.99737500e-01 3.53104477e-04 -7.26933404e-01] [-6.14546220e-03 -2.12369156e-04 9.99981094e-01 -1.57811257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.105898227 meters Centerline goodness [0,1] 0.9998729405785439 Centerline is valid? [True, True] Translation: X:34.05, Y:-0.73, Z:-0.16 [[ 9.99719779e-01 -2.28621329e-02 6.13899630e-03 3.40494615e+01] [ 2.28603965e-02 9.99738605e-01 3.52889119e-04 -7.25203372e-01] [-6.14545939e-03 -2.12450343e-04 9.99981094e-01 -1.58032553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.135898227 meters Centerline goodness [0,1] 0.9998514021270725 Centerline is valid? [True, True] Translation: X:34.08, Y:-0.73, Z:-0.16 [[ 9.99783106e-01 -2.02709144e-02 4.77823066e-03 3.40807947e+01] [ 2.02698338e-02 9.99794508e-01 2.74458713e-04 -7.25890588e-01] [-4.78281230e-03 -1.77545242e-04 9.99988547e-01 -1.60872281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.165898227 meters Centerline goodness [0,1] 0.9999362543028345 Centerline is valid? [True, True] Translation: X:34.11, Y:-0.72, Z:-0.16 [[ 9.99822818e-01 -1.81371888e-02 5.03743566e-03 3.41122400e+01] [ 1.81359615e-02 9.99835488e-01 2.89214880e-04 -7.23604321e-01] [-5.04185248e-03 -1.97804897e-04 9.99987270e-01 -1.59933030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.195898227 meters Centerline goodness [0,1] 0.9997868985210757 Centerline is valid? [True, True] Translation: X:34.14, Y:-0.72, Z:-0.16 [[ 9.99863237e-01 -1.55165391e-02 5.72227159e-03 3.41421596e+01] [ 1.55149133e-02 9.99879583e-01 3.28410983e-04 -7.19771569e-01] [-5.72667833e-03 -2.39585521e-04 9.99983574e-01 -1.58789478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.225898227 meters Centerline goodness [0,1] 0.9967769296013571 Centerline is valid? [True, True] Translation: X:34.17, Y:-0.71, Z:-0.16 [[ 9.99943239e-01 -8.74793327e-03 6.08218516e-03 3.41718603e+01] [ 8.74597407e-03 9.99961692e-01 3.48644189e-04 -7.13109254e-01] [-6.08500208e-03 -2.95429766e-04 9.99981443e-01 -1.58210971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.255898226999996 meters Centerline goodness [0,1] 0.9668737496051385 Centerline is valid? [True, True] Translation: X:34.20, Y:-0.70, Z:-0.16 [[ 9.99968268e-01 -4.92040455e-03 6.26514761e-03 3.42011946e+01] [ 4.91825088e-03 9.99987841e-01 3.59114512e-04 -7.02775971e-01] [-6.26683842e-03 -3.28289549e-04 9.99980309e-01 -1.58447870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.285898227 meters Centerline goodness [0,1] 0.9707104057940142 Centerline is valid? [True, True] Translation: X:34.23, Y:-0.70, Z:-0.16 [[ 9.99980889e-01 -1.26358255e-03 6.05188340e-03 3.42319319e+01] [ 1.26150583e-03 9.99999144e-01 3.46958366e-04 -7.01882499e-01] [-6.05231663e-03 -3.39317249e-04 9.99981627e-01 -1.59627713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.315898227 meters Centerline goodness [0,1] 0.9184165085591252 Centerline is valid? [True, False] Translation: X:34.23, Y:-0.70, Z:-0.16 [[ 9.99982087e-01 -6.43034005e-04 5.95077386e-03 3.42327619e+01] [ 6.39973751e-04 9.99999662e-01 5.16151522e-04 -7.01295621e-01] [-5.95110375e-03 -5.12333937e-04 9.99982161e-01 -1.60646604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.345898227 meters Centerline goodness [0,1] 0.9047861831623223 Centerline is valid? [False, False] Translation: X:34.23, Y:-0.70, Z:-0.16 [[ 9.99982811e-01 -4.11718843e-04 5.84869309e-03 3.42333140e+01] [ 4.06980539e-04 9.99999588e-01 8.11314573e-04 -7.02366931e-01] [-5.84902472e-03 -8.08920324e-04 9.99982567e-01 -1.61077733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.375898227 meters Centerline goodness [0,1] 0.8244126855658026 Centerline is valid? [False, False] Translation: X:34.23, Y:-0.70, Z:-0.16 [[ 9.99983944e-01 -1.59057652e-04 5.66455573e-03 3.42341297e+01] [ 1.51291650e-04 9.99999048e-01 1.37138385e-03 -7.04984848e-01] [-5.66476847e-03 -1.37050483e-03 9.99983016e-01 -1.61445887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.405898227 meters Centerline goodness [0,1] 0.86895314478683 Centerline is valid? [False, False] Translation: X:34.23, Y:-0.71, Z:-0.16 [[ 9.99984749e-01 -6.64079274e-05 5.52244706e-03 3.42347123e+01] [ 5.74208734e-05 9.99998674e-01 1.62751069e-03 -7.06221046e-01] [-5.52254782e-03 -1.62716877e-03 9.99983427e-01 -1.61667837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.435898226999996 meters Centerline goodness [0,1] 0.9596377915584834 Centerline is valid? [False, True] Translation: X:34.19, Y:-0.71, Z:-0.16 [[ 9.99990013e-01 -9.09628930e-04 4.37568731e-03 3.41929844e+01] [ 9.07703318e-04 9.99999490e-01 4.42036539e-04 -7.09643462e-01] [-4.37608717e-03 -4.38060299e-04 9.99990329e-01 -1.62058011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.465898227 meters Centerline goodness [0,1] 0.8823628870337102 Centerline is valid? [True, False] Translation: X:34.23, Y:-0.71, Z:-0.16 [[ 9.99986007e-01 -1.69534036e-03 5.01121437e-03 3.42341536e+01] [ 1.68375396e-03 9.99995902e-01 2.31541054e-03 -7.13771621e-01] [-5.01511925e-03 -2.30694049e-03 9.99984763e-01 -1.61304491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.495898227 meters Centerline goodness [0,1] 0.9717775280422383 Centerline is valid? [False, True] Translation: X:34.23, Y:-0.72, Z:-0.16 [[ 9.99986478e-01 -1.59995239e-03 4.94811429e-03 3.42342181e+01] [ 1.58572624e-03 9.99994602e-01 2.87765283e-03 -7.16780424e-01] [-4.95269169e-03 -2.86976756e-03 9.99983618e-01 -1.61016031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.525898227 meters Centerline goodness [0,1] 0.991813482434856 Centerline is valid? [True, True] Translation: X:34.26, Y:-0.72, Z:-0.16 [[ 9.99968198e-01 -5.90221005e-03 5.36354399e-03 3.42647933e+01] [ 5.90060326e-03 9.99982542e-01 3.15349942e-04 -7.21929713e-01] [-5.36531161e-03 -2.83691768e-04 9.99985566e-01 -1.60294674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.555898227 meters Centerline goodness [0,1] 0.9974122628798734 Centerline is valid? [True, True] Translation: X:34.30, Y:-0.73, Z:-0.16 [[ 9.99961767e-01 -7.15301744e-03 5.02982302e-03 3.42970685e+01] [ 7.15161991e-03 9.99974383e-01 2.95780217e-04 -7.26291427e-01] [-5.03180989e-03 -2.59797526e-04 9.99987307e-01 -1.59531687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.585898227 meters Centerline goodness [0,1] 0.9949608777002892 Centerline is valid? [True, True] Translation: X:34.33, Y:-0.72, Z:-0.16 [[ 9.99961036e-01 -7.35882239e-03 4.87591944e-03 3.43285237e+01] [ 7.35751235e-03 9.99972892e-01 2.86557389e-04 -7.24085460e-01] [-4.87789599e-03 -2.50671586e-04 9.99988072e-01 -1.59942245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.615898226999995 meters Centerline goodness [0,1] 0.9953081544699913 Centerline is valid? [True, True] Translation: X:34.36, Y:-0.72, Z:-0.16 [[ 9.99968158e-01 -6.43825724e-03 4.71510725e-03 3.43610557e+01] [ 6.43702263e-03 9.99979244e-01 2.76971243e-04 -7.23255202e-01] [-4.71679260e-03 -2.46611172e-04 9.99988845e-01 -1.59446605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.645898226999996 meters Centerline goodness [0,1] 0.9590134357820559 Centerline is valid? [True, True] Translation: X:34.39, Y:-0.71, Z:-0.16 [[ 9.99987178e-01 -1.08582958e-03 4.94610051e-03 3.43905523e+01] [ 1.08440709e-03 9.99999370e-01 2.90271311e-04 -7.14477572e-01] [-4.94641258e-03 -2.84904003e-04 9.99987726e-01 -1.57865226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.675898227 meters Centerline goodness [0,1] 0.864506288913961 Centerline is valid? [True, False] Translation: X:34.43, Y:-0.71, Z:-0.16 [[ 9.99982786e-01 1.65068944e-04 5.86513117e-03 3.44315415e+01] [-1.68624130e-04 9.99999802e-01 6.05667006e-04 -7.11077088e-01] [-5.86503004e-03 -6.06645583e-04 9.99982617e-01 -1.57561409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.705898227 meters Centerline goodness [0,1] 0.7875477766870653 Centerline is valid? [False, False] Translation: X:34.43, Y:-0.71, Z:-0.16 [[ 9.99981741e-01 3.05426182e-04 6.03524866e-03 3.44309271e+01] [-3.07640403e-04 9.99999886e-01 3.65956654e-04 -7.09372625e-01] [-6.03513619e-03 -3.67806658e-04 9.99981721e-01 -1.57553788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.735898227 meters Centerline goodness [0,1] 0.7565849614149961 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.71, Z:-0.16 [[ 9.99974182e-01 1.02454846e-03 7.11237668e-03 3.43850916e+01] [-1.01903488e-03 9.99999178e-01 -7.78789847e-04 -7.10778575e-01] [-7.11316874e-03 7.71521980e-04 9.99974403e-01 -1.56820907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.765898227 meters Centerline goodness [0,1] 0.7428862003940928 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.71, Z:-0.16 [[ 9.99974593e-01 1.20723782e-03 7.02537807e-03 3.43854246e+01] [-1.20433809e-03 9.99999188e-01 -4.16966297e-04 -7.12403083e-01] [-7.02587574e-03 4.08494773e-04 9.99975235e-01 -1.56909033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.795898227 meters Centerline goodness [0,1] 0.7788097768331562 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.72, Z:-0.16 [[ 9.99974680e-01 1.43544222e-03 6.96980196e-03 3.43857433e+01] [-1.43666974e-03 9.99998953e-01 1.71115246e-04 -7.15222280e-01] [-6.96954904e-03 -1.81124217e-04 9.99975696e-01 -1.57127149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.825898226999996 meters Centerline goodness [0,1] 0.8432331702771955 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.72, Z:-0.16 [[ 9.99976632e-01 1.79401910e-03 6.59671255e-03 3.43871617e+01] [-1.80587553e-03 9.99996764e-01 1.79180742e-03 -7.23821970e-01] [-6.59347667e-03 -1.80367839e-03 9.99976636e-01 -1.57406402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.855898227 meters Centerline goodness [0,1] 0.7980724521283341 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.73, Z:-0.16 [[ 9.99977677e-01 2.09070421e-03 6.34614864e-03 3.43880183e+01] [-2.10911251e-03 9.99993584e-01 2.89540014e-03 -7.29445482e-01] [-6.34005450e-03 -2.90872024e-03 9.99975671e-01 -1.57432629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.885898227 meters Centerline goodness [0,1] 0.8621964878172481 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.74, Z:-0.16 [[ 9.99977801e-01 2.41763784e-03 6.20911166e-03 3.43886561e+01] [-2.44305700e-03 9.99988654e-01 4.08953193e-03 -7.35550446e-01] [-6.19915420e-03 -4.10461036e-03 9.99972361e-01 -1.57696734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.915898227 meters Centerline goodness [0,1] 0.957348715529442 Centerline is valid? [False, True] Translation: X:34.35, Y:-0.75, Z:-0.16 [[ 9.99988089e-01 -2.65392613e-04 4.87357441e-03 3.43480432e+01] [ 2.48088593e-04 9.99993665e-01 3.55084219e-03 -7.47597731e-01] [-4.87448591e-03 -3.54959082e-03 9.99981820e-01 -1.57970141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.945898227 meters Centerline goodness [0,1] 0.9730071067728402 Centerline is valid? [True, True] Translation: X:34.38, Y:-0.75, Z:-0.16 [[ 9.99987587e-01 -8.13400762e-04 4.91578014e-03 3.43808553e+01] [ 8.11950989e-04 9.99999626e-01 2.96910814e-04 -7.50161230e-01] [-4.91601981e-03 -2.92915756e-04 9.99987873e-01 -1.57723120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.975898227 meters Centerline goodness [0,1] 0.9170117432205729 Centerline is valid? [True, False] Translation: X:34.38, Y:-0.75, Z:-0.16 [[ 9.99988341e-01 -5.31542398e-04 4.79961580e-03 3.43815034e+01] [ 5.27164332e-04 9.99999444e-01 9.13388983e-04 -7.52962478e-01] [-4.80009864e-03 -9.10848147e-04 9.99988065e-01 -1.58141200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.005898226999996 meters Centerline goodness [0,1] 0.8642735545701015 Centerline is valid? [False, False] Translation: X:34.43, Y:-0.75, Z:-0.16 [[ 9.99995034e-01 1.08439100e-03 2.95909546e-03 3.44264743e+01] [-1.09215333e-03 9.99995964e-01 2.62285672e-03 -7.54808547e-01] [-2.95623932e-03 -2.62607548e-03 9.99992182e-01 -1.58082605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.035898227 meters Centerline goodness [0,1] 0.8454464925971232 Centerline is valid? [False, False] Translation: X:34.43, Y:-0.76, Z:-0.16 [[ 9.99995051e-01 1.23290954e-03 2.89456943e-03 3.44269192e+01] [-1.24089925e-03 9.99995421e-01 2.76006843e-03 -7.55279872e-01] [-2.89115326e-03 -2.76364664e-03 9.99992002e-01 -1.58470598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.065898227 meters Centerline goodness [0,1] 0.8935460416577563 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.76, Z:-0.16 [[ 9.99998233e-01 9.65918128e-04 1.61276149e-03 3.43865591e+01] [-9.68152842e-04 9.99998572e-01 1.38543903e-03 -7.56936100e-01] [-1.61142096e-03 -1.38699798e-03 9.99997740e-01 -1.60249916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.095898227 meters Centerline goodness [0,1] 0.7257838686410115 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.76, Z:-0.16 [[ 9.99993373e-01 3.54612392e-03 8.24204315e-04 3.43926775e+01] [-3.54930525e-03 9.99986131e-01 3.89101150e-03 -7.58796317e-01] [-8.10394875e-04 -3.89391107e-03 9.99992090e-01 -1.64705966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.125898227 meters Centerline goodness [0,1] 0.7241393965150871 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.76, Z:-0.16 [[ 9.99992890e-01 3.66450330e-03 8.89376640e-04 3.43923846e+01] [-3.66808145e-03 9.99985049e-01 4.05549048e-03 -7.59509209e-01] [-8.74501985e-04 -4.05872395e-03 9.99991381e-01 -1.64584156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.155898227 meters Centerline goodness [0,1] 0.7163643235071806 Centerline is valid? [False, False] Translation: X:34.43, Y:-0.76, Z:-0.16 [[ 9.99993750e-01 2.38774333e-03 2.60751326e-03 3.44314302e+01] [-2.39239729e-03 9.99995548e-01 1.78316912e-03 -7.56239010e-01] [-2.60324390e-03 -1.78939618e-03 9.99995011e-01 -1.63087696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.185898226999996 meters Centerline goodness [0,1] 0.6194966576559586 Centerline is valid? [False, False] Translation: X:34.43, Y:-0.76, Z:-0.16 [[ 9.99992188e-01 2.66775343e-03 2.91679635e-03 3.44297410e+01] [-2.67478146e-03 9.99993523e-01 2.40826486e-03 -7.59171888e-01] [-2.91035280e-03 -2.41604784e-03 9.99992846e-01 -1.61856845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.215898227 meters Centerline goodness [0,1] 0.7333319141689374 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.76, Z:-0.16 [[ 9.99989392e-01 1.58527632e-03 4.32473065e-03 3.43839771e+01] [-1.58909218e-03 9.99998351e-01 8.79039788e-04 -7.61876873e-01] [-4.32333000e-03 -8.85902859e-04 9.99990262e-01 -1.61419172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.245898227 meters Centerline goodness [0,1] 0.7515624006948711 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.76, Z:-0.16 [[ 9.99988951e-01 1.66900942e-03 4.39453656e-03 3.43835001e+01] [-1.67320012e-03 9.99998149e-01 9.50111291e-04 -7.62075339e-01] [-4.39294268e-03 -9.57453733e-04 9.99989893e-01 -1.60983495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.275898227 meters Centerline goodness [0,1] 0.7020995135273533 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.76, Z:-0.16 [[ 9.99988492e-01 1.83048720e-03 4.43463359e-03 3.43837182e+01] [-1.83525318e-03 9.99997743e-01 1.07088666e-03 -7.62391507e-01] [-4.43266333e-03 -1.07901301e-03 9.99989594e-01 -1.61584038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.305898227 meters Centerline goodness [0,1] 0.7216665604892655 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.76, Z:-0.16 [[ 9.99988794e-01 1.92447357e-03 4.32537853e-03 3.43845887e+01] [-1.92971086e-03 9.99997410e-01 1.20698153e-03 -7.62984269e-01] [-4.32304452e-03 -1.21531474e-03 9.99989917e-01 -1.62516426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.335898227 meters Centerline goodness [0,1] 0.6458144772569407 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.76, Z:-0.16 [[ 9.99989237e-01 2.05836489e-03 4.15794061e-03 3.43856492e+01] [-2.06464581e-03 9.99996733e-01 1.50685895e-03 -7.64406158e-01] [-4.15482536e-03 -1.51542741e-03 9.99990220e-01 -1.63414739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.365898226999995 meters Centerline goodness [0,1] 0.7591823698498882 Centerline is valid? [False, False] Translation: X:34.36, Y:-0.77, Z:-0.16 [[ 9.99998895e-01 1.28330277e-03 -7.51079947e-04 3.43640601e+01] [-1.27455545e-03 9.99932678e-01 1.15331756e-02 -7.73068692e-01] [ 7.65829939e-04 -1.15322055e-02 9.99933209e-01 -1.59015730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.395898226999996 meters Centerline goodness [0,1] 0.6567243055849152 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.77, Z:-0.15 [[ 9.99996990e-01 2.32476528e-03 -7.83908440e-04 3.43815422e+01] [-2.32355865e-03 9.99996120e-01 1.53666110e-03 -7.71002273e-01] [ 7.87477775e-04 -1.53483502e-03 9.99998512e-01 -1.54645124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.425898227 meters Centerline goodness [0,1] 0.673694906642957 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.77, Z:-0.15 [[ 9.99996487e-01 2.51245422e-03 -8.44563056e-04 3.43816957e+01] [-2.51077528e-03 9.99994882e-01 1.98315695e-03 -7.73152140e-01] [ 8.49541324e-04 -1.98102948e-03 9.99997677e-01 -1.54554482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.455898227 meters Centerline goodness [0,1] 0.6470888770622671 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.77, Z:-0.16 [[ 9.99995963e-01 2.67828936e-03 -9.49161700e-04 3.43826083e+01] [-2.67608310e-03 9.99993732e-01 2.31812628e-03 -7.74748537e-01] [ 9.55364364e-04 -2.31557688e-03 9.99996863e-01 -1.55531018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.485898227 meters Centerline goodness [0,1] 0.6759182983756838 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.77, Z:-0.16 [[ 9.99995916e-01 2.68018695e-03 -9.92054330e-04 3.43831651e+01] [-2.67805512e-03 9.99994116e-01 2.14402774e-03 -7.73767478e-01] [ 9.97794887e-04 -2.14136221e-03 9.99997209e-01 -1.56275899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.515898227 meters Centerline goodness [0,1] 0.6751715084272042 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.77, Z:-0.16 [[ 9.99996239e-01 2.59176693e-03 -8.96767458e-04 3.43830381e+01] [-2.59023069e-03 9.99995183e-01 1.71002384e-03 -7.71490092e-01] [ 9.01195122e-04 -1.70769457e-03 9.99998136e-01 -1.56658160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.545898227 meters Centerline goodness [0,1] 0.6565452808153731 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.77, Z:-0.16 [[ 9.99996278e-01 2.62136720e-03 -7.56672064e-04 3.43824843e+01] [-2.62053238e-03 9.99995959e-01 1.10218069e-03 -7.67942303e-01] [ 7.59558227e-04 -1.10019370e-03 9.99999106e-01 -1.56564883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.575898226999996 meters Centerline goodness [0,1] 0.5148945103390364 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.76, Z:-0.15 [[ 9.99996465e-01 2.43861332e-03 -1.05950400e-03 3.44240940e+01] [-2.43860472e-03 9.99997027e-01 9.40752859e-06 -7.63934534e-01] [ 1.05952379e-03 -6.82378388e-06 9.99999439e-01 -1.54566312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.605898227 meters Centerline goodness [0,1] 0.6346141564662054 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.77, Z:-0.16 [[ 9.99997477e-01 1.59367536e-03 -1.58288967e-03 3.43815097e+01] [-1.59434505e-03 9.99998640e-01 -4.21909165e-04 -7.67631468e-01] [ 1.58221513e-03 4.24431773e-04 9.99998658e-01 -1.55059233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.635898227 meters Centerline goodness [0,1] 0.6156025649219232 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.77, Z:-0.15 [[ 9.99997614e-01 1.56155348e-03 -1.52729584e-03 3.43810140e+01] [-1.56172110e-03 9.99998775e-01 -1.08563667e-04 -7.69545503e-01] [ 1.52712444e-03 1.10948618e-04 9.99998828e-01 -1.54438935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.665898227 meters Centerline goodness [0,1] 0.6672186471586978 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.77, Z:-0.15 [[ 9.99998727e-01 1.39967238e-03 -7.66753995e-04 3.44226405e+01] [-1.39977638e-03 9.99999011e-01 -1.35123214e-04 -7.66663325e-01] [ 7.66564109e-04 1.36196326e-04 9.99999697e-01 -1.53922747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.695898227 meters Centerline goodness [0,1] 0.6681442205726404 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.77, Z:-0.15 [[ 9.99999839e-01 5.47529917e-04 -1.48192051e-04 3.43789722e+01] [-5.47549326e-04 9.99999842e-01 -1.30963792e-04 -7.70489030e-01] [ 1.48120321e-04 1.31044913e-04 9.99999980e-01 -1.54876037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.725898227 meters Centerline goodness [0,1] 0.6638052530429213 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.77, Z:-0.15 [[ 9.99993381e-01 -3.63839521e-03 -4.30165283e-06 3.43786010e+01] [ 3.63834297e-03 9.99984114e-01 -4.30513376e-03 -7.70936873e-01] [ 1.99653625e-05 4.30508961e-03 9.99990733e-01 -1.54991804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.755898226999996 meters Centerline goodness [0,1] 0.688718529116573 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.77, Z:-0.16 [[ 9.99994032e-01 -3.44834851e-03 -2.10049584e-04 3.43793562e+01] [ 3.44754459e-03 9.99987159e-01 -3.71445276e-03 -7.73830006e-01] [ 2.22855615e-04 3.71370644e-03 9.99993079e-01 -1.55150466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.785898227 meters Centerline goodness [0,1] 0.6521812434141201 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.78, Z:-0.15 [[ 9.99997329e-01 -1.92594805e-03 -1.27806988e-03 3.44231584e+01] [ 1.92477897e-03 9.99997729e-01 -9.15326551e-04 -7.75206596e-01] [ 1.27982985e-03 9.12864104e-04 9.99998764e-01 -1.54500553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.815898227 meters Centerline goodness [0,1] 0.6264826305348022 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.78, Z:-0.16 [[ 9.99997643e-01 -1.66836277e-03 -1.38975723e-03 3.44240492e+01] [ 1.66767356e-03 9.99998486e-01 -4.96934986e-04 -7.76996031e-01] [ 1.39058420e-03 4.94616153e-04 9.99998911e-01 -1.55332391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.845898227 meters Centerline goodness [0,1] 0.7151159064202542 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.78, Z:-0.16 [[ 9.99997824e-01 -1.14375289e-03 -1.74462522e-03 3.43817269e+01] [ 1.14386336e-03 9.99999344e-01 6.23207911e-05 -7.80530325e-01] [ 1.74455279e-03 -6.43162683e-05 9.99998476e-01 -1.56519302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.875898227 meters Centerline goodness [0,1] 0.5942284156056084 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.78, Z:-0.16 [[ 9.99997925e-01 -1.14674950e-03 -1.68366016e-03 3.43817292e+01] [ 1.14633917e-03 9.99999313e-01 -2.44654389e-04 -7.78743812e-01] [ 1.68393956e-03 2.42723835e-04 9.99998553e-01 -1.56919957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.905898227 meters Centerline goodness [0,1] 0.6251398653070703 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.77, Z:-0.16 [[ 9.99998223e-01 1.55711782e-03 -1.06272818e-03 3.44229306e+01] [-1.55826189e-03 9.99998206e-01 -1.07656796e-03 -7.69174801e-01] [ 1.06104993e-03 1.07822205e-03 9.99998856e-01 -1.57748614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.935898226999996 meters Centerline goodness [0,1] 0.6075637044284681 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.77, Z:-0.16 [[ 9.99982549e-01 5.81486635e-03 -1.04379385e-03 3.44228219e+01] [-5.81146562e-03 9.99977890e-01 3.23203600e-03 -7.69335287e-01] [ 1.06256463e-03 -3.22591363e-03 9.99994232e-01 -1.57586542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.965898227 meters Centerline goodness [0,1] 0.5787694388100068 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.76, Z:-0.16 [[ 9.99983310e-01 5.71227114e-03 -8.66141281e-04 3.44221474e+01] [-5.71016033e-03 9.99980768e-01 2.42022980e-03 -7.64947282e-01] [ 8.79949633e-04 -2.41524360e-03 9.99996696e-01 -1.57530298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.995898227 meters Centerline goodness [0,1] 0.5787694388100068 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.76, Z:-0.16 [[ 9.99983310e-01 5.71227114e-03 -8.66141281e-04 3.44221474e+01] [-5.71016033e-03 9.99980768e-01 2.42022980e-03 -7.64947282e-01] [ 8.79949633e-04 -2.41524360e-03 9.99996696e-01 -1.57530298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.025898227 meters Centerline goodness [0,1] 0.6047500584720716 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.76, Z:-0.16 [[ 9.99984933e-01 5.47497485e-03 -3.98466971e-04 3.44202452e+01] [-5.47455944e-03 9.99984478e-01 1.03624319e-03 -7.57486056e-01] [ 4.04134192e-04 -1.03404615e-03 9.99999384e-01 -1.56957882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.055898227 meters Centerline goodness [0,1] 0.5392419033065919 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.75, Z:-0.16 [[ 9.99986683e-01 5.14934223e-03 -3.43049419e-04 3.44199484e+01] [-5.14925276e-03 9.99986708e-01 2.61184657e-04 -7.53898319e-01] [ 3.44389788e-04 -2.59414731e-04 9.99999907e-01 -1.56856225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.085898227 meters Centerline goodness [0,1] 0.5896893108388394 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.75, Z:-0.16 [[ 9.99988382e-01 4.80025334e-03 -4.40368679e-04 3.44203096e+01] [-4.80044814e-03 9.99988380e-01 -4.42373596e-04 -7.50762260e-01] [ 4.38240057e-04 4.44482423e-04 9.99999805e-01 -1.57032507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.115898226999995 meters Centerline goodness [0,1] 0.6093978818685399 Centerline is valid? [False, False] Translation: X:34.43, Y:-0.74, Z:-0.16 [[ 9.99994025e-01 3.15402203e-03 -1.41477485e-03 3.44250345e+01] [-3.15755194e-03 9.99991890e-01 -2.49978126e-03 -7.44798970e-01] [ 1.40687901e-03 2.50423355e-03 9.99995875e-01 -1.59322815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.145898226999996 meters Centerline goodness [0,1] 0.5813526018888255 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.74, Z:-0.16 [[ 9.99994549e-01 2.94818188e-03 -1.48673817e-03 3.44249833e+01] [-2.95232246e-03 9.99991748e-01 -2.79055303e-03 -7.43666515e-01] [ 1.47849884e-03 2.79492715e-03 9.99995001e-01 -1.58858842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.175898227 meters Centerline goodness [0,1] 0.4692773137889893 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.74, Z:-0.16 [[ 9.99990882e-01 1.19537683e-03 4.09957422e-03 3.44054656e+01] [-1.20182733e-03 9.99998043e-01 1.57135379e-03 -7.44262430e-01] [-4.09768783e-03 -1.57626644e-03 9.99990362e-01 -1.62773772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.205898227 meters Centerline goodness [0,1] 0.5701596700856508 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.74, Z:-0.16 [[ 9.99991032e-01 9.22726199e-04 4.13339473e-03 3.44050413e+01] [-9.26698458e-04 9.99999111e-01 9.59204118e-04 -7.41410715e-01] [-4.13250597e-03 -9.63025926e-04 9.99990997e-01 -1.62298295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.235898227 meters Centerline goodness [0,1] 0.6509640102827763 Centerline is valid? [False, False] Translation: X:34.36, Y:-0.74, Z:-0.16 [[ 9.99992772e-01 5.07883272e-05 3.80188137e-03 3.43625890e+01] [-4.42560590e-05 9.99998523e-01 -1.71823169e-03 -7.35607737e-01] [-3.80196302e-03 1.71805101e-03 9.99991297e-01 -1.63396410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.265898227 meters Centerline goodness [0,1] 0.6639908499777604 Centerline is valid? [False, False] Translation: X:34.40, Y:-0.73, Z:-0.16 [[ 9.99989600e-01 3.96959870e-04 4.54334125e-03 3.44034940e+01] [-3.89734346e-04 9.99998658e-01 -1.59112942e-03 -7.29217627e-01] [-4.54396677e-03 1.58934218e-03 9.99988413e-01 -1.61964840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.295898227 meters Centerline goodness [0,1] 0.6172324754486962 Centerline is valid? [False, False] Translation: X:34.40, Y:-0.73, Z:-0.16 [[ 9.99989656e-01 1.53920487e-04 4.54572915e-03 3.44033015e+01] [-1.44531359e-04 9.99997856e-01 -2.06573963e-03 -7.27054823e-01] [-4.54603737e-03 2.06506127e-03 9.99987534e-01 -1.61721298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.325898226999996 meters Centerline goodness [0,1] 0.6146664690814404 Centerline is valid? [False, False] Translation: X:34.40, Y:-0.73, Z:-0.16 [[ 9.99990414e-01 1.03968696e-05 4.37862387e-03 3.44036044e+01] [-3.65314199e-07 9.99997376e-01 -2.29102384e-03 -7.26038808e-01] [-4.37863619e-03 2.29100028e-03 9.99987789e-01 -1.61376643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.355898227 meters Centerline goodness [0,1] 0.6780979092299847 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.73, Z:-0.16 [[ 9.99992208e-01 -4.45823265e-04 3.92233595e-03 3.44052348e+01] [ 4.56133661e-04 9.99996442e-01 -2.62813474e-03 -7.25261310e-01] [-3.92115031e-03 2.62990337e-03 9.99988854e-01 -1.61785870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.385898227 meters Centerline goodness [0,1] 0.6770870712401056 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.72, Z:-0.16 [[ 9.99992780e-01 -6.48922357e-04 3.74406134e-03 3.44060142e+01] [ 6.59395094e-04 9.99995872e-01 -2.79660348e-03 -7.24790087e-01] [-3.74223111e-03 2.79905211e-03 9.99989080e-01 -1.62164958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.415898227 meters Centerline goodness [0,1] 0.6564537854653525 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.73, Z:-0.16 [[ 9.99997007e-01 -2.38213646e-03 -5.57626404e-04 3.43852284e+01] [ 2.38555591e-03 9.99977847e-01 6.21398863e-03 -7.28801498e-01] [ 5.42811482e-04 -6.21530028e-03 9.99980538e-01 -1.59218163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.445898227 meters Centerline goodness [0,1] 0.6917032586087358 Centerline is valid? [False, False] Translation: X:34.43, Y:-0.73, Z:-0.16 [[ 9.99991395e-01 -4.14768917e-03 7.86335792e-05 3.44272264e+01] [ 4.14725638e-03 9.99979508e-01 4.87681252e-03 -7.26440138e-01] [-9.88594703e-05 -4.87644445e-03 9.99988105e-01 -1.58224877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.475898227 meters Centerline goodness [0,1] 0.6996110438053944 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.73, Z:-0.16 [[ 9.99992741e-01 -3.26535385e-03 -1.96368055e-03 3.44062141e+01] [ 3.25482599e-03 9.99980441e-01 -5.34079715e-03 -7.27095963e-01] [ 1.98108173e-03 5.33436695e-03 9.99983810e-01 -1.56456873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.505898226999996 meters Centerline goodness [0,1] 0.7149637133675272 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.73, Z:-0.16 [[ 9.99992437e-01 -3.28169839e-03 -2.08705662e-03 3.44068681e+01] [ 3.27047323e-03 9.99980291e-01 -5.35932325e-03 -7.27008622e-01] [ 2.10460317e-03 5.35245706e-03 9.99983461e-01 -1.56899878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.535898227 meters Centerline goodness [0,1] 0.7493615391163702 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.73, Z:-0.16 [[ 9.99996657e-01 7.96120403e-04 -2.46005417e-03 3.44086484e+01] [-7.98429983e-04 9.99999241e-01 -9.37993876e-04 -7.28276034e-01] [ 2.45930555e-03 9.39954922e-04 9.99996534e-01 -1.57947475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.565898227 meters Centerline goodness [0,1] 0.7314175186515612 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.73, Z:-0.16 [[ 9.99996639e-01 7.97504621e-04 -2.46691496e-03 3.44087181e+01] [-8.00057340e-04 9.99999145e-01 -1.03396818e-03 -7.27682224e-01] [ 2.46608825e-03 1.03593838e-03 9.99996423e-01 -1.58066180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.595898227 meters Centerline goodness [0,1] 0.7248968655637307 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.73, Z:-0.16 [[ 9.99996584e-01 8.93981796e-04 -2.45613903e-03 3.44085744e+01] [-8.96260502e-04 9.99999169e-01 -9.26815269e-04 -7.28105531e-01] [ 2.45530844e-03 9.29013443e-04 9.99996554e-01 -1.57897310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.625898227 meters Centerline goodness [0,1] 0.6790706499968375 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.73, Z:-0.16 [[ 9.99983125e-01 5.21432957e-03 -2.56130130e-03 3.44088472e+01] [-5.20364482e-03 9.99977805e-01 4.16071190e-03 -7.32597619e-01] [ 2.58293977e-03 -4.14731359e-03 9.99988064e-01 -1.57624629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.655898227 meters Centerline goodness [0,1] 0.7230570058151874 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.73, Z:-0.16 [[ 9.99983560e-01 5.09699960e-03 -2.62680991e-03 3.44090535e+01] [-5.08671371e-03 9.99979428e-01 3.90764951e-03 -7.31402191e-01] [ 2.64667316e-03 -3.89422344e-03 9.99988915e-01 -1.57642914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.685898226999996 meters Centerline goodness [0,1] 0.6792468886288693 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.73, Z:-0.16 [[ 9.99984304e-01 4.91194290e-03 -2.69524461e-03 3.44091481e+01] [-4.90275174e-03 9.99982180e-01 3.40621515e-03 -7.28977138e-01] [ 2.71192772e-03 -3.39294758e-03 9.99990567e-01 -1.57516170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.715898227 meters Centerline goodness [0,1] 0.7186210141363161 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.73, Z:-0.16 [[ 9.99984829e-01 4.84170736e-03 -2.62684952e-03 3.44087306e+01] [-4.83335161e-03 9.99983269e-01 3.17797888e-03 -7.27855732e-01] [ 2.64219241e-03 -3.16523418e-03 9.99991500e-01 -1.57197723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.745898227 meters Centerline goodness [0,1] 0.6838450758058352 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.73, Z:-0.16 [[ 9.99985420e-01 4.71520327e-03 -2.63194003e-03 3.44086341e+01] [-4.70794525e-03 9.99985117e-01 2.75708594e-03 -7.25752334e-01] [ 2.64490108e-03 -2.74465472e-03 9.99992736e-01 -1.57049492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.775898227 meters Centerline goodness [0,1] 0.6436473419752565 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.72, Z:-0.16 [[ 9.99986397e-01 4.51468726e-03 -2.61206293e-03 3.44085670e+01] [-4.50903058e-03 9.99987485e-01 2.16745055e-03 -7.22873112e-01] [ 2.62181560e-03 -2.15564319e-03 9.99994240e-01 -1.57103805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.805898227 meters Centerline goodness [0,1] 0.6287444231994901 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.72, Z:-0.16 [[ 9.99988535e-01 4.10996022e-03 -2.45727846e-03 3.44079977e+01] [-4.10772437e-03 9.99991145e-01 9.14245966e-04 -7.16659384e-01] [ 2.46101422e-03 -9.04141662e-04 9.99996563e-01 -1.57117690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.835898227 meters Centerline goodness [0,1] 0.6580023862280553 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.71, Z:-0.16 [[ 9.99989454e-01 3.94765454e-03 -2.34702919e-03 3.44075168e+01] [-3.94669052e-03 9.99992126e-01 4.15229296e-04 -7.14192149e-01] [ 2.34864989e-03 -4.05961919e-04 9.99997160e-01 -1.56947252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.865898226999995 meters Centerline goodness [0,1] 0.614578540054382 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.71, Z:-0.16 [[ 9.99992512e-01 3.74817323e-03 -9.63026701e-04 3.44479912e+01] [-3.74884177e-03 9.99992733e-01 -6.93345866e-04 -7.08153321e-01] [ 9.60420922e-04 6.96950908e-04 9.99999296e-01 -1.56274069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.895898226999996 meters Centerline goodness [0,1] 0.6158404149885077 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.71, Z:-0.15 [[ 9.99984152e-01 5.61359332e-03 -4.27343527e-04 3.44428672e+01] [-5.61303258e-03 9.99983399e-01 1.30224882e-03 -7.07501453e-01] [ 4.34646728e-04 -1.29982949e-03 9.99999061e-01 -1.52250711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.925898227 meters Centerline goodness [0,1] 0.6818986289101648 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.71, Z:-0.15 [[ 9.99984439e-01 5.55614635e-03 -5.01129976e-04 3.44430330e+01] [-5.55554518e-03 9.99983856e-01 1.19314807e-03 -7.07015733e-01] [ 5.07751191e-04 -1.19034545e-03 9.99999163e-01 -1.52143802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.955898227 meters Centerline goodness [0,1] 0.6867794167514412 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.71, Z:-0.15 [[ 9.99984430e-01 5.54638374e-03 -6.14831700e-04 3.44432694e+01] [-5.54550469e-03 9.99983612e-01 1.42235656e-03 -7.08443658e-01] [ 6.22710560e-04 -1.41892486e-03 9.99998799e-01 -1.51945722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.985898227 meters Centerline goodness [0,1] 0.6584760328474123 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.71, Z:-0.15 [[ 9.99983744e-01 5.67794192e-03 -5.22637227e-04 3.44429184e+01] [-5.67699453e-03 9.99982272e-01 1.79669259e-03 -7.10271687e-01] [ 5.32829478e-04 -1.79369637e-03 9.99998249e-01 -1.51816923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.015898227 meters Centerline goodness [0,1] 0.7097263787943566 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.71, Z:-0.15 [[ 9.99983225e-01 5.77409713e-03 -4.56822316e-04 3.44427426e+01] [-5.77315257e-03 9.99981249e-01 2.04264245e-03 -7.11478511e-01] [ 4.68608166e-04 -2.03997088e-03 9.99997809e-01 -1.51822554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.045898227 meters Centerline goodness [0,1] 0.6880698845884079 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.71, Z:-0.15 [[ 9.99982903e-01 5.81268462e-03 -6.37974683e-04 3.44439650e+01] [-5.81143086e-03 9.99981213e-01 1.94978430e-03 -7.10853784e-01] [ 6.49296178e-04 -1.94604342e-03 9.99997896e-01 -1.52943814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.075898226999996 meters Centerline goodness [0,1] 0.6861066028871615 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.71, Z:-0.15 [[ 9.99983057e-01 5.77604317e-03 -7.22942366e-04 3.44444803e+01] [-5.77476282e-03 9.99981776e-01 1.76075386e-03 -7.09909453e-01] [ 7.33099381e-04 -1.75654921e-03 9.99998189e-01 -1.53419182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.105898227 meters Centerline goodness [0,1] 0.6473113708820404 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.71, Z:-0.15 [[ 9.99982887e-01 5.79807336e-03 -7.79271293e-04 3.44446972e+01] [-5.79673461e-03 9.99981738e-01 1.70937212e-03 -7.09568170e-01] [ 7.89168126e-04 -1.70482563e-03 9.99998235e-01 -1.53474843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.135898227 meters Centerline goodness [0,1] 0.6364812144856247 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.71, Z:-0.15 [[ 9.99982509e-01 5.87134485e-03 -7.13860531e-04 3.44438671e+01] [-5.87000837e-03 9.99981041e-01 1.86008723e-03 -7.10275227e-01] [ 7.24768211e-04 -1.85586433e-03 9.99998015e-01 -1.52412781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.165898227 meters Centerline goodness [0,1] 0.6703368696901812 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.71, Z:-0.15 [[ 9.99982475e-01 5.86728851e-03 -7.90779649e-04 3.44441932e+01] [-5.86572865e-03 9.99980874e-01 1.96065195e-03 -7.10874987e-01] [ 8.02268236e-04 -1.95597909e-03 9.99997765e-01 -1.52515808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.195898227 meters Centerline goodness [0,1] 0.6631699895738026 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.71, Z:-0.15 [[ 9.99982250e-01 5.87712850e-03 -9.79538629e-04 3.44450448e+01] [-5.87510266e-03 9.99980623e-01 2.05835871e-03 -7.11468918e-01] [ 9.91616887e-04 -2.05256728e-03 9.99997402e-01 -1.52945999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.225898227 meters Centerline goodness [0,1] 0.6765529531568228 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.71, Z:-0.15 [[ 9.99982283e-01 5.83209118e-03 -1.19180060e-03 3.44461346e+01] [-5.82966235e-03 9.99980944e-01 2.03136059e-03 -7.11457227e-01] [ 1.20362497e-03 -2.02437680e-03 9.99997227e-01 -1.53685064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.255898226999996 meters Centerline goodness [0,1] 0.6762666666666667 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.71, Z:-0.15 [[ 9.99982175e-01 5.83423396e-03 -1.26949586e-03 3.44465685e+01] [-5.83153369e-03 9.99980748e-01 2.12044990e-03 -7.11966128e-01] [ 1.28184262e-03 -2.11300899e-03 9.99996946e-01 -1.53980970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.285898227 meters Centerline goodness [0,1] 0.6622174198605902 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.71, Z:-0.15 [[ 9.99981530e-01 5.96330181e-03 -1.17442647e-03 3.44456974e+01] [-5.96032517e-03 9.99979057e-01 2.52193971e-03 -7.13966664e-01] [ 1.18944096e-03 -2.51489316e-03 9.99996130e-01 -1.52962040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.315898227 meters Centerline goodness [0,1] 0.6748354601824222 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.71, Z:-0.15 [[ 9.99997712e-01 1.90509665e-03 -9.72539582e-04 3.44446257e+01] [-1.90732185e-03 9.99995554e-01 -2.29225642e-03 -7.10387256e-01] [ 9.68168288e-04 2.29410612e-03 9.99996900e-01 -1.52378103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.345898227 meters Centerline goodness [0,1] 0.7289393744919351 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.71, Z:-0.15 [[ 9.99997786e-01 1.87997230e-03 -9.45664640e-04 3.44443949e+01] [-1.88223062e-03 9.99995366e-01 -2.39288813e-03 -7.09813036e-01] [ 9.41161694e-04 2.39466279e-03 9.99996690e-01 -1.52137913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.375898227 meters Centerline goodness [0,1] 0.6762195898611643 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.71, Z:-0.16 [[ 9.99990630e-01 3.89741704e-03 -1.88413759e-03 3.44509690e+01] [-3.89819237e-03 9.99992319e-01 -4.08005772e-04 -7.09955051e-01] [ 1.88253294e-03 4.15346680e-04 9.99998142e-01 -1.56612373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.405898227 meters Centerline goodness [0,1] 0.6665818004370611 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.71, Z:-0.16 [[ 9.99990635e-01 3.86342359e-03 -1.95035385e-03 3.44517239e+01] [-3.86439822e-03 9.99992410e-01 -4.96195847e-04 -7.09569578e-01] [ 1.94842203e-03 5.03728144e-04 9.99997975e-01 -1.57573205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.435898226999996 meters Centerline goodness [0,1] 0.5464729228011778 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.71, Z:-0.16 [[ 9.99990703e-01 3.82247721e-03 -1.99562676e-03 3.44519501e+01] [-3.82349075e-03 9.99992563e-01 -5.04310509e-04 -7.09623611e-01] [ 1.99368420e-03 5.11936081e-04 9.99997882e-01 -1.57723797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.465898227 meters Centerline goodness [0,1] 0.6503036222344898 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.71, Z:-0.16 [[ 9.99991244e-01 3.72118635e-03 -1.91416739e-03 3.44507230e+01] [-3.72187378e-03 9.99993011e-01 -3.55687941e-04 -7.10768302e-01] [ 1.91283043e-03 3.62809116e-04 9.99998105e-01 -1.56059411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.495898227 meters Centerline goodness [0,1] 0.7138126268561051 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.71, Z:-0.15 [[ 9.99997179e-01 2.10429803e-03 -1.10181864e-03 3.44450996e+01] [-2.10626007e-03 9.99996193e-01 -1.78260204e-03 -7.10586241e-01] [ 1.09806331e-03 1.78491773e-03 9.99997804e-01 -1.52206252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.525898227 meters Centerline goodness [0,1] 0.679265428144352 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.71, Z:-0.15 [[ 9.99996759e-01 2.22063201e-03 -1.24554812e-03 3.44455330e+01] [-2.22222906e-03 9.99996709e-01 -1.28229543e-03 -7.13194440e-01] [ 1.24269652e-03 1.28505917e-03 9.99998402e-01 -1.52149630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.555898227 meters Centerline goodness [0,1] 0.7357600985430914 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.71, Z:-0.15 [[ 9.99997332e-01 -1.90262972e-03 -1.30996419e-03 3.44462438e+01] [ 1.89559721e-03 9.99983898e-01 -5.34894802e-03 -7.14134587e-01] [ 1.32012016e-03 5.34645058e-03 9.99984836e-01 -1.52993700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.585898227 meters Centerline goodness [0,1] 0.7860605407734569 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.72, Z:-0.15 [[ 9.99996966e-01 -3.00224315e-04 -2.44486046e-03 3.44058597e+01] [ 2.95272979e-04 9.99997905e-01 -2.02531114e-03 -7.21362852e-01] [ 2.44546339e-03 2.02458309e-03 9.99994960e-01 -1.54326750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.615898226999995 meters Centerline goodness [0,1] 0.7346635533856931 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.72, Z:-0.15 [[ 9.99998497e-01 6.09158098e-04 -1.62350817e-03 3.44466883e+01] [-6.09222422e-04 9.99999814e-01 -3.91259476e-05 -7.20749512e-01] [ 1.62348403e-03 4.01149663e-05 9.99998681e-01 -1.53060605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.645898226999996 meters Centerline goodness [0,1] 0.742398738627405 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.72, Z:-0.15 [[ 9.99998596e-01 7.76086115e-04 -1.48487376e-03 3.44458727e+01] [-7.75647980e-04 9.99999655e-01 2.95618224e-04 -7.22267234e-01] [ 1.48510267e-03 -2.94466070e-04 9.99998854e-01 -1.52363993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.675898227 meters Centerline goodness [0,1] 0.6906037568031173 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.72, Z:-0.15 [[ 9.99998436e-01 8.93634982e-04 -1.52609539e-03 3.44460413e+01] [-8.93010383e-04 9.99999517e-01 4.09911906e-04 -7.22597687e-01] [ 1.52646097e-03 -4.08548446e-04 9.99998752e-01 -1.52393300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.705898227 meters Centerline goodness [0,1] 0.6956890339536264 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.72, Z:-0.15 [[ 9.99998317e-01 9.64321572e-04 -1.56108692e-03 3.44461926e+01] [-9.63565939e-04 9.99999418e-01 4.84722399e-04 -7.22867772e-01] [ 1.56155344e-03 -4.83217373e-04 9.99998664e-01 -1.52446884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.735898227 meters Centerline goodness [0,1] 0.6985898692114344 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.72, Z:-0.15 [[ 9.99997987e-01 1.19055712e-03 -1.61487193e-03 3.44466209e+01] [-1.18933845e-03 9.99999007e-01 7.55406347e-04 -7.23851738e-01] [ 1.61576968e-03 -7.53484197e-04 9.99998411e-01 -1.52882978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.765898227 meters Centerline goodness [0,1] 0.696 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.72, Z:-0.15 [[ 9.99997707e-01 1.27693552e-03 -1.71941577e-03 3.44472182e+01] [-1.27536393e-03 9.99998768e-01 9.14815581e-04 -7.24588007e-01] [ 1.72058181e-03 -9.12620602e-04 9.99998103e-01 -1.53317522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.795898227 meters Centerline goodness [0,1] 0.6337757341414986 Centerline is valid? [False, False] Translation: X:34.49, Y:-0.72, Z:-0.15 [[ 9.99996720e-01 1.31848964e-03 -2.19559435e-03 3.44900113e+01] [-1.31649724e-03 9.99998721e-01 9.08654743e-04 -7.22236890e-01] [ 2.19678960e-03 -9.05761269e-04 9.99997177e-01 -1.52520153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.825898226999996 meters Centerline goodness [0,1] 0.6826965910778303 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.73, Z:-0.15 [[ 9.99998017e-01 4.82346204e-04 -1.93193350e-03 3.44461991e+01] [-4.82277203e-04 9.99999883e-01 3.61820041e-05 -7.25658421e-01] [ 1.93195073e-03 -3.52502049e-05 9.99998133e-01 -1.52845927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.855898227 meters Centerline goodness [0,1] 0.6665617920966525 Centerline is valid? [False, False] Translation: X:34.49, Y:-0.72, Z:-0.15 [[ 9.99998918e-01 3.96488233e-04 -1.41637968e-03 3.44870461e+01] [-3.96286787e-04 9.99999911e-01 1.42503384e-04 -7.22904900e-01] [ 1.41643605e-03 -1.41941937e-04 9.99998987e-01 -1.51022862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.885898227 meters Centerline goodness [0,1] 0.6930098946696457 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.73, Z:-0.15 [[ 9.99999321e-01 -6.51042641e-06 -1.16523434e-03 3.44434130e+01] [ 6.39489115e-06 9.99999995e-01 -9.91556520e-05 -7.26758403e-01] [ 1.16523498e-03 9.91481331e-05 9.99999316e-01 -1.51325504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.915898227 meters Centerline goodness [0,1] 0.6930098946696457 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.73, Z:-0.15 [[ 9.99999321e-01 -6.51042641e-06 -1.16523434e-03 3.44434130e+01] [ 6.39489115e-06 9.99999995e-01 -9.91556520e-05 -7.26758403e-01] [ 1.16523498e-03 9.91481331e-05 9.99999316e-01 -1.51325504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.945898227 meters Centerline goodness [0,1] 0.6764455238825685 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.73, Z:-0.15 [[ 9.99999278e-01 8.47133221e-05 -1.19847966e-03 3.44434969e+01] [-8.45737232e-05 9.99999990e-01 1.16530204e-04 -7.27771434e-01] [ 1.19848952e-03 -1.16428760e-04 9.99999275e-01 -1.51265911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.975898227 meters Centerline goodness [0,1] 0.6630511219553775 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.73, Z:-0.15 [[ 9.99999315e-01 1.19427723e-04 -1.16435856e-03 3.44437625e+01] [-1.19255132e-04 9.99999982e-01 1.48296363e-04 -7.27894620e-01] [ 1.16437625e-03 -1.48157406e-04 9.99999311e-01 -1.51832551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00589822699999 meters Centerline goodness [0,1] 0.6990565432257236 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.73, Z:-0.15 [[ 9.99999248e-01 7.23221423e-06 -1.22614743e-03 3.44442601e+01] [-7.39009284e-06 9.99999992e-01 -1.28755412e-04 -7.26580134e-01] [ 1.22614649e-03 1.28764377e-04 9.99999240e-01 -1.52411755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03589822699999 meters Centerline goodness [0,1] 0.7016899965858655 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.72, Z:-0.15 [[ 9.99998950e-01 -1.68953709e-04 -1.43959624e-03 3.44456628e+01] [ 1.67973996e-04 9.99999754e-01 -6.80640743e-04 -7.23858949e-01] [ 1.43971088e-03 6.80398213e-04 9.99998732e-01 -1.53791077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06589822699999 meters Centerline goodness [0,1] 0.6960815614158313 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.72, Z:-0.15 [[ 9.99998788e-01 -2.40981871e-04 -1.53845681e-03 3.44461846e+01] [ 2.39592374e-04 9.99999563e-01 -9.03296724e-04 -7.22785547e-01] [ 1.53867382e-03 9.02927026e-04 9.99998409e-01 -1.54201251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09589822699999 meters Centerline goodness [0,1] 0.6897116366110922 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.72, Z:-0.15 [[ 9.99998679e-01 -3.41299169e-04 -1.58913483e-03 3.44463602e+01] [ 3.39428134e-04 9.99999249e-01 -1.17751330e-03 -7.21407534e-01] [ 1.58953552e-03 1.17697234e-03 9.99998044e-01 -1.54221425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.125898227 meters Centerline goodness [0,1] 0.5847484375986365 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.72, Z:-0.15 [[ 9.99999786e-01 -5.39443154e-04 -3.69864976e-04 3.44666502e+01] [ 5.42818382e-04 9.99957651e-01 9.18701783e-03 -7.15994757e-01] [ 3.64893439e-04 -9.18721664e-03 9.99957730e-01 -1.54234949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.155898227 meters Centerline goodness [0,1] 0.6402313354363828 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.71, Z:-0.15 [[ 9.99999603e-01 -8.61810654e-04 -2.26770426e-04 3.44658280e+01] [ 8.63671139e-04 9.99964880e-01 8.33622292e-03 -7.11916759e-01] [ 2.19578216e-04 -8.33641547e-03 9.99965227e-01 -1.53795921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.185898227 meters Centerline goodness [0,1] 0.613030179881505 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.71, Z:-0.15 [[ 9.99994900e-01 -3.16549211e-03 4.24428313e-04 3.44210500e+01] [ 3.16400408e-03 9.99989002e-01 3.46195256e-03 -7.08625980e-01] [-4.35382429e-04 -3.46059201e-03 9.99993917e-01 -1.53365053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.215898227 meters Centerline goodness [0,1] 0.6414561135416885 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.70, Z:-0.15 [[ 9.99993338e-01 -3.65024252e-03 -1.37870236e-05 3.44657407e+01] [ 3.65026158e-03 9.99991677e-01 1.82228549e-03 -7.00609803e-01] [ 7.13512487e-06 -1.82232367e-03 9.99998340e-01 -1.54529890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.245898227 meters Centerline goodness [0,1] 0.6016347285258026 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.70, Z:-0.16 [[ 9.99992712e-01 -3.80841681e-03 -2.69157237e-04 3.44669968e+01] [ 3.80881538e-03 9.99991627e-01 1.49615862e-03 -6.99116162e-01] [ 2.63456988e-04 -1.49717289e-03 9.99998845e-01 -1.55283255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27589822699998 meters Centerline goodness [0,1] 0.5337959720719 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.69, Z:-0.16 [[ 9.99967063e-01 -8.11413809e-03 -1.84612722e-04 3.44668324e+01] [ 8.11337182e-03 9.99959754e-01 -3.82931071e-03 -6.93241819e-01] [ 2.15676848e-04 3.82768675e-03 9.99992651e-01 -1.55517772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30589822699999 meters Centerline goodness [0,1] 0.6383063836954691 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.69, Z:-0.16 [[ 9.99965349e-01 -8.32230330e-03 -2.01253242e-04 3.44666901e+01] [ 8.32134632e-03 9.99955860e-01 -4.36261802e-03 -6.90599715e-01] [ 2.37551390e-04 4.36079215e-03 9.99990463e-01 -1.55234938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33589822699999 meters Centerline goodness [0,1] 0.62954796030871 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.69, Z:-0.15 [[ 9.99980389e-01 -6.21664135e-03 7.57749304e-04 3.44594366e+01] [ 6.21830943e-03 9.99978204e-01 -2.21924448e-03 -6.89398302e-01] [-7.43936541e-04 2.22391288e-03 9.99997250e-01 -1.49907832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36589822699999 meters Centerline goodness [0,1] 0.6187645441083139 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.69, Z:-0.15 [[ 9.99997622e-01 -2.06395633e-03 7.04345770e-04 3.44591560e+01] [ 2.06220385e-03 9.99994799e-01 2.47981330e-03 -6.91995302e-01] [-7.09460333e-04 -2.47835490e-03 9.99996677e-01 -1.49181669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39589822699999 meters Centerline goodness [0,1] 0.6735685342724399 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.69, Z:-0.15 [[ 9.99997091e-01 -2.26355848e-03 8.33378824e-04 3.44584518e+01] [ 2.26191775e-03 9.99995512e-01 1.96447375e-03 -6.89461196e-01] [-8.37821785e-04 -1.96258300e-03 9.99997723e-01 -1.48735237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42589822699999 meters Centerline goodness [0,1] 0.6354652524865291 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.68, Z:-0.15 [[ 9.99996617e-01 -2.48582025e-03 7.65964791e-04 3.44588544e+01] [ 2.48526769e-03 9.99996651e-01 7.21500489e-04 -6.82809024e-01] [-7.67755746e-04 -7.19594421e-04 9.99999446e-01 -1.49291245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45589822699999 meters Centerline goodness [0,1] 0.6068497145952252 Centerline is valid? [False, False] Translation: X:34.50, Y:-0.68, Z:-0.15 [[ 9.99998938e-01 -1.36627486e-03 5.07514802e-04 3.45030279e+01] [ 1.36568347e-03 9.99998390e-01 1.16379032e-03 -6.77133897e-01] [-5.09104043e-04 -1.16309597e-03 9.99999194e-01 -1.50282500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48589822699999 meters Centerline goodness [0,1] 0.5915020970767382 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.68, Z:-0.15 [[ 9.99998834e-01 -1.41619108e-03 5.70683146e-04 3.44600232e+01] [ 1.41622444e-03 9.99998995e-01 -5.80459126e-05 -6.78836233e-01] [-5.70600369e-04 5.88540604e-05 9.99999835e-01 -1.51313957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.515898227 meters Centerline goodness [0,1] 0.6185571380128857 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.68, Z:-0.15 [[ 9.99998685e-01 -1.44993786e-03 7.25911023e-04 3.44594538e+01] [ 1.45005304e-03 9.99998936e-01 -1.58158943e-04 -6.78362270e-01] [-7.25680930e-04 1.59211344e-04 9.99999724e-01 -1.51235770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.545898227 meters Centerline goodness [0,1] 0.6249656832724431 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.68, Z:-0.15 [[ 9.99998433e-01 -1.62674770e-03 6.99019078e-04 3.44592691e+01] [ 1.62690469e-03 9.99998651e-01 -2.24075488e-04 -6.78329011e-01] [-6.98653621e-04 2.25212375e-04 9.99999731e-01 -1.50809793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.575898227 meters Centerline goodness [0,1] 0.6148086699423564 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.68, Z:-0.15 [[ 9.99998477e-01 -1.66610762e-03 5.20634887e-04 3.44599278e+01] [ 1.66618869e-03 9.99998600e-01 -1.55328738e-04 -6.78848983e-01] [-5.20375364e-04 1.56195977e-04 9.99999852e-01 -1.50986870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.605898227 meters Centerline goodness [0,1] 0.6175076372063626 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.68, Z:-0.15 [[ 9.99992363e-01 -3.89449989e-03 -3.25389137e-04 3.44658423e+01] [ 3.89362142e-03 9.99988887e-01 -2.65812277e-03 -6.77451363e-01] [ 3.35737580e-04 2.65683553e-03 9.99996414e-01 -1.54799447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.635898227 meters Centerline goodness [0,1] 0.6230131890429489 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.68, Z:-0.16 [[ 9.99992358e-01 -3.86714617e-03 -5.72917464e-04 3.44668464e+01] [ 3.86600053e-03 9.99990552e-01 -1.98745293e-03 -6.81216194e-01] [ 5.80597822e-04 1.98522284e-03 9.99997861e-01 -1.55093980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66589822699999 meters Centerline goodness [0,1] 0.6311204629142557 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.68, Z:-0.15 [[ 9.99992462e-01 -3.82495829e-03 -6.68203140e-04 3.44668968e+01] [ 3.82379238e-03 9.99991180e-01 -1.73749040e-03 -6.82500636e-01] [ 6.74843075e-04 1.73492223e-03 9.99998267e-01 -1.54654284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69589822699999 meters Centerline goodness [0,1] 0.6371320499545676 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.68, Z:-0.15 [[ 9.99992544e-01 -3.79971829e-03 -6.87829766e-04 3.44667722e+01] [ 3.79866096e-03 9.99991611e-01 -1.53203118e-03 -6.83573874e-01] [ 6.93645283e-04 1.52940693e-03 9.99998590e-01 -1.54321411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72589822699999 meters Centerline goodness [0,1] 0.6477702673978659 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.69, Z:-0.15 [[ 9.99993058e-01 -3.62686135e-03 -8.54547585e-04 3.44671535e+01] [ 3.62634929e-03 9.99993245e-01 -6.00007365e-04 -6.88431845e-01] [ 8.56717956e-04 5.96904312e-04 9.99999455e-01 -1.53920330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75589822699999 meters Centerline goodness [0,1] 0.6426474005534782 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.69, Z:-0.15 [[ 9.99993638e-01 -3.42134251e-03 -1.00893714e-03 3.44677797e+01] [ 3.42134366e-03 9.99994147e-01 -5.83553323e-07 -6.91346115e-01] [ 1.00893323e-03 -2.86837107e-06 9.99999491e-01 -1.54083993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78589822699999 meters Centerline goodness [0,1] 0.6461352657004831 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.69, Z:-0.15 [[ 9.99993985e-01 -3.26809004e-03 -1.16198180e-03 3.44684684e+01] [ 3.26863114e-03 9.99994550e-01 4.64079122e-04 -6.93599313e-01] [ 1.16045882e-03 -4.67874420e-04 9.99999217e-01 -1.54357361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81589822699999 meters Centerline goodness [0,1] 0.6352319560393109 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.70, Z:-0.16 [[ 9.99994175e-01 -3.07561717e-03 -1.47990514e-03 3.44699780e+01] [ 3.07706966e-03 9.99994785e-01 9.80203409e-04 -6.96077639e-01] [ 1.47688270e-03 -9.84751471e-04 9.99998425e-01 -1.55137600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84589822699999 meters Centerline goodness [0,1] 0.6233936977819245 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.70, Z:-0.16 [[ 9.99994456e-01 -2.95927325e-03 -1.52696533e-03 3.44704424e+01] [ 2.96111015e-03 9.99994893e-01 1.20212315e-03 -6.97060866e-01] [ 1.52340012e-03 -1.20663799e-03 9.99998112e-01 -1.55689105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.875898227 meters Centerline goodness [0,1] 0.6102389508858206 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.70, Z:-0.16 [[ 9.99994646e-01 -2.87340763e-03 -1.56559290e-03 3.44707495e+01] [ 2.87555094e-03 9.99994929e-01 1.36848200e-03 -6.97870112e-01] [ 1.56165275e-03 -1.37297661e-03 9.99997838e-01 -1.55953895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.905898227 meters Centerline goodness [0,1] 0.5831298180042048 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.70, Z:-0.16 [[ 9.99997948e-01 2.02407867e-03 8.56146086e-05 3.44500541e+01] [-2.02371094e-03 9.99989560e-01 -4.09683471e-03 -7.00930357e-01] [-9.39060306e-05 4.09665304e-03 9.99991604e-01 -1.58955606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.935898227 meters Centerline goodness [0,1] 0.6667657676789127 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.70, Z:-0.16 [[ 9.99997649e-01 2.16341335e-03 1.46911401e-04 3.44499295e+01] [-2.16279495e-03 9.99989311e-01 -4.08652368e-03 -7.00594436e-01] [-1.55750671e-04 4.08619634e-03 9.99991639e-01 -1.59094066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.965898227 meters Centerline goodness [0,1] 0.6658182743700687 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.70, Z:-0.16 [[ 9.99997152e-01 2.37219051e-03 2.61684337e-04 3.44496821e+01] [-2.37111263e-03 9.99989007e-01 -4.04517711e-03 -7.00298337e-01] [-2.71277391e-04 4.04454511e-03 9.99991784e-01 -1.59299913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.995898227 meters Centerline goodness [0,1] 0.6477810650887574 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.70, Z:-0.16 [[ 9.99996612e-01 2.58623201e-03 2.95590359e-04 3.44496048e+01] [-2.58502984e-03 9.99988669e-01 -3.99751150e-03 -7.00011411e-01] [-3.05925501e-04 3.99673384e-03 9.99991966e-01 -1.59361260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02589822699998 meters Centerline goodness [0,1] 0.5792820381948875 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.70, Z:-0.16 [[ 9.99973986e-01 7.19423477e-03 5.19360408e-04 3.44491503e+01] [-7.19464584e-03 9.99973803e-01 7.94003101e-04 -7.02030936e-01] [-5.13634557e-04 -7.97719060e-04 9.99999550e-01 -1.59651655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05589822699999 meters Centerline goodness [0,1] 0.559210104507277 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.70, Z:-0.16 [[ 9.99973976e-01 7.18102915e-03 6.92259335e-04 3.44487687e+01] [-7.18136831e-03 9.99974094e-01 4.88689890e-04 -7.00341990e-01] [-6.88732105e-04 -4.93648542e-04 9.99999641e-01 -1.59979130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08589822699999 meters Centerline goodness [0,1] 0.5933998039967616 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.70, Z:-0.16 [[ 9.99974149e-01 7.15834798e-03 6.77881836e-04 3.44490696e+01] [-7.15845688e-03 9.99974365e-01 1.58365581e-04 -6.98550665e-01] [-6.76730823e-04 -1.63214075e-04 9.99999758e-01 -1.60506506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11589822699999 meters Centerline goodness [0,1] 0.6058901248774666 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.70, Z:-0.16 [[ 9.99974843e-01 7.07223851e-03 5.45489801e-04 3.44498458e+01] [-7.07209145e-03 9.99974956e-01 -2.71050305e-04 -6.96453733e-01] [-5.47393072e-04 2.67185732e-04 9.99999814e-01 -1.61197838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14589822699999 meters Centerline goodness [0,1] 0.520698264828686 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.70, Z:-0.16 [[ 9.99984748e-01 5.30372177e-03 1.54066193e-03 3.44720999e+01] [-5.31717167e-03 9.99946603e-01 8.86112914e-03 -6.95835170e-01] [-1.49358270e-03 -8.86918595e-03 9.99959553e-01 -1.62761413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17589822699999 meters Centerline goodness [0,1] 0.5388441345888154 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.69, Z:-0.16 [[ 9.99990447e-01 4.23433109e-03 -1.08414085e-03 3.44471853e+01] [-4.23768988e-03 9.99986170e-01 -3.11478434e-03 -6.94221305e-01] [ 1.07093682e-03 3.11934884e-03 9.99994561e-01 -1.57497516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20589822699999 meters Centerline goodness [0,1] 0.5811035907816222 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.69, Z:-0.15 [[ 9.99997519e-01 4.38494660e-04 -2.18412587e-03 3.44654429e+01] [-4.30381683e-04 9.99993012e-01 3.71360537e-03 -6.93842827e-01] [ 2.18573900e-03 -3.71265615e-03 9.99990719e-01 -1.53516362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23589822699999 meters Centerline goodness [0,1] 0.6516994937678138 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.69, Z:-0.15 [[ 9.99990232e-01 -3.99108397e-03 -1.89946164e-03 3.44638109e+01] [ 3.98962765e-03 9.99991745e-01 -7.69872214e-04 -6.93099220e-01] [ 1.90251859e-03 7.62286549e-04 9.99997900e-01 -1.52252038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.265898227 meters Centerline goodness [0,1] 0.6569070172859213 Centerline is valid? [False, False] Translation: X:34.50, Y:-0.69, Z:-0.15 [[ 9.99992088e-01 -3.68700508e-03 -1.49355870e-03 3.45049957e+01] [ 3.68828857e-03 9.99992831e-01 8.57508217e-04 -6.91569805e-01] [ 1.49038636e-03 -8.63010108e-04 9.99998517e-01 -1.50590001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.295898227 meters Centerline goodness [0,1] 0.6627372114417749 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.70, Z:-0.15 [[ 9.99988169e-01 -4.20639224e-03 -2.44311027e-03 3.44630075e+01] [ 4.20828607e-03 9.99990848e-01 7.70551409e-04 -6.95651775e-01] [ 2.43984667e-03 -7.80823599e-04 9.99996719e-01 -1.51240317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.325898227 meters Centerline goodness [0,1] 0.6697111299915038 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.69, Z:-0.15 [[ 9.99985766e-01 -4.50287724e-03 -2.86205421e-03 3.44647418e+01] [ 4.50416927e-03 9.99989757e-01 4.45150744e-04 -6.94513689e-01] [ 2.86002044e-03 -4.58035584e-04 9.99995805e-01 -1.51982993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.355898227 meters Centerline goodness [0,1] 0.6620456142592475 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.69, Z:-0.15 [[ 9.99984535e-01 -4.70446973e-03 -2.96621171e-03 3.44650577e+01] [ 4.70466199e-03 9.99988931e-01 5.78449094e-05 -6.92782416e-01] [ 2.96590675e-03 -7.17990383e-05 9.99995599e-01 -1.52005880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.385898227 meters Centerline goodness [0,1] 0.659316289384493 Centerline is valid? [False, False] Translation: X:34.51, Y:-0.69, Z:-0.15 [[ 9.99989766e-01 -4.09645922e-03 -1.92001342e-03 3.45059987e+01] [ 4.09840301e-03 9.99991092e-01 1.00954228e-03 -6.87839483e-01] [ 1.91586077e-03 -1.01740093e-03 9.99997647e-01 -1.50854334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41589822699999 meters Centerline goodness [0,1] 0.7071540051461593 Centerline is valid? [False, False] Translation: X:34.50, Y:-0.69, Z:-0.15 [[ 9.99989044e-01 -4.32124111e-03 -1.79957445e-03 3.45049984e+01] [ 4.32244145e-03 9.99990438e-01 6.63661061e-04 -6.86401611e-01] [ 1.79668940e-03 -6.71432345e-04 9.99998161e-01 -1.49881005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44589822699999 meters Centerline goodness [0,1] 0.690399710693697 Centerline is valid? [False, False] Translation: X:34.51, Y:-0.69, Z:-0.15 [[ 9.99988577e-01 -4.37676281e-03 -1.92098474e-03 3.45053010e+01] [ 4.37802557e-03 9.99990203e-01 6.53638979e-04 -6.86557824e-01] [ 1.91810510e-03 -6.62041633e-04 9.99997941e-01 -1.49745540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47589822699999 meters Centerline goodness [0,1] 0.7269811601282896 Centerline is valid? [False, False] Translation: X:34.51, Y:-0.69, Z:-0.15 [[ 9.99988360e-01 -4.39308036e-03 -1.99531777e-03 3.45057079e+01] [ 4.39440096e-03 9.99990128e-01 6.57947933e-04 -6.86575569e-01] [ 1.99240765e-03 -6.66708501e-04 9.99997793e-01 -1.50041435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50589822699999 meters Centerline goodness [0,1] 0.6715964386647117 Centerline is valid? [False, False] Translation: X:34.51, Y:-0.69, Z:-0.15 [[ 9.99987420e-01 -4.57707498e-03 -2.05196830e-03 3.45055283e+01] [ 4.57801387e-03 9.99989418e-01 4.53089682e-04 -6.85799321e-01] [ 2.04987276e-03 -4.62477921e-04 9.99997792e-01 -1.49486982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53589822699999 meters Centerline goodness [0,1] 0.6639326935272482 Centerline is valid? [False, False] Translation: X:34.51, Y:-0.69, Z:-0.15 [[ 9.99986939e-01 -4.66518516e-03 -2.08743380e-03 3.45055577e+01] [ 4.66581475e-03 9.99989071e-01 2.96842172e-04 -6.85053084e-01] [ 2.08602616e-03 -3.06577875e-04 9.99997777e-01 -1.49372786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56589822699999 meters Centerline goodness [0,1] 0.6924779693890458 Centerline is valid? [False, False] Translation: X:34.51, Y:-0.68, Z:-0.15 [[ 9.99986688e-01 -4.67448925e-03 -2.18473678e-03 3.45059902e+01] [ 4.67504381e-03 9.99989041e-01 2.48793937e-04 -6.84764312e-01] [ 2.18354985e-03 -2.59004365e-04 9.99997583e-01 -1.49569141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59589822699999 meters Centerline goodness [0,1] 0.7433189242137093 Centerline is valid? [False, False] Translation: X:34.51, Y:-0.68, Z:-0.15 [[ 9.99958646e-01 -8.87017081e-03 -2.00652319e-03 3.45056128e+01] [ 8.86066348e-03 9.99949705e-01 -4.69848719e-03 -6.80781857e-01] [ 2.04809866e-03 4.68051376e-03 9.99986949e-01 -1.49826905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.625898227 meters Centerline goodness [0,1] 0.7267071513504332 Centerline is valid? [False, False] Translation: X:34.51, Y:-0.69, Z:-0.15 [[ 9.99984824e-01 -4.94621153e-03 -2.42646815e-03 3.45070433e+01] [ 4.94662931e-03 9.99987752e-01 1.66205504e-04 -6.85009963e-01] [ 2.42561634e-03 -1.78205820e-04 9.99997042e-01 -1.50203417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.655898227 meters Centerline goodness [0,1] 0.7044908365201763 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.68, Z:-0.15 [[ 9.99989487e-01 -4.30200488e-03 -1.58710352e-03 3.45482496e+01] [ 4.30527861e-03 9.99988600e-01 2.06509540e-03 -6.83647290e-01] [ 1.57820137e-03 -2.07190661e-03 9.99996608e-01 -1.49179242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.685898227 meters Centerline goodness [0,1] 0.6921153560909457 Centerline is valid? [False, False] Translation: X:34.50, Y:-0.69, Z:-0.15 [[ 9.99987926e-01 -4.83173566e-03 -8.95524144e-04 3.45041616e+01] [ 4.83313074e-03 9.99987100e-01 1.56227794e-03 -6.87116999e-01] [ 8.87964077e-04 -1.56658727e-03 9.99998379e-01 -1.49589225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.715898227 meters Centerline goodness [0,1] 0.702723355479612 Centerline is valid? [False, False] Translation: X:34.51, Y:-0.69, Z:-0.15 [[ 9.99988088e-01 -4.75556672e-03 -1.09942130e-03 3.45050950e+01] [ 4.75784276e-03 9.99986525e-01 2.07695608e-03 -6.89889603e-01] [ 1.08952939e-03 -2.08216221e-03 9.99997239e-01 -1.50036100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.745898227 meters Centerline goodness [0,1] 0.7017764107714519 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.69, Z:-0.15 [[ 9.99986093e-01 -4.94367504e-03 1.83692556e-03 3.45230346e+01] [ 4.96028444e-03 9.99945833e-01 -9.15018218e-03 -6.86505931e-01] [-1.79159054e-03 9.15916660e-03 9.99956449e-01 -1.49445505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77589822699998 meters Centerline goodness [0,1] 0.7550841441516682 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.69, Z:-0.15 [[ 9.99998262e-01 -8.97020862e-04 1.63452628e-03 3.45234362e+01] [ 9.03552146e-04 9.99991594e-01 -3.99947951e-03 -6.91966461e-01] [-1.63092492e-03 4.00094944e-03 9.99990666e-01 -1.49077304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80589822699999 meters Centerline goodness [0,1] 0.7550841441516682 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.69, Z:-0.15 [[ 9.99998262e-01 -8.97020862e-04 1.63452628e-03 3.45234362e+01] [ 9.03552146e-04 9.99991594e-01 -3.99947951e-03 -6.91966461e-01] [-1.63092492e-03 4.00094944e-03 9.99990666e-01 -1.49077304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83589822699999 meters Centerline goodness [0,1] 0.7579366743552107 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.69, Z:-0.15 [[ 9.99998233e-01 -7.29562516e-04 1.73229307e-03 3.45225736e+01] [ 7.35540585e-04 9.99993768e-01 -3.45283169e-03 -6.94678573e-01] [-1.72976322e-03 3.45409976e-03 9.99992539e-01 -1.48106714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86589822699999 meters Centerline goodness [0,1] 0.8114496021784453 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.70, Z:-0.15 [[ 9.99999954e-01 2.55071841e-04 1.66181187e-04 3.44825240e+01] [-2.54767806e-04 9.99998299e-01 -1.82699586e-03 -7.00161959e-01] [-1.66646920e-04 1.82695344e-03 9.99998317e-01 -1.49448562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89589822699999 meters Centerline goodness [0,1] 0.7550092608183196 Centerline is valid? [False, False] Translation: X:34.53, Y:-0.70, Z:-0.15 [[ 9.99999219e-01 9.04239590e-04 -8.62375551e-04 3.45263142e+01] [-9.04220633e-04 9.99999591e-01 2.23717297e-05 -6.99798844e-01] [ 8.62395428e-04 -2.15919345e-05 9.99999628e-01 -1.48967620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92589822699999 meters Centerline goodness [0,1] 0.8460301464439632 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.70, Z:-0.15 [[ 9.99998583e-01 2.61726322e-04 -1.66324418e-03 3.44837486e+01] [-2.63618484e-04 9.99999318e-01 -1.13751621e-03 -7.02479027e-01] [ 1.66294532e-03 1.13795306e-03 9.99997970e-01 -1.49381225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95589822699999 meters Centerline goodness [0,1] 0.8156786387013482 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.70, Z:-0.15 [[ 9.99999801e-01 6.20950016e-04 -1.08420259e-04 3.45226936e+01] [-6.20903761e-04 9.99999716e-01 4.26142708e-04 -7.02592554e-01] [ 1.08684841e-04 -4.26075305e-04 9.99999903e-01 -1.46766719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98589822699999 meters Centerline goodness [0,1] 0.7598078803077315 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.70, Z:-0.15 [[ 9.99999719e-01 7.48729437e-04 -4.46366031e-05 3.45221708e+01] [-7.48693183e-04 9.99999394e-01 8.06763245e-04 -7.04524868e-01] [ 4.52406234e-05 -8.06729598e-04 9.99999674e-01 -1.46190025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.015898227 meters Centerline goodness [0,1] 0.789553127258812 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.71, Z:-0.15 [[ 9.99999552e-01 9.45745172e-04 -2.57960774e-05 3.45221075e+01] [-9.45708402e-04 9.99998587e-01 1.39002048e-03 -7.07446100e-01] [ 2.71106461e-05 -1.38999547e-03 9.99999034e-01 -1.46133039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.045898227 meters Centerline goodness [0,1] 0.8869206606978781 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.71, Z:-0.15 [[ 9.99995494e-01 -3.00180840e-03 -1.56681759e-05 3.45220270e+01] [ 3.00176617e-03 9.99993026e-01 -2.22214491e-03 -7.10577905e-01] [ 2.23385198e-05 2.22208786e-03 9.99997531e-01 -1.45972194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.075898227 meters Centerline goodness [0,1] 0.8472169069183995 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.71, Z:-0.15 [[ 9.99996223e-01 -2.73982539e-03 -2.16422272e-04 3.45228065e+01] [ 2.73951454e-03 9.99995234e-01 -1.42376987e-03 -7.14457187e-01] [ 2.20322121e-04 1.42317160e-03 9.99998963e-01 -1.46178849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.105898227 meters Centerline goodness [0,1] 0.9251848537151868 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.72, Z:-0.15 [[ 9.99997039e-01 -2.41378876e-03 -3.09688365e-04 3.45231832e+01] [ 2.41358634e-03 9.99996875e-01 -6.52326210e-04 -7.18053857e-01] [ 3.11261975e-04 6.51576819e-04 9.99999739e-01 -1.46252049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.135898227 meters Centerline goodness [0,1] 0.8125052720371151 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.72, Z:-0.14 [[ 9.99984663e-01 -2.07199557e-04 -5.53448621e-03 3.45422057e+01] [ 1.81511050e-04 9.99989211e-01 -4.64163330e-03 -7.21788187e-01] [ 5.53538824e-03 4.64055754e-03 9.99973912e-01 -1.41173566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16589822699999 meters Centerline goodness [0,1] 0.8597399829497017 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.73, Z:-0.14 [[ 9.99975095e-01 4.40020171e-03 -5.51786213e-03 3.45423438e+01] [-4.39719829e-03 9.99990178e-01 5.56321925e-04 -7.26178350e-01] [ 5.52025586e-03 -5.32044936e-04 9.99984622e-01 -1.41394659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19589822699999 meters Centerline goodness [0,1] 0.7304318417214484 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.72, Z:-0.14 [[ 9.99974939e-01 4.54656499e-03 -5.42673979e-03 3.45422698e+01] [-4.54517479e-03 9.99989635e-01 2.68482127e-04 -7.24188622e-01] [ 5.42790421e-03 -2.43809918e-04 9.99985239e-01 -1.41780160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22589822699999 meters Centerline goodness [0,1] 0.7624224921430391 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.72, Z:-0.14 [[ 9.99975103e-01 4.61395394e-03 -5.33896685e-03 3.45422086e+01] [-4.61530469e-03 9.99989320e-01 -2.40706163e-04 -7.21162748e-01] [ 5.33779922e-03 2.65341129e-04 9.99985719e-01 -1.42239597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25589822699999 meters Centerline goodness [0,1] 0.6510061445554172 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.72, Z:-0.14 [[ 9.99941477e-01 9.34816843e-03 -5.44553526e-03 3.45433500e+01] [-9.32560511e-03 9.99947886e-01 4.15421418e-03 -7.20740583e-01] [ 5.48408577e-03 -4.10318815e-03 9.99976544e-01 -1.43480469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28589822699999 meters Centerline goodness [0,1] 0.6568027210884353 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.72, Z:-0.14 [[ 9.99940390e-01 9.46784110e-03 -5.43848871e-03 3.45433514e+01] [-9.44683596e-03 9.99947869e-01 3.87510249e-03 -7.18917066e-01] [ 5.47489405e-03 -3.82349498e-03 9.99977703e-01 -1.43584178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31589822699999 meters Centerline goodness [0,1] 0.6322477650063857 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.71, Z:-0.14 [[ 9.99970475e-01 5.81795509e-03 -5.01993689e-03 3.45417685e+01] [-5.82248273e-03 9.99982655e-01 -8.87789928e-04 -7.14335207e-01] [ 5.01468470e-03 9.16992212e-04 9.99987006e-01 -1.43284452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34589822699999 meters Centerline goodness [0,1] 0.6144917041170582 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.71, Z:-0.14 [[ 9.99969340e-01 5.90026980e-03 -5.14832446e-03 3.45423323e+01] [-5.90503093e-03 9.99982151e-01 -9.10082139e-04 -7.14031278e-01] [ 5.14286284e-03 9.40455252e-04 9.99986333e-01 -1.43590079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.375898227 meters Centerline goodness [0,1] 0.5578538696537678 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.71, Z:-0.14 [[ 9.99968965e-01 5.83851087e-03 -5.28961721e-03 3.45432505e+01] [-5.84381252e-03 9.99982437e-01 -9.87373194e-04 -7.13811630e-01] [ 5.28375952e-03 1.01825408e-03 9.99985522e-01 -1.44394436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.405898227 meters Centerline goodness [0,1] 0.6479149353278357 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.71, Z:-0.14 [[ 9.99969337e-01 5.75196283e-03 -5.31413711e-03 3.45435068e+01] [-5.75800111e-03 9.99982793e-01 -1.12166825e-03 -7.13267783e-01] [ 5.30759388e-03 1.15223266e-03 9.99985251e-01 -1.44726694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.435898227 meters Centerline goodness [0,1] 0.5167768174885612 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.71, Z:-0.14 [[ 9.99972425e-01 5.40896757e-03 -5.08852910e-03 3.45423488e+01] [-5.41916383e-03 9.99983332e-01 -1.99212455e-03 -7.09054644e-01] [ 5.07766894e-03 2.01964519e-03 9.99985069e-01 -1.44036538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.465898227 meters Centerline goodness [0,1] 0.6318192485758785 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.71, Z:-0.14 [[ 9.99973779e-01 5.13600208e-03 -5.10510388e-03 3.45422291e+01] [-5.14996653e-03 9.99983023e-01 -2.72601787e-03 -7.05520377e-01] [ 5.09101638e-03 2.75223751e-03 9.99983253e-01 -1.43826693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.495898227 meters Centerline goodness [0,1] 0.6179957011215391 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.15 [[ 9.99973450e-01 4.80621198e-03 -5.47723034e-03 3.45440202e+01] [-4.82905039e-03 9.99979670e-01 -4.16413162e-03 -6.98053513e-01] [ 5.45710529e-03 4.19047088e-03 9.99976330e-01 -1.45124945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52589822699998 meters Centerline goodness [0,1] 0.582012045885032 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.69, Z:-0.15 [[ 9.99974334e-01 4.51942540e-03 -5.55931272e-03 3.45448160e+01] [-4.54717440e-03 9.99977216e-01 -4.98897424e-03 -6.94020874e-01] [ 5.53663876e-03 5.01412536e-03 9.99972102e-01 -1.46161782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55589822699999 meters Centerline goodness [0,1] 0.5756750430878567 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.69, Z:-0.15 [[ 9.99975382e-01 4.27356713e-03 -5.56523914e-03 3.45452212e+01] [-4.30518175e-03 9.99974594e-01 -5.68119442e-03 -6.90677484e-01] [ 5.54081878e-03 5.70501392e-03 9.99968376e-01 -1.46921207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58589822699999 meters Centerline goodness [0,1] 0.5513033949381494 Centerline is valid? [False, False] Translation: X:34.57, Y:-0.69, Z:-0.15 [[ 9.99992307e-01 2.00825799e-03 -3.36931422e-03 3.45671566e+01] [-1.99947761e-03 9.99994602e-01 2.60733340e-03 -6.86736157e-01] [ 3.37453223e-03 -2.60057648e-03 9.99990925e-01 -1.49260208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61589822699999 meters Centerline goodness [0,1] 0.5698191583099064 Centerline is valid? [False, False] Translation: X:34.57, Y:-0.69, Z:-0.15 [[ 9.99992514e-01 1.82540132e-03 -3.41173057e-03 3.45667930e+01] [-1.81687592e-03 9.99995224e-01 2.50028201e-03 -6.86572252e-01] [ 3.41627830e-03 -2.49406460e-03 9.99991054e-01 -1.48431167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64589822699999 meters Centerline goodness [0,1] 0.5861871540957188 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.69, Z:-0.15 [[ 9.99996589e-01 -7.55091735e-05 -2.61065266e-03 3.45222457e+01] [ 7.62070888e-05 9.99999961e-01 2.67235207e-04 -6.88116204e-01] [ 2.61063238e-03 -2.67433246e-04 9.99996557e-01 -1.48495891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67589822699999 meters Centerline goodness [0,1] 0.64427122263748 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.69, Z:-0.15 [[ 9.99996256e-01 -2.45622159e-04 -2.72529611e-03 3.45224813e+01] [ 2.45962396e-04 9.99999962e-01 1.24509670e-04 -6.87742074e-01] [ 2.72526542e-03 -1.25179524e-04 9.99996279e-01 -1.48258081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70589822699999 meters Centerline goodness [0,1] 0.6068022008369979 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.69, Z:-0.15 [[ 9.99995520e-01 -4.83748289e-04 -2.95385887e-03 3.45231450e+01] [ 4.84096021e-04 9.99999876e-01 1.17007185e-04 -6.88281509e-01] [ 2.95380190e-03 -1.18436613e-04 9.99995631e-01 -1.48190343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73589822699999 meters Centerline goodness [0,1] 0.5982051062371487 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.69, Z:-0.15 [[ 9.99995304e-01 -4.81249948e-04 -3.02659389e-03 3.45232936e+01] [ 4.81885531e-04 9.99999862e-01 2.09273984e-04 -6.88839169e-01] [ 3.02649276e-03 -2.10731473e-04 9.99995398e-01 -1.48019433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.765898227 meters Centerline goodness [0,1] 0.6107588335905887 Centerline is valid? [False, False] Translation: X:34.57, Y:-0.69, Z:-0.15 [[ 9.99996943e-01 -5.51949689e-04 -2.41039004e-03 3.45655133e+01] [ 5.53169220e-04 9.99999719e-01 5.05310316e-04 -6.85407008e-01] [ 2.41011046e-03 -5.06642124e-04 9.99996967e-01 -1.47412183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.795898227 meters Centerline goodness [0,1] 0.7208885856820023 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.69, Z:-0.15 [[ 9.99996302e-01 -1.16087225e-03 -2.45939591e-03 3.45214867e+01] [ 1.15877250e-03 9.99998963e-01 -8.55019478e-04 -6.87445699e-01] [ 2.46038593e-03 8.52166435e-04 9.99996610e-01 -1.47280552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.825898227 meters Centerline goodness [0,1] 0.6279637970595734 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.69, Z:-0.15 [[ 9.99996108e-01 -1.27958720e-03 -2.47908443e-03 3.45213864e+01] [ 1.27685615e-03 9.99998577e-01 -1.10290742e-03 -6.86281367e-01] [ 2.48049217e-03 1.09973770e-03 9.99996319e-01 -1.47039259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.855898227 meters Centerline goodness [0,1] 0.6168273481244475 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.69, Z:-0.15 [[ 9.99995991e-01 -1.26545236e-03 -2.53304123e-03 3.45213408e+01] [ 1.26279825e-03 9.99998652e-01 -1.04912420e-03 -6.86531390e-01] [ 2.53436543e-03 1.04592128e-03 9.99996242e-01 -1.46654049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.885898227 meters Centerline goodness [0,1] 0.5993406359672445 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.69, Z:-0.15 [[ 9.99997414e-01 -1.40278838e-03 -1.78978663e-03 3.44771111e+01] [ 1.40064510e-03 9.99998301e-01 -1.19820006e-03 -6.90122075e-01] [ 1.79146441e-03 1.19569011e-03 9.99997680e-01 -1.46833214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91589822699999 meters Centerline goodness [0,1] 0.6868520512658094 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.69, Z:-0.15 [[ 9.99997264e-01 -1.43968623e-03 -1.84398453e-03 3.44771882e+01] [ 1.43703563e-03 9.99997934e-01 -1.43795048e-03 -6.88781696e-01] [ 1.84605091e-03 1.43529668e-03 9.99997266e-01 -1.46669190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94589822699999 meters Centerline goodness [0,1] 0.5752518228178868 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.69, Z:-0.15 [[ 9.99997280e-01 -1.49560169e-03 -1.78993036e-03 3.44770190e+01] [ 1.49253961e-03 9.99997423e-01 -1.71083719e-03 -6.87313804e-01] [ 1.79248448e-03 1.70816099e-03 9.99996935e-01 -1.46700946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97589822699999 meters Centerline goodness [0,1] 0.6757813325444287 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.69, Z:-0.15 [[ 9.99997539e-01 -1.57079563e-03 -1.56643126e-03 3.44761201e+01] [ 1.56754886e-03 9.99996625e-01 -2.07179680e-03 -6.85373975e-01] [ 1.56968035e-03 2.06933624e-03 9.99996627e-01 -1.46443663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00589822699999 meters Centerline goodness [0,1] 0.6238726341194902 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.68, Z:-0.15 [[ 9.99997402e-01 -1.79904209e-03 -1.39965628e-03 3.44754758e+01] [ 1.79435706e-03 9.99992808e-01 -3.34135799e-03 -6.78526416e-01] [ 1.40565746e-03 3.33883782e-03 9.99993438e-01 -1.46376175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03589822699999 meters Centerline goodness [0,1] 0.6485392877571341 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.67, Z:-0.15 [[ 9.99996568e-01 -2.11401625e-03 -1.54760923e-03 3.44761548e+01] [ 2.10723128e-03 9.99988219e-01 -4.37273818e-03 -6.73349165e-01] [ 1.55683504e-03 4.36946200e-03 9.99989242e-01 -1.46898446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06589822699999 meters Centerline goodness [0,1] 0.6116451291191886 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.67, Z:-0.15 [[ 9.99996394e-01 1.87850020e-03 -1.91924781e-03 3.44777767e+01] [-1.87924599e-03 9.99998159e-01 -3.86856706e-04 -6.72277654e-01] [ 1.91851757e-03 3.90462050e-04 9.99998083e-01 -1.47725435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09589822699999 meters Centerline goodness [0,1] 0.5967304199166578 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.67, Z:-0.15 [[ 9.99996686e-01 1.53974851e-03 -2.06333786e-03 3.44784172e+01] [-1.54235536e-03 9.99998014e-01 -1.26241840e-03 -6.68104819e-01] [ 2.06138996e-03 1.26559662e-03 9.99997074e-01 -1.48194951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.125898227 meters Centerline goodness [0,1] 0.6535429724848614 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.66, Z:-0.15 [[ 9.99997218e-01 1.04549019e-03 -2.11442457e-03 3.44780448e+01] [-1.05027365e-03 9.99996889e-01 -2.26245671e-03 -6.63535615e-01] [ 2.11205261e-03 2.26467114e-03 9.99995205e-01 -1.47448614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.155898227 meters Centerline goodness [0,1] 0.5896758652749017 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.66, Z:-0.15 [[ 9.99997514e-01 8.65328131e-04 -2.05518889e-03 3.44773894e+01] [-8.70384046e-04 9.99996594e-01 -2.46045376e-03 -6.62755134e-01] [ 2.05305279e-03 2.46223644e-03 9.99994861e-01 -1.46703240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.185898227 meters Centerline goodness [0,1] 0.6860279228391772 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.66, Z:-0.15 [[ 9.99997676e-01 6.80206089e-04 -2.04565212e-03 3.44770932e+01] [-6.85441698e-04 9.99996489e-01 -2.55977271e-03 -6.62635915e-01] [ 2.04390376e-03 2.56116894e-03 9.99994631e-01 -1.46217930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.215898227 meters Centerline goodness [0,1] 0.6427683818109059 Centerline is valid? [False, False] Translation: X:34.50, Y:-0.66, Z:-0.15 [[ 9.99994192e-01 -3.39931299e-03 -2.44286668e-04 3.45013911e+01] [ 3.40030867e-03 9.99985407e-01 4.19814081e-03 -6.60398886e-01] [ 2.30012309e-04 -4.19894708e-03 9.99991158e-01 -1.50247816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.245898227 meters Centerline goodness [0,1] 0.7088715522019013 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.66, Z:-0.15 [[ 9.99985043e-01 -4.09454418e-03 -3.62620964e-03 3.44783119e+01] [ 4.06695308e-03 9.99962973e-01 -7.58376535e-03 -6.56851163e-01] [ 3.65712743e-03 7.56890429e-03 9.99964668e-01 -1.45466727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27589822699998 meters Centerline goodness [0,1] 0.6880156181119718 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.65, Z:-0.14 [[ 9.99991995e-01 -1.11831531e-03 -3.84182311e-03 3.45209711e+01] [ 1.10764659e-03 9.99995528e-01 -2.77799933e-03 -6.53515350e-01] [ 3.84491261e-03 2.77372171e-03 9.99988761e-01 -1.44310351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30589822699999 meters Centerline goodness [0,1] 0.685415829650462 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.65, Z:-0.14 [[ 9.99991868e-01 -1.18370453e-03 -3.85534133e-03 3.45209780e+01] [ 1.17192985e-03 9.99994647e-01 -3.05494895e-03 -6.52036211e-01] [ 3.85893685e-03 3.05040591e-03 9.99987902e-01 -1.44258843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33589822699999 meters Centerline goodness [0,1] 0.6852155053265007 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.65, Z:-0.14 [[ 9.99991741e-01 -1.25317858e-03 -3.86626636e-03 3.45212376e+01] [ 1.24036374e-03 9.99993736e-01 -3.31514589e-03 -6.50650350e-01] [ 3.87039661e-03 3.31032294e-03 9.99987031e-01 -1.44664356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36589822699999 meters Centerline goodness [0,1] 0.6338568491553803 Centerline is valid? [False, False] Translation: X:34.53, Y:-0.65, Z:-0.15 [[ 9.99990215e-01 1.20409843e-04 -4.42222450e-03 3.45260011e+01] [-1.29536138e-04 9.99997863e-01 -2.06350557e-03 -6.50655823e-01] [ 4.42196658e-03 2.06405821e-03 9.99988093e-01 -1.48267507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39589822699999 meters Centerline goodness [0,1] 0.61602081394365 Centerline is valid? [False, False] Translation: X:34.53, Y:-0.65, Z:-0.15 [[ 9.99990040e-01 4.31127257e-05 -4.46306593e-03 3.45260309e+01] [-5.64173178e-05 9.99995555e-01 -2.98096017e-03 -6.45467604e-01] [ 4.46291758e-03 2.98118227e-03 9.99985597e-01 -1.48219567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42589822699999 meters Centerline goodness [0,1] 0.6619733265375467 Centerline is valid? [False, False] Translation: X:34.53, Y:-0.64, Z:-0.15 [[ 9.99990107e-01 -2.75327236e-05 -4.44799574e-03 3.45255507e+01] [ 1.28199743e-05 9.99994529e-01 -3.30772022e-03 -6.43708940e-01] [ 4.44806248e-03 3.30763048e-03 9.99984637e-01 -1.47537480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45589822699999 meters Centerline goodness [0,1] 0.6022145969728228 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.64, Z:-0.15 [[ 9.99991573e-01 -1.11165054e-03 -3.95199655e-03 3.45458397e+01] [ 1.13867151e-03 9.99975947e-01 6.84163380e-03 -6.43936663e-01] [ 3.94429599e-03 -6.84607617e-03 9.99968786e-01 -1.46956971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48589822699999 meters Centerline goodness [0,1] 0.6280124631721741 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.65, Z:-0.15 [[ 9.99991805e-01 -1.03182085e-03 -3.91478041e-03 3.45455808e+01] [ 1.05946673e-03 9.99974471e-01 7.06643672e-03 -6.45097778e-01] [ 3.90738918e-03 -7.07052639e-03 9.99967369e-01 -1.46722781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.515898227 meters Centerline goodness [0,1] 0.6932297822049637 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.65, Z:-0.15 [[ 9.99985955e-01 -3.19507302e-03 -4.22873404e-03 3.45491683e+01] [ 3.21571650e-03 9.99982903e-01 4.88395358e-03 -6.45952580e-01] [ 4.21305715e-03 -4.89748340e-03 9.99979132e-01 -1.49428223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.545898227 meters Centerline goodness [0,1] 0.7042409290059126 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.65, Z:-0.15 [[ 9.99979436e-01 -5.50673172e-03 -3.28686556e-03 3.45431068e+01] [ 5.51528882e-03 9.99981410e-01 2.60005976e-03 -6.46804593e-01] [ 3.27248663e-03 -2.61813430e-03 9.99991218e-01 -1.45724522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.575898227 meters Centerline goodness [0,1] 0.7305231942385089 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.65, Z:-0.15 [[ 9.99978957e-01 -5.47124791e-03 -3.48588375e-03 3.45438123e+01] [ 5.48396368e-03 9.99978306e-01 3.64873432e-03 -6.52804683e-01] [ 3.46584500e-03 -3.66777400e-03 9.99987268e-01 -1.45766964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.605898227 meters Centerline goodness [0,1] 0.7063678749947495 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.65, Z:-0.15 [[ 9.99946949e-01 -9.67579731e-03 -3.53247243e-03 3.45441913e+01] [ 9.67314760e-03 9.99952920e-01 -7.66419472e-04 -6.51911537e-01] [ 3.53972184e-03 7.32208686e-04 9.99993467e-01 -1.45957448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.635898227 meters Centerline goodness [0,1] 0.7345291479820628 Centerline is valid? [False, False] Translation: X:34.50, Y:-0.66, Z:-0.15 [[ 9.99946987e-01 -8.71427581e-03 -5.48487752e-03 3.45049839e+01] [ 8.72138337e-03 9.99961157e-01 1.27326521e-03 -6.60177587e-01] [ 5.47356889e-03 -1.32103343e-03 9.99984147e-01 -1.47322122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66589822699999 meters Centerline goodness [0,1] 0.7425093042326374 Centerline is valid? [False, False] Translation: X:34.51, Y:-0.66, Z:-0.15 [[ 9.99903632e-01 -1.26140187e-02 -5.79772387e-03 3.45061063e+01] [ 1.25977176e-02 9.99916614e-01 -2.83961924e-03 -6.60247646e-01] [ 5.83305943e-03 2.76630750e-03 9.99979161e-01 -1.47266110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69589822699999 meters Centerline goodness [0,1] 0.7566852337964445 Centerline is valid? [False, False] Translation: X:34.50, Y:-0.66, Z:-0.15 [[ 9.99872050e-01 -1.52660812e-02 -4.77819486e-03 3.45016647e+01] [ 1.52377815e-02 9.99866467e-01 -5.90406906e-03 -6.60912770e-01] [ 4.86768881e-03 5.83050455e-03 9.99971155e-01 -1.45362302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72589822699999 meters Centerline goodness [0,1] 0.7566852337964445 Centerline is valid? [False, False] Translation: X:34.50, Y:-0.66, Z:-0.15 [[ 9.99925914e-01 -1.12276702e-02 -4.70166570e-03 3.45014821e+01] [ 1.12220821e-02 9.99936294e-01 -1.21324529e-03 -6.64306073e-01] [ 4.71498809e-03 1.16039293e-03 9.99988211e-01 -1.45479138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75589822699999 meters Centerline goodness [0,1] 0.7963821392380501 Centerline is valid? [False, False] Translation: X:34.50, Y:-0.67, Z:-0.15 [[ 9.99932333e-01 -1.06657126e-02 -4.64461986e-03 3.45016110e+01] [ 1.06646106e-02 9.99943097e-01 -2.61979532e-04 -6.68336215e-01] [ 4.64714976e-03 2.12428742e-04 9.99989179e-01 -1.45896619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78589822699999 meters Centerline goodness [0,1] 0.6558760683760684 Centerline is valid? [False, False] Translation: X:34.50, Y:-0.67, Z:-0.15 [[ 9.99935859e-01 -1.03642432e-02 -4.56732796e-03 3.45014933e+01] [ 1.03654331e-02 9.99946249e-01 2.36922640e-04 -6.70446493e-01] [ 4.56462694e-03 -2.84249776e-04 9.99989542e-01 -1.46085414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81589822699999 meters Centerline goodness [0,1] 0.7085436648157496 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.67, Z:-0.15 [[ 9.99962120e-01 -8.54564571e-03 -1.65243815e-03 3.45210118e+01] [ 8.53132141e-03 9.99927569e-01 -8.48957404e-03 -6.69371679e-01] [ 1.72486735e-03 8.47515497e-03 9.99962598e-01 -1.46400082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84589822699999 meters Centerline goodness [0,1] 0.6556991026538534 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.67, Z:-0.15 [[ 9.99965115e-01 -8.17234600e-03 -1.72655850e-03 3.45214755e+01] [ 8.15879250e-03 9.99936944e-01 -7.71639253e-03 -6.72864402e-01] [ 1.78951066e-03 7.70203671e-03 9.99968738e-01 -1.46767560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.875898227 meters Centerline goodness [0,1] 0.6803934010152284 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.68, Z:-0.15 [[ 9.99971630e-01 -7.28330315e-03 -1.92142906e-03 3.45230308e+01] [ 7.27233281e-03 9.99957561e-01 -5.65597189e-03 -6.82404323e-01] [ 1.96254168e-03 5.64183816e-03 9.99982159e-01 -1.48056976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.905898227 meters Centerline goodness [0,1] 0.6461088478011072 Centerline is valid? [False, False] Translation: X:34.56, Y:-0.69, Z:-0.15 [[ 9.99986296e-01 -4.96554564e-03 -1.65844338e-03 3.45641411e+01] [ 4.96520026e-03 9.99987651e-01 -2.12304324e-04 -6.87540158e-01] [ 1.65947711e-03 2.04066911e-04 9.99998602e-01 -1.47132853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.935898227 meters Centerline goodness [0,1] 0.7017323571975824 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.70, Z:-0.15 [[ 9.99988880e-01 -4.50479863e-03 -1.39531476e-03 3.45192990e+01] [ 4.50730912e-03 9.99988220e-01 1.80133897e-03 -6.96812969e-01] [ 1.38718365e-03 -1.80760806e-03 9.99997404e-01 -1.46123651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.965898227 meters Centerline goodness [0,1] 0.6611374903256846 Centerline is valid? [False, False] Translation: X:34.56, Y:-0.70, Z:-0.15 [[ 9.99991154e-01 -4.17929135e-03 -4.74560620e-04 3.45605493e+01] [ 4.18103237e-03 9.99984307e-01 3.72895122e-03 -6.98971977e-01] [ 4.58968799e-04 -3.73090239e-03 9.99992935e-01 -1.45215361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.995898227 meters Centerline goodness [0,1] 0.6823265750670242 Centerline is valid? [False, False] Translation: X:34.56, Y:-0.71, Z:-0.14 [[ 9.99993763e-01 -3.51718758e-03 -3.19976576e-04 3.45599597e+01] [ 3.51881859e-03 9.99980037e-01 5.24811516e-03 -7.06204033e-01] [ 3.01511583e-04 -5.24920837e-03 9.99986177e-01 -1.44825627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02589822699998 meters Centerline goodness [0,1] 0.6591148799729992 Centerline is valid? [False, False] Translation: X:34.56, Y:-0.70, Z:-0.15 [[ 9.99974380e-01 -7.15805501e-03 -4.79979265e-05 3.45595164e+01] [ 7.15809090e-03 9.99974065e-01 7.94723088e-04 -7.03560445e-01] [ 4.23080100e-05 -7.95046301e-04 9.99999683e-01 -1.45387944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05589822699999 meters Centerline goodness [0,1] 0.68277082489393 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.71, Z:-0.15 [[ 9.99994252e-01 -2.52671566e-03 -2.26098602e-03 3.45405329e+01] [ 2.51383477e-03 9.99980698e-01 -5.68184156e-03 -7.05702352e-01] [ 2.27529877e-03 5.67612516e-03 9.99981302e-01 -1.45460521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08589822699999 meters Centerline goodness [0,1] 0.4768596787827557 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.71, Z:-0.15 [[ 9.99994778e-01 2.04752007e-03 -2.50043101e-03 3.45421275e+01] [-2.05037985e-03 9.99997246e-01 -1.14168792e-03 -7.06377289e-01] [ 2.49808649e-03 1.14680879e-03 9.99996222e-01 -1.46889321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11589822699999 meters Centerline goodness [0,1] 0.5721621048164651 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.15 [[ 9.99994971e-01 2.06427178e-03 -2.40756838e-03 3.45417146e+01] [-2.06758623e-03 9.99996917e-01 -1.37500450e-03 -7.04969883e-01] [ 2.40472257e-03 1.37997544e-03 9.99996156e-01 -1.46729670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14589822699999 meters Centerline goodness [0,1] 0.598589586950464 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.15 [[ 9.99995185e-01 2.04610121e-03 -2.33328378e-03 3.45410096e+01] [-2.04970770e-03 9.99996707e-01 -1.54433124e-03 -7.03998772e-01] [ 2.33011624e-03 1.54910635e-03 9.99996085e-01 -1.45944810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17589822699999 meters Centerline goodness [0,1] 0.5842361170348886 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.14 [[ 9.99995573e-01 1.86506741e-03 -2.31833027e-03 3.45402281e+01] [-1.86939908e-03 9.99996509e-01 -1.86768678e-03 -7.02524151e-01] [ 2.31483881e-03 1.87201240e-03 9.99995569e-01 -1.44722564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20589822699999 meters Centerline goodness [0,1] 0.634637416726779 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.15 [[ 9.99995042e-01 1.76139601e-03 -2.61028700e-03 3.45413214e+01] [-1.76645826e-03 9.99996561e-01 -1.93831205e-03 -7.02388492e-01] [ 2.60686389e-03 1.94291340e-03 9.99994715e-01 -1.45030798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23589822699999 meters Centerline goodness [0,1] 0.5697423747625451 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.15 [[ 9.99994589e-01 1.70297119e-03 -2.81471862e-03 3.45423220e+01] [-1.70825859e-03 9.99996779e-01 -1.87714797e-03 -7.02916822e-01] [ 2.81151282e-03 1.88194608e-03 9.99994277e-01 -1.45640246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.265898227 meters Centerline goodness [0,1] 0.5828108338664961 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.15 [[ 9.99994303e-01 1.64410192e-03 -2.94805477e-03 3.45432196e+01] [-1.64952633e-03 9.99996949e-01 -1.83851228e-03 -7.03316460e-01] [ 2.94502308e-03 1.84336470e-03 9.99993964e-01 -1.46430836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.295898227 meters Centerline goodness [0,1] 0.6329304815105881 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.15 [[ 9.99994047e-01 1.54959659e-03 -3.08287078e-03 3.45438313e+01] [-1.55564095e-03 9.99996871e-01 -1.95919710e-03 -7.02848091e-01] [ 3.07982517e-03 1.96398128e-03 9.99993329e-01 -1.46759609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.325898227 meters Centerline goodness [0,1] 0.5917500052857475 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.15 [[ 9.99994829e-01 1.34144491e-03 -2.92262746e-03 3.45429048e+01] [-1.34816572e-03 9.99996449e-01 -2.29882195e-03 -7.01344841e-01] [ 2.91953334e-03 2.30275025e-03 9.99993087e-01 -1.46089626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.355898227 meters Centerline goodness [0,1] 0.7012543732400376 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.15 [[ 9.99995002e-01 1.28454251e-03 -2.88894175e-03 3.45423575e+01] [-1.29134165e-03 9.99996398e-01 -2.35287282e-03 -7.01183427e-01] [ 2.88590898e-03 2.35659167e-03 9.99993059e-01 -1.45347582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.385898227 meters Centerline goodness [0,1] 0.7069625909690599 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.14 [[ 9.99994739e-01 1.22740595e-03 -3.00259211e-03 3.45424464e+01] [-1.23471164e-03 9.99996279e-01 -2.43248421e-03 -7.00845581e-01] [ 2.99959529e-03 2.43617875e-03 9.99992534e-01 -1.44849702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41589822699999 meters Centerline goodness [0,1] 0.6048683958550546 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.14 [[ 9.99994305e-01 1.13176878e-03 -3.17956038e-03 3.45428376e+01] [-1.14019578e-03 9.99995839e-01 -2.64980377e-03 -6.99809734e-01] [ 3.17654819e-03 2.65341400e-03 9.99991434e-01 -1.44583748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44589822699999 meters Centerline goodness [0,1] 0.6936183858898984 Centerline is valid? [False, False] Translation: X:34.54, Y:-0.70, Z:-0.15 [[ 9.99994172e-01 9.54361403e-04 -3.27793600e-03 3.45434594e+01] [-9.64538164e-04 9.99994716e-01 -3.10444828e-03 -6.97623949e-01] [ 3.27495591e-03 3.10759188e-03 9.99989809e-01 -1.45155368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47589822699999 meters Centerline goodness [0,1] 0.6366773162939297 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.69, Z:-0.15 [[ 9.99985348e-01 3.56141472e-03 -4.07670541e-03 3.45495907e+01] [-3.56637677e-03 9.99992908e-01 -1.21054923e-03 -6.91312393e-01] [ 4.07236523e-03 1.22507056e-03 9.99990957e-01 -1.50045347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50589822699999 meters Centerline goodness [0,1] 0.6017509645143511 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.69, Z:-0.15 [[ 9.99985572e-01 3.31142609e-03 -4.22961598e-03 3.45508893e+01] [-3.32048462e-03 9.99992205e-01 -2.13646656e-03 -6.86608200e-01] [ 4.22250826e-03 2.15048011e-03 9.99988773e-01 -1.51589917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53589822699999 meters Centerline goodness [0,1] 0.5974188884636646 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.68, Z:-0.15 [[ 9.99986780e-01 3.13772542e-03 -4.07358567e-03 3.45505751e+01] [-3.14931096e-03 9.99991006e-01 -2.84077133e-03 -6.82987964e-01] [ 4.06463547e-03 2.85356277e-03 9.99987668e-01 -1.52010153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56589822699999 meters Centerline goodness [0,1] 0.5603200135455468 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.68, Z:-0.15 [[ 9.99988420e-01 3.10792462e-03 -3.67445852e-03 3.45485878e+01] [-3.11982726e-03 9.99989891e-01 -3.23800861e-03 -6.80727723e-01] [ 3.66435789e-03 3.24943479e-03 9.99988007e-01 -1.50863208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59589822699999 meters Centerline goodness [0,1] 0.6051998381704746 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.68, Z:-0.15 [[ 9.99994947e-01 2.20123182e-04 3.17134636e-03 3.45192566e+01] [-2.20119232e-04 9.99999976e-01 -1.59462642e-06 -6.81586302e-01] [-3.17134664e-03 8.96544036e-07 9.99994971e-01 -1.47731073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.625898227 meters Centerline goodness [0,1] 0.6358539299888705 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.68, Z:-0.14 [[ 9.99983005e-01 -8.42681674e-05 5.82941135e-03 3.45546529e+01] [ 8.18295890e-05 9.99999909e-01 4.18560507e-04 -6.79327643e-01] [-5.82944609e-03 -4.18076375e-04 9.99982921e-01 -1.43129522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.655898227 meters Centerline goodness [0,1] 0.6622190268761499 Centerline is valid? [False, False] Translation: X:34.56, Y:-0.68, Z:-0.14 [[ 9.99984571e-01 -4.98251866e-05 5.55469310e-03 3.45553027e+01] [ 4.60005045e-05 9.99999762e-01 6.88675310e-04 -6.80804808e-01] [-5.55472609e-03 -6.88409166e-04 9.99984335e-01 -1.42712607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.685898227 meters Centerline goodness [0,1] 0.6208217196110555 Centerline is valid? [False, False] Translation: X:34.57, Y:-0.68, Z:-0.15 [[ 9.99988787e-01 -2.73127979e-03 3.86866020e-03 3.45653368e+01] [ 2.73889849e-03 9.99994318e-01 -1.96541174e-03 -6.81038597e-01] [-3.86327013e-03 1.97598557e-03 9.99990585e-01 -1.49229159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.715898227 meters Centerline goodness [0,1] 0.6087593099497104 Centerline is valid? [False, False] Translation: X:34.57, Y:-0.68, Z:-0.15 [[ 9.99990616e-01 -2.71023303e-03 3.37963147e-03 3.45681225e+01] [ 2.71627140e-03 9.99994721e-01 -1.78338590e-03 -6.81961184e-01] [-3.37478024e-03 1.79254916e-03 9.99992699e-01 -1.51395314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.745898227 meters Centerline goodness [0,1] 0.5720654722036169 Centerline is valid? [False, False] Translation: X:34.61, Y:-0.68, Z:-0.15 [[ 9.99996439e-01 -1.87104097e-03 1.90306491e-03 3.46126881e+01] [ 1.87134147e-03 9.99998237e-01 -1.56134600e-04 -6.79453648e-01] [-1.90276942e-03 1.59695328e-04 9.99998177e-01 -1.51787224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77589822699998 meters Centerline goodness [0,1] 0.6155026861089793 Centerline is valid? [False, False] Translation: X:34.57, Y:-0.68, Z:-0.15 [[ 9.99991613e-01 -1.61360368e-03 3.76429473e-03 3.45656332e+01] [ 1.61458305e-03 9.99998663e-01 -2.57148601e-04 -6.83118275e-01] [-3.76387477e-03 2.63224211e-04 9.99992882e-01 -1.51098698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80589822699999 meters Centerline goodness [0,1] 0.5960775157599814 Centerline is valid? [False, False] Translation: X:34.56, Y:-0.68, Z:-0.15 [[ 9.99988899e-01 -1.14022267e-03 4.57176267e-03 3.45618452e+01] [ 1.14124592e-03 9.99999324e-01 -2.21215638e-04 -6.81868168e-01] [-4.57150734e-03 2.26430688e-04 9.99989525e-01 -1.48863059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83589822699999 meters Centerline goodness [0,1] 0.5900087232186549 Centerline is valid? [False, False] Translation: X:34.56, Y:-0.68, Z:-0.15 [[ 9.99988581e-01 -1.15798106e-03 4.63639041e-03 3.45611939e+01] [ 1.16013242e-03 9.99999221e-01 -4.61352769e-04 -6.80523402e-01] [-4.63585256e-03 4.66726328e-04 9.99989145e-01 -1.48103466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86589822699999 meters Centerline goodness [0,1] 0.5685647078768357 Centerline is valid? [False, False] Translation: X:34.56, Y:-0.68, Z:-0.15 [[ 9.99989865e-01 -1.22816228e-03 4.33146468e-03 3.45621791e+01] [ 1.23164711e-03 9.99998920e-01 -8.01961301e-04 -6.78739672e-01] [-4.33047506e-03 8.07288009e-04 9.99990298e-01 -1.48199143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89589822699999 meters Centerline goodness [0,1] 0.5286744432661719 Centerline is valid? [False, False] Translation: X:34.57, Y:-0.67, Z:-0.15 [[ 9.99993671e-01 -1.40500990e-03 3.26869172e-03 3.45669945e+01] [ 1.41054227e-03 9.99997576e-01 -1.69084214e-03 -6.74043533e-01] [-3.26630815e-03 1.69544207e-03 9.99993228e-01 -1.50929597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92589822699999 meters Centerline goodness [0,1] 0.6085849944392163 Centerline is valid? [False, False] Translation: X:34.57, Y:-0.67, Z:-0.15 [[ 9.99993848e-01 -1.63475026e-03 3.10343648e-03 3.45683447e+01] [ 1.64188118e-03 9.99996015e-01 -2.29659729e-03 -6.71138512e-01] [-3.09966975e-03 2.30167864e-03 9.99992547e-01 -1.52505369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95589822699999 meters Centerline goodness [0,1] 0.5687571118792537 Centerline is valid? [False, False] Translation: X:34.57, Y:-0.67, Z:-0.15 [[ 9.99993168e-01 -1.82598120e-03 3.21410388e-03 3.45682398e+01] [ 1.83499542e-03 9.99994386e-01 -2.80387331e-03 -6.68659606e-01] [-3.20896601e-03 2.80975202e-03 9.99990904e-01 -1.53008698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98589822699999 meters Centerline goodness [0,1] 0.6241859468723222 Centerline is valid? [False, False] Translation: X:34.57, Y:-0.67, Z:-0.15 [[ 9.99990616e-01 -2.01032785e-03 3.83762713e-03 3.45652509e+01] [ 2.02268145e-03 9.99992777e-01 -3.21790951e-03 -6.66614526e-01] [-3.83113036e-03 3.22564160e-03 9.99987459e-01 -1.51240199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.015898227 meters Centerline goodness [0,1] 0.5838606603596266 Centerline is valid? [False, False] Translation: X:34.62, Y:-0.66, Z:-0.15 [[ 9.99987687e-01 -4.52501512e-03 2.03723123e-03 3.46229311e+01] [ 4.51798437e-03 9.99983868e-01 3.44260884e-03 -6.61756863e-01] [-2.05277622e-03 -3.43336227e-03 9.99991999e-01 -1.46850288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.045898227 meters Centerline goodness [0,1] 0.486647703150208 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.14 [[ 9.99986897e-01 -5.10684500e-03 -3.55211007e-04 3.45976505e+01] [ 5.10374736e-03 9.99953074e-01 -8.23418016e-03 -6.59785988e-01] [ 3.97245020e-04 8.23225936e-03 9.99966035e-01 -1.40993737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.075898227 meters Centerline goodness [0,1] 0.5302556131986306 Centerline is valid? [False, False] Translation: X:34.62, Y:-0.66, Z:-0.14 [[ 9.99974442e-01 -7.13789619e-03 4.08202643e-04 3.46204502e+01] [ 7.13755088e-03 9.99974174e-01 8.41225600e-04 -6.58737972e-01] [-4.14196681e-04 -8.38290533e-04 9.99999563e-01 -1.42711201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.105898227 meters Centerline goodness [0,1] 0.6268780945876729 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.14 [[ 9.99960897e-01 -8.13687340e-03 -3.46358943e-03 3.45973418e+01] [ 8.09871775e-03 9.99907891e-01 -1.08912605e-02 -6.56715141e-01] [ 3.55189121e-03 1.08627840e-02 9.99934690e-01 -1.37506386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.135898227 meters Centerline goodness [0,1] 0.5744030563514804 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.14 [[ 9.99980506e-01 -4.57747378e-03 -4.24679633e-03 3.46006287e+01] [ 4.55057779e-03 9.99969665e-01 -6.32143438e-03 -6.60532634e-01] [ 4.27560371e-03 6.30198577e-03 9.99971002e-01 -1.39109543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16589822699999 meters Centerline goodness [0,1] 0.6132377579369287 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.14 [[ 9.99990207e-01 -5.69400948e-04 -4.38892087e-03 3.46009195e+01] [ 5.62702249e-04 9.99998675e-01 -1.52735868e-03 -6.64131794e-01] [ 4.38978473e-03 1.52487406e-03 9.99989202e-01 -1.38829146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19589822699999 meters Centerline goodness [0,1] 0.6617734660879926 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.14 [[ 9.99991075e-01 -6.35890936e-04 -4.17679331e-03 3.45995718e+01] [ 6.29210239e-04 9.99998521e-01 -1.60059929e-03 -6.63846885e-01] [ 4.17780494e-03 1.59795692e-03 9.99989996e-01 -1.37698668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22589822699999 meters Centerline goodness [0,1] 0.6695290741834754 Centerline is valid? [False, False] Translation: X:34.62, Y:-0.66, Z:-0.14 [[ 9.99994225e-01 -3.18556402e-03 1.18403483e-03 3.46188086e+01] [ 3.17864365e-03 9.99978120e-01 5.80136670e-03 -6.64747677e-01] [-1.20248955e-03 -5.79756958e-03 9.99982471e-01 -1.39876243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25589822699999 meters Centerline goodness [0,1] 0.7461465394413023 Centerline is valid? [False, False] Translation: X:34.56, Y:-0.67, Z:-0.14 [[ 9.99995849e-01 -8.45623828e-04 2.75454383e-03 3.45560033e+01] [ 8.49230421e-04 9.99998783e-01 -1.30841864e-03 -6.71320415e-01] [-2.75343405e-03 1.31075245e-03 9.99995350e-01 -1.40558355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28589822699999 meters Centerline goodness [0,1] 0.6618730637193335 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.67, Z:-0.14 [[ 9.99999668e-01 -7.76100391e-04 -2.48268032e-04 3.46373485e+01] [ 7.76261830e-04 9.99999487e-01 6.50825401e-04 -6.68601847e-01] [ 2.47762799e-04 -6.51017906e-04 9.99999757e-01 -1.39464261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31589822699999 meters Centerline goodness [0,1] 0.6962464604313483 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.67, Z:-0.14 [[ 9.99994576e-01 -1.27401779e-03 -3.03736679e-03 3.46010978e+01] [ 1.27412479e-03 9.99999188e-01 3.32940693e-05 -6.73543558e-01] [ 3.03732190e-03 -3.71638730e-05 9.99995387e-01 -1.43733572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34589822699999 meters Centerline goodness [0,1] 0.70874861572536 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.67, Z:-0.15 [[ 9.99994186e-01 -1.17653478e-03 -3.20050618e-03 3.46024909e+01] [ 1.17744809e-03 9.99999267e-01 2.83496487e-04 -6.74703691e-01] [ 3.20017029e-03 -2.87263269e-04 9.99994838e-01 -1.45191551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.375898227 meters Centerline goodness [0,1] 0.7190564311998808 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.67, Z:-0.14 [[ 9.99995204e-01 -1.14003087e-03 -2.87948658e-03 3.46010668e+01] [ 1.13993671e-03 9.99999350e-01 -3.43402979e-05 -6.72707438e-01] [ 2.87952386e-03 3.10577007e-05 9.99995854e-01 -1.44502164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.405898227 meters Centerline goodness [0,1] 0.6643075745983167 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.67, Z:-0.14 [[ 9.99995775e-01 -1.11505046e-03 -2.68444139e-03 3.45996122e+01] [ 1.11408970e-03 9.99999315e-01 -3.59365762e-04 -6.70724522e-01] [ 2.68484026e-03 3.56373535e-04 9.99996332e-01 -1.43084918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.435898227 meters Centerline goodness [0,1] 0.6944556515830378 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.67, Z:-0.14 [[ 9.99995755e-01 -1.13051599e-03 -2.68546670e-03 3.45991695e+01] [ 1.12862415e-03 9.99999114e-01 -7.05885601e-04 -6.68708517e-01] [ 2.68626233e-03 7.02851722e-04 9.99996145e-01 -1.42334578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.465898227 meters Centerline goodness [0,1] 0.597173069995126 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.67, Z:-0.14 [[ 9.99994903e-01 -1.16538511e-03 -2.97252186e-03 3.46004071e+01] [ 1.16235478e-03 9.99998803e-01 -1.02097198e-03 -6.66969097e-01] [ 2.97370813e-03 1.01751166e-03 9.99995061e-01 -1.42928069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.495898227 meters Centerline goodness [0,1] 0.6198324259952365 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.15 [[ 9.99993214e-01 -1.24116562e-03 -3.46870815e-03 3.46037472e+01] [ 1.23593286e-03 9.99998096e-01 -1.51029807e-03 -6.64395568e-01] [ 3.47057608e-03 1.50600073e-03 9.99992844e-01 -1.46135393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52589822699998 meters Centerline goodness [0,1] 0.6400666068912515 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.15 [[ 9.99993145e-01 -1.30099113e-03 -3.46669707e-03 3.46039413e+01] [ 1.29525693e-03 9.99997790e-01 -1.65581230e-03 -6.63686785e-01] [ 3.46884361e-03 1.65131068e-03 9.99992620e-01 -1.46525561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55589822699999 meters Centerline goodness [0,1] 0.6497677193879725 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.15 [[ 9.99993381e-01 -1.39337488e-03 -3.36107273e-03 3.46031133e+01] [ 1.38718028e-03 9.99997336e-01 -1.84467166e-03 -6.62794537e-01] [ 3.36363410e-03 1.83999704e-03 9.99992650e-01 -1.45700600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58589822699999 meters Centerline goodness [0,1] 0.5892699903559897 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.66, Z:-0.14 [[ 9.99998222e-01 -6.67617142e-04 -1.76380291e-03 3.46421964e+01] [ 6.67429767e-04 9.99999772e-01 -1.06819810e-04 -6.59385986e-01] [ 1.76387382e-03 1.05642406e-04 9.99998439e-01 -1.43263653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61589822699999 meters Centerline goodness [0,1] 0.5892699903559897 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.66, Z:-0.14 [[ 9.99998222e-01 -6.67617142e-04 -1.76380291e-03 3.46421964e+01] [ 6.67429767e-04 9.99999772e-01 -1.06819810e-04 -6.59385986e-01] [ 1.76387382e-03 1.05642406e-04 9.99998439e-01 -1.43263653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64589822699999 meters Centerline goodness [0,1] 0.6584101382488479 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.14 [[ 9.99994210e-01 -1.12441356e-03 -3.21179203e-03 3.46011221e+01] [ 1.12047557e-03 9.99998619e-01 -1.22764012e-03 -6.60664354e-01] [ 3.21316797e-03 1.22403427e-03 9.99994089e-01 -1.43921604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67589822699999 meters Centerline goodness [0,1] 0.6399735556929902 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.14 [[ 9.99993629e-01 -1.08005791e-03 -3.40223648e-03 3.46022586e+01] [ 1.07635219e-03 9.99998826e-01 -1.09084368e-03 -6.61358330e-01] [ 3.40341066e-03 1.08717472e-03 9.99993617e-01 -1.44852099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70589822699999 meters Centerline goodness [0,1] 0.6244685576495971 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.14 [[ 9.99993808e-01 -1.00159632e-03 -3.37347732e-03 3.46022005e+01] [ 9.98703387e-04 9.99999132e-01 -8.59129057e-04 -6.62500249e-01] [ 3.37433490e-03 8.55754634e-04 9.99993941e-01 -1.44892421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73589822699999 meters Centerline goodness [0,1] 0.6583769077073502 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99998184e-01 -6.48765064e-04 -1.79200015e-03 3.45908773e+01] [ 6.48005924e-04 9.99999700e-01 -4.24175089e-04 -6.63460923e-01] [ 1.79227480e-03 4.23013092e-04 9.99998304e-01 -1.36740209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.765898227 meters Centerline goodness [0,1] 0.6547416361624244 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99998360e-01 -7.34363873e-04 -1.65569600e-03 3.45898001e+01] [ 7.33027525e-04 9.99999405e-01 -8.07584298e-04 -6.61380272e-01] [ 1.65628807e-03 8.06369302e-04 9.99998303e-01 -1.35646860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.795898227 meters Centerline goodness [0,1] 0.640940602533379 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99997838e-01 -9.01750360e-04 -1.87381089e-03 3.45907438e+01] [ 8.99280068e-04 9.99998726e-01 -1.31874990e-03 -6.58796394e-01] [ 1.87499768e-03 1.31706196e-03 9.99997375e-01 -1.36195126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.825898227 meters Centerline goodness [0,1] 0.6076816387495999 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99996762e-01 -1.03067207e-03 -2.32665964e-03 3.45929212e+01] [ 1.02647000e-03 9.99997841e-01 -1.80652211e-03 -6.56279207e-01] [ 2.32851655e-03 1.80412801e-03 9.99995662e-01 -1.37641954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.855898227 meters Centerline goodness [0,1] 0.5808571001941167 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99996098e-01 -1.11175972e-03 -2.56297805e-03 3.45945666e+01] [ 1.10646094e-03 9.99997250e-01 -2.06792129e-03 -6.55015063e-01] [ 2.56527003e-03 2.06507739e-03 9.99994577e-01 -1.39301934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88589822699998 meters Centerline goodness [0,1] 0.6106434797470518 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99996631e-01 -1.02379396e-03 -2.38525462e-03 3.45938649e+01] [ 1.01938693e-03 9.99997773e-01 -1.84809605e-03 -6.56054401e-01] [ 2.38714137e-03 1.84565833e-03 9.99995448e-01 -1.39039022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91589822699999 meters Centerline goodness [0,1] 0.5899591335464882 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99997253e-01 -9.06042832e-04 -2.16194777e-03 3.45928059e+01] [ 9.02781563e-04 9.99998454e-01 -1.50898594e-03 -6.57668024e-01] [ 2.16331164e-03 1.50703003e-03 9.99996524e-01 -1.38410109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94589822699999 meters Centerline goodness [0,1] 0.6058078273958856 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.66, Z:-0.14 [[ 9.99999757e-01 -4.69070741e-04 -5.15428387e-04 3.46314659e+01] [ 4.69273790e-04 9.99999812e-01 3.93892596e-04 -6.56634066e-01] [ 5.15243527e-04 -3.94134377e-04 9.99999790e-01 -1.35930910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97589822699999 meters Centerline goodness [0,1] 0.640147345245152 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99998445e-01 -1.26573913e-03 1.22814616e-03 3.45857389e+01] [ 1.26579809e-03 9.99999198e-01 -4.72325031e-05 -6.60725674e-01] [-1.22808539e-03 4.87870147e-05 9.99999245e-01 -1.35253429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00589822699999 meters Centerline goodness [0,1] 0.7004501607717042 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.66, Z:-0.14 [[ 9.99998987e-01 -1.42222452e-03 -6.12123890e-05 3.45450657e+01] [ 1.42218326e-03 9.99998765e-01 -6.68978736e-04 -6.63769587e-01] [ 6.21637514e-05 6.68891003e-04 9.99999774e-01 -1.36386751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03589822699999 meters Centerline goodness [0,1] 0.6068079640333975 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.66, Z:-0.14 [[ 9.99998886e-01 -1.47911846e-03 -2.00936771e-04 3.45458093e+01] [ 1.47896077e-03 9.99998600e-01 -7.82636911e-04 -6.63212917e-01] [ 2.02094103e-04 7.82338862e-04 9.99999674e-01 -1.36923937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06589822699999 meters Centerline goodness [0,1] 0.6731994120529152 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.66, Z:-0.14 [[ 9.99998857e-01 -1.51109072e-03 -5.83485246e-05 3.45451222e+01] [ 1.51102462e-03 9.99998235e-01 -1.11671537e-03 -6.61353765e-01] [ 6.00358798e-05 1.11662593e-03 9.99999375e-01 -1.36555624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09589822699999 meters Centerline goodness [0,1] 0.638822710885286 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99999294e-01 -7.99510571e-04 8.78523918e-04 3.45856579e+01] [ 7.99909399e-04 9.99999577e-01 -4.53717442e-04 -6.57145949e-01] [-8.78160795e-04 4.54419861e-04 9.99999511e-01 -1.35112956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.125898227 meters Centerline goodness [0,1] 0.582707326934945 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99999306e-01 -8.62578300e-04 8.02682786e-04 3.45860721e+01] [ 8.63129178e-04 9.99999392e-01 -6.86202833e-04 -6.56005413e-01] [-8.02090394e-04 6.86895175e-04 9.99999442e-01 -1.35455213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.155898227 meters Centerline goodness [0,1] 0.5303961247300103 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.65, Z:-0.14 [[ 9.99993318e-01 3.10322270e-04 -3.64254479e-03 3.46338809e+01] [-3.10175829e-04 9.99999951e-01 4.07680140e-05 -6.51979390e-01] [ 3.64255727e-03 -3.96379122e-05 9.99993365e-01 -1.36150172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.185898227 meters Centerline goodness [0,1] 0.4959334014648271 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99990243e-01 -7.86487269e-05 -4.41678548e-03 3.45921610e+01] [ 7.32023001e-05 9.99999237e-01 -1.23326819e-03 -6.55216266e-01] [ 4.41687911e-03 1.23293284e-03 9.99989485e-01 -1.37524568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.215898227 meters Centerline goodness [0,1] 0.5775066312997348 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99990366e-01 2.66591707e-05 -4.38935292e-03 3.45921869e+01] [-3.09255292e-05 9.99999527e-01 -9.71913919e-04 -6.56400659e-01] [ 4.38932493e-03 9.72040299e-04 9.99989894e-01 -1.37672980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.245898227 meters Centerline goodness [0,1] 0.515988003717158 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99990507e-01 1.26644293e-04 -4.35546780e-03 3.45920598e+01] [-1.29706189e-04 9.99999745e-01 -7.02725351e-04 -6.57690858e-01] [ 4.35537770e-03 7.03283611e-04 9.99990268e-01 -1.37639488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27589822699998 meters Centerline goodness [0,1] 0.540759482905256 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.13 [[ 9.99993128e-01 -1.22853754e-03 -3.49784738e-03 3.45862059e+01] [ 1.22236309e-03 9.99997692e-01 -1.76680412e-03 -6.58844142e-01] [ 3.50000989e-03 1.76251634e-03 9.99992322e-01 -1.33744833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30589822699999 meters Centerline goodness [0,1] 0.6775994565448138 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.13 [[ 9.99993722e-01 -1.01896012e-03 -3.39379526e-03 3.45854993e+01] [ 1.01476313e-03 9.99998719e-01 -1.23815754e-03 -6.61333349e-01] [ 3.39505254e-03 1.23470587e-03 9.99993475e-01 -1.33063506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33589822699999 meters Centerline goodness [0,1] 0.55636849471943 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.13 [[ 9.99993846e-01 -7.46327219e-04 -3.42795932e-03 3.45857207e+01] [ 7.44383829e-04 9.99999562e-01 -5.68164324e-04 -6.64483300e-01] [ 3.42838186e-03 5.65609110e-04 9.99993963e-01 -1.33129067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36589822699999 meters Centerline goodness [0,1] 0.5429542450752093 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99990489e-01 -1.95087054e-03 -3.90083959e-03 3.45902039e+01] [ 1.94384867e-03 9.99996485e-01 -1.80307505e-03 -6.64484277e-01] [ 3.90434345e-03 1.79547526e-03 9.99990766e-01 -1.36519356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39589822699999 meters Centerline goodness [0,1] 0.636180904522613 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.67, Z:-0.14 [[ 9.99980482e-01 -1.09002790e-03 -6.15199827e-03 3.45519109e+01] [ 1.08193715e-03 9.99998546e-01 -1.31831661e-03 -6.69349395e-01] [ 6.15342632e-03 1.31163480e-03 9.99980207e-01 -1.39144913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42589822699999 meters Centerline goodness [0,1] 0.4775657880897789 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.67, Z:-0.14 [[ 9.99983658e-01 -1.22839791e-04 -5.71570693e-03 3.45939035e+01] [ 1.22231087e-04 9.99999987e-01 -1.06845916e-04 -6.65370464e-01] [ 5.71571998e-03 1.06145533e-04 9.99983660e-01 -1.38123557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45589822699999 meters Centerline goodness [0,1] 0.6080142702427216 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99982724e-01 -8.64749574e-05 -5.87741698e-03 3.45948974e+01] [ 8.46506256e-05 9.99999948e-01 -3.10644929e-04 -6.64061946e-01] [ 5.87744354e-03 3.10142035e-04 9.99982680e-01 -1.39026895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48589822699999 meters Centerline goodness [0,1] 0.5697256104050918 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.14 [[ 9.99982594e-01 -5.26060253e-05 -5.89994205e-03 3.45952410e+01] [ 5.08596498e-05 9.99999955e-01 -2.96148393e-04 -6.64075409e-01] [ 5.89995736e-03 2.95843169e-04 9.99982551e-01 -1.39490207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.515898227 meters Centerline goodness [0,1] 0.5914439865754705 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99983497e-01 -8.58181743e-07 -5.74514562e-03 3.45946081e+01] [-6.28409670e-07 9.99999967e-01 -2.58754279e-04 -6.64163944e-01] [ 5.74514565e-03 2.58753619e-04 9.99983463e-01 -1.39252824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.545898227 meters Centerline goodness [0,1] 0.5828701149913014 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99984899e-01 3.47235999e-05 -5.49542919e-03 3.45933522e+01] [-3.59227531e-05 9.99999976e-01 -2.18110650e-04 -6.64350642e-01] [ 5.49542148e-03 2.18304767e-04 9.99984876e-01 -1.38440288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.575898227 meters Centerline goodness [0,1] 0.5998679924202099 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99985852e-01 5.38681110e-05 -5.31916448e-03 3.45922869e+01] [-5.50252551e-05 9.99999975e-01 -2.17396367e-04 -6.64293773e-01] [ 5.31915263e-03 2.17685980e-04 9.99985830e-01 -1.37567214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.605898227 meters Centerline goodness [0,1] 0.6258071413299123 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99986525e-01 -5.42464566e-05 -5.19097704e-03 3.45918542e+01] [ 5.11612142e-05 9.99999822e-01 -5.94478108e-04 -6.62348214e-01] [ 5.19100836e-03 5.94204521e-04 9.99986350e-01 -1.37585245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63589822699998 meters Centerline goodness [0,1] 0.39804433954311724 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.66, Z:-0.14 [[ 9.99987445e-01 2.83214966e-04 -5.00300755e-03 3.46341297e+01] [-2.83700603e-04 9.99999955e-01 -9.63597120e-05 -6.57656170e-01] [ 5.00298003e-03 9.77778585e-05 9.99987480e-01 -1.36928565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66589822699999 meters Centerline goodness [0,1] 0.568598075624578 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.66, Z:-0.14 [[ 9.99987083e-01 1.59565771e-04 -5.08019345e-03 3.46347539e+01] [-1.61137656e-04 9.99999939e-01 -3.09006567e-04 -6.56709408e-01] [ 5.08014383e-03 3.09821187e-04 9.99987048e-01 -1.37557891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69589822699999 meters Centerline goodness [0,1] 0.5515296711684017 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.66, Z:-0.14 [[ 9.99984587e-01 -1.08277528e-04 -5.55095699e-03 3.46367776e+01] [ 1.04517301e-04 9.99999765e-01 -6.77687205e-04 -6.55272442e-01] [ 5.55102906e-03 6.77096589e-04 9.99984364e-01 -1.38518080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72589822699999 meters Centerline goodness [0,1] 0.5667046750285063 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.66, Z:-0.14 [[ 9.99983635e-01 -1.95061336e-04 -5.71764078e-03 3.46371622e+01] [ 1.90768289e-04 9.99999700e-01 -7.51378115e-04 -6.55035025e-01] [ 5.71778563e-03 7.50275075e-04 9.99983372e-01 -1.38248860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75589822699999 meters Centerline goodness [0,1] 0.5701095995564842 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.66, Z:-0.14 [[ 9.99984231e-01 -2.26273303e-04 -5.61134051e-03 3.46362712e+01] [ 2.22736399e-04 9.99999776e-01 -6.30930454e-04 -6.55791359e-01] [ 5.61148202e-03 6.29670655e-04 9.99984057e-01 -1.37267231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78589822699999 meters Centerline goodness [0,1] 0.6518590873378209 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.66, Z:-0.14 [[ 9.99985030e-01 -1.42658775e-04 -5.46977999e-03 3.46351243e+01] [ 1.41123910e-04 9.99999951e-01 -2.80993138e-04 -6.57535434e-01] [ 5.46981981e-03 2.80217015e-04 9.99985001e-01 -1.36003509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81589822699999 meters Centerline goodness [0,1] 0.6221780250936251 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.66, Z:-0.14 [[ 9.99985421e-01 4.76659252e-06 -5.39976785e-03 3.46345972e+01] [-3.76591817e-06 9.99999983e-01 1.85328184e-04 -6.59872656e-01] [ 5.39976865e-03 -1.85305147e-04 9.99985404e-01 -1.35430089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84589822699999 meters Centerline goodness [0,1] 0.600482180293501 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.66, Z:-0.14 [[ 9.99977774e-01 -2.43792456e-03 -6.20543486e-03 3.46406845e+01] [ 2.42451479e-03 9.99994712e-01 -2.16757757e-03 -6.61764463e-01] [ 6.21068643e-03 2.15248423e-03 9.99978397e-01 -1.39637337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.875898227 meters Centerline goodness [0,1] 0.644747444760168 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.67, Z:-0.14 [[ 9.99962116e-01 -2.12217188e-03 -8.44172167e-03 3.46030163e+01] [ 2.11266408e-03 9.99997124e-01 -1.13504547e-03 -6.68301047e-01] [ 8.44410616e-03 1.11716795e-03 9.99963724e-01 -1.42726740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.905898227 meters Centerline goodness [0,1] 0.6572731923601638 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.67, Z:-0.14 [[ 9.99960264e-01 -2.03269980e-03 -8.67979938e-03 3.46041549e+01] [ 2.02639103e-03 9.99997676e-01 -7.35565454e-04 -6.70386031e-01] [ 8.68127440e-03 7.17947558e-04 9.99962059e-01 -1.43336519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.935898227 meters Centerline goodness [0,1] 0.6613019814610086 Centerline is valid? [False, False] Translation: X:34.61, Y:-0.67, Z:-0.14 [[ 9.99958376e-01 -1.89314171e-03 -8.92536533e-03 3.46050995e+01] [ 1.89066447e-03 9.99998172e-01 -2.85980301e-04 -6.72555231e-01] [ 8.92589041e-03 2.69093526e-04 9.99960127e-01 -1.43566644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.965898227 meters Centerline goodness [0,1] 0.6660131276106044 Centerline is valid? [False, False] Translation: X:34.61, Y:-0.67, Z:-0.14 [[ 9.99957137e-01 -1.70649713e-03 -9.10012991e-03 3.46055023e+01] [ 1.70843125e-03 9.99998520e-01 2.04767165e-04 -6.74875201e-01] [ 9.09976701e-03 -2.20305334e-04 9.99958572e-01 -1.43203957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.995898227 meters Centerline goodness [0,1] 0.6740105991965125 Centerline is valid? [False, False] Translation: X:34.61, Y:-0.68, Z:-0.14 [[ 9.99958194e-01 -1.58883289e-03 -9.00480320e-03 3.46050107e+01] [ 1.59223430e-03 9.99998664e-01 3.70576412e-04 -6.75499776e-01] [ 9.00420238e-03 -3.84898676e-04 9.99959387e-01 -1.42857406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02589822699998 meters Centerline goodness [0,1] 0.6097643097643097 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.67, Z:-0.14 [[ 9.99977228e-01 -1.64988211e-03 -6.54381471e-03 3.46420129e+01] [ 1.65100985e-03 9.99998623e-01 1.66939325e-04 -6.72347581e-01] [ 6.54353027e-03 -1.77739426e-04 9.99978575e-01 -1.40037216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05589822699999 meters Centerline goodness [0,1] 0.607184603823996 Centerline is valid? [False, False] Translation: X:34.66, Y:-0.67, Z:-0.14 [[ 9.99995088e-01 3.07072844e-03 -6.27383442e-04 3.46608799e+01] [-3.07373002e-03 9.99983560e-01 -4.84068758e-03 -6.70248412e-01] [ 6.12508690e-04 4.84259221e-03 9.99988087e-01 -1.43153749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08589822699999 meters Centerline goodness [0,1] 0.5805896231428147 Centerline is valid? [False, False] Translation: X:34.62, Y:-0.67, Z:-0.14 [[ 9.99990582e-01 3.95696770e-03 -1.78255137e-03 3.46197141e+01] [-3.96591061e-03 9.99979427e-01 -5.04163478e-03 -6.71621024e-01] [ 1.76256511e-03 5.04865674e-03 9.99985702e-01 -1.44765457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11589822699999 meters Centerline goodness [0,1] 0.6004239533651299 Centerline is valid? [False, False] Translation: X:34.62, Y:-0.67, Z:-0.15 [[ 9.99990315e-01 3.87245839e-03 -2.09130098e-03 3.46213739e+01] [-3.88422338e-03 9.99976488e-01 -5.65122696e-03 -6.68297888e-01] [ 2.06936767e-03 5.65929531e-03 9.99981845e-01 -1.46061803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14589822699999 meters Centerline goodness [0,1] 0.6003504198628234 Centerline is valid? [False, False] Translation: X:34.62, Y:-0.67, Z:-0.15 [[ 9.99965395e-01 7.92684262e-03 -2.52456237e-03 3.46238692e+01] [-7.93194024e-03 9.99966510e-01 -2.01563901e-03 -6.65160321e-01] [ 2.50850017e-03 2.03559394e-03 9.99994782e-01 -1.48002548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17589822699999 meters Centerline goodness [0,1] 0.5021748310810811 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.66, Z:-0.15 [[ 9.99968694e-01 7.82729114e-03 -1.15973123e-03 3.46438274e+01] [-7.81696668e-03 9.99931995e-01 8.65449268e-03 -6.62388926e-01] [ 1.22739360e-03 -8.64515616e-03 9.99961877e-01 -1.48670230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20589822699999 meters Centerline goodness [0,1] 0.49045056452463864 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.65, Z:-0.15 [[ 9.99992345e-01 3.87378742e-03 -5.50472640e-04 3.46409987e+01] [-3.87195026e-03 9.99987058e-01 3.30019478e-03 -6.54922095e-01] [ 5.63249769e-04 -3.29803812e-03 9.99994403e-01 -1.47369582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23589822699999 meters Centerline goodness [0,1] 0.5660796717387588 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.65, Z:-0.15 [[ 9.99994342e-01 2.68065405e-03 2.03227686e-03 3.45936289e+01] [-2.68111413e-03 9.99996381e-01 2.23695041e-04 -6.53464854e-01] [-2.03166986e-03 -2.29142542e-04 9.99997910e-01 -1.46626444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.265898227 meters Centerline goodness [0,1] 0.5948988043409009 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.65, Z:-0.15 [[ 9.99995704e-01 2.28345682e-03 1.83790076e-03 3.45941785e+01] [-2.28281629e-03 9.99997333e-01 -3.50534977e-04 -6.51178240e-01] [-1.83869629e-03 3.46337882e-04 9.99998250e-01 -1.46669233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.295898227 meters Centerline goodness [0,1] 0.4610335136948953 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.65, Z:-0.15 [[ 9.99999165e-01 1.19348725e-03 -4.95976533e-04 3.46397676e+01] [-1.19356327e-03 9.99999276e-01 -1.52992587e-04 -6.48908867e-01] [ 4.95793579e-04 1.53584439e-04 9.99999865e-01 -1.46616667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.325898227 meters Centerline goodness [0,1] 0.6223397476742705 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.15 [[ 9.99995933e-01 -1.24181094e-03 -2.56738911e-03 3.46008807e+01] [ 1.23867093e-03 9.99998483e-01 -1.22426357e-03 -6.55473704e-01] [ 2.56890552e-03 1.22107844e-03 9.99995955e-01 -1.47629501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.355898227 meters Centerline goodness [0,1] 0.6342840166369579 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.15 [[ 9.99995633e-01 -1.24788791e-03 -2.67878113e-03 3.46009626e+01] [ 1.24512106e-03 9.99998690e-01 -1.03429437e-03 -6.56562500e-01] [ 2.68006830e-03 1.03095445e-03 9.99995877e-01 -1.47169166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38589822699998 meters Centerline goodness [0,1] 0.5312243997731426 Centerline is valid? [False, False] Translation: X:34.62, Y:-0.66, Z:-0.15 [[ 9.99994241e-01 -3.37289432e-03 3.75734244e-04 3.46232026e+01] [ 3.36993097e-03 9.99965240e-01 7.62645531e-03 -6.56876435e-01] [-4.01444411e-04 -7.62514519e-03 9.99970848e-01 -1.50663745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41589822699999 meters Centerline goodness [0,1] 0.7190094994129577 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.14 [[ 9.99993907e-01 -3.17619003e-03 -1.44825486e-03 3.45970316e+01] [ 3.17168970e-03 9.99990168e-01 -3.09920018e-03 -6.57025131e-01] [ 1.45808427e-03 3.09458788e-03 9.99994149e-01 -1.44858692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44589822699999 meters Centerline goodness [0,1] 0.6855074924650847 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.14 [[ 9.99994193e-01 -3.02682665e-03 -1.56615301e-03 3.45972673e+01] [ 3.02239133e-03 9.99991438e-01 -2.82664796e-03 -6.58116723e-01] [ 1.57469538e-03 2.82189801e-03 9.99994779e-01 -1.44581746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47589822699999 meters Centerline goodness [0,1] 0.6818007825791086 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.15 [[ 9.99994082e-01 -3.02369258e-03 -1.64105387e-03 3.45977808e+01] [ 3.01898262e-03 9.99991339e-01 -2.86500846e-03 -6.57867276e-01] [ 1.64970256e-03 2.86003720e-03 9.99994549e-01 -1.45060211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50589822699999 meters Centerline goodness [0,1] 0.6656932453021838 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.15 [[ 9.99994172e-01 -2.91361728e-03 -1.77940179e-03 3.45985281e+01] [ 2.90886069e-03 9.99992205e-01 -2.66990358e-03 -6.58682637e-01] [ 1.78716700e-03 2.66471199e-03 9.99994853e-01 -1.45560844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53589822699999 meters Centerline goodness [0,1] 0.6656932453021838 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.15 [[ 9.99994172e-01 -2.91361728e-03 -1.77940179e-03 3.45985281e+01] [ 2.90886069e-03 9.99992205e-01 -2.66990358e-03 -6.58682637e-01] [ 1.78716700e-03 2.66471199e-03 9.99994853e-01 -1.45560844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56589822699999 meters Centerline goodness [0,1] 0.6097540342194869 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.66, Z:-0.15 [[ 9.99994683e-01 -2.73574627e-03 -1.77470641e-03 3.45986224e+01] [ 2.73168884e-03 9.99993659e-01 -2.28466294e-03 -6.60418867e-01] [ 1.78094542e-03 2.27980285e-03 9.99995815e-01 -1.45735642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59589822699999 meters Centerline goodness [0,1] 0.6928275979702359 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.66, Z:-0.14 [[ 9.99990669e-01 -4.23415237e-03 -8.57016216e-04 3.45924551e+01] [ 4.23130523e-03 9.99985612e-01 -3.29714588e-03 -6.64757367e-01] [ 8.70964504e-04 3.29348881e-03 9.99994197e-01 -1.41650291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.625898227 meters Centerline goodness [0,1] 0.6386708474504934 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.67, Z:-0.14 [[ 9.99995397e-01 -2.99427111e-03 -4.89705091e-04 3.46333825e+01] [ 2.99435591e-03 9.99995502e-01 1.72531773e-04 -6.66187253e-01] [ 4.89186281e-04 -1.73997331e-04 9.99999865e-01 -1.40104582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.655898227 meters Centerline goodness [0,1] 0.6404838301106139 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.67, Z:-0.14 [[ 9.99995924e-01 -2.78380112e-03 -6.34756212e-04 3.46340353e+01] [ 2.78427347e-03 9.99995847e-01 7.44486797e-04 -6.68954145e-01] [ 6.32681072e-04 -7.46251098e-04 9.99999521e-01 -1.40358593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.685898227 meters Centerline goodness [0,1] 0.6675702003303545 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.67, Z:-0.14 [[ 9.99996400e-01 -2.57388496e-03 -7.58019399e-04 3.46344787e+01] [ 2.57488580e-03 9.99995811e-01 1.32234046e-03 -6.71749192e-01] [ 7.54612671e-04 -1.32428752e-03 9.99998838e-01 -1.40414242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.715898227 meters Centerline goodness [0,1] 0.666359678499665 Centerline is valid? [False, False] Translation: X:34.67, Y:-0.67, Z:-0.14 [[ 9.99987543e-01 -4.46759560e-03 2.22587691e-03 3.46706416e+01] [ 4.46681885e-03 9.99989961e-01 3.53810639e-04 -6.71976854e-01] [-2.22743525e-03 -3.43863643e-04 9.99997460e-01 -1.37509953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.745898227 meters Centerline goodness [0,1] 0.7078702024619716 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.68, Z:-0.14 [[ 9.99989249e-01 -4.26521940e-03 1.81913194e-03 3.46271786e+01] [ 4.26333565e-03 9.99990373e-01 1.03814188e-03 -6.77861909e-01] [-1.82354233e-03 -1.03037515e-03 9.99997807e-01 -1.37006328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77589822699998 meters Centerline goodness [0,1] 0.6584068201336377 Centerline is valid? [False, False] Translation: X:34.67, Y:-0.68, Z:-0.14 [[ 9.99991901e-01 -3.97333531e-03 6.41469916e-04 3.46729420e+01] [ 3.97125893e-03 9.99986974e-01 3.20636483e-03 -6.79036139e-01] [-6.54201523e-04 -3.20379142e-03 9.99994654e-01 -1.38250423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80589822699999 meters Centerline goodness [0,1] 0.6996002284408909 Centerline is valid? [False, False] Translation: X:34.67, Y:-0.68, Z:-0.14 [[ 9.99966508e-01 -8.14957509e-03 7.52929638e-04 3.46727343e+01] [ 8.15059296e-03 9.99965860e-01 -1.35884878e-03 -6.77292756e-01] [-7.41829893e-04 1.36494009e-03 9.99998793e-01 -1.38420573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83589822699999 meters Centerline goodness [0,1] 0.6724950966072696 Centerline is valid? [False, False] Translation: X:34.67, Y:-0.68, Z:-0.14 [[ 9.99924993e-01 -1.22127230e-02 9.25966192e-04 3.46722037e+01] [ 1.22179404e-02 9.99908214e-01 -5.85539169e-03 -6.75667636e-01] [-8.54370925e-04 5.86626590e-03 9.99982428e-01 -1.38241745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86589822699999 meters Centerline goodness [0,1] 0.7003034740349314 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.69, Z:-0.14 [[ 9.99956256e-01 -9.35273626e-03 1.11218123e-04 3.46306081e+01] [ 9.35279133e-03 9.99956134e-01 -5.05401426e-04 -6.85438039e-01] [-1.06486358e-04 5.06419518e-04 9.99999866e-01 -1.37930967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89589822699999 meters Centerline goodness [0,1] 0.6051128637476204 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.69, Z:-0.14 [[ 9.99957634e-01 -9.20361661e-03 -1.55951370e-04 3.46315820e+01] [ 9.20360148e-03 9.99957641e-01 -9.74539410e-05 -6.87532240e-01] [ 1.56841693e-04 9.60144979e-05 9.99999983e-01 -1.38004988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92589822699999 meters Centerline goodness [0,1] 0.6650490558075746 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.69, Z:-0.14 [[ 9.99958381e-01 -9.11355936e-03 -4.22632181e-04 3.46329538e+01] [ 9.11356621e-03 9.99958470e-01 1.42929182e-05 -6.87946379e-01] [ 4.22484370e-04 -1.81440097e-05 9.99999911e-01 -1.38843134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95589822699999 meters Centerline goodness [0,1] 0.6792532790880004 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.69, Z:-0.14 [[ 9.99959141e-01 -9.01929870e-03 -6.06355617e-04 3.46340682e+01] [ 9.01933660e-03 9.99959323e-01 5.98014800e-05 -6.87943419e-01] [ 6.05791585e-04 -6.52679620e-05 9.99999814e-01 -1.39734973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98589822699999 meters Centerline goodness [0,1] 0.6158624887191219 Centerline is valid? [False, False] Translation: X:34.63, Y:-0.69, Z:-0.14 [[ 9.99960022e-01 -8.91166410e-03 -7.32523566e-04 3.46348058e+01] [ 8.91169788e-03 9.99960289e-01 4.28755730e-05 -6.87577771e-01] [ 7.32112384e-04 -4.94018876e-05 9.99999731e-01 -1.40332601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.015898227 meters Centerline goodness [0,1] 0.6559718219660583 Centerline is valid? [False, False] Translation: X:34.61, Y:-0.69, Z:-0.14 [[ 9.99979357e-01 -6.38167708e-03 -7.48191366e-04 3.46098107e+01] [ 6.37524158e-03 9.99945153e-01 -8.30948830e-03 -6.88943410e-01] [ 8.01178801e-04 8.30454687e-03 9.99965196e-01 -1.37951403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.045898227 meters Centerline goodness [0,1] 0.6292130106599945 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.69, Z:-0.14 [[ 9.99989516e-01 -4.51483620e-03 7.64160109e-04 3.46490305e+01] [ 4.51861046e-03 9.99977233e-01 -5.01161431e-03 -6.87851843e-01] [-7.41516093e-04 5.01501471e-03 9.99987150e-01 -1.36292214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.075898227 meters Centerline goodness [0,1] 0.6611289369247657 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.69, Z:-0.14 [[ 9.99989489e-01 -4.49941228e-03 8.81494389e-04 3.46485145e+01] [ 4.50373687e-03 9.99977522e-01 -4.96700722e-03 -6.88019375e-01] [-8.59125961e-04 4.97092503e-03 9.99987276e-01 -1.36059431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.105898227 meters Centerline goodness [0,1] 0.6718945118208564 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.69, Z:-0.14 [[ 9.99989492e-01 -4.55229464e-03 5.40253706e-04 3.46500216e+01] [ 4.55472243e-03 9.99979134e-01 -4.58104767e-03 -6.90331820e-01] [-5.19388155e-04 4.58346023e-03 9.99989361e-01 -1.36756229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13589822699998 meters Centerline goodness [0,1] 0.6733797377021349 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.69, Z:-0.14 [[ 9.99989880e-01 -4.48967792e-03 2.87274764e-04 3.46512209e+01] [ 4.49085476e-03 9.99980943e-01 -4.23617606e-03 -6.92119049e-01] [-2.68250223e-04 4.23742330e-03 9.99990986e-01 -1.37403239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16589822699999 meters Centerline goodness [0,1] 0.6680286222372767 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.69, Z:-0.14 [[ 9.99990097e-01 -4.45036353e-03 3.26562741e-05 3.46521832e+01] [ 4.45045785e-03 9.99982283e-01 -3.95305787e-03 -6.93622029e-01] [-1.50631510e-05 3.95316405e-03 9.99992186e-01 -1.37632279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19589822699999 meters Centerline goodness [0,1] 0.6671538943411985 Centerline is valid? [False, False] Translation: X:34.69, Y:-0.69, Z:-0.14 [[ 9.99994915e-01 -3.18076177e-03 2.28383488e-04 3.46937367e+01] [ 3.18088176e-03 9.99994802e-01 -5.26962076e-04 -6.94329806e-01] [-2.26706160e-04 5.27685857e-04 9.99999835e-01 -1.36726095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22589822699999 meters Centerline goodness [0,1] 0.7187349056009409 Centerline is valid? [False, False] Translation: X:34.69, Y:-0.70, Z:-0.14 [[ 9.99995169e-01 -3.09182760e-03 3.21268786e-04 3.46928019e+01] [ 3.09187891e-03 9.99995207e-01 -1.59329919e-04 -6.96170140e-01] [-3.20774626e-04 1.60322474e-04 9.99999936e-01 -1.35638423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25589822699999 meters Centerline goodness [0,1] 0.6815752520277493 Centerline is valid? [False, False] Translation: X:34.69, Y:-0.70, Z:-0.14 [[ 9.99995419e-01 -3.00716160e-03 3.45552604e-04 3.46926181e+01] [ 3.00715439e-03 9.99995478e-01 2.13932668e-05 -6.96983946e-01] [-3.45615375e-04 -2.03540387e-05 9.99999940e-01 -1.35428397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28589822699999 meters Centerline goodness [0,1] 0.7609845576316014 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.70, Z:-0.14 [[ 9.99996268e-01 -2.72869393e-03 -1.34108196e-04 3.46494017e+01] [ 2.72876669e-03 9.99996128e-01 5.45361646e-04 -7.01886107e-01] [ 1.32619551e-04 -5.45725560e-04 9.99999842e-01 -1.35386483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31589822699999 meters Centerline goodness [0,1] 0.7057151945710953 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.70, Z:-0.14 [[ 9.99996501e-01 -2.63918280e-03 -1.79541213e-04 3.46496134e+01] [ 2.63930832e-03 9.99996270e-01 7.02511376e-04 -7.02505076e-01] [ 1.77686487e-04 -7.02982783e-04 9.99999737e-01 -1.35489884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34589822699999 meters Centerline goodness [0,1] 0.7406294948811236 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.70, Z:-0.14 [[ 9.99996977e-01 -2.45482902e-03 -1.41536020e-04 3.46494623e+01] [ 2.45494754e-03 9.99996631e-01 8.43363482e-04 -7.02821676e-01] [ 1.39465230e-04 -8.43708396e-04 9.99999634e-01 -1.35432854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.375898227 meters Centerline goodness [0,1] 0.7038613819234536 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.70, Z:-0.14 [[ 9.99997088e-01 -2.40891222e-03 -1.48017719e-04 3.46493993e+01] [ 2.40904106e-03 9.99996714e-01 8.76506505e-04 -7.02852536e-01] [ 1.45905805e-04 -8.76860533e-04 9.99999605e-01 -1.35295424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.405898227 meters Centerline goodness [0,1] 0.7536228777225176 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.70, Z:-0.14 [[ 9.99997226e-01 -2.34655963e-03 -2.03072472e-04 3.46496262e+01] [ 2.34677705e-03 9.99996666e-01 1.07715916e-03 -7.03879040e-01] [ 2.00544176e-04 -1.07763274e-03 9.99999399e-01 -1.35375497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.435898227 meters Centerline goodness [0,1] 0.7697004632891393 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.71, Z:-0.14 [[ 9.99997465e-01 -2.20818934e-03 -4.40636208e-04 3.46502545e+01] [ 2.20900755e-03 9.99995821e-01 1.86513747e-03 -7.08045783e-01] [ 4.36515789e-04 -1.86610611e-03 9.99998164e-01 -1.35104549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.465898227 meters Centerline goodness [0,1] 0.7691633534265316 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.71, Z:-0.13 [[ 9.99997768e-01 -2.06073438e-03 -4.67014844e-04 3.46500955e+01] [ 2.06183908e-03 9.99995048e-01 2.37744514e-03 -7.10629617e-01] [ 4.62113249e-04 -2.37840274e-03 9.99997065e-01 -1.34617061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.495898227 meters Centerline goodness [0,1] 0.7344205132566496 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.71, Z:-0.13 [[ 9.99997952e-01 -1.96817555e-03 -4.72322090e-04 3.46501751e+01] [ 1.96946140e-03 9.99994313e-01 2.73756832e-03 -7.12476186e-01] [ 4.66931389e-04 -2.73849293e-03 9.99996141e-01 -1.34675198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52589822699998 meters Centerline goodness [0,1] 0.7885573735429365 Centerline is valid? [False, False] Translation: X:34.65, Y:-0.71, Z:-0.14 [[ 9.99998105e-01 -1.88697212e-03 -4.78446191e-04 3.46506055e+01] [ 1.88838325e-03 9.99993817e-01 2.96630943e-03 -7.13650739e-01] [ 4.72845889e-04 -2.96720730e-03 9.99995486e-01 -1.35366042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55589822699999 meters Centerline goodness [0,1] 0.7273456972666976 Centerline is valid? [False, False] Translation: X:34.67, Y:-0.71, Z:-0.14 [[ 9.99993716e-01 -4.15666326e-04 3.52058040e-03 3.46709404e+01] [ 4.37727378e-04 9.99980261e-01 -6.26786040e-03 -7.09191188e-01] [-3.51790557e-03 6.26936207e-03 9.99974159e-01 -1.37868551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58589822699999 meters Centerline goodness [0,1] 0.7022507764966175 Centerline is valid? [False, False] Translation: X:34.67, Y:-0.71, Z:-0.14 [[ 9.99986349e-01 3.96156114e-03 3.40706978e-03 3.46713025e+01] [-3.95695308e-03 9.99991249e-01 -1.35817995e-03 -7.12381176e-01] [-3.41242048e-03 1.34467979e-03 9.99993274e-01 -1.37757135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61589822699999 meters Centerline goodness [0,1] 0.6663200339558574 Centerline is valid? [False, False] Translation: X:34.67, Y:-0.71, Z:-0.14 [[ 9.99985427e-01 4.17121678e-03 3.42749466e-03 3.46711852e+01] [-4.16525976e-03 9.99989806e-01 -1.74331510e-03 -7.09639388e-01] [-3.43473147e-03 1.72901329e-03 9.99992607e-01 -1.37723436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64589822699999 meters Centerline goodness [0,1] 0.7146329502569242 Centerline is valid? [False, False] Translation: X:34.67, Y:-0.71, Z:-0.14 [[ 9.99985111e-01 4.16275536e-03 3.52838024e-03 3.46706754e+01] [-4.15621138e-03 9.99989633e-01 -1.85997553e-03 -7.09016984e-01] [-3.53608628e-03 1.84528314e-03 9.99992045e-01 -1.37459044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67589822699999 meters Centerline goodness [0,1] 0.6814447143309748 Centerline is valid? [False, False] Translation: X:34.67, Y:-0.71, Z:-0.14 [[ 9.99960272e-01 8.26169764e-03 3.34630808e-03 3.46712744e+01] [-8.27199680e-03 9.99961056e-01 3.07571199e-03 -7.13149043e-01] [-3.32076716e-03 -3.10327045e-03 9.99989671e-01 -1.37356974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70589822699999 meters Centerline goodness [0,1] 0.7351723843659328 Centerline is valid? [False, False] Translation: X:34.67, Y:-0.72, Z:-0.14 [[ 9.99959899e-01 8.36781752e-03 3.19071624e-03 3.46719472e+01] [-8.38054034e-03 9.99956902e-01 3.99515073e-03 -7.18190422e-01] [-3.15714803e-03 -4.02173044e-03 9.99986929e-01 -1.37606090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73589822699999 meters Centerline goodness [0,1] 0.6565050458426872 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.72, Z:-0.14 [[ 9.99984023e-01 5.31829704e-03 1.91546266e-03 3.47166109e+01] [-5.31967074e-03 9.99985596e-01 7.12783505e-04 -7.15987614e-01] [-1.91164428e-03 -7.22961748e-04 9.99997911e-01 -1.37838740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.765898227 meters Centerline goodness [0,1] 0.7375512719699062 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.72, Z:-0.14 [[ 9.99991008e-01 3.19449750e-03 -2.78921536e-03 3.46970254e+01] [-3.16752413e-03 9.99948690e-01 9.62204074e-03 -7.23512724e-01] [ 2.81980983e-03 -9.61311930e-03 9.99949817e-01 -1.35346912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.795898227 meters Centerline goodness [0,1] 0.8071870334826189 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.73, Z:-0.13 [[ 9.99995973e-01 -8.22522034e-04 -2.71609882e-03 3.46965431e+01] [ 8.38360413e-04 9.99982623e-01 5.83531638e-03 -7.25840154e-01] [ 2.71125195e-03 -5.83756996e-03 9.99979286e-01 -1.34846437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.825898227 meters Centerline goodness [0,1] 0.6797784750152667 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.72, Z:-0.14 [[ 9.99999652e-01 6.88802515e-04 4.70839709e-04 3.47169677e+01] [-6.87202200e-04 9.99994016e-01 -3.39060582e-03 -7.23825898e-01] [-4.73172349e-04 3.39028107e-03 9.99994141e-01 -1.36600722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.855898227 meters Centerline goodness [0,1] 0.7949686596458645 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.72, Z:-0.14 [[ 9.99999608e-01 8.57684454e-04 2.19327719e-04 3.47183170e+01] [-8.56981774e-04 9.99994564e-01 -3.18406011e-03 -7.24599865e-01] [-2.22057445e-04 3.18387090e-03 9.99994907e-01 -1.37518845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88589822699998 meters Centerline goodness [0,1] 0.7045309644238534 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.72, Z:-0.14 [[ 9.99999524e-01 9.75026273e-04 2.84854266e-05 3.47198202e+01] [-9.74928292e-04 9.99994217e-01 -3.25804199e-03 -7.23885058e-01] [-3.16619384e-05 3.25801267e-03 9.99994692e-01 -1.39100718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91589822699999 meters Centerline goodness [0,1] 0.6584434221077955 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.72, Z:-0.14 [[ 9.99985052e-01 5.46761079e-03 -4.37039661e-05 3.47206227e+01] [-5.46756807e-03 9.99984626e-01 9.24133267e-04 -7.22675456e-01] [ 4.87560952e-05 -9.23880498e-04 9.99999572e-01 -1.39985287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94589822699999 meters Centerline goodness [0,1] 0.5975427597668987 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.72, Z:-0.14 [[ 9.99984525e-01 5.56177845e-03 1.24753741e-04 3.47196198e+01] [-5.56184832e-03 9.99984372e-01 5.66894947e-04 -7.20414990e-01] [-1.21598847e-04 -5.67580036e-04 9.99999832e-01 -1.39284738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97589822699999 meters Centerline goodness [0,1] 0.6404974489795918 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.72, Z:-0.14 [[ 9.99984036e-01 5.63962472e-03 3.50337975e-04 3.47184193e+01] [-5.63981526e-03 9.99983947e-01 5.45291578e-04 -7.20017858e-01] [-3.47257111e-04 -5.47258714e-04 9.99999790e-01 -1.38464946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00589822699999 meters Centerline goodness [0,1] 0.6310372806081053 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.72, Z:-0.14 [[ 9.99984148e-01 5.61525286e-03 4.15586966e-04 3.47186211e+01] [-5.61539222e-03 9.99984177e-01 3.34944724e-04 -7.18874670e-01] [-4.13699591e-04 -3.37273098e-04 9.99999858e-01 -1.39213660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03589822699999 meters Centerline goodness [0,1] 0.6579020028460378 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.72, Z:-0.14 [[ 9.99984955e-01 5.47131070e-03 3.92297430e-04 3.47189543e+01] [-5.47128358e-03 9.99985030e-01 -7.01759504e-05 -7.16923572e-01] [-3.92675512e-04 6.80285241e-05 9.99999921e-01 -1.39713941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06589822699999 meters Centerline goodness [0,1] 0.616946927019357 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.72, Z:-0.14 [[ 9.99985673e-01 5.33634248e-03 4.21176733e-04 3.47189754e+01] [-5.33615724e-03 9.99985666e-01 -4.39736907e-04 -7.15189434e-01] [-4.23517283e-04 4.37483141e-04 9.99999815e-01 -1.39969623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09589822699999 meters Centerline goodness [0,1] 0.5917344230526183 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.71, Z:-0.14 [[ 9.99986366e-01 5.20304408e-03 4.42333932e-04 3.47189057e+01] [-5.20272283e-03 9.99986203e-01 -7.24332916e-04 -7.13854893e-01] [-4.46096566e-04 7.22021700e-04 9.99999640e-01 -1.39975432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.125898227 meters Centerline goodness [0,1] 0.593038737082356 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.71, Z:-0.14 [[ 9.99987117e-01 5.06868733e-03 2.74284901e-04 3.47189071e+01] [-5.06846647e-03 9.99986835e-01 -8.00018363e-04 -7.13786090e-01] [-2.78336333e-04 7.98617852e-04 9.99999642e-01 -1.39088792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.155898227 meters Centerline goodness [0,1] 0.6715682143760007 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.71, Z:-0.14 [[ 9.99987520e-01 4.99315758e-03 1.69657958e-04 3.47190742e+01] [-4.99301479e-03 9.99987189e-01 -8.31914921e-04 -7.13824805e-01] [-1.73809666e-04 8.31057434e-04 9.99999640e-01 -1.38787480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.185898227 meters Centerline goodness [0,1] 0.6065859728988066 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.71, Z:-0.14 [[ 9.99987872e-01 4.92123556e-03 1.90840384e-04 3.47190584e+01] [-4.92106023e-03 9.99987479e-01 -9.08569568e-04 -7.13604752e-01] [-1.95309279e-04 9.07619412e-04 9.99999569e-01 -1.38873741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.215898227 meters Centerline goodness [0,1] 0.6741038384265623 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.71, Z:-0.14 [[ 9.99988878e-01 4.71315588e-03 1.74657100e-04 3.47190928e+01] [-4.71296202e-03 9.99988295e-01 -1.09420557e-03 -7.13081593e-01] [-1.79812218e-04 1.09337025e-03 9.99999386e-01 -1.38882540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.245898227 meters Centerline goodness [0,1] 0.7162613561413587 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.71, Z:-0.14 [[ 9.99989488e-01 4.58241641e-03 1.61207503e-04 3.47192076e+01] [-4.58222030e-03 9.99988786e-01 -1.19654153e-03 -7.12839588e-01] [-1.66688747e-04 1.19579026e-03 9.99999271e-01 -1.39040395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27589822699998 meters Centerline goodness [0,1] 0.659170319547678 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.71, Z:-0.14 [[ 9.99990508e-01 4.35694797e-03 -6.78378030e-06 3.47197747e+01] [-4.35695322e-03 9.99989479e-01 -1.43514523e-03 -7.12059918e-01] [ 5.30855829e-07 1.43516116e-03 9.99998970e-01 -1.39106971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30589822699999 meters Centerline goodness [0,1] 0.7722394110743626 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.71, Z:-0.14 [[ 9.99992259e-01 3.92399113e-03 -2.91629055e-04 3.47205019e+01] [-3.92460794e-03 9.99989997e-01 -2.14546512e-03 -7.09127756e-01] [ 2.83207352e-04 2.14659304e-03 9.99997656e-01 -1.38879046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33589822699999 meters Centerline goodness [0,1] 0.7660449279396964 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.71, Z:-0.14 [[ 9.99993086e-01 3.69928879e-03 -3.79278017e-04 3.47206528e+01] [-3.70027854e-03 9.99989661e-01 -2.64294611e-03 -7.06859804e-01] [ 3.69497075e-04 2.64433127e-03 9.99996435e-01 -1.38717331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36589822699999 meters Centerline goodness [0,1] 0.7344834212268079 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.70, Z:-0.14 [[ 9.99993842e-01 3.48663493e-03 -3.99220342e-04 3.47205804e+01] [-3.48785141e-03 9.99989149e-01 -3.08809202e-03 -7.04824843e-01] [ 3.88448961e-04 3.08946542e-03 9.99995152e-01 -1.38499183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39589822699999 meters Centerline goodness [0,1] 0.7448312460199533 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.70, Z:-0.14 [[ 9.99994334e-01 3.35009679e-03 -3.30181246e-04 3.47199669e+01] [-3.35120856e-03 9.99988515e-01 -3.42616901e-03 -7.03192260e-01] [ 3.18699456e-04 3.42725610e-03 9.99994076e-01 -1.37837450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42589822699999 meters Centerline goodness [0,1] 0.7448312460199533 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.70, Z:-0.14 [[ 9.99994334e-01 3.35009679e-03 -3.30181246e-04 3.47199669e+01] [-3.35120856e-03 9.99988515e-01 -3.42616901e-03 -7.03192260e-01] [ 3.18699456e-04 3.42725610e-03 9.99994076e-01 -1.37837450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45589822699999 meters Centerline goodness [0,1] 0.7014223975160492 Centerline is valid? [False, False] Translation: X:34.74, Y:-0.70, Z:-0.14 [[ 9.99993985e-01 2.35354977e-03 2.54787047e-03 3.47402944e+01] [-2.36993141e-03 9.99976418e-01 6.44573033e-03 -7.03004542e-01] [-2.53264004e-03 -6.45172983e-03 9.99975980e-01 -1.39300752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48589822699999 meters Centerline goodness [0,1] 0.6859298075094555 Centerline is valid? [False, False] Translation: X:34.74, Y:-0.70, Z:-0.14 [[ 9.99994277e-01 2.33892871e-03 2.44459573e-03 3.47410511e+01] [-2.35454633e-03 9.99976713e-01 6.40540168e-03 -7.02854172e-01] [-2.42955702e-03 -6.41112093e-03 9.99976497e-01 -1.40058579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.515898227 meters Centerline goodness [0,1] 0.7226648727058675 Centerline is valid? [False, False] Translation: X:34.74, Y:-0.70, Z:-0.14 [[ 9.99994525e-01 2.36895986e-03 2.31043815e-03 3.47419946e+01] [-2.38409862e-03 9.99975564e-01 6.57173875e-03 -7.03792720e-01] [-2.29481350e-03 -6.57721108e-03 9.99975737e-01 -1.40899349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.545898227 meters Centerline goodness [0,1] 0.7323303157805261 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.70, Z:-0.14 [[ 9.99994989e-01 3.16425152e-03 -9.97650571e-05 3.47195255e+01] [-3.16459533e-03 9.99988301e-01 -3.65831098e-03 -7.03759316e-01] [ 8.81880739e-05 3.65860836e-03 9.99993303e-01 -1.37424843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.575898227 meters Centerline goodness [0,1] 0.6818220447012833 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.70, Z:-0.14 [[ 9.99994899e-01 3.18648970e-03 -2.20859076e-04 3.47198588e+01] [-3.18726377e-03 9.99988448e-01 -3.59787710e-03 -7.03988913e-01] [ 2.09391926e-04 3.59856269e-03 9.99993503e-01 -1.37319815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.605898227 meters Centerline goodness [0,1] 0.72612627913889 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.70, Z:-0.14 [[ 9.99994671e-01 3.24465054e-03 -3.59833127e-04 3.47204422e+01] [-3.24591246e-03 9.99988382e-01 -3.56364915e-03 -7.04000883e-01] [ 3.48266150e-04 3.56479815e-03 9.99993585e-01 -1.37549398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63589822699998 meters Centerline goodness [0,1] 0.6335369936391028 Centerline is valid? [False, False] Translation: X:34.77, Y:-0.70, Z:-0.14 [[ 9.99981062e-01 5.22434166e-03 -3.25307080e-03 3.47665337e+01] [-5.23284781e-03 9.99982898e-01 -2.61180726e-03 -6.99444471e-01] [ 3.23937019e-03 2.62878062e-03 9.99991298e-01 -1.37795040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66589822699999 meters Centerline goodness [0,1] 0.6467337759691583 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.14 [[ 9.99981888e-01 3.90625278e-03 -4.57868607e-03 3.47046285e+01] [-3.88403464e-03 9.99980689e-01 4.85140313e-03 -7.03785125e-01] [ 4.59754846e-03 -4.83353149e-03 9.99977750e-01 -1.39259480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69589822699999 meters Centerline goodness [0,1] 0.6186638884163973 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.14 [[ 9.99982687e-01 3.96720555e-03 -4.34588278e-03 3.47038825e+01] [-3.94923188e-03 9.99983646e-01 4.13659554e-03 -6.99557967e-01] [ 4.36222243e-03 -4.11936102e-03 9.99982001e-01 -1.39374144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72589822699999 meters Centerline goodness [0,1] 0.6009598902982516 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.14 [[ 9.99984209e-01 3.83575322e-03 -4.10720840e-03 3.47029088e+01] [-3.82086165e-03 9.99986121e-01 3.62744564e-03 -6.97003622e-01] [ 4.12106538e-03 -3.61169529e-03 9.99984986e-01 -1.39073777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75589822699999 meters Centerline goodness [0,1] 0.6065534819422844 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.69, Z:-0.14 [[ 9.99985818e-01 3.59242210e-03 -3.93169991e-03 3.47020042e+01] [-3.58082326e-03 9.99989228e-01 2.95315763e-03 -6.93737744e-01] [ 3.94226655e-03 -2.93903703e-03 9.99987910e-01 -1.38511983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78589822699999 meters Centerline goodness [0,1] 0.6067028407277371 Centerline is valid? [False, False] Translation: X:34.74, Y:-0.69, Z:-0.14 [[ 9.99996384e-01 2.14566994e-03 -1.62140985e-03 3.47391231e+01] [-2.14486692e-03 9.99997576e-01 4.96841362e-04 -6.85569676e-01] [ 1.62247198e-03 -4.93361857e-04 9.99998562e-01 -1.36078337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81589822699999 meters Centerline goodness [0,1] 0.6099858002004678 Centerline is valid? [False, False] Translation: X:34.78, Y:-0.68, Z:-0.14 [[ 9.99996765e-01 6.34333544e-04 -2.46330716e-03 3.47839043e+01] [-6.35157665e-04 9.99999743e-01 -3.33790582e-04 -6.79960491e-01] [ 2.46309479e-03 3.35354091e-04 9.99996910e-01 -1.36069202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84589822699999 meters Centerline goodness [0,1] 0.6278245458573327 Centerline is valid? [False, False] Translation: X:34.74, Y:-0.68, Z:-0.14 [[ 9.99995433e-01 -3.60306893e-04 -3.00069921e-03 3.47421921e+01] [ 3.59556844e-04 9.99999904e-01 -2.50493989e-04 -6.84947647e-01] [ 3.00078918e-03 2.49413923e-04 9.99995467e-01 -1.36992218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.875898227 meters Centerline goodness [0,1] 0.6553168090686068 Centerline is valid? [False, False] Translation: X:34.74, Y:-0.69, Z:-0.14 [[ 9.99995121e-01 -5.18516371e-04 -3.08060118e-03 3.47422475e+01] [ 5.18680793e-04 9.99999864e-01 5.25744959e-05 -6.87046457e-01] [ 3.08057350e-03 -5.41720880e-05 9.99995254e-01 -1.36617832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.905898227 meters Centerline goodness [0,1] 0.7087721524341243 Centerline is valid? [False, False] Translation: X:34.74, Y:-0.69, Z:-0.13 [[ 9.99995006e-01 -1.09632488e-03 -2.96402425e-03 3.47407822e+01] [ 1.09689280e-03 9.99999380e-01 1.89985679e-04 -6.89241394e-01] [ 2.96381413e-03 -1.93235948e-04 9.99995589e-01 -1.34629478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.935898227 meters Centerline goodness [0,1] 0.7032871050893674 Centerline is valid? [False, False] Translation: X:34.74, Y:-0.69, Z:-0.13 [[ 9.99994695e-01 -1.22741833e-03 -3.01733552e-03 3.47408253e+01] [ 1.22758027e-03 9.99999245e-01 5.18202229e-05 -6.88786088e-01] [ 3.01726964e-03 -5.55239695e-05 9.99995446e-01 -1.34397371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.965898227 meters Centerline goodness [0,1] 0.7029795554044289 Centerline is valid? [False, False] Translation: X:34.74, Y:-0.69, Z:-0.13 [[ 9.99993651e-01 -1.42112382e-03 -3.26787030e-03 3.47417349e+01] [ 1.41998000e-03 9.99998930e-01 -3.52314265e-04 -6.86870438e-01] [ 3.26836748e-03 3.47671718e-04 9.99994598e-01 -1.34640461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.995898227 meters Centerline goodness [0,1] 0.6779689715749149 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.68, Z:-0.14 [[ 9.99991539e-01 3.81642985e-04 -4.09580397e-03 3.47476251e+01] [-3.77323406e-04 9.99999372e-01 1.05535621e-03 -6.82739725e-01] [ 4.09620417e-03 -1.05380183e-03 9.99991055e-01 -1.38621818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02589822699998 meters Centerline goodness [0,1] 0.6677897145763143 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.68, Z:-0.14 [[ 9.99992073e-01 2.16453146e-04 -3.97571937e-03 3.47467895e+01] [-2.14633000e-04 9.99999872e-01 4.58236313e-04 -6.79710497e-01] [ 3.97581805e-03 -4.57379360e-04 9.99991992e-01 -1.37949969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05589822699999 meters Centerline goodness [0,1] 0.6709524217011809 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.68, Z:-0.14 [[ 9.99992775e-01 9.38793584e-05 -3.80020400e-03 3.47457695e+01] [-9.37692092e-05 9.99999995e-01 2.91632337e-05 -6.77532043e-01] [ 3.80020672e-03 -2.88066809e-05 9.99992779e-01 -1.37172793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08589822699999 meters Centerline goodness [0,1] 0.6520328306928803 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.68, Z:-0.14 [[ 9.99992198e-01 -2.40959824e-05 -3.95021668e-03 3.47460828e+01] [ 2.30084642e-05 9.99999962e-01 -2.75351177e-04 -6.76019319e-01] [ 3.95022317e-03 2.75258140e-04 9.99992160e-01 -1.36961024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11589822699999 meters Centerline goodness [0,1] 0.6501350870211742 Centerline is valid? [False, False] Translation: X:34.79, Y:-0.67, Z:-0.14 [[ 9.99981539e-01 -2.05818570e-04 -6.07276829e-03 3.47909255e+01] [ 2.06575331e-04 9.99999971e-01 1.23988381e-04 -6.73184989e-01] [ 6.07274260e-03 -1.25240576e-04 9.99981553e-01 -1.36673430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14589822699999 meters Centerline goodness [0,1] 0.6443201395240019 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.68, Z:-0.14 [[ 9.99969075e-01 -7.56545419e-04 -7.82791203e-03 3.47513788e+01] [ 7.49546877e-04 9.99999317e-01 -8.96944814e-04 -6.75120110e-01] [ 7.82858526e-03 8.91049689e-04 9.99968959e-01 -1.38903667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17589822699999 meters Centerline goodness [0,1] 0.6642649770073534 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.68, Z:-0.14 [[ 9.99967588e-01 -8.86202328e-04 -8.00237522e-03 3.47517204e+01] [ 8.80174095e-04 9.99999326e-01 -7.56795847e-04 -6.76199091e-01] [ 8.00304050e-03 7.49727834e-04 9.99967694e-01 -1.38536246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20589822699999 meters Centerline goodness [0,1] 0.6778595010238623 Centerline is valid? [False, False] Translation: X:34.79, Y:-0.68, Z:-0.14 [[ 9.99974566e-01 -7.73533671e-04 -7.09006659e-03 3.47922651e+01] [ 7.81451222e-04 9.99999074e-01 1.11400815e-03 -6.76653506e-01] [ 7.08919830e-03 -1.11952036e-03 9.99974245e-01 -1.37045450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23589822699999 meters Centerline goodness [0,1] 0.8949088811502552 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.68, Z:-0.14 [[ 9.99968894e-01 -2.25637117e-03 -7.55782534e-03 3.47491277e+01] [ 2.25362277e-03 9.99997391e-01 -3.72146374e-04 -6.81218211e-01] [ 7.55864532e-03 3.55102311e-04 9.99971370e-01 -1.37418489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.265898227 meters Centerline goodness [0,1] 0.8977986087546658 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.69, Z:-0.14 [[ 9.99968213e-01 -1.90568930e-03 -7.74219757e-03 3.47501453e+01] [ 1.91232949e-03 9.99997810e-01 8.50350149e-04 -6.87495167e-01] [ 7.74056011e-03 -8.65128751e-04 9.99969667e-01 -1.38039657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.295898227 meters Centerline goodness [0,1] 0.903804417209243 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.69, Z:-0.14 [[ 9.99967965e-01 -1.74710758e-03 -7.81130573e-03 3.47503492e+01] [ 1.75590391e-03 9.99997832e-01 1.11938637e-03 -6.88665926e-01] [ 7.80933311e-03 -1.13306641e-03 9.99968865e-01 -1.37995525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.325898227 meters Centerline goodness [0,1] 0.9071024189397838 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.69, Z:-0.14 [[ 9.99967397e-01 -1.71313763e-03 -7.89109993e-03 3.47506602e+01] [ 1.72080982e-03 9.99998053e-01 9.65572079e-04 -6.87645881e-01] [ 7.88943041e-03 -9.79119681e-04 9.99968399e-01 -1.38114918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.355898227 meters Centerline goodness [0,1] 0.7507264687302591 Centerline is valid? [False, False] Translation: X:34.79, Y:-0.68, Z:-0.14 [[ 9.99966337e-01 -3.97701976e-04 -8.19549305e-03 3.47938540e+01] [ 4.04359093e-04 9.99999590e-01 8.10648969e-04 -6.82284601e-01] [ 8.19516729e-03 -8.13935603e-04 9.99966088e-01 -1.37952375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38589822699998 meters Centerline goodness [0,1] 0.6878905915589419 Centerline is valid? [False, False] Translation: X:34.76, Y:-0.68, Z:-0.14 [[ 9.99923700e-01 6.41614180e-03 -1.05558918e-02 3.47567233e+01] [-6.34832834e-03 9.99959078e-01 6.44524236e-03 -6.84719990e-01] [ 1.05968134e-02 -6.37773832e-03 9.99923513e-01 -1.41799383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41589822699999 meters Centerline goodness [0,1] 0.677563434502414 Centerline is valid? [False, False] Translation: X:34.78, Y:-0.68, Z:-0.14 [[ 9.99949130e-01 8.33725728e-03 -5.67687916e-03 3.47755043e+01] [-8.35089022e-03 9.99962294e-01 -2.38203193e-03 -6.79424381e-01] [ 5.65680549e-03 2.42931775e-03 9.99981049e-01 -1.44172682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44589822699999 meters Centerline goodness [0,1] 0.6257601118715173 Centerline is valid? [False, False] Translation: X:34.77, Y:-0.68, Z:-0.14 [[ 9.99949361e-01 8.47139270e-03 -5.43248908e-03 3.47743050e+01] [-8.48492993e-03 9.99960943e-01 -2.47371480e-03 -6.78566426e-01] [ 5.41132110e-03 2.51968383e-03 9.99982184e-01 -1.43528943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47589822699999 meters Centerline goodness [0,1] 0.6075832564382182 Centerline is valid? [False, False] Translation: X:34.79, Y:-0.68, Z:-0.14 [[ 9.99965088e-01 7.93674220e-03 -2.61346262e-03 3.47939660e+01] [-7.91556699e-03 9.99936547e-01 8.01539831e-03 -6.79488141e-01] [ 2.67691294e-03 -7.99443144e-03 9.99964461e-01 -1.44614226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50589822699999 meters Centerline goodness [0,1] 0.6786355092276145 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.68, Z:-0.14 [[ 9.99990162e-01 3.35654657e-03 -2.89977448e-03 3.47507484e+01] [-3.35257839e-03 9.99993439e-01 1.37222264e-03 -6.79034129e-01] [ 2.90436139e-03 -1.36248742e-03 9.99994854e-01 -1.44484851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53589822699999 meters Centerline goodness [0,1] 0.6990806598866217 Centerline is valid? [False, False] Translation: X:34.76, Y:-0.68, Z:-0.15 [[ 9.99991675e-01 1.64635461e-03 -3.73359803e-03 3.47565141e+01] [-1.64745840e-03 9.99998600e-01 -2.92580360e-04 -6.78493325e-01] [ 3.73311111e-03 2.98728871e-04 9.99992987e-01 -1.48323094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56589822699999 meters Centerline goodness [0,1] 0.7050040015163641 Centerline is valid? [False, False] Translation: X:34.78, Y:-0.68, Z:-0.15 [[ 9.99997918e-01 -2.03206326e-03 1.85986259e-04 3.47777766e+01] [ 2.03073163e-03 9.99974133e-01 6.89995446e-03 -6.80615741e-01] [-2.00002592e-04 -6.89956241e-03 9.99976178e-01 -1.52355921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59589822699999 meters Centerline goodness [0,1] 0.7233194034916527 Centerline is valid? [False, False] Translation: X:34.78, Y:-0.68, Z:-0.15 [[ 9.99997902e-01 -2.02319213e-03 3.19620230e-04 3.47769780e+01] [ 2.02089440e-03 9.99973228e-01 7.03272963e-03 -6.81373955e-01] [-3.33840236e-04 -7.03206896e-03 9.99975219e-01 -1.51692392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.625898227 meters Centerline goodness [0,1] 0.7332630913496997 Centerline is valid? [False, False] Translation: X:34.78, Y:-0.68, Z:-0.15 [[ 9.99980890e-01 -6.16507903e-03 4.59051662e-04 3.47763591e+01] [ 6.16407543e-03 9.99978677e-01 2.15647781e-03 -6.77709165e-01] [-4.72336729e-04 -2.15360697e-03 9.99997569e-01 -1.51379329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.655898227 meters Centerline goodness [0,1] 0.7421830162610267 Centerline is valid? [False, False] Translation: X:34.76, Y:-0.68, Z:-0.15 [[ 9.99984114e-01 -5.08256746e-03 -2.43713678e-03 3.47582694e+01] [ 5.06268809e-03 9.99954421e-01 -8.09480177e-03 -6.77982914e-01] [ 2.47816807e-03 8.08233471e-03 9.99964267e-01 -1.50876001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.685898227 meters Centerline goodness [0,1] 0.675380298331118 Centerline is valid? [False, False] Translation: X:34.76, Y:-0.68, Z:-0.15 [[ 9.99984222e-01 -4.97755982e-03 -2.60395536e-03 3.47590747e+01] [ 4.95683445e-03 9.99956462e-01 -7.90599640e-03 -6.78772370e-01] [ 2.64319456e-03 7.89296428e-03 9.99965357e-01 -1.51316345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.715898227 meters Centerline goodness [0,1] 0.7307889234970346 Centerline is valid? [False, False] Translation: X:34.71, Y:-0.69, Z:-0.15 [[ 9.99996949e-01 -1.92303330e-03 -1.55022956e-03 3.47148655e+01] [ 1.91784941e-03 9.99992588e-01 -3.33852454e-03 -6.87103306e-01] [ 1.55663816e-03 3.33554125e-03 9.99993225e-01 -1.51553343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.745898227 meters Centerline goodness [0,1] 0.7055833244709135 Centerline is valid? [False, False] Translation: X:34.71, Y:-0.69, Z:-0.15 [[ 9.99997201e-01 -1.81835366e-03 -1.51361016e-03 3.47147133e+01] [ 1.81333162e-03 9.99992869e-01 -3.31271240e-03 -6.86922202e-01] [ 1.51962305e-03 3.30995845e-03 9.99993367e-01 -1.51503216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77589822699998 meters Centerline goodness [0,1] 0.696112324757683 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.69, Z:-0.15 [[ 9.99997216e-01 -1.76820326e-03 -1.56227686e-03 3.47150647e+01] [ 1.76294448e-03 9.99992798e-01 -3.36108960e-03 -6.86451974e-01] [ 1.56820870e-03 3.35832604e-03 9.99993131e-01 -1.51868073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80589822699999 meters Centerline goodness [0,1] 0.6209180562272641 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.69, Z:-0.15 [[ 9.99995007e-01 2.47950886e-03 -1.95923982e-03 3.47167768e+01] [-2.47662543e-03 9.99995849e-01 1.47276931e-03 -6.89670450e-01] [ 1.96288343e-03 -1.46790965e-03 9.99996996e-01 -1.52621499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83589822699999 meters Centerline goodness [0,1] 0.6731739509931237 Centerline is valid? [False, False] Translation: X:34.68, Y:-0.69, Z:-0.15 [[ 9.99994297e-01 1.92917967e-03 -2.77210914e-03 3.46756677e+01] [-1.93042525e-03 9.99998037e-01 -4.46722623e-04 -6.90460827e-01] [ 2.77124189e-03 4.52071425e-04 9.99996058e-01 -1.54585784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86589822699999 meters Centerline goodness [0,1] 0.6557543889407175 Centerline is valid? [False, False] Translation: X:34.68, Y:-0.69, Z:-0.15 [[ 9.99994049e-01 2.07767243e-03 -2.75413658e-03 3.46756594e+01] [-2.07920875e-03 9.99997684e-01 -5.55075334e-04 -6.89462876e-01] [ 2.75297693e-03 5.60798456e-04 9.99996053e-01 -1.54700064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89589822699999 meters Centerline goodness [0,1] 0.6487509624433228 Centerline is valid? [False, False] Translation: X:34.68, Y:-0.69, Z:-0.15 [[ 9.99994100e-01 2.14311510e-03 -2.68473019e-03 3.46752352e+01] [-2.14439109e-03 9.99997589e-01 -4.72488762e-04 -6.89832454e-01] [ 2.68371112e-03 4.78243085e-04 9.99996284e-01 -1.54364981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92589822699999 meters Centerline goodness [0,1] 0.5996874868026522 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.69, Z:-0.16 [[ 9.99999283e-01 5.10560447e-04 -1.08353060e-03 3.46985145e+01] [-5.01003775e-04 9.99961137e-01 8.80195669e-03 -6.90619442e-01] [ 1.08798242e-03 -8.80140752e-03 9.99960675e-01 -1.57432685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95589822699999 meters Centerline goodness [0,1] 0.6479860267961743 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.69, Z:-0.16 [[ 9.99992572e-01 -3.73878895e-03 -9.36553442e-04 3.46980271e+01] [ 3.74255436e-03 9.99984789e-01 4.05153673e-03 -6.87983047e-01] [ 9.21391355e-04 -4.05501174e-03 9.99991354e-01 -1.57425628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98589822699999 meters Centerline goodness [0,1] 0.5979554892982644 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.69, Z:-0.16 [[ 9.99993150e-01 -3.58035518e-03 -9.38827550e-04 3.46979824e+01] [ 3.58463057e-03 9.99983029e-01 4.59252882e-03 -6.90746526e-01] [ 9.22368734e-04 -4.59586271e-03 9.99989014e-01 -1.57255852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.015898227 meters Centerline goodness [0,1] 0.6460850677969676 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.69, Z:-0.16 [[ 9.99971297e-01 -7.53694548e-03 -7.74592346e-04 3.46973702e+01] [ 7.53759032e-03 9.99971245e-01 8.32965899e-04 -6.93053125e-01] [ 7.68292054e-04 -8.38780550e-04 9.99999353e-01 -1.56896854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.045898227 meters Centerline goodness [0,1] 0.6868628950050968 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.16 [[ 9.99972490e-01 -7.37261313e-03 -8.14259998e-04 3.46972789e+01] [ 7.37366705e-03 9.99971970e-01 1.29900124e-03 -6.95307112e-01] [ 8.04660141e-04 -1.30496959e-03 9.99998825e-01 -1.56431836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.075898227 meters Centerline goodness [0,1] 0.6957943925233645 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.16 [[ 9.99973503e-01 -7.22681991e-03 -8.75926812e-04 3.46973177e+01] [ 7.22827681e-03 9.99972478e-01 1.67168181e-03 -6.97051300e-01] [ 8.63821762e-04 -1.67796896e-03 9.99998219e-01 -1.56115027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.105898227 meters Centerline goodness [0,1] 0.6976019337192291 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.16 [[ 9.99975172e-01 -6.98551939e-03 -9.25924625e-04 3.46973704e+01] [ 6.98748618e-03 9.99973301e-01 2.13819659e-03 -6.99121061e-01] [ 9.10963490e-04 -2.14461338e-03 9.99997285e-01 -1.55889689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13589822699998 meters Centerline goodness [0,1] 0.6510557432432432 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.16 [[ 9.99976124e-01 -6.85462904e-03 -8.75464767e-04 3.46972797e+01] [ 6.85662292e-03 9.99973859e-01 2.29518575e-03 -6.99642165e-01] [ 8.59709235e-04 -2.30113368e-03 9.99996983e-01 -1.55989704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16589822699999 meters Centerline goodness [0,1] 0.627504360032328 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.16 [[ 9.99976560e-01 -6.80482110e-03 -7.57805638e-04 3.46971028e+01] [ 6.80651201e-03 9.99974301e-01 2.25155791e-03 -6.99218601e-01] [ 7.42464714e-04 -2.25666315e-03 9.99997178e-01 -1.56325608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19589822699999 meters Centerline goodness [0,1] 0.6310094361727054 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.16 [[ 9.99978061e-01 -6.58901063e-03 -6.80637891e-04 3.46969232e+01] [ 6.59055533e-03 9.99975654e-01 2.29273720e-03 -6.98868827e-01] [ 6.65514450e-04 -2.29717268e-03 9.99997140e-01 -1.56467967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22589822699999 meters Centerline goodness [0,1] 0.5915713018875892 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.16 [[ 9.99978878e-01 -6.44166277e-03 -8.64864741e-04 3.46976269e+01] [ 6.44378960e-03 9.99976165e-01 2.47929856e-03 -6.99589719e-01] [ 8.48873321e-04 -2.48481920e-03 9.99996553e-01 -1.56688399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25589822699999 meters Centerline goodness [0,1] 0.6237590228826655 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.16 [[ 9.99979528e-01 -6.32239326e-03 -9.85564902e-04 3.46981709e+01] [ 6.32505551e-03 9.99976292e-01 2.72194555e-03 -7.00710036e-01] [ 9.68332326e-04 -2.72812358e-03 9.99995810e-01 -1.56956321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28589822699999 meters Centerline goodness [0,1] 0.6671343835703807 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.16 [[ 9.99979944e-01 -6.23674649e-03 -1.10175587e-03 3.46987845e+01] [ 6.24026575e-03 9.99975344e-01 3.22019768e-03 -7.03382712e-01] [ 1.08164515e-03 -3.22700835e-03 9.99994208e-01 -1.57306321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31589822699999 meters Centerline goodness [0,1] 0.6234578333615007 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.71, Z:-0.16 [[ 9.99980501e-01 -6.14220942e-03 -1.12755855e-03 3.46986870e+01] [ 6.14627483e-03 9.99974493e-01 3.63814828e-03 -7.05489473e-01] [ 1.10518352e-03 -3.64500762e-03 9.99992746e-01 -1.56983197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34589822699999 meters Centerline goodness [0,1] 0.6234578333615007 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.71, Z:-0.16 [[ 9.99980501e-01 -6.14220942e-03 -1.12755855e-03 3.46986870e+01] [ 6.14627483e-03 9.99974493e-01 3.63814828e-03 -7.05489473e-01] [ 1.10518352e-03 -3.64500762e-03 9.99992746e-01 -1.56983197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.375898227 meters Centerline goodness [0,1] 0.6189318353316006 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.70, Z:-0.16 [[ 9.99946829e-01 -1.02774199e-02 -8.45045365e-04 3.46975193e+01] [ 1.02767279e-02 9.99946857e-01 -8.19237667e-04 -7.04222296e-01] [ 8.53420107e-04 8.10509806e-04 9.99999307e-01 -1.56388699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.405898227 meters Centerline goodness [0,1] 0.6467504794374601 Centerline is valid? [False, False] Translation: X:34.67, Y:-0.71, Z:-0.15 [[ 9.99927114e-01 -1.18576381e-02 -2.27238997e-03 3.46738301e+01] [ 1.18262802e-02 9.99840959e-01 -1.33489688e-02 -7.05449259e-01] [ 2.43031581e-03 1.33211219e-02 9.99908316e-01 -1.53426608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.435898227 meters Centerline goodness [0,1] 0.6994708544956116 Centerline is valid? [False, False] Translation: X:34.68, Y:-0.71, Z:-0.15 [[ 9.99965529e-01 -7.79466977e-03 -2.86069109e-03 3.46759416e+01] [ 7.77004047e-03 9.99933499e-01 -8.52199143e-03 -7.08982688e-01] [ 2.92692696e-03 8.49946999e-03 9.99959595e-01 -1.54142472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.465898227 meters Centerline goodness [0,1] 0.6295505006074316 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.71, Z:-0.15 [[ 9.99970041e-01 -5.37074940e-03 -5.57420029e-03 3.47228986e+01] [ 5.34184464e-03 9.99972277e-01 -5.18745236e-03 -7.06791734e-01] [ 5.60190626e-03 5.15752044e-03 9.99971009e-01 -1.54713438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.495898227 meters Centerline goodness [0,1] 0.6024953159598024 Centerline is valid? [False, False] Translation: X:34.69, Y:-0.71, Z:-0.16 [[ 9.99953393e-01 -3.23220123e-03 -9.09749895e-03 3.46886304e+01] [ 3.20480345e-03 9.99990291e-01 -3.02454112e-03 -7.09538488e-01] [ 9.10718655e-03 2.99524446e-03 9.99954043e-01 -1.59445752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52589822699998 meters Centerline goodness [0,1] 0.6688594164456234 Centerline is valid? [False, False] Translation: X:34.69, Y:-0.71, Z:-0.16 [[ 9.99951844e-01 -3.26085879e-03 -9.25611129e-03 3.46893750e+01] [ 3.23167230e-03 9.99989765e-01 -3.16642044e-03 -7.08780364e-01] [ 9.26634181e-03 3.13635524e-03 9.99952148e-01 -1.59868482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55589822699999 meters Centerline goodness [0,1] 0.6046016729525294 Centerline is valid? [False, False] Translation: X:34.69, Y:-0.71, Z:-0.16 [[ 9.99950828e-01 -3.33102972e-03 -9.34051088e-03 3.46896394e+01] [ 3.30030300e-03 9.99989099e-01 -3.30310436e-03 -7.08145385e-01] [ 9.35141179e-03 3.27211543e-03 9.99950921e-01 -1.59896786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58589822699999 meters Centerline goodness [0,1] 0.681938925133349 Centerline is valid? [False, False] Translation: X:34.69, Y:-0.71, Z:-0.16 [[ 9.99951028e-01 -3.56982819e-03 -9.23025932e-03 3.46884893e+01] [ 3.53515888e-03 9.99986646e-01 -3.76964069e-03 -7.06012258e-01] [ 9.24359303e-03 3.73682565e-03 9.99950295e-01 -1.58608988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61589822699999 meters Centerline goodness [0,1] 0.6465904494262418 Centerline is valid? [False, False] Translation: X:34.69, Y:-0.71, Z:-0.16 [[ 9.99952194e-01 -3.58660801e-03 -9.09646156e-03 3.46876080e+01] [ 3.55240944e-03 9.99986573e-01 -3.77292213e-03 -7.05971310e-01] [ 9.10987141e-03 3.74042740e-03 9.99951509e-01 -1.57900248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64589822699999 meters Centerline goodness [0,1] 0.6235823847497213 Centerline is valid? [False, False] Translation: X:34.71, Y:-0.71, Z:-0.16 [[ 9.99967352e-01 -5.37529756e-03 -6.03338896e-03 3.47101916e+01] [ 5.40546291e-03 9.99972917e-01 4.99461440e-03 -7.06340314e-01] [ 6.00637801e-03 -5.02706459e-03 9.99969326e-01 -1.61625975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67589822699999 meters Centerline goodness [0,1] 0.5205967113070011 Centerline is valid? [False, False] Translation: X:34.71, Y:-0.71, Z:-0.16 [[ 9.99967062e-01 -5.36343936e-03 -6.09164912e-03 3.47105969e+01] [ 5.39479688e-03 9.99972223e-01 5.14291075e-03 -7.07229709e-01] [ 6.06389622e-03 -5.17560456e-03 9.99968221e-01 -1.61973691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70589822699999 meters Centerline goodness [0,1] 0.6831090862641573 Centerline is valid? [False, False] Translation: X:34.71, Y:-0.71, Z:-0.16 [[ 9.99964884e-01 -5.54062640e-03 -6.28748879e-03 3.47121286e+01] [ 5.57145052e-03 9.99972496e-01 4.89557285e-03 -7.06327048e-01] [ 6.26019132e-03 -4.93043137e-03 9.99968250e-01 -1.63541553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73589822699999 meters Centerline goodness [0,1] 0.677897801595004 Centerline is valid? [False, False] Translation: X:34.71, Y:-0.71, Z:-0.16 [[ 9.99963320e-01 -5.64619839e-03 -6.44036686e-03 3.47126570e+01] [ 5.67656580e-03 9.99972812e-01 4.70667344e-03 -7.05496969e-01] [ 6.41361694e-03 -4.74305997e-03 9.99968184e-01 -1.63660147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.765898227 meters Centerline goodness [0,1] 0.671663309657585 Centerline is valid? [False, False] Translation: X:34.71, Y:-0.71, Z:-0.16 [[ 9.99962932e-01 -5.72043758e-03 -6.43523114e-03 3.47123842e+01] [ 5.75027609e-03 9.99972758e-01 4.62783475e-03 -7.05253098e-01] [ 6.40858260e-03 -4.66466755e-03 9.99968585e-01 -1.63223481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.795898227 meters Centerline goodness [0,1] 0.6400411453522545 Centerline is valid? [False, False] Translation: X:34.73, Y:-0.70, Z:-0.16 [[ 9.99984982e-01 -5.05852686e-03 -2.10888319e-03 3.47310907e+01] [ 5.04726829e-03 9.99973163e-01 -5.31021107e-03 -7.01061356e-01] [ 2.13568844e-03 5.29948722e-03 9.99983677e-01 -1.64357464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.825898227 meters Centerline goodness [0,1] 0.6759021972020334 Centerline is valid? [False, False] Translation: X:34.73, Y:-0.70, Z:-0.16 [[ 9.99985203e-01 -5.11163676e-03 -1.86149435e-03 3.47293128e+01] [ 5.10179502e-03 9.99973184e-01 -5.25392711e-03 -7.01495438e-01] [ 1.88830060e-03 5.24435240e-03 9.99984465e-01 -1.62710861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.855898227 meters Centerline goodness [0,1] 0.691344398692533 Centerline is valid? [False, False] Translation: X:34.73, Y:-0.70, Z:-0.16 [[ 9.99985274e-01 -5.12342972e-03 -1.78933007e-03 3.47287478e+01] [ 5.11395229e-03 9.99973081e-01 -5.26164248e-03 -7.01446227e-01] [ 1.81623955e-03 5.25241445e-03 9.99984557e-01 -1.62121814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88589822699998 meters Centerline goodness [0,1] 0.7046104994881865 Centerline is valid? [False, False] Translation: X:34.77, Y:-0.70, Z:-0.16 [[ 9.99996512e-01 -2.30021879e-03 -1.29793832e-03 3.47705300e+01] [ 2.29949347e-03 9.99997199e-01 -5.60039278e-04 -7.02363026e-01] [ 1.29922290e-03 5.57052724e-04 9.99999001e-01 -1.61613576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91589822699999 meters Centerline goodness [0,1] 0.7072802956292741 Centerline is valid? [False, False] Translation: X:34.73, Y:-0.71, Z:-0.16 [[ 9.99992075e-01 -1.47837825e-03 -3.69654456e-03 3.47328270e+01] [ 1.47899612e-03 9.99998893e-01 1.64419211e-04 -7.06329407e-01] [ 3.69629740e-03 -1.69885083e-04 9.99993154e-01 -1.64819859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94589822699999 meters Centerline goodness [0,1] 0.6479267680989801 Centerline is valid? [False, False] Translation: X:34.78, Y:-0.70, Z:-0.17 [[ 9.99992973e-01 -9.41255340e-04 -3.62873714e-03 3.47758380e+01] [ 9.42604427e-04 9.99999487e-01 3.70086314e-04 -7.02733627e-01] [ 3.62838693e-03 -3.73504178e-04 9.99993348e-01 -1.65081590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97589822699999 meters Centerline goodness [0,1] 0.5981816654768404 Centerline is valid? [False, False] Translation: X:34.77, Y:-0.70, Z:-0.16 [[ 9.99995825e-01 2.52678661e-04 -2.87840587e-03 3.47711491e+01] [-2.49161915e-04 9.99999222e-01 1.22206166e-03 -7.02265545e-01] [ 2.87871242e-03 -1.22133937e-03 9.99995111e-01 -1.62119290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00589822699999 meters Centerline goodness [0,1] 0.7082136091777878 Centerline is valid? [False, False] Translation: X:34.73, Y:-0.70, Z:-0.16 [[ 9.99996253e-01 1.13240051e-04 -2.73503978e-03 3.47279401e+01] [-1.14698055e-04 9.99999851e-01 -5.32932347e-04 -7.02240979e-01] [ 2.73497902e-03 5.33244054e-04 9.99996118e-01 -1.63073384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03589822699999 meters Centerline goodness [0,1] 0.5781943655452461 Centerline is valid? [False, False] Translation: X:34.77, Y:-0.70, Z:-0.16 [[ 9.99993987e-01 9.43747187e-04 -3.33686538e-03 3.47708042e+01] [-9.46847553e-04 9.99999121e-01 -9.27667587e-04 -6.97228450e-01] [ 3.33598696e-03 9.30821512e-04 9.99994002e-01 -1.62458374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06589822699999 meters Centerline goodness [0,1] 0.5229483925549916 Centerline is valid? [False, False] Translation: X:34.77, Y:-0.69, Z:-0.16 [[ 9.99993951e-01 1.06246169e-03 -3.31208972e-03 3.47717488e+01] [-1.06769947e-03 9.99998182e-01 -1.58004738e-03 -6.93186620e-01] [ 3.31040496e-03 1.58357414e-03 9.99993267e-01 -1.64328271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09589822699999 meters Centerline goodness [0,1] 0.6201122103730352 Centerline is valid? [False, False] Translation: X:34.73, Y:-0.69, Z:-0.17 [[ 9.99991433e-01 1.47657777e-03 -3.86709186e-03 3.47300496e+01] [-1.48580353e-03 9.99996055e-01 -2.38392450e-03 -6.93470523e-01] [ 3.86355655e-03 2.38964982e-03 9.99989681e-01 -1.66128637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.125898227 meters Centerline goodness [0,1] 0.6316711334332201 Centerline is valid? [False, False] Translation: X:34.77, Y:-0.69, Z:-0.17 [[ 9.99989027e-01 2.83009797e-03 -3.73305662e-03 3.47725756e+01] [-2.83591241e-03 9.99994773e-01 -1.55318207e-03 -6.88271839e-01] [ 3.72864144e-03 1.56375165e-03 9.99991826e-01 -1.65859707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.155898227 meters Centerline goodness [0,1] 0.5330057679982909 Centerline is valid? [False, False] Translation: X:34.73, Y:-0.69, Z:-0.17 [[ 9.99978951e-01 3.14505260e-03 -5.67505060e-03 3.47343332e+01] [-3.15920648e-03 9.99991918e-01 -2.48681480e-03 -6.87907345e-01] [ 5.66718357e-03 2.50469111e-03 9.99980805e-01 -1.68822804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.185898227 meters Centerline goodness [0,1] 0.5065697748109341 Centerline is valid? [False, False] Translation: X:34.76, Y:-0.69, Z:-0.17 [[ 9.99971510e-01 1.74847710e-03 -7.34318171e-03 3.47565465e+01] [-1.70186745e-03 9.99978398e-01 6.34879718e-03 -6.86151356e-01] [ 7.35412381e-03 -6.33611918e-03 9.99952884e-01 -1.67462997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.215898227 meters Centerline goodness [0,1] 0.6044693920779496 Centerline is valid? [False, False] Translation: X:34.76, Y:-0.68, Z:-0.17 [[ 9.99971109e-01 1.45481261e-03 -7.46093081e-03 3.47568260e+01] [-1.41157585e-03 9.99982200e-01 5.79708533e-03 -6.83708452e-01] [ 7.46923169e-03 -5.78638617e-03 9.99955363e-01 -1.67384901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.245898227 meters Centerline goodness [0,1] 0.4273373335035533 Centerline is valid? [False, False] Translation: X:34.76, Y:-0.68, Z:-0.17 [[ 9.99971864e-01 1.17544077e-03 -7.40869174e-03 3.47561623e+01] [-1.13616197e-03 9.99985290e-01 5.30370026e-03 -6.81555448e-01] [ 7.41481694e-03 -5.29513356e-03 9.99958490e-01 -1.66610349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27589822699998 meters Centerline goodness [0,1] 0.6529255601571626 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.68, Z:-0.16 [[ 9.99977797e-01 -4.64025604e-04 -6.64752284e-03 3.47497897e+01] [ 4.88766041e-04 9.99992959e-01 3.72061194e-03 -6.80076418e-01] [ 6.64574958e-03 -3.72377842e-03 9.99970983e-01 -1.61372365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30589822699999 meters Centerline goodness [0,1] 0.6889871775788377 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.68, Z:-0.16 [[ 9.99978403e-01 -4.43801488e-04 -6.55724324e-03 3.47489872e+01] [ 4.70710670e-04 9.99991473e-01 4.10276081e-03 -6.82233609e-01] [ 6.55536651e-03 -4.10575877e-03 9.99970085e-01 -1.60451456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33589822699999 meters Centerline goodness [0,1] 0.6697962911825308 Centerline is valid? [False, False] Translation: X:34.75, Y:-0.68, Z:-0.16 [[ 9.99977335e-01 -4.83892777e-04 -6.71532227e-03 3.47494263e+01] [ 5.13754781e-04 9.99989985e-01 4.44583368e-03 -6.84362475e-01] [ 6.71310371e-03 -4.44918294e-03 9.99967569e-01 -1.60332206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36589822699999 meters Centerline goodness [0,1] 0.6815332334255018 Centerline is valid? [False, False] Translation: X:34.76, Y:-0.68, Z:-0.16 [[ 9.99968141e-01 -2.52000290e-03 -7.57412950e-03 3.47551326e+01] [ 2.53845748e-03 9.99993831e-01 2.42790283e-03 -6.83202169e-01] [ 7.56796445e-03 -2.44705208e-03 9.99968368e-01 -1.63715848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39589822699999 meters Centerline goodness [0,1] 0.6530278917832315 Centerline is valid? [False, False] Translation: X:34.76, Y:-0.68, Z:-0.16 [[ 9.99943831e-01 -7.12611645e-03 -7.84560797e-03 3.47563895e+01] [ 7.10761971e-03 9.99971901e-01 -2.38295465e-03 -6.80894614e-01] [ 7.86236873e-03 2.32705721e-03 9.99966383e-01 -1.64254207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42589822699999 meters Centerline goodness [0,1] 0.6740092726624289 Centerline is valid? [False, False] Translation: X:34.76, Y:-0.68, Z:-0.16 [[ 9.99941582e-01 -7.21495311e-03 -8.04841132e-03 3.47571162e+01] [ 7.19666187e-03 9.99971460e-01 -2.29930460e-03 -6.81596096e-01] [ 8.06477099e-03 2.24124859e-03 9.99964968e-01 -1.64384936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45589822699999 meters Centerline goodness [0,1] 0.8138836451003947 Centerline is valid? [False, False] Translation: X:34.69, Y:-0.68, Z:-0.16 [[ 9.99951418e-01 -7.27373659e-03 -6.65245107e-03 3.46919357e+01] [ 7.19024607e-03 9.99896153e-01 -1.24893043e-02 -6.82672519e-01] [ 6.74260415e-03 1.24408647e-02 9.99899876e-01 -1.63474772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48589822699999 meters Centerline goodness [0,1] 0.7412326077317737 Centerline is valid? [False, False] Translation: X:34.71, Y:-0.68, Z:-0.17 [[ 9.99971153e-01 -7.03075341e-03 -2.87419466e-03 3.47135126e+01] [ 7.02662971e-03 9.99974273e-01 -1.44232161e-03 -6.84837416e-01] [ 2.88426133e-03 1.42208410e-03 9.99994829e-01 -1.66925111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.515898227 meters Centerline goodness [0,1] 0.7547409952908235 Centerline is valid? [False, False] Translation: X:34.71, Y:-0.69, Z:-0.17 [[ 9.99971368e-01 -7.08086976e-03 -2.66930052e-03 3.47121717e+01] [ 7.07712033e-03 9.99973961e-01 -1.41148715e-03 -6.85120372e-01] [ 2.67922557e-03 1.39255577e-03 9.99995441e-01 -1.65770374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.545898227 meters Centerline goodness [0,1] 0.8356507525420851 Centerline is valid? [False, False] Translation: X:34.71, Y:-0.69, Z:-0.17 [[ 9.99969864e-01 -7.38277054e-03 -2.40136309e-03 3.47109217e+01] [ 7.38027007e-03 9.99972216e-01 -1.04847086e-03 -6.87901044e-01] [ 2.40903699e-03 1.03071655e-03 9.99996567e-01 -1.65005967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.575898227 meters Centerline goodness [0,1] 0.8920852649181855 Centerline is valid? [False, False] Translation: X:34.71, Y:-0.69, Z:-0.17 [[ 9.99969466e-01 -7.43447302e-03 -2.40743973e-03 3.47111562e+01] [ 7.43277471e-03 9.99972122e-01 -7.13623248e-04 -6.89929687e-01] [ 2.41267802e-03 6.95707502e-04 9.99996847e-01 -1.65336405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.605898227 meters Centerline goodness [0,1] 0.9592513119038008 Centerline is valid? [False, True] Translation: X:34.71, Y:-0.69, Z:-0.17 [[ 9.99968991e-01 -7.50067820e-03 -2.39917843e-03 3.47113862e+01] [ 7.49953274e-03 9.99971760e-01 -4.86076809e-04 -6.91398823e-01] [ 2.40275658e-03 4.68069019e-04 9.99997004e-01 -1.65735545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63589822699998 meters Centerline goodness [0,1] 0.9749704041941485 Centerline is valid? [True, True] Translation: X:34.74, Y:-0.69, Z:-0.17 [[ 9.99947112e-01 -9.97580097e-03 -2.50131065e-03 3.47420503e+01] [ 9.97542962e-03 9.99950231e-01 -1.60896924e-04 -6.90987188e-01] [ 2.50279124e-03 1.35936766e-04 9.99996859e-01 -1.66309368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66589822699999 meters Centerline goodness [0,1] 0.9890282131661442 Centerline is valid? [True, True] Translation: X:34.77, Y:-0.69, Z:-0.17 [[ 9.99926952e-01 -1.13528875e-02 -4.14767524e-03 3.47721780e+01] [ 1.13518788e-02 9.99935530e-01 -2.66678029e-04 -6.89951859e-01] [ 4.15043541e-03 2.19574642e-04 9.99991363e-01 -1.69682390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69589822699999 meters Centerline goodness [0,1] 0.9784775569805092 Centerline is valid? [True, True] Translation: X:34.80, Y:-0.68, Z:-0.17 [[ 9.99881663e-01 -1.34212553e-02 -7.51864062e-03 3.48013783e+01] [ 1.34179987e-02 9.99909858e-01 -4.83416888e-04 -6.82496201e-01] [ 7.52445093e-03 3.82474572e-04 9.99971618e-01 -1.71977814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72589822699999 meters Centerline goodness [0,1] 0.9967392915369794 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.69, Z:-0.17 [[ 9.99869315e-01 -1.38133645e-02 -8.39906197e-03 3.48311932e+01] [ 1.38093138e-02 9.99904501e-01 -5.40090565e-04 -6.88088560e-01] [ 8.40572034e-03 4.24034701e-04 9.99964581e-01 -1.73050234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75589822699999 meters Centerline goodness [0,1] 0.9892889844764805 Centerline is valid? [True, True] Translation: X:34.86, Y:-0.68, Z:-0.17 [[ 9.99848920e-01 -1.51384003e-02 -8.54199350e-03 3.48592814e+01] [ 1.51342567e-02 9.99885320e-01 -5.49524285e-04 -6.82633356e-01] [ 8.54933282e-03 4.20164541e-04 9.99963366e-01 -1.74239373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78589822699999 meters Centerline goodness [0,1] 0.9967155450076284 Centerline is valid? [True, True] Translation: X:34.89, Y:-0.69, Z:-0.17 [[ 9.99815687e-01 -1.76414366e-02 -7.57439112e-03 3.48894362e+01] [ 1.76382487e-02 9.99844315e-01 -4.87479008e-04 -6.85676982e-01] [ 7.58181173e-03 3.53790165e-04 9.99971195e-01 -1.73028421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81589822699999 meters Centerline goodness [0,1] 0.9998513326961878 Centerline is valid? [True, True] Translation: X:34.92, Y:-0.70, Z:-0.17 [[ 9.99675172e-01 -2.47743223e-02 -5.98185456e-03 3.49212760e+01] [ 2.47724611e-02 9.99693041e-01 -3.85035420e-04 -6.97465589e-01] [ 5.98955737e-03 2.36725090e-04 9.99982034e-01 -1.69823040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84589822699999 meters Centerline goodness [0,1] 0.9999368075156928 Centerline is valid? [True, True] Translation: X:34.95, Y:-0.70, Z:-0.17 [[ 9.99549712e-01 -2.92884512e-02 -6.52371800e-03 3.49518605e+01] [ 2.92863338e-02 9.99570975e-01 -4.19880258e-04 -7.04028454e-01] [ 6.53321680e-03 2.28635409e-04 9.99978632e-01 -1.69544973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.98, Y:-0.71, Z:-0.17 [[ 9.99409004e-01 -3.35771382e-02 -7.36330464e-03 3.49816513e+01] [ 3.35745566e-02 9.99436103e-01 -4.73973310e-04 -7.11181377e-01] [ 7.37506717e-03 2.26473505e-04 9.99972778e-01 -1.70453982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.905898227 meters Centerline goodness [0,1] 0.9999575749862119 Centerline is valid? [True, True] Translation: X:35.01, Y:-0.72, Z:-0.17 [[ 9.99257357e-01 -3.75689170e-02 -8.56223991e-03 3.50122595e+01] [ 3.75655710e-02 9.99294013e-01 -5.51337624e-04 -7.18069487e-01] [ 8.57690823e-03 2.29282746e-04 9.99963191e-01 -1.71878835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.935898227 meters Centerline goodness [0,1] 0.9999786712168071 Centerline is valid? [True, True] Translation: X:35.04, Y:-0.73, Z:-0.17 [[ 9.98994725e-01 -4.37425011e-02 -9.80475989e-03 3.50423222e+01] [ 4.37384088e-02 9.99042818e-01 -6.31519422e-04 -7.29424829e-01] [ 9.82299919e-03 2.02039975e-04 9.99951733e-01 -1.73719281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.965898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.07, Y:-0.73, Z:-0.17 [[ 9.98884900e-01 -4.60912418e-02 -1.02251368e-02 3.50702057e+01] [ 4.60869099e-02 9.98937216e-01 -6.59001012e-04 -7.32816032e-01] [ 1.02446438e-02 1.87021203e-04 9.99947505e-01 -1.73482373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.995898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.10, Y:-0.74, Z:-0.17 [[ 9.98768553e-01 -4.85875946e-02 -1.00310691e-02 3.51000674e+01] [ 4.85835416e-02 9.98818913e-01 -6.47478983e-04 -7.39658044e-01] [ 1.00506810e-02 1.59336783e-04 9.99949478e-01 -1.71526819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02589822699998 meters Centerline goodness [0,1] 0.9998724842199223 Centerline is valid? [True, True] Translation: X:35.13, Y:-0.74, Z:-0.17 [[ 9.98746379e-01 -4.91501036e-02 -9.48356629e-03 3.51288321e+01] [ 4.91464926e-02 9.98791393e-01 -6.13569475e-04 -7.41519039e-01] [ 9.50226138e-03 1.46716271e-04 9.99954842e-01 -1.72423339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.16, Y:-0.75, Z:-0.17 [[ 9.98700031e-01 -5.01433762e-02 -9.15915458e-03 3.51579088e+01] [ 5.01400361e-02 9.98742021e-01 -5.94080959e-04 -7.46732594e-01] [ 9.17742178e-03 1.34068331e-04 9.99957878e-01 -1.68723204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.19, Y:-0.75, Z:-0.17 [[ 9.98645567e-01 -5.11905747e-02 -9.30355577e-03 3.51854514e+01] [ 5.11871624e-02 9.98688895e-01 -6.04678190e-04 -7.46303938e-01] [ 9.32231166e-03 1.27636574e-04 9.99956538e-01 -1.70150088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11589822699999 meters Centerline goodness [0,1] 0.9999571642750054 Centerline is valid? [True, True] Translation: X:35.22, Y:-0.76, Z:-0.17 [[ 9.98401021e-01 -5.56335778e-02 -1.00153244e-02 3.52154263e+01] [ 5.56298361e-02 9.98451249e-01 -6.52007829e-04 -7.59216137e-01] [ 1.00360867e-02 9.38144258e-05 9.99949633e-01 -1.73194325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.24, Y:-0.77, Z:-0.17 [[ 9.98272246e-01 -5.80735231e-02 -8.94369436e-03 3.52434367e+01] [ 5.80706284e-02 9.98312307e-01 -5.83230116e-04 -7.65024506e-01] [ 8.96247038e-03 6.28564864e-05 9.99959834e-01 -1.70701219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17589822699999 meters Centerline goodness [0,1] 0.9998292276821927 Centerline is valid? [True, True] Translation: X:35.27, Y:-0.77, Z:-0.17 [[ 9.98168007e-01 -6.00479507e-02 -7.40759753e-03 3.52722495e+01] [ 6.00460153e-02 9.98195493e-01 -4.83600657e-04 -7.69321803e-01] [ 7.42326970e-03 3.79179891e-05 9.99972446e-01 -1.69302378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.30, Y:-0.77, Z:-0.16 [[ 9.98134688e-01 -6.07867237e-02 -5.66740597e-03 3.53002883e+01] [ 6.07855988e-02 9.98150777e-01 -3.70678150e-04 -7.71687451e-01] [ 5.67945798e-03 2.54900540e-05 9.99983871e-01 -1.64209716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.33, Y:-0.77, Z:-0.16 [[ 9.98123133e-01 -6.09761588e-02 -5.66733521e-03 3.53276947e+01] [ 6.09750309e-02 9.98139222e-01 -3.71756842e-04 -7.69696890e-01] [ 5.67945786e-03 2.54931649e-05 9.99983871e-01 -1.64053985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.36, Y:-0.77, Z:-0.16 [[ 9.98278940e-01 -5.85186786e-02 -3.83704581e-03 3.53551561e+01] [ 5.85181410e-02 9.98286313e-01 -2.52318596e-04 -7.67189742e-01] [ 3.84523567e-03 2.73475530e-05 9.99992607e-01 -1.60835636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.295898227 meters Centerline goodness [0,1] 0.9997661614336429 Centerline is valid? [True, True] Translation: X:35.38, Y:-0.77, Z:-0.16 [[ 9.98392483e-01 -5.65421369e-02 -3.92897323e-03 3.53839343e+01] [ 5.65415578e-02 9.98400213e-01 -2.58408767e-04 -7.66134031e-01] [ 3.93729870e-03 3.58431038e-05 9.99992248e-01 -1.63477583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.325898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.41, Y:-0.76, Z:-0.16 [[ 9.98496990e-01 -5.46504124e-02 -4.13452407e-03 3.54115562e+01] [ 5.46497510e-02 9.98505548e-01 -2.72860484e-04 -7.58367763e-01] [ 4.14325717e-03 4.64996604e-05 9.99991416e-01 -1.61692871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.355898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.44, Y:-0.76, Z:-0.16 [[ 9.98578885e-01 -5.31096614e-02 -4.42432607e-03 3.54398032e+01] [ 5.31088876e-02 9.98588684e-01 -2.92284550e-04 -7.56040823e-01] [ 4.43360508e-03 5.68981443e-05 9.99990170e-01 -1.62383045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.47, Y:-0.75, Z:-0.17 [[ 9.98596820e-01 -5.26004667e-02 -6.13033597e-03 3.54676691e+01] [ 5.25989685e-02 9.98615634e-01 -4.05474373e-04 -7.53227578e-01] [ 6.14317748e-03 8.24560716e-05 9.99981127e-01 -1.65126001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.50, Y:-0.76, Z:-0.17 [[ 9.98499663e-01 -5.43368892e-02 -6.77682896e-03 3.54964190e+01] [ 5.43350946e-02 9.98522657e-01 -4.48788678e-04 -7.55608456e-01] [ 6.79120304e-03 7.98957010e-05 9.99976936e-01 -1.66570702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.52, Y:-0.76, Z:-0.17 [[ 9.98367545e-01 -5.66685392e-02 -7.13595587e-03 3.55243071e+01] [ 5.66666010e-02 9.98393045e-01 -4.73669054e-04 -7.56966678e-01] [ 7.15133084e-03 6.85254464e-05 9.99974427e-01 -1.67591278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.55, Y:-0.77, Z:-0.17 [[ 9.97958134e-01 -6.34462994e-02 -7.35735431e-03 3.55539285e+01] [ 6.34444184e-02 9.97985254e-01 -4.89009215e-04 -7.68197535e-01] [ 7.37355693e-03 2.12276588e-05 9.99972815e-01 -1.67603998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.58, Y:-0.77, Z:-0.17 [[ 9.97745623e-01 -6.66209291e-02 -8.08236197e-03 3.55808243e+01] [ 6.66187530e-02 9.97778358e-01 -5.38476007e-04 -7.72473607e-01] [ 8.10027963e-03 -1.17479669e-06 9.99967192e-01 -1.69216150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.61, Y:-0.78, Z:-0.17 [[ 9.97533538e-01 -6.95705285e-02 -9.31572387e-03 3.56094345e+01] [ 6.95677588e-02 9.97577035e-01 -6.21416839e-04 -7.77713295e-01] [ 9.33638449e-03 -2.81898937e-05 9.99956415e-01 -1.72271761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.64, Y:-0.78, Z:-0.17 [[ 9.97318950e-01 -7.24082060e-02 -1.05812501e-02 3.56385273e+01] [ 7.24047798e-02 9.97375079e-01 -7.07018611e-04 -7.82357146e-01] [ 1.06046691e-02 -6.10100275e-05 9.99943767e-01 -1.74076924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.67, Y:-0.79, Z:-0.18 [[ 9.97171795e-01 -7.42631121e-02 -1.15499817e-02 3.56673438e+01] [ 7.42591310e-02 9.97238679e-01 -7.73755335e-04 -7.85049319e-01] [ 1.15755500e-02 -8.61246090e-05 9.99932997e-01 -1.75042381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.70, Y:-0.79, Z:-0.18 [[ 9.97177735e-01 -7.38686113e-02 -1.34161294e-02 3.56954425e+01] [ 7.38631829e-02 9.97267978e-01 -9.00348473e-04 -7.87081435e-01] [ 1.34459838e-02 -9.31505711e-05 9.99909594e-01 -1.77057184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.655898227 meters Centerline goodness [0,1] 0.9999362705527467 Centerline is valid? [True, True] Translation: X:35.72, Y:-0.78, Z:-0.18 [[ 9.97321081e-01 -7.18569842e-02 -1.36833977e-02 3.57244077e+01] [ 7.18511244e-02 9.97414943e-01 -9.20008704e-04 -7.83015854e-01] [ 1.37141344e-02 -6.56234348e-05 9.99905955e-01 -1.77627903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.685898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.75, Y:-0.78, Z:-0.18 [[ 9.97545070e-01 -6.87738082e-02 -1.31907823e-02 3.57522001e+01] [ 6.87680746e-02 9.97632278e-01 -8.88282259e-04 -7.78160424e-01] [ 1.32206408e-02 -2.10031165e-05 9.99912603e-01 -1.77732342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.715898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.78, Y:-0.77, Z:-0.17 [[ 9.97741079e-01 -6.60288985e-02 -1.23662483e-02 3.57801997e+01] [ 6.60236285e-02 9.97817711e-01 -8.34366064e-04 -7.71666976e-01] [ 1.23943539e-02 1.60167098e-05 9.99923187e-01 -1.73637243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.745898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.81, Y:-0.76, Z:-0.17 [[ 9.98088181e-01 -6.08406784e-02 -1.08809006e-02 3.58087358e+01] [ 6.08362696e-02 9.98147487e-01 -7.36020028e-04 -7.63412978e-01] [ 1.09055236e-02 7.26594888e-05 9.99940530e-01 -1.71264897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.84, Y:-0.76, Z:-0.17 [[ 9.98196956e-01 -5.91567208e-02 -1.01645748e-02 3.58359761e+01] [ 5.91527737e-02 9.98248704e-01 -6.88776281e-04 -7.59777737e-01] [ 1.01875194e-02 8.62715937e-05 9.99948102e-01 -1.71033375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.86, Y:-0.76, Z:-0.17 [[ 9.98262459e-01 -5.82641754e-02 -8.79484016e-03 3.58641148e+01] [ 5.82611815e-02 9.98301197e-01 -5.96456650e-04 -7.56532352e-01] [ 8.81465151e-03 8.30225031e-05 9.99961147e-01 -1.68761255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.89, Y:-0.75, Z:-0.17 [[ 9.98253018e-01 -5.86339732e-02 -7.27802978e-03 3.58920291e+01] [ 5.86319284e-02 9.98279546e-01 -4.94181501e-04 -7.54863583e-01] [ 7.29448410e-03 6.65932528e-05 9.99973393e-01 -1.65511246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.92, Y:-0.76, Z:-0.16 [[ 9.98076462e-01 -6.16882778e-02 -6.15899876e-03 3.59208030e+01] [ 6.16868655e-02 9.98095464e-01 -4.19195085e-04 -7.56655559e-01] [ 6.17312815e-03 3.84594195e-05 9.99980945e-01 -1.63102319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.95, Y:-0.76, Z:-0.16 [[ 9.97938834e-01 -6.38366415e-02 -6.55486476e-03 3.59484978e+01] [ 6.38350809e-02 9.97960361e-01 -4.47238760e-04 -7.56849577e-01] [ 6.57004542e-03 2.78866050e-05 9.99978417e-01 -1.63854279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.98, Y:-0.76, Z:-0.16 [[ 9.97786882e-01 -6.61059497e-02 -7.16523125e-03 3.59765694e+01] [ 6.61041400e-02 9.97812609e-01 -4.89356221e-04 -7.57925182e-01] [ 7.18190744e-03 1.46217682e-05 9.99974210e-01 -1.64988698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95589822699999 meters Centerline goodness [0,1] 0.9997678051251742 Centerline is valid? [True, True] Translation: X:36.00, Y:-0.76, Z:-0.17 [[ 9.97455635e-01 -7.09238398e-02 -7.21566796e-03 3.60036652e+01] [ 7.09221271e-02 9.97481733e-01 -4.93274191e-04 -7.62078582e-01] [ 7.23248188e-03 -1.97313988e-05 9.99973845e-01 -1.66822731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.03, Y:-0.76, Z:-0.17 [[ 9.97287756e-01 -7.33041232e-02 -6.60579113e-03 3.60329250e+01] [ 7.33027362e-02 9.97309633e-01 -4.52174733e-04 -7.62098065e-01] [ 6.62116540e-03 -3.32742392e-05 9.99978079e-01 -1.65284612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.015898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.06, Y:-0.76, Z:-0.17 [[ 9.97121101e-01 -7.55105219e-02 -6.90442912e-03 3.60617753e+01] [ 7.55090509e-02 9.97145004e-01 -4.73851243e-04 -7.61086859e-01] [ 6.92049775e-03 -4.88598169e-05 9.99976052e-01 -1.65815678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.045898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.09, Y:-0.76, Z:-0.17 [[ 9.97003186e-01 -7.70649392e-02 -6.75593355e-03 3.60900266e+01] [ 7.70635595e-02 9.97026074e-01 -4.64688222e-04 -7.59180920e-01] [ 6.77165307e-03 -5.73406491e-05 9.99977070e-01 -1.66122401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.075898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.12, Y:-0.75, Z:-0.17 [[ 9.96932776e-01 -7.80316834e-02 -6.00801361e-03 3.61170823e+01] [ 7.80306078e-02 9.96950878e-01 -4.13580375e-04 -7.54141622e-01] [ 6.02196682e-03 -5.64971226e-05 9.99981866e-01 -1.65087106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.105898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.14, Y:-0.75, Z:-0.16 [[ 9.96890877e-01 -7.85888557e-02 -5.68951172e-03 3.61442380e+01] [ 7.85878979e-02 9.96907111e-01 -3.92050434e-04 -7.50123846e-01] [ 5.70272549e-03 -5.62952655e-05 9.99983738e-01 -1.64570372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:-0.74, Z:-0.17 [[ 9.96823151e-01 -7.94167208e-02 -6.04902865e-03 3.61728314e+01] [ 7.94156508e-02 9.96841502e-01 -4.17253475e-04 -7.44625675e-01] [ 6.06305971e-03 -6.44596231e-05 9.99981617e-01 -1.65260953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.20, Y:-0.74, Z:-0.17 [[ 9.96716642e-01 -8.06896597e-02 -6.71672565e-03 3.62001536e+01] [ 8.06883615e-02 9.96739270e-01 -4.64490076e-04 -7.40486614e-01] [ 6.73230377e-03 -7.89965985e-05 9.99977335e-01 -1.66828496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.23, Y:-0.74, Z:-0.17 [[ 9.96448968e-01 -8.37868521e-02 -8.31969811e-03 3.62271386e+01] [ 8.37849612e-02 9.96483692e-01 -5.76170665e-04 -7.35566155e-01] [ 8.33871902e-03 -1.22940919e-04 9.99965225e-01 -1.69051436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.26, Y:-0.73, Z:-0.17 [[ 9.96348630e-01 -8.49360313e-02 -8.67628168e-03 3.62551336e+01] [ 8.49340132e-02 9.96386397e-01 -6.01467616e-04 -7.31344491e-01] [ 8.69601531e-03 -1.37639988e-04 9.99962179e-01 -1.69301929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.73, Z:-0.17 [[ 9.96271178e-01 -8.57661023e-02 -9.37632605e-03 3.62832873e+01] [ 8.57637730e-02 9.96315287e-01 -6.50972281e-04 -7.26239685e-01] [ 9.39760833e-03 -1.55604177e-04 9.99955829e-01 -1.69714924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.31, Y:-0.72, Z:-0.17 [[ 9.96020331e-01 -8.83582954e-02 -1.16752875e-02 3.63121399e+01] [ 8.83548456e-02 9.96088732e-01 -8.11964521e-04 -7.19185208e-01] [ 1.17013661e-02 -2.22835055e-04 9.99931512e-01 -1.72133701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.72, Z:-0.18 [[ 9.95753982e-01 -9.11569314e-02 -1.28226539e-02 3.63407545e+01] [ 9.11529946e-02 9.95836500e-01 -8.92338807e-04 -7.22335063e-01] [ 1.28506097e-02 -2.80273386e-04 9.99917388e-01 -1.75952317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.72, Z:-0.17 [[ 9.95394834e-01 -9.49608636e-02 -1.30980469e-02 3.63699983e+01] [ 9.49570777e-02 9.95480950e-01 -9.12051820e-04 -7.18850928e-01] [ 1.31254654e-02 -3.35900585e-04 9.99913801e-01 -1.74987171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.375898227 meters Centerline goodness [0,1] 0.9999788184956896 Centerline is valid? [True, True] Translation: X:36.40, Y:-0.72, Z:-0.17 [[ 9.94988545e-01 -9.92056087e-02 -1.24916835e-02 3.64007026e+01] [ 9.92024970e-02 9.95066886e-01 -8.70018756e-04 -7.19628792e-01] [ 1.25163713e-02 -3.73547496e-04 9.99921597e-01 -1.73466764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.405898227 meters Centerline goodness [0,1] 0.9999572877736252 Centerline is valid? [True, True] Translation: X:36.43, Y:-0.72, Z:-0.17 [[ 9.94259006e-01 -1.06359569e-01 -1.16906637e-02 3.64314192e+01] [ 1.06357338e-01 9.94327639e-01 -8.14226118e-04 -7.24472114e-01] [ 1.17109508e-02 -4.33836213e-04 9.99931330e-01 -1.69753271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.435898227 meters Centerline goodness [0,1] 0.9999154584266813 Centerline is valid? [True, True] Translation: X:36.46, Y:-0.73, Z:-0.17 [[ 9.94060107e-01 -1.08216467e-01 -1.15628652e-02 3.64603113e+01] [ 1.08214407e-01 9.94127252e-01 -8.05530510e-04 -7.25164296e-01] [ 1.15821311e-02 -4.50522859e-04 9.99932823e-01 -1.69257704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.465898227 meters Centerline goodness [0,1] 0.9998934583422118 Centerline is valid? [True, True] Translation: X:36.49, Y:-0.72, Z:-0.17 [[ 9.93886850e-01 -1.09801355e-01 -1.15148182e-02 3.64888523e+01] [ 1.09799404e-01 9.93953442e-01 -8.03342731e-04 -7.21340890e-01] [ 1.15334013e-02 -4.65888404e-04 9.99933380e-01 -1.68932359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.495898227 meters Centerline goodness [0,1] 0.9998295696634001 Centerline is valid? [True, True] Translation: X:36.52, Y:-0.72, Z:-0.17 [[ 9.93744483e-01 -1.11139548e-01 -1.09500030e-02 3.65162313e+01] [ 1.11137850e-01 9.93804705e-01 -7.65361018e-04 -7.21038510e-01] [ 1.09672264e-02 -4.56386497e-04 9.99939754e-01 -1.68541181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52589822699998 meters Centerline goodness [0,1] 0.9999573278713009 Centerline is valid? [True, True] Translation: X:36.55, Y:-0.72, Z:-0.17 [[ 9.93768735e-01 -1.11010291e-01 -1.00207858e-02 3.65451362e+01] [ 1.11008849e-01 9.93819170e-01 -7.01666517e-04 -7.15648824e-01] [ 1.00367412e-02 -4.15101654e-04 9.99949544e-01 -1.66577996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55589822699999 meters Centerline goodness [0,1] 0.9998935717326521 Centerline is valid? [True, True] Translation: X:36.57, Y:-0.71, Z:-0.17 [[ 9.93885634e-01 -1.09977497e-01 -9.81308360e-03 3.65732396e+01] [ 1.09976049e-01 9.93933999e-01 -6.88727617e-04 -7.13833980e-01] [ 9.82930196e-03 -3.94687676e-04 9.99951613e-01 -1.65071120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58589822699999 meters Centerline goodness [0,1] 0.999915727378068 Centerline is valid? [True, True] Translation: X:36.60, Y:-0.71, Z:-0.16 [[ 9.94111499e-01 -1.07949796e-01 -9.44290394e-03 3.66026514e+01] [ 1.07948354e-01 9.94156282e-01 -6.63731055e-04 -7.09191200e-01] [ 9.45937190e-03 -3.59523266e-04 9.99955195e-01 -1.64121040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61589822699999 meters Centerline goodness [0,1] 0.999978980998823 Centerline is valid? [True, True] Translation: X:36.63, Y:-0.70, Z:-0.16 [[ 9.94639811e-01 -1.02951130e-01 -9.62869328e-03 3.66310666e+01] [ 1.02949395e-01 9.94686365e-01 -6.76978404e-04 -7.01022414e-01] [ 9.64722561e-03 -3.17918473e-04 9.99953414e-01 -1.64341220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64589822699999 meters Centerline goodness [0,1] 0.9999362190662471 Centerline is valid? [True, True] Translation: X:36.66, Y:-0.70, Z:-0.16 [[ 9.94849428e-01 -1.00957724e-01 -9.06384134e-03 3.66592318e+01] [ 1.00956101e-01 9.94890677e-01 -6.37494901e-04 -6.95434864e-01] [ 9.08189128e-03 -2.80838648e-04 9.99958719e-01 -1.62709337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.69, Y:-0.69, Z:-0.16 [[ 9.95061126e-01 -9.89415169e-02 -7.99577123e-03 3.66869103e+01] [ 9.89401866e-02 9.95093223e-01 -5.62734367e-04 -6.91167269e-01] [ 8.01221556e-03 -2.31148005e-04 9.99967875e-01 -1.60874809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.72, Y:-0.69, Z:-0.16 [[ 9.95268364e-01 -9.69526182e-02 -6.40884643e-03 3.67153706e+01] [ 9.69517204e-02 9.95288983e-01 -4.51340120e-04 -6.86453123e-01] [ 6.42241286e-03 -1.72144145e-04 9.99979361e-01 -1.58177544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73589822699999 meters Centerline goodness [0,1] 0.9999152542372881 Centerline is valid? [True, True] Translation: X:36.74, Y:-0.68, Z:-0.16 [[ 9.95382778e-01 -9.58549946e-02 -4.99458477e-03 3.67441268e+01] [ 9.58544351e-02 9.95395300e-01 -3.51837814e-04 -6.78562646e-01] [ 5.00531162e-03 -1.28539801e-04 9.99987465e-01 -1.57191628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.765898227 meters Centerline goodness [0,1] 0.9999789584429247 Centerline is valid? [True, True] Translation: X:36.77, Y:-0.69, Z:-0.16 [[ 9.95259875e-01 -9.71349687e-02 -4.75176524e-03 3.67724007e+01] [ 9.71344731e-02 9.95271210e-01 -3.35521084e-04 -6.85032847e-01] [ 4.76188598e-03 -1.27629541e-04 9.99988654e-01 -1.56565497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.795898227 meters Centerline goodness [0,1] 0.9999788846892882 Centerline is valid? [True, True] Translation: X:36.80, Y:-0.68, Z:-0.16 [[ 9.95001021e-01 -9.97619631e-02 -4.52988692e-03 3.68018604e+01] [ 9.97615385e-02 9.95011323e-01 -3.20148928e-04 -6.82699988e-01] [ 4.53922746e-03 -1.33359979e-04 9.99989689e-01 -1.57027706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.825898227 meters Centerline goodness [0,1] 0.9998100544510574 Centerline is valid? [True, True] Translation: X:36.83, Y:-0.70, Z:-0.16 [[ 9.94247796e-01 -1.06990148e-01 -4.94249902e-03 3.68327461e+01] [ 1.06989731e-01 9.94260064e-01 -3.49450414e-04 -7.04333889e-01] [ 4.95151714e-03 -1.81356338e-04 9.99987725e-01 -1.58023764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.855898227 meters Centerline goodness [0,1] 0.9998106658251814 Centerline is valid? [True, True] Translation: X:36.86, Y:-0.70, Z:-0.16 [[ 9.93855223e-01 -1.10552674e-01 -5.46833993e-03 3.68627036e+01] [ 1.10552217e-01 9.93870242e-01 -3.86697225e-04 -7.04896438e-01] [ 5.47757074e-03 -2.20216048e-04 9.99984974e-01 -1.58408993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88589822699998 meters Centerline goodness [0,1] 0.9980550568521843 Centerline is valid? [True, True] Translation: X:36.89, Y:-0.72, Z:-0.16 [[ 9.93474845e-01 -1.13881544e-01 -6.22299627e-03 3.68931213e+01] [ 1.13881016e-01 9.93494298e-01 -4.40169734e-04 -7.16497154e-01] [ 6.23263852e-03 -2.71383583e-04 9.99980540e-01 -1.58664226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91589822699999 meters Centerline goodness [0,1] 0.9998067549867949 Centerline is valid? [True, True] Translation: X:36.92, Y:-0.71, Z:-0.16 [[ 9.93121340e-01 -1.16903054e-01 -6.60915049e-03 3.69231185e+01] [ 1.16902525e-01 9.93143283e-01 -4.67575691e-04 -7.08180032e-01] [ 6.61849444e-03 -3.08266982e-04 9.99978050e-01 -1.58741846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94589822699999 meters Centerline goodness [0,1] 0.999447431619663 Centerline is valid? [True, True] Translation: X:36.95, Y:-0.71, Z:-0.16 [[ 9.92696378e-01 -1.20407104e-01 -7.48541185e-03 3.69535150e+01] [ 1.20406525e-01 9.92724528e-01 -5.29583199e-04 -7.11143262e-01] [ 7.49471752e-03 -3.75577106e-04 9.99971844e-01 -1.59412117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97589822699999 meters Centerline goodness [0,1] 0.9970479704797048 Centerline is valid? [True, True] Translation: X:36.98, Y:-0.72, Z:-0.16 [[ 9.92616840e-01 -1.20980864e-01 -8.68562522e-03 3.69820506e+01] [ 1.20980104e-01 9.92654742e-01 -6.14822938e-04 -7.18195077e-01] [ 8.69620887e-03 -4.40504237e-04 9.99962090e-01 -1.61308658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00589822699999 meters Centerline goodness [0,1] 0.9777430855889117 Centerline is valid? [True, True] Translation: X:37.01, Y:-0.73, Z:-0.16 [[ 9.92630221e-01 -1.20763910e-01 -1.00658631e-02 3.70107835e+01] [ 1.20762869e-01 9.92681127e-01 -7.13364624e-04 -7.25625912e-01] [ 1.00783410e-02 -5.07475221e-04 9.99949083e-01 -1.64847800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03589822699999 meters Centerline goodness [0,1] 0.9987714220269455 Centerline is valid? [True, True] Translation: X:37.04, Y:-0.71, Z:-0.16 [[ 9.92844618e-01 -1.18913462e-01 -1.09156965e-02 3.70399432e+01] [ 1.18912121e-01 9.92904481e-01 -7.74100118e-04 -7.10069367e-01] [ 1.09302949e-02 -5.29447482e-04 9.99940122e-01 -1.64669140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06589822699999 meters Centerline goodness [0,1] 0.9998313517159962 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.69, Z:-0.16 [[ 9.93577607e-01 -1.12701266e-01 -1.00977109e-02 3.70693680e+01] [ 1.12699796e-01 9.93628825e-01 -7.16270718e-04 -6.92068872e-01] [ 1.01141013e-02 -4.26339420e-04 9.99948760e-01 -1.62350225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09589822699999 meters Centerline goodness [0,1] 0.9999571963616908 Centerline is valid? [True, True] Translation: X:37.10, Y:-0.67, Z:-0.16 [[ 9.93956317e-01 -1.09335967e-01 -9.82275283e-03 3.70983383e+01] [ 1.09334411e-01 9.94004779e-01 -6.96843416e-04 -6.73332504e-01] [ 9.84005330e-03 -3.81332983e-04 9.99951513e-01 -1.59503888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.125898227 meters Centerline goodness [0,1] 0.9999571908645305 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.67, Z:-0.16 [[ 9.94272951e-01 -1.06378972e-01 -1.02378622e-02 3.71271813e+01] [ 1.06377124e-01 9.94325590e-01 -7.26479158e-04 -6.69523427e-01] [ 1.02570505e-02 -3.66755759e-04 9.99947328e-01 -1.60212947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.155898227 meters Centerline goodness [0,1] 0.9999571908645305 Centerline is valid? [True, True] Translation: X:37.15, Y:-0.67, Z:-0.16 [[ 9.94253091e-01 -1.06564437e-01 -1.02377915e-02 3.71546010e+01] [ 1.06562588e-01 9.94305730e-01 -7.27474074e-04 -6.67399048e-01] [ 1.02570177e-02 -3.67672217e-04 9.99947328e-01 -1.60057112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.185898227 meters Centerline goodness [0,1] 0.9999785844308813 Centerline is valid? [True, True] Translation: X:37.18, Y:-0.66, Z:-0.16 [[ 9.94401527e-01 -1.05061556e-01 -1.12992337e-02 3.71822196e+01] [ 1.05059188e-01 9.94465645e-01 -8.04551299e-04 -6.59379945e-01] [ 1.13212271e-02 -3.87041281e-04 9.99935838e-01 -1.61768220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.215898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.21, Y:-0.65, Z:-0.17 [[ 9.94421527e-01 -1.04713368e-01 -1.26860843e-02 3.72102729e+01] [ 1.04710333e-01 9.94502351e-01 -9.04987611e-04 -6.46788620e-01] [ 1.27111050e-02 -4.28424959e-04 9.99919119e-01 -1.65766585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.245898227 meters Centerline goodness [0,1] 0.9999786630251563 Centerline is valid? [True, True] Translation: X:37.24, Y:-0.64, Z:-0.17 [[ 9.94320118e-01 -1.05658468e-01 -1.27980750e-02 3.72379956e+01] [ 1.05655440e-01 9.94402379e-01 -9.14340019e-04 -6.36955092e-01] [ 1.28230440e-02 -4.43039573e-04 9.99917683e-01 -1.66105278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27589822699998 meters Centerline goodness [0,1] 0.9999787721830687 Centerline is valid? [True, True] Translation: X:37.27, Y:-0.63, Z:-0.17 [[ 9.94172568e-01 -1.07102408e-01 -1.22465957e-02 3.72652449e+01] [ 1.07099735e-01 9.94247897e-01 -8.75754797e-04 -6.33287393e-01] [ 1.22699475e-02 -4.40955759e-04 9.99924624e-01 -1.65184041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30589822699999 meters Centerline goodness [0,1] 0.9998717400598547 Centerline is valid? [True, True] Translation: X:37.29, Y:-0.63, Z:-0.16 [[ 9.93945224e-01 -1.09300391e-01 -1.12390229e-02 3.72947440e+01] [ 1.09298275e-01 9.94008672e-01 -8.04219140e-04 -6.29292574e-01] [ 1.12595877e-02 -4.29056035e-04 9.99936517e-01 -1.63041504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33589822699999 meters Centerline goodness [0,1] 0.9994550865574046 Centerline is valid? [True, True] Translation: X:37.32, Y:-0.64, Z:-0.16 [[ 9.93228688e-01 -1.15649751e-01 -1.10412220e-02 3.73245388e+01] [ 1.15648099e-01 9.93289934e-01 -7.90142189e-04 -6.35997585e-01] [ 1.10585144e-02 -4.92104444e-04 9.99938732e-01 -1.62118979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36589822699999 meters Centerline goodness [0,1] 0.9997219846022242 Centerline is valid? [True, True] Translation: X:37.35, Y:-0.63, Z:-0.16 [[ 9.92790705e-01 -1.19265150e-01 -1.19348632e-02 3.73540452e+01] [ 1.19263481e-01 9.92862273e-01 -8.54053721e-04 -6.27991886e-01] [ 1.19515342e-02 -5.75496727e-04 9.99928412e-01 -1.62158409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39589822699999 meters Centerline goodness [0,1] 0.9995502923099985 Centerline is valid? [True, True] Translation: X:37.38, Y:-0.63, Z:-0.16 [[ 9.92365916e-01 -1.22672824e-01 -1.26991093e-02 3.73847872e+01] [ 1.22671211e-01 9.92446950e-01 -9.08795065e-04 -6.26537377e-01] [ 1.27146768e-02 -6.55957877e-04 9.99918950e-01 -1.63750085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42589822699999 meters Centerline goodness [0,1] 0.9958223117940966 Centerline is valid? [True, True] Translation: X:37.41, Y:-0.63, Z:-0.16 [[ 9.91703207e-01 -1.27942446e-01 -1.24691890e-02 3.74144312e+01] [ 1.27941306e-01 9.91781340e-01 -8.92344912e-04 -6.32177713e-01] [ 1.24808778e-02 -7.10383021e-04 9.99921858e-01 -1.64265246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45589822699999 meters Centerline goodness [0,1] 0.989407718439432 Centerline is valid? [True, True] Translation: X:37.44, Y:-0.63, Z:-0.16 [[ 9.91508692e-01 -1.29599554e-01 -1.06990217e-02 3.74425189e+01] [ 1.29598808e-01 9.91566217e-01 -7.65882279e-04 -6.31828055e-01] [ 1.07080464e-02 -6.27201522e-04 9.99942471e-01 -1.61482348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48589822699999 meters Centerline goodness [0,1] 0.9791480678484887 Centerline is valid? [True, True] Translation: X:37.47, Y:-0.63, Z:-0.16 [[ 9.91365395e-01 -1.30833534e-01 -8.78868903e-03 3.74715434e+01] [ 1.30833076e-01 9.91404211e-01 -6.29488099e-04 -6.28288173e-01] [ 8.79550147e-03 -5.25798501e-04 9.99961181e-01 -1.57055235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.515898227 meters Centerline goodness [0,1] 0.9807504976494007 Centerline is valid? [True, True] Translation: X:37.50, Y:-0.62, Z:-0.15 [[ 9.91258440e-01 -1.31734020e-01 -7.27005980e-03 3.75004156e+01] [ 1.31733727e-01 9.91285001e-01 -5.21193402e-04 -6.22842822e-01] [ 7.27536014e-03 -4.41074716e-04 9.99973437e-01 -1.53712746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.545898227 meters Centerline goodness [0,1] 0.9738584209301834 Centerline is valid? [True, True] Translation: X:37.53, Y:-0.62, Z:-0.15 [[ 9.91087210e-01 -1.33042169e-01 -6.77673187e-03 3.75295596e+01] [ 1.33041939e-01 9.91110289e-01 -4.86720850e-04 -6.19707943e-01] [ 6.78124308e-03 -4.19206740e-04 9.99976919e-01 -1.53471844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.575898227 meters Centerline goodness [0,1] 0.975994221617947 Centerline is valid? [True, True] Translation: X:37.56, Y:-0.62, Z:-0.15 [[ 9.91026369e-01 -1.33475531e-01 -7.14277496e-03 3.75580738e+01] [ 1.33475284e-01 9.91052009e-01 -5.13458233e-04 -6.15854552e-01] [ 7.14739559e-03 -4.44533268e-04 9.99974358e-01 -1.54965338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.605898227 meters Centerline goodness [0,1] 0.9722880505561604 Centerline is valid? [True, True] Translation: X:37.58, Y:-0.61, Z:-0.16 [[ 9.91000565e-01 -1.33629959e-01 -7.80474947e-03 3.75845814e+01] [ 1.33629658e-01 9.91031179e-01 -5.62318194e-04 -6.14374164e-01] [ 7.80989263e-03 -4.85688355e-04 9.99969384e-01 -1.57670765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63589822699998 meters Centerline goodness [0,1] 0.916760616309658 Centerline is valid? [True, False] Translation: X:37.61, Y:-0.61, Z:-0.16 [[ 9.91222695e-01 -1.32118299e-01 -4.72481630e-03 3.76058841e+01] [ 1.32070203e-01 9.91196258e-01 -9.35087342e-03 -6.09032283e-01] [ 5.91864173e-03 8.64479050e-03 9.99945117e-01 -1.58694832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66589822699999 meters Centerline goodness [0,1] 0.8209502148091989 Centerline is valid? [False, False] Translation: X:37.60, Y:-0.61, Z:-0.16 [[ 9.91738129e-01 -1.28179138e-01 -5.05876252e-03 3.76047621e+01] [ 1.28151105e-01 9.91739267e-01 -5.52450045e-03 -6.07280456e-01] [ 5.72509914e-03 4.83057174e-03 9.99971944e-01 -1.58072675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69589822699999 meters Centerline goodness [0,1] 0.9966385475099558 Centerline is valid? [False, True] Translation: X:37.54, Y:-0.61, Z:-0.16 [[ 9.92208761e-01 -1.24518968e-01 -4.09904409e-03 3.75398157e+01] [ 1.24455462e-01 9.92137351e-01 -1.32028333e-02 -6.08628402e-01] [ 5.71081792e-03 1.25898184e-02 9.99904437e-01 -1.57266869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72589822699999 meters Centerline goodness [0,1] 0.9886433459753798 Centerline is valid? [True, True] Translation: X:37.57, Y:-0.61, Z:-0.16 [[ 9.92201067e-01 -1.24553511e-01 -4.84420420e-03 3.75675284e+01] [ 1.24553433e-01 9.92212850e-01 -3.18947666e-04 -6.14574765e-01] [ 4.84620771e-03 -2.86902049e-04 9.99988216e-01 -1.56892726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75589822699999 meters Centerline goodness [0,1] 0.967342413021193 Centerline is valid? [True, True] Translation: X:37.60, Y:-0.62, Z:-0.16 [[ 9.91929671e-01 -1.26645713e-01 -6.03254930e-03 3.75967477e+01] [ 1.26645629e-01 9.91947946e-01 -3.97625678e-04 -6.16081659e-01] [ 6.03433247e-03 -3.69579290e-04 9.99981725e-01 -1.60357396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78589822699999 meters Centerline goodness [0,1] 0.9906964834414476 Centerline is valid? [True, True] Translation: X:37.63, Y:-0.61, Z:-0.16 [[ 9.91748161e-01 -1.27997987e-01 -7.21800688e-03 3.76261142e+01] [ 1.27997900e-01 9.91774325e-01 -4.75948552e-04 -6.07329611e-01] [ 7.21955436e-03 -4.51868622e-04 9.99973837e-01 -1.61449359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81589822699999 meters Centerline goodness [0,1] 0.9844768110387121 Centerline is valid? [True, True] Translation: X:37.65, Y:-0.61, Z:-0.16 [[ 9.91639795e-01 -1.28822317e-01 -7.43830043e-03 3.76537887e+01] [ 1.28822246e-01 9.91667579e-01 -4.90784922e-04 -6.07641048e-01] [ 7.43954544e-03 -4.71536706e-04 9.99972215e-01 -1.62717370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84589822699999 meters Centerline goodness [0,1] 0.9552022514386524 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.61, Z:-0.16 [[ 9.91624666e-01 -1.28917192e-01 -7.80254832e-03 3.76818345e+01] [ 1.28917112e-01 9.91655239e-01 -5.15284943e-04 -6.10421456e-01] [ 7.80386701e-03 -4.94912736e-04 9.99969427e-01 -1.62796063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.875898227 meters Centerline goodness [0,1] 0.9963659683625481 Centerline is valid? [True, True] Translation: X:37.71, Y:-0.59, Z:-0.16 [[ 9.92018898e-01 -1.25813352e-01 -8.33708666e-03 3.77108600e+01] [ 1.25813149e-01 9.92053803e-01 -5.50829013e-04 -5.93576517e-01] [ 8.34014018e-03 -5.02482339e-04 9.99965094e-01 -1.60519625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.905898227 meters Centerline goodness [0,1] 0.9853009016565317 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.60, Z:-0.16 [[ 9.92374174e-01 -1.22948940e-01 -8.77819156e-03 3.77406900e+01] [ 1.22948603e-01 9.92412870e-01 -5.80059750e-04 -5.95998983e-01] [ 8.78290801e-03 -5.03630079e-04 9.99961303e-01 -1.61398373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.935898227 meters Centerline goodness [0,1] 0.9961295536226953 Centerline is valid? [True, True] Translation: X:37.77, Y:-0.58, Z:-0.16 [[ 9.92752703e-01 -1.19836556e-01 -9.01501716e-03 3.77702921e+01] [ 1.19836073e-01 9.92793514e-01 -5.95717219e-04 -5.84929169e-01] [ 9.02143927e-03 -4.88924372e-04 9.99959186e-01 -1.62436549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.965898227 meters Centerline goodness [0,1] 0.9993672487977727 Centerline is valid? [True, True] Translation: X:37.80, Y:-0.57, Z:-0.16 [[ 9.93221925e-01 -1.15900769e-01 -8.78748894e-03 3.78000068e+01] [ 1.15900156e-01 9.93260699e-01 -5.80660214e-04 -5.70491827e-01] [ 8.79556637e-03 -4.41746885e-04 9.99961221e-01 -1.60280003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.995898227 meters Centerline goodness [0,1] 0.999789020633782 Centerline is valid? [True, True] Translation: X:37.83, Y:-0.55, Z:-0.16 [[ 9.93922826e-01 -1.09830051e-01 -7.40108427e-03 3.78288095e+01] [ 1.09829448e-01 9.93950327e-01 -4.89058677e-04 -5.50940023e-01] [ 7.41002347e-03 -3.26770420e-04 9.99972492e-01 -1.58483141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02589822699998 meters Centerline goodness [0,1] 0.9998301053346925 Centerline is valid? [True, True] Translation: X:37.86, Y:-0.54, Z:-0.16 [[ 9.94063629e-01 -1.08577754e-01 -6.95498812e-03 3.78574750e+01] [ 1.08577190e-01 9.94087915e-01 -4.59854777e-04 -5.40345701e-01] [ 6.96379963e-03 -2.98028155e-04 9.99975708e-01 -1.59031302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05589822699999 meters Centerline goodness [0,1] 0.9999573524394405 Centerline is valid? [True, True] Translation: X:37.89, Y:-0.53, Z:-0.16 [[ 9.94079008e-01 -1.08436723e-01 -6.95717380e-03 3.78856728e+01] [ 1.08436148e-01 9.94103309e-01 -4.60859188e-04 -5.29553877e-01] [ 6.96612355e-03 -2.96278686e-04 9.99975692e-01 -1.58606010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08589822699999 meters Centerline goodness [0,1] 0.9996626180836707 Centerline is valid? [True, True] Translation: X:37.91, Y:-0.53, Z:-0.16 [[ 9.93680574e-01 -1.12026781e-01 -6.99406603e-03 3.79143096e+01] [ 1.12026284e-01 9.93705136e-01 -4.63980043e-04 -5.28110512e-01] [ 7.00201752e-03 -3.22471272e-04 9.99975434e-01 -1.59047911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11589822699999 meters Centerline goodness [0,1] 0.9995970392992726 Centerline is valid? [True, True] Translation: X:37.94, Y:-0.52, Z:-0.16 [[ 9.93295037e-01 -1.15383241e-01 -7.18870293e-03 3.79439455e+01] [ 1.15382803e-01 9.93320986e-01 -4.76969641e-04 -5.23917738e-01] [ 7.19572379e-03 -3.55681116e-04 9.99974047e-01 -1.58839811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14589822699999 meters Centerline goodness [0,1] 0.9960758119729481 Centerline is valid? [True, True] Translation: X:37.97, Y:-0.53, Z:-0.16 [[ 9.92808514e-01 -1.19503281e-01 -7.08656492e-03 3.79735679e+01] [ 1.19502960e-01 9.92833733e-01 -4.70255566e-04 -5.28489329e-01] [ 7.09197779e-03 -3.79991753e-04 9.99974779e-01 -1.59492775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17589822699999 meters Centerline goodness [0,1] 0.9641621197002187 Centerline is valid? [True, True] Translation: X:38.00, Y:-0.53, Z:-0.16 [[ 9.91479181e-01 -1.30094201e-01 -6.67325684e-03 3.80041998e+01] [ 1.30094155e-01 9.91501545e-01 -4.42886718e-04 -5.27090488e-01] [ 6.67416146e-03 -4.29038749e-04 9.99977635e-01 -1.61508086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20589822699999 meters Centerline goodness [0,1] 0.7978040540540541 Centerline is valid? [True, False] Translation: X:38.00, Y:-0.53, Z:-0.16 [[ 9.91862185e-01 -1.27140176e-01 -6.69196073e-03 3.80028684e+01] [ 1.27165056e-01 9.91875632e-01 3.43216046e-03 -5.28516192e-01] [ 6.20122729e-03 -4.25521374e-03 9.99971719e-01 -1.61617201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23589822699999 meters Centerline goodness [0,1] 0.9068181818181819 Centerline is valid? [False, False] Translation: X:38.00, Y:-0.53, Z:-0.16 [[ 9.92214459e-01 -1.24368890e-01 -6.54565891e-03 3.80007024e+01] [ 1.24414293e-01 9.92205261e-01 7.05710127e-03 -5.29447934e-01] [ 5.61695336e-03 -7.81653145e-03 9.99953675e-01 -1.61167277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.265898227 meters Centerline goodness [0,1] 0.8416756768216413 Centerline is valid? [False, False] Translation: X:38.00, Y:-0.53, Z:-0.16 [[ 9.92170317e-01 -1.24729024e-01 -6.38219403e-03 3.80001350e+01] [ 1.24771339e-01 9.92162721e-01 6.72661998e-03 -5.28392291e-01] [ 5.49317025e-03 -7.47026757e-03 9.99957009e-01 -1.61044851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.295898227 meters Centerline goodness [0,1] 0.6974645375010617 Centerline is valid? [False, False] Translation: X:38.00, Y:-0.53, Z:-0.16 [[ 9.92055367e-01 -1.25662730e-01 -5.91838789e-03 3.79991213e+01] [ 1.25699808e-01 9.92047840e-01 6.37505562e-03 -5.28844163e-01] [ 5.07021703e-03 -7.06834837e-03 9.99962165e-01 -1.61458602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.325898227 meters Centerline goodness [0,1] 0.7781338200029709 Centerline is valid? [False, False] Translation: X:38.00, Y:-0.53, Z:-0.16 [[ 9.92041397e-01 -1.25777321e-01 -5.82510807e-03 3.79992469e+01] [ 1.25814647e-01 9.92032093e-01 6.55759238e-03 -5.30111333e-01] [ 4.95389774e-03 -7.23828702e-03 9.99961532e-01 -1.62039840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.355898227 meters Centerline goodness [0,1] 0.6367981389446971 Centerline is valid? [False, False] Translation: X:38.00, Y:-0.53, Z:-0.16 [[ 9.92029580e-01 -1.25868896e-01 -5.85945520e-03 3.79999301e+01] [ 1.25906511e-01 9.92020382e-01 6.56596276e-03 -5.30304688e-01] [ 4.98624850e-03 -7.25137284e-03 9.99961277e-01 -1.62934511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38589822699998 meters Centerline goodness [0,1] 0.5577454100883202 Centerline is valid? [False, False] Translation: X:38.00, Y:-0.53, Z:-0.16 [[ 9.92508439e-01 -1.22013131e-01 -6.30821506e-03 3.80004860e+01] [ 1.22077427e-01 9.92458766e-01 1.10769859e-02 -5.32822707e-01] [ 4.90910560e-03 -1.17640927e-02 9.99918750e-01 -1.63977893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41589822699999 meters Centerline goodness [0,1] 0.7661604651658112 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.53, Z:-0.17 [[ 9.93399369e-01 -1.14556504e-01 -5.87384096e-03 3.79635266e+01] [ 1.14558073e-01 9.93416551e-01 -6.97639329e-05 -5.29157674e-01] [ 5.84316274e-03 -6.03592455e-04 9.99982746e-01 -1.65488533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44589822699999 meters Centerline goodness [0,1] 0.5839937937686082 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.53, Z:-0.16 [[ 9.93409058e-01 -1.14456832e-01 -6.17064118e-03 3.79638067e+01] [ 1.14455324e-01 9.93428216e-01 -5.98164712e-04 -5.26059764e-01] [ 6.19855310e-03 -1.12040490e-04 9.99980783e-01 -1.64626371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47589822699999 meters Centerline goodness [0,1] 0.8440123823255025 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.53, Z:-0.16 [[ 9.93904442e-01 -1.10067055e-01 -6.26122983e-03 3.79616025e+01] [ 1.10090687e-01 9.93915161e-01 3.56290120e-03 -5.25109683e-01] [ 5.83097321e-03 -4.23048642e-03 9.99974051e-01 -1.63144596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50589822699999 meters Centerline goodness [0,1] 0.8668215336089681 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.53, Z:-0.16 [[ 9.94179073e-01 -1.07587207e-01 -5.74144207e-03 3.79560069e+01] [ 1.07621807e-01 9.94173182e-01 6.10173579e-03 -5.25791122e-01] [ 5.05151902e-03 -6.68412241e-03 9.99964902e-01 -1.59508388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53589822699999 meters Centerline goodness [0,1] 0.8798744672278886 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.53, Z:-0.16 [[ 9.94185550e-01 -1.07530947e-01 -5.67333163e-03 3.79557907e+01] [ 1.07565166e-01 9.94179222e-01 6.11635772e-03 -5.25717341e-01] [ 4.98261069e-03 -6.69104733e-03 9.99965201e-01 -1.59580321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56589822699999 meters Centerline goodness [0,1] 0.8627218934911243 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.53, Z:-0.16 [[ 9.94198193e-01 -1.07413964e-01 -5.67401178e-03 3.79561615e+01] [ 1.07449793e-01 9.94189657e-01 6.43951923e-03 -5.27254569e-01] [ 4.94934954e-03 -7.01182977e-03 9.99963168e-01 -1.60108451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59589822699999 meters Centerline goodness [0,1] 0.7722778499308727 Centerline is valid? [False, False] Translation: X:37.96, Y:-0.53, Z:-0.16 [[ 9.94213486e-01 -1.07260564e-01 -5.89192050e-03 3.79574931e+01] [ 1.07300744e-01 9.94202049e-01 6.98825405e-03 -5.29956802e-01] [ 5.10819537e-03 -7.58002387e-03 9.99958224e-01 -1.61033654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.625898227 meters Centerline goodness [0,1] 0.8463903001323485 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.53, Z:-0.16 [[ 9.94127203e-01 -1.08063386e-01 -5.78013426e-03 3.78934153e+01] [ 1.08031723e-01 9.94132033e-01 -5.53602438e-03 -5.31730843e-01] [ 6.34445816e-03 4.87907457e-03 9.99967971e-01 -1.59344827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.655898227 meters Centerline goodness [0,1] 0.8293063461943917 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.54, Z:-0.16 [[ 9.94529710e-01 -1.04278957e-01 -6.04601577e-03 3.78930756e+01] [ 1.04277100e-01 9.94548088e-01 -6.22395618e-04 -5.36853082e-01] [ 6.07795619e-03 -1.14700576e-05 9.99981529e-01 -1.59501331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.685898227 meters Centerline goodness [0,1] 0.6729368547723098 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.54, Z:-0.16 [[ 9.94943705e-01 -1.00252225e-01 -6.04280350e-03 3.78919340e+01] [ 1.00279121e-01 9.94949945e-01 4.32494230e-03 -5.41560917e-01] [ 5.57870192e-03 -4.90904114e-03 9.99972389e-01 -1.59584270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.715898227 meters Centerline goodness [0,1] 0.7974645595100432 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.54, Z:-0.16 [[ 9.94952055e-01 -1.00176088e-01 -5.92955902e-03 3.78914022e+01] [ 1.00202937e-01 9.94957211e-01 4.41808616e-03 -5.41915137e-01] [ 5.45707092e-03 -4.98994314e-03 9.99972660e-01 -1.59259907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.745898227 meters Centerline goodness [0,1] 0.873439297737248 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.55, Z:-0.16 [[ 9.95361035e-01 -9.60199230e-02 -6.04851459e-03 3.78909819e+01] [ 9.60735955e-02 9.95330647e-01 9.31490789e-03 -5.45830129e-01] [ 5.12585520e-03 -9.85279890e-03 9.99938322e-01 -1.59899674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77589822699998 meters Centerline goodness [0,1] 0.7583481650987371 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.54, Z:-0.16 [[ 9.95758882e-01 -9.19964909e-02 -9.45435057e-04 3.78916320e+01] [ 9.19910506e-02 9.95748602e-01 -4.72954969e-03 -5.42746558e-01] [ 1.37651761e-03 4.62251955e-03 9.99988369e-01 -1.62125444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80589822699999 meters Centerline goodness [0,1] 0.7529780696215852 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.55, Z:-0.16 [[ 9.96140899e-01 -8.77599720e-02 -1.22333135e-03 3.78918839e+01] [ 8.77603177e-02 9.96141593e-01 2.31729547e-04 -5.46624574e-01] [ 1.19827466e-03 -3.38195227e-04 9.99999225e-01 -1.62962465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83589822699999 meters Centerline goodness [0,1] 0.7806430006697924 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.55, Z:-0.16 [[ 9.96497312e-01 -8.36064044e-02 -1.75395466e-03 3.78929664e+01] [ 8.36140949e-02 9.96486158e-01 4.90094080e-03 -5.49078459e-01] [ 1.33804150e-03 -5.03042967e-03 9.99986452e-01 -1.63839750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86589822699999 meters Centerline goodness [0,1] 0.7547845881460248 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.55, Z:-0.16 [[ 9.96492931e-01 -8.36557649e-02 -1.88427522e-03 3.78934031e+01] [ 8.36638288e-02 9.96482906e-01 4.70967188e-03 -5.48051055e-01] [ 1.48365684e-03 -4.85080042e-03 9.99987134e-01 -1.63905904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89589822699999 meters Centerline goodness [0,1] 0.6204829413991839 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.55, Z:-0.16 [[ 9.96486900e-01 -8.37251390e-02 -1.98997757e-03 3.78938916e+01] [ 8.37333443e-02 9.96478138e-01 4.47742965e-03 -5.46783447e-01] [ 1.60809573e-03 -4.62832746e-03 9.99987996e-01 -1.64205145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92589822699999 meters Centerline goodness [0,1] 0.7778298570424186 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.55, Z:-0.16 [[ 9.96477342e-01 -8.38383969e-02 -2.00750210e-03 3.78942353e+01] [ 8.38462240e-02 9.96469865e-01 4.19744876e-03 -5.45356428e-01] [ 1.64850798e-03 -4.35098405e-03 9.99989176e-01 -1.64743645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95589822699999 meters Centerline goodness [0,1] 0.5582645582645582 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.54, Z:-0.17 [[ 9.96452299e-01 -8.41349505e-02 -2.03118228e-03 3.78945574e+01] [ 8.41419868e-02 9.96447014e-01 3.67078122e-03 -5.43051957e-01] [ 1.71512452e-03 -3.82866609e-03 9.99991200e-01 -1.65210605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98589822699999 meters Centerline goodness [0,1] 0.73322798145807 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.54, Z:-0.17 [[ 9.96443642e-01 -8.42379757e-02 -2.00778302e-03 3.78943604e+01] [ 8.42446446e-02 9.96438928e-01 3.50750451e-03 -5.42346235e-01] [ 1.70516808e-03 -3.66417554e-03 9.99991833e-01 -1.65041428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.015898227 meters Centerline goodness [0,1] 0.5798622084571139 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.54, Z:-0.16 [[ 9.96438091e-01 -8.43036570e-02 -2.00623495e-03 3.78943079e+01] [ 8.43102217e-02 9.96433583e-01 3.44992550e-03 -5.42117008e-01] [ 1.70823855e-03 -3.60678330e-03 9.99992036e-01 -1.64979262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.045898227 meters Centerline goodness [0,1] 0.5798622084571139 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.54, Z:-0.16 [[ 9.96438091e-01 -8.43036570e-02 -2.00623495e-03 3.78943079e+01] [ 8.43102217e-02 9.96433583e-01 3.44992550e-03 -5.42117008e-01] [ 1.70823855e-03 -3.60678330e-03 9.99992036e-01 -1.64979262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.075898227 meters Centerline goodness [0,1] 0.6786376126270048 Centerline is valid? [False, False] Translation: X:37.89, Y:-0.54, Z:-0.17 [[ 9.96420475e-01 -8.45118349e-02 -1.99661193e-03 3.78949659e+01] [ 8.45186253e-02 9.96415380e-01 3.60439917e-03 -5.43465972e-01] [ 1.68484045e-03 -3.76024803e-03 9.99991511e-01 -1.66067501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.105898227 meters Centerline goodness [0,1] 0.600953661303197 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.54, Z:-0.17 [[ 9.96413744e-01 -8.45894089e-02 -2.06927750e-03 3.78959287e+01] [ 8.45968790e-02 9.96407871e-01 3.83712965e-03 -5.44833937e-01] [ 1.73726386e-03 -3.99842314e-03 9.99990497e-01 -1.67274596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13589822699998 meters Centerline goodness [0,1] 0.6064640392837488 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.55, Z:-0.17 [[ 9.96413303e-01 -8.45930061e-02 -2.13391764e-03 3.78967479e+01] [ 8.46011241e-02 9.96406650e-01 4.05433675e-03 -5.46017757e-01] [ 1.78328119e-03 -4.22032690e-03 9.99989504e-01 -1.68224432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16589822699999 meters Centerline goodness [0,1] 0.5884112704744122 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.55, Z:-0.17 [[ 9.96412266e-01 -8.46023266e-02 -2.24553654e-03 3.78976124e+01] [ 8.46112123e-02 9.96405143e-01 4.21123926e-03 -5.46846905e-01] [ 1.88118352e-03 -4.38612802e-03 9.99988611e-01 -1.69039721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19589822699999 meters Centerline goodness [0,1] 0.5185351558322103 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.55, Z:-0.17 [[ 9.96413144e-01 -8.45884271e-02 -2.37572072e-03 3.78983462e+01] [ 8.45979200e-02 9.96406197e-01 4.22886951e-03 -5.46871815e-01] [ 2.00946942e-03 -4.41468219e-03 9.99988236e-01 -1.69571900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22589822699999 meters Centerline goodness [0,1] 0.5456550787961059 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.55, Z:-0.17 [[ 9.96411828e-01 -8.46015051e-02 -2.46050868e-03 3.78982415e+01] [ 8.46107292e-02 9.96406358e-01 3.92347723e-03 -5.45139746e-01] [ 2.11973442e-03 -4.11758455e-03 9.99989276e-01 -1.69034860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25589822699999 meters Centerline goodness [0,1] 0.6145529614574243 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.54, Z:-0.17 [[ 9.96401068e-01 -8.47275764e-02 -2.47978369e-03 3.78978126e+01] [ 8.47355239e-02 9.96398022e-01 3.29747419e-03 -5.41854881e-01] [ 2.19146456e-03 -3.49573257e-03 9.99991489e-01 -1.68321879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28589822699999 meters Centerline goodness [0,1] 0.6544359371354642 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.53, Z:-0.17 [[ 9.97031994e-01 -7.69146684e-02 3.36706627e-03 3.78982291e+01] [ 7.69364047e-02 9.97012206e-01 -6.88842878e-03 -5.34746924e-01] [-2.82718495e-03 7.12703385e-03 9.99970606e-01 -1.70537729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31589822699999 meters Centerline goodness [0,1] 0.6529013354848299 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.53, Z:-0.17 [[ 9.97341824e-01 -7.27936698e-02 3.21996226e-03 3.78979629e+01] [ 7.28023841e-02 9.97342792e-01 -2.67722887e-03 -5.34529348e-01] [-3.01652083e-03 2.90453325e-03 9.99991232e-01 -1.71027526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34589822699999 meters Centerline goodness [0,1] 0.7364844715204704 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.54, Z:-0.17 [[ 9.97636617e-01 -6.86436836e-02 3.03726644e-03 3.78980624e+01] [ 6.86387771e-02 9.97640144e-01 1.69134830e-03 -5.35180379e-01] [-3.14619931e-03 -1.47887674e-03 9.99993957e-01 -1.71862437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.375898227 meters Centerline goodness [0,1] 0.6304955951734792 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.53, Z:-0.17 [[ 9.97743414e-01 -6.70040842e-02 4.30504094e-03 3.79225638e+01] [ 6.70373988e-02 9.97717369e-01 -8.12640929e-03 -5.26178274e-01] [-3.75071151e-03 8.39667009e-03 9.99957713e-01 -1.71988494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.405898227 meters Centerline goodness [0,1] 0.776437204414083 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.53, Z:-0.17 [[ 9.98002505e-01 -6.30244451e-02 4.34974910e-03 3.79218566e+01] [ 6.30412278e-02 9.98003554e-01 -3.83540590e-03 -5.26836001e-01] [-4.09934074e-03 4.10195821e-03 9.99983185e-01 -1.72458813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.435898227 meters Centerline goodness [0,1] 0.7331521739130435 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.53, Z:-0.17 [[ 9.98238811e-01 -5.91780927e-02 4.15080040e-03 3.79219563e+01] [ 5.91766082e-02 9.98247414e-01 4.79674127e-04 -5.27886915e-01] [-4.17191196e-03 -2.33199042e-04 9.99991270e-01 -1.72951076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.465898227 meters Centerline goodness [0,1] 0.7284811597878231 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.53, Z:-0.17 [[ 9.98225893e-01 -5.94024718e-02 4.05120411e-03 3.79221567e+01] [ 5.94028058e-02 9.98234093e-01 3.79379557e-05 -5.25867790e-01] [-4.04630367e-03 2.02782241e-04 9.99991793e-01 -1.72782059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.495898227 meters Centerline goodness [0,1] 0.6532538605124725 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.52, Z:-0.17 [[ 9.98193634e-01 -5.99123628e-02 4.46970216e-03 3.79205006e+01] [ 5.99149262e-02 9.98203389e-01 -4.41708612e-04 -5.24416510e-01] [-4.43520804e-03 7.08712599e-04 9.99989913e-01 -1.72171069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52589822699998 meters Centerline goodness [0,1] 0.655688496173847 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.53, Z:-0.17 [[ 9.98382869e-01 -5.66260577e-02 5.01356120e-03 3.79182034e+01] [ 5.66071649e-02 9.98389170e-01 3.83339979e-03 -5.27403871e-01] [-5.22255552e-03 -3.54339720e-03 9.99980084e-01 -1.72257941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55589822699999 meters Centerline goodness [0,1] 0.4689616134510157 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.53, Z:-0.17 [[ 9.98364898e-01 -5.69296783e-02 5.15195430e-03 3.79176151e+01] [ 5.69116799e-02 9.98372815e-01 3.57528193e-03 -5.26687419e-01] [-5.34711077e-03 -3.27622960e-03 9.99980337e-01 -1.71990560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58589822699999 meters Centerline goodness [0,1] 0.5499347607537807 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.17 [[ 9.98392053e-01 -5.64631966e-02 5.02150478e-03 3.78528394e+01] [ 5.65091685e-02 9.98356500e-01 -9.54006667e-03 -5.18687967e-01] [-4.47458927e-03 9.80848781e-03 9.99941884e-01 -1.68629931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61589822699999 meters Centerline goodness [0,1] 0.4207925952177448 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.52, Z:-0.17 [[ 9.98362367e-01 -5.70835988e-02 3.74786079e-03 3.78977136e+01] [ 5.71067811e-02 9.98347557e-01 -6.40091283e-03 -5.19318514e-01] [-3.37628053e-03 6.60445875e-03 9.99972491e-01 -1.70980900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64589822699999 meters Centerline goodness [0,1] 0.4145732893512645 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.52, Z:-0.17 [[ 9.98359988e-01 -5.71328935e-02 3.62864647e-03 3.78984416e+01] [ 5.71556004e-02 9.98344143e-01 -6.49690543e-03 -5.18787590e-01] [-3.25145095e-03 6.69364790e-03 9.99972311e-01 -1.71560532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67589822699999 meters Centerline goodness [0,1] 0.4901238772295773 Centerline is valid? [False, False] Translation: X:37.90, Y:-0.52, Z:-0.17 [[ 9.98578883e-01 -5.31620101e-02 3.74377692e-03 3.78979165e+01] [ 5.31690550e-02 9.98583889e-01 -1.80800712e-03 -5.21818266e-01] [-3.64235802e-03 2.00449081e-03 9.99991358e-01 -1.72457383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70589822699999 meters Centerline goodness [0,1] 0.41510895275574067 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.52, Z:-0.17 [[ 9.98580071e-01 -5.31395354e-02 3.74583708e-03 3.79164810e+01] [ 5.31814179e-02 9.98511010e-01 -1.21449074e-02 -5.18144724e-01] [-3.09488483e-03 1.23268714e-02 9.99919232e-01 -1.67811302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73589822699999 meters Centerline goodness [0,1] 0.41534960171956004 Centerline is valid? [False, False] Translation: X:37.91, Y:-0.52, Z:-0.17 [[ 9.98767957e-01 -4.94455690e-02 4.20747799e-03 3.79144961e+01] [ 4.94765418e-02 9.98746320e-01 -7.60658403e-03 -5.21169055e-01] [-3.82609128e-03 7.80538386e-03 9.99962218e-01 -1.68039497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.765898227 meters Centerline goodness [0,1] 0.39909392172490454 Centerline is valid? [False, False] Translation: X:37.91, Y:-0.53, Z:-0.17 [[ 9.98959339e-01 -4.54142112e-02 4.21775107e-03 3.79144342e+01] [ 4.54259444e-02 9.98963981e-01 -2.72897837e-03 -5.25026591e-01] [-4.08944700e-03 2.91773375e-03 9.99987382e-01 -1.69101146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.795898227 meters Centerline goodness [0,1] 0.4880721571272022 Centerline is valid? [False, False] Translation: X:37.91, Y:-0.53, Z:-0.17 [[ 9.99134901e-01 -4.13741223e-02 4.19909371e-03 3.79147287e+01] [ 4.13663329e-02 9.99142192e-01 1.92525821e-03 -5.27640127e-01] [-4.27514756e-03 -1.74989156e-03 9.99989330e-01 -1.70500747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.825898227 meters Centerline goodness [0,1] 0.49996856861471406 Centerline is valid? [False, False] Translation: X:37.92, Y:-0.53, Z:-0.17 [[ 9.99133124e-01 -4.14292146e-02 4.07681224e-03 3.79152243e+01] [ 4.14227593e-02 9.99140338e-01 1.65534122e-03 -5.26071850e-01] [-4.14188704e-03 -1.48503343e-03 9.99990320e-01 -1.70639763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.855898227 meters Centerline goodness [0,1] 0.5116853016288603 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.17 [[ 9.99302802e-01 -3.71400743e-02 3.81118277e-03 3.78501761e+01] [ 3.71679454e-02 9.99280715e-01 -7.52311188e-03 -5.19613991e-01] [-3.52903251e-03 7.65952061e-03 9.99964438e-01 -1.67569772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88589822699998 meters Centerline goodness [0,1] 0.5018516559094276 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.17 [[ 9.99302464e-01 -3.71684934e-02 3.61774191e-03 3.78507095e+01] [ 3.71959388e-02 9.99277235e-01 -7.84025438e-03 -5.17777415e-01] [-3.32371669e-03 7.96935083e-03 9.99962720e-01 -1.67424363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91589822699999 meters Centerline goodness [0,1] 0.48340703305959154 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.17 [[ 9.99453306e-01 -3.28768506e-02 3.49301011e-03 3.78512729e+01] [ 3.28884447e-02 9.99453530e-01 -3.31530662e-03 -5.18903437e-01] [-3.38210444e-03 3.42837383e-03 9.99988404e-01 -1.68539997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94589822699999 meters Centerline goodness [0,1] 0.46876445117080756 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.17 [[ 9.99583143e-01 -2.86522471e-02 3.54810070e-03 3.78509846e+01] [ 2.86474741e-02 9.99588612e-01 1.38885155e-03 -5.21376763e-01] [-3.58643477e-03 -1.28662848e-03 9.99992741e-01 -1.69058688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97589822699999 meters Centerline goodness [0,1] 0.6068974293713414 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.17 [[ 9.99580357e-01 -2.87552901e-02 3.49915040e-03 3.78508497e+01] [ 2.87519555e-02 9.99586077e-01 9.99581899e-04 -5.19399621e-01] [-3.52644529e-03 -8.98555015e-04 9.99993378e-01 -1.68579805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00589822699999 meters Centerline goodness [0,1] 0.806642713546345 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.17 [[ 9.99578916e-01 -2.88159471e-02 3.41066583e-03 3.78509043e+01] [ 2.88134848e-02 9.99584510e-01 7.68891154e-04 -5.18194461e-01] [-3.43140506e-03 -6.70294217e-04 9.99993888e-01 -1.68213277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03589822699999 meters Centerline goodness [0,1] 0.7164306614553299 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.17 [[ 9.99583839e-01 -2.86644409e-02 3.24010200e-03 3.78516852e+01] [ 2.86607821e-02 9.99588511e-01 1.17006994e-03 -5.20067022e-01] [-3.27230813e-03 -1.07671915e-03 9.99994066e-01 -1.68644201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06589822699999 meters Centerline goodness [0,1] 0.46210826210826206 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.17 [[ 9.99586812e-01 -2.85719568e-02 3.13831182e-03 3.78521258e+01] [ 2.85674282e-02 9.99590774e-01 1.47848370e-03 -5.21555852e-01] [-3.17927071e-03 -1.38821931e-03 9.99993983e-01 -1.68847807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09589822699999 meters Centerline goodness [0,1] 0.42549364034623605 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.17 [[ 9.99587781e-01 -2.85365465e-02 3.15165035e-03 3.78520043e+01] [ 2.85314299e-02 9.99591523e-01 1.65668623e-03 -5.22497865e-01] [-3.19763908e-03 -1.56608222e-03 9.99993661e-01 -1.68700549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.125898227 meters Centerline goodness [0,1] 0.6004559335885414 Centerline is valid? [False, False] Translation: X:37.83, Y:-0.52, Z:-0.16 [[ 9.99578736e-01 -2.90059048e-02 -1.00448851e-03 3.78286108e+01] [ 2.89939865e-02 9.99526103e-01 -1.03401403e-02 -5.16622887e-01] [ 1.30393761e-03 1.03066602e-02 9.99946035e-01 -1.62202137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.155898227 meters Centerline goodness [0,1] 0.5471443055086178 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.16 [[ 9.99609187e-01 -2.79431838e-02 -8.07306570e-04 3.78496588e+01] [ 2.79223460e-02 9.99422795e-01 -1.93499374e-02 -5.15153726e-01] [ 1.34753945e-03 1.93198333e-02 9.99812447e-01 -1.60052713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.185898227 meters Centerline goodness [0,1] 0.5527310347739797 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.16 [[ 9.99799894e-01 -1.99941464e-02 -6.37017921e-04 3.78493811e+01] [ 1.99866897e-02 9.99749130e-01 -1.01098932e-02 -5.20808174e-01] [ 8.38996797e-04 1.00951383e-02 9.99948691e-01 -1.61787205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.215898227 meters Centerline goodness [0,1] 0.4746043391678021 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.16 [[ 9.99877387e-01 -1.56463635e-02 -6.34789798e-04 3.78496101e+01] [ 1.56427027e-02 9.99863000e-01 -5.41174478e-03 -5.22804102e-01] [ 7.19376958e-04 5.40115140e-03 9.99985155e-01 -1.62641181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.245898227 meters Centerline goodness [0,1] 0.714651216881991 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.16 [[ 9.99934185e-01 -1.14581474e-02 -5.80357111e-04 3.78491730e+01] [ 1.14572895e-02 9.99933296e-01 -1.46058002e-03 -5.21015637e-01] [ 5.97053940e-04 1.45383457e-03 9.99998765e-01 -1.62502650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27589822699998 meters Centerline goodness [0,1] 0.5897484515231955 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.16 [[ 9.99973913e-01 -7.21100827e-03 -4.18075673e-04 3.78485331e+01] [ 7.21222408e-03 9.99969541e-01 2.98341772e-03 -5.21994749e-01] [ 3.96549489e-04 -2.98635514e-03 9.99995462e-01 -1.62548202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30589822699999 meters Centerline goodness [0,1] 0.8340658411866627 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.52, Z:-0.16 [[ 9.99973038e-01 -7.32343372e-03 -5.38305780e-04 3.78485476e+01] [ 7.32462271e-03 9.99970663e-01 2.24099816e-03 -5.17916127e-01] [ 5.21878187e-04 -2.24488063e-03 9.99997344e-01 -1.61890570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33589822699999 meters Centerline goodness [0,1] 0.8640614773998776 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.51, Z:-0.16 [[ 9.99993985e-01 -3.44042908e-03 -4.39213688e-04 3.78486195e+01] [ 3.44286137e-03 9.99978040e-01 5.66270320e-03 -5.13734644e-01] [ 4.19721914e-04 -5.66418130e-03 9.99983870e-01 -1.62703277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36589822699999 meters Centerline goodness [0,1] 0.8704558935683416 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.51, Z:-0.16 [[ 9.99992823e-01 -3.76013476e-03 -4.63224360e-04 3.78486652e+01] [ 3.76237790e-03 9.99980717e-01 4.94069407e-03 -5.10378473e-01] [ 4.44637752e-04 -4.94240144e-03 9.99987687e-01 -1.62631263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39589822699999 meters Centerline goodness [0,1] 0.8539697941275735 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.51, Z:-0.16 [[ 9.99991496e-01 -4.09148263e-03 -5.17520065e-04 3.78487811e+01] [ 4.09367162e-03 9.99982368e-01 4.30191001e-03 -5.07461950e-01] [ 4.99909749e-04 -4.30399199e-03 9.99990613e-01 -1.62537623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42589822699999 meters Centerline goodness [0,1] 0.7314620423244877 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.51, Z:-0.16 [[ 9.99990446e-01 -4.34074513e-03 -5.15678386e-04 3.78486764e+01] [ 4.34271038e-03 9.99983070e-01 3.87305149e-03 -5.05555174e-01] [ 4.98857726e-04 -3.87525393e-03 9.99992367e-01 -1.62365553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45589822699999 meters Centerline goodness [0,1] 0.46181795270298653 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99988713e-01 -4.73478409e-03 -3.94702990e-04 3.78482256e+01] [ 4.73606929e-03 9.99983269e-01 3.32138113e-03 -5.03314826e-01] [ 3.78970363e-04 -3.32321298e-03 9.99994406e-01 -1.62262530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48589822699999 meters Centerline goodness [0,1] 0.6070838102505405 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99957593e-01 -9.18612177e-03 -6.53033274e-04 3.78489124e+01] [ 9.18486706e-03 9.99956015e-01 -1.89906923e-03 -4.98312539e-01] [ 6.70449631e-04 1.89299068e-03 9.99997984e-01 -1.61788429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.515898227 meters Centerline goodness [0,1] 0.7566969038797325 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99985576e-01 -5.35186740e-03 -4.53605808e-04 3.78490355e+01] [ 5.35300920e-03 9.99982410e-01 2.55448331e-03 -5.00445017e-01] [ 4.39926573e-04 -2.55687462e-03 9.99996634e-01 -1.63288798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.545898227 meters Centerline goodness [0,1] 0.5268122197191402 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99983533e-01 -5.67294835e-03 -8.66695406e-04 3.78508683e+01] [ 5.67463601e-03 9.99981984e-01 1.95733875e-03 -4.97604121e-01] [ 8.55575909e-04 -1.96222469e-03 9.99997709e-01 -1.64142380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.575898227 meters Centerline goodness [0,1] 0.5322931481636409 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99983068e-01 -5.73632621e-03 -9.78772600e-04 3.78512582e+01] [ 5.73806822e-03 9.99981942e-01 1.78635730e-03 -4.96720396e-01] [ 9.68507796e-04 -1.79194332e-03 9.99997925e-01 -1.64143320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.605898227 meters Centerline goodness [0,1] 0.5682313039108953 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99982667e-01 -5.81717731e-03 -9.09328573e-04 3.78508481e+01] [ 5.81857085e-03 9.99981890e-01 1.53744164e-03 -4.95427398e-01] [ 9.00368534e-04 -1.54270598e-03 9.99998405e-01 -1.63810001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63589822699998 meters Centerline goodness [0,1] 0.7049490385625723 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.49, Z:-0.16 [[ 9.99981971e-01 -5.94842427e-03 -8.20572100e-04 3.78501702e+01] [ 5.94936570e-03 9.99981642e-01 1.14965466e-03 -4.93475728e-01] [ 8.13718402e-04 -1.15451581e-03 9.99999002e-01 -1.63135156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66589822699999 meters Centerline goodness [0,1] 0.8253260196785691 Centerline is valid? [False, False] Translation: X:37.81, Y:-0.48, Z:-0.16 [[ 9.99990959e-01 -4.08128039e-03 -1.19410168e-03 3.78075905e+01] [ 4.07955229e-03 9.99990633e-01 -1.44607846e-03 -4.84815768e-01] [ 1.19999235e-03 1.44119398e-03 9.99998241e-01 -1.62130120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69589822699999 meters Centerline goodness [0,1] 0.8051870748299319 Centerline is valid? [False, False] Translation: X:37.81, Y:-0.48, Z:-0.16 [[ 9.99990514e-01 -4.14550307e-03 -1.33642521e-03 3.78082267e+01] [ 4.14316524e-03 9.99989890e-01 -1.74736764e-03 -4.83130518e-01] [ 1.34365542e-03 1.74181404e-03 9.99997580e-01 -1.62425916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72589822699999 meters Centerline goodness [0,1] 0.5482721989626944 Centerline is valid? [False, False] Translation: X:37.87, Y:-0.49, Z:-0.16 [[ 9.99985590e-01 -3.08856438e-03 -4.39087452e-03 3.78673867e+01] [ 3.06393011e-03 9.99979592e-01 -5.60603273e-03 -4.85016376e-01] [ 4.40809951e-03 5.59249861e-03 9.99974646e-01 -1.57701001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75589822699999 meters Centerline goodness [0,1] 0.7472092185812027 Centerline is valid? [False, False] Translation: X:37.83, Y:-0.48, Z:-0.16 [[ 9.99981812e-01 -1.78012420e-03 -5.76251752e-03 3.78267939e+01] [ 1.73592391e-03 9.99969107e-01 -7.66624590e-03 -4.80028810e-01] [ 5.77598637e-03 7.65610318e-03 9.99954010e-01 -1.58358297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78589822699999 meters Centerline goodness [0,1] 0.7055711826692976 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.48, Z:-0.16 [[ 9.99998771e-01 -1.35232131e-03 -7.93138903e-04 3.78487935e+01] [ 1.35525079e-03 9.99992219e-01 3.70469681e-03 -4.84150339e-01] [ 7.88122791e-04 -3.70576716e-03 9.99992823e-01 -1.64229890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81589822699999 meters Centerline goodness [0,1] 0.8183818551117129 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.48, Z:-0.16 [[ 9.99998665e-01 -1.46531845e-03 -7.23351356e-04 3.78482262e+01] [ 1.46783698e-03 9.99992820e-01 3.49359349e-03 -4.83335008e-01] [ 7.18226936e-04 -3.49465058e-03 9.99993636e-01 -1.63644589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84589822699999 meters Centerline goodness [0,1] 0.7880053738612032 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.48, Z:-0.16 [[ 9.99983842e-01 -5.57291360e-03 -1.12204490e-03 3.78490957e+01] [ 5.57144755e-03 9.99983627e-01 -1.30549949e-03 -4.79779930e-01] [ 1.12930197e-03 1.29922699e-03 9.99998518e-01 -1.62808625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.875898227 meters Centerline goodness [0,1] 0.6603742029894428 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.48, Z:-0.16 [[ 9.99983861e-01 -5.58118026e-03 -1.06211449e-03 3.78489697e+01] [ 5.58034352e-03 9.99984118e-01 -7.89148667e-04 -4.82763652e-01] [ 1.06650200e-03 7.83208968e-04 9.99999125e-01 -1.62994218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.905898227 meters Centerline goodness [0,1] 0.6693630142772662 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.48, Z:-0.16 [[ 9.99984068e-01 -5.57555991e-03 -8.81675745e-04 3.78483019e+01] [ 5.57517616e-03 9.99984363e-01 -4.37113501e-04 -4.84887495e-01] [ 8.84099111e-04 4.32191039e-04 9.99999516e-01 -1.62830142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.935898227 meters Centerline goodness [0,1] 0.4948677746419985 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.48, Z:-0.16 [[ 9.99951422e-01 -9.81202788e-03 -9.37224485e-04 3.78479645e+01] [ 9.80732707e-03 9.99939925e-01 -4.89507680e-03 -4.83801260e-01] [ 9.85198811e-04 4.88564734e-03 9.99987580e-01 -1.61733855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.965898227 meters Centerline goodness [0,1] 0.4948677746419985 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.49, Z:-0.16 [[ 9.99981929e-01 -5.98976462e-03 -5.14395721e-04 3.78468278e+01] [ 5.98955964e-03 9.99981983e-01 -3.99114060e-04 -4.86808341e-01] [ 5.16777052e-04 3.96025844e-04 9.99999788e-01 -1.62323148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.995898227 meters Centerline goodness [0,1] 0.48699297767529615 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.49, Z:-0.16 [[ 9.99982603e-01 -5.88950745e-03 -3.29090648e-04 3.78462354e+01] [ 5.88959860e-03 9.99982618e-01 2.76681865e-04 -4.90530409e-01] [ 3.27455407e-04 -2.78615263e-04 9.99999908e-01 -1.62397143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02589822699998 meters Centerline goodness [0,1] 0.4669593393958399 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99983063e-01 -5.81584603e-03 -2.23687145e-04 3.78464526e+01] [ 5.81617290e-03 9.99981977e-01 1.48946984e-03 -4.97465493e-01] [ 2.15020586e-04 -1.49074562e-03 9.99998866e-01 -1.63461731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05589822699999 meters Centerline goodness [0,1] 0.4388657813060828 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99950176e-01 -9.95979455e-03 -6.69756894e-04 3.78477012e+01] [ 9.95767827e-03 9.99945640e-01 -3.09216256e-03 -4.95456079e-01] [ 7.00517790e-04 3.08533927e-03 9.99994995e-01 -1.62924306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08589822699999 meters Centerline goodness [0,1] 0.44241459792064497 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99951995e-01 -9.76712121e-03 -7.81444324e-04 3.78480887e+01] [ 9.76496610e-03 9.99948634e-01 -2.71571079e-03 -4.97088524e-01] [ 8.07928861e-04 2.70794965e-03 9.99996007e-01 -1.62991571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11589822699999 meters Centerline goodness [0,1] 0.4613829271888624 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99954696e-01 -9.49541588e-03 -6.66335410e-04 3.78469958e+01] [ 9.49389115e-03 9.99952389e-01 -2.25526422e-03 -4.99224937e-01] [ 6.87718357e-04 2.24883593e-03 9.99997235e-01 -1.61809933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14589822699999 meters Centerline goodness [0,1] 0.7165010025169575 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99955554e-01 -9.41081698e-03 -5.70748505e-04 3.78462892e+01] [ 9.40955158e-03 9.99953351e-01 -2.18065591e-03 -4.99576174e-01] [ 5.91243634e-04 2.17518850e-03 9.99997459e-01 -1.61096551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17589822699999 meters Centerline goodness [0,1] 0.5901256392449018 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99956076e-01 -9.34322763e-03 -7.41947094e-04 3.78465925e+01] [ 9.34151284e-03 9.99953763e-01 -2.28197029e-03 -4.98804645e-01] [ 7.63233757e-04 2.27493915e-03 9.99997121e-01 -1.60723889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20589822699999 meters Centerline goodness [0,1] 0.6219525110673361 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.16 [[ 9.99956804e-01 -9.23678599e-03 -1.03524880e-03 3.78475131e+01] [ 9.23424858e-03 9.99954412e-01 -2.42957060e-03 -4.97539167e-01] [ 1.05764303e-03 2.41990590e-03 9.99996513e-01 -1.60725256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23589822699999 meters Centerline goodness [0,1] 0.5693685774680313 Centerline is valid? [False, False] Translation: X:37.85, Y:-0.50, Z:-0.17 [[ 9.99975050e-01 -6.76219225e-03 -2.04251921e-03 3.78542874e+01] [ 6.76215520e-03 9.99977136e-01 -2.50447944e-05 -4.99427108e-01] [ 2.04264187e-03 1.12323377e-05 9.99997914e-01 -1.65091328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.265898227 meters Centerline goodness [0,1] 0.7083262675936917 Centerline is valid? [False, False] Translation: X:37.83, Y:-0.50, Z:-0.16 [[ 9.99969126e-01 -4.06885057e-03 -6.72245410e-03 3.78331355e+01] [ 4.01047368e-03 9.99954332e-01 -8.67464462e-03 -4.96822378e-01] [ 6.75744294e-03 8.64741658e-03 9.99939778e-01 -1.60254179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.295898227 meters Centerline goodness [0,1] 0.8212177432956653 Centerline is valid? [False, False] Translation: X:37.83, Y:-0.50, Z:-0.16 [[ 9.99976962e-01 5.21273839e-04 -6.76783767e-03 3.78338321e+01] [-5.43578914e-04 9.99994426e-01 -3.29432515e-03 -5.02350427e-01] [ 6.76608270e-03 3.29792811e-03 9.99971671e-01 -1.61355318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.325898227 meters Centerline goodness [0,1] 0.7514821613182269 Centerline is valid? [False, False] Translation: X:37.83, Y:-0.50, Z:-0.16 [[ 9.99975368e-01 7.07366878e-04 -6.98309516e-03 3.78346371e+01] [-7.29163998e-04 9.99994869e-01 -3.11936008e-03 -5.02839129e-01] [ 6.98085280e-03 3.12437507e-03 9.99970753e-01 -1.61556899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.355898227 meters Centerline goodness [0,1] 0.7692581428451812 Centerline is valid? [False, False] Translation: X:37.84, Y:-0.50, Z:-0.17 [[ 9.99965115e-01 2.80238769e-03 -7.86857706e-03 3.78407685e+01] [-2.81051144e-03 9.99995529e-01 -1.02156211e-03 -5.04459489e-01] [ 7.86567906e-03 1.04364120e-03 9.99968520e-01 -1.65380470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38589822699998 meters Centerline goodness [0,1] 0.935907795687492 Centerline is valid? [False, False] Translation: X:37.80, Y:-0.50, Z:-0.16 [[ 9.99955447e-01 3.95029578e-03 -8.57319877e-03 3.77986411e+01] [-3.98328067e-03 9.99984718e-01 -3.83378365e-03 -4.98835388e-01] [ 8.55792317e-03 3.86776230e-03 9.99955900e-01 -1.64911149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41589822699999 meters Centerline goodness [0,1] 0.9812223700588008 Centerline is valid? [False, True] Translation: X:37.79, Y:-0.50, Z:-0.16 [[ 9.99945852e-01 6.90773316e-03 -7.78309507e-03 3.77942093e+01] [-6.91358764e-03 9.99975838e-01 -7.25551122e-04 -4.98545319e-01] [ 7.77789509e-03 7.79320944e-04 9.99969448e-01 -1.62663929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44589822699999 meters Centerline goodness [0,1] 0.9238991839510371 Centerline is valid? [True, False] Translation: X:37.83, Y:-0.50, Z:-0.16 [[ 9.99948418e-01 8.79377787e-03 -5.08231106e-03 3.78306661e+01] [-8.78085920e-03 9.99958174e-01 2.55863691e-03 -4.97676281e-01] [ 5.10459858e-03 -2.51387787e-03 9.99983812e-01 -1.59226584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47589822699999 meters Centerline goodness [0,1] 0.9735867323315234 Centerline is valid? [False, True] Translation: X:37.83, Y:-0.50, Z:-0.16 [[ 9.99903026e-01 1.30502314e-02 -4.86101246e-03 3.78303125e+01] [-1.30156337e-02 9.99890211e-01 7.08228306e-03 -4.99134248e-01] [ 4.95290421e-03 -7.01832711e-03 9.99963105e-01 -1.59650509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50589822699999 meters Centerline goodness [0,1] 0.9918796992481203 Centerline is valid? [True, True] Translation: X:37.86, Y:-0.49, Z:-0.16 [[ 9.99879707e-01 1.48154816e-02 -4.59049486e-03 3.78607640e+01] [-1.48140054e-02 9.99890203e-01 3.55410012e-04 -4.89891707e-01] [ 4.59525641e-03 -2.87363643e-04 9.99989400e-01 -1.57262220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53589822699999 meters Centerline goodness [0,1] 0.9827871635962305 Centerline is valid? [True, True] Translation: X:37.89, Y:-0.49, Z:-0.16 [[ 9.99868367e-01 1.57738655e-02 -3.79919093e-03 3.78891328e+01] [-1.57728618e-02 9.99875557e-01 2.93990974e-04 -4.91797255e-01] [ 3.80335553e-03 -2.34028161e-04 9.99992740e-01 -1.57099592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56589822699999 meters Centerline goodness [0,1] 0.97399587506113 Centerline is valid? [True, True] Translation: X:37.92, Y:-0.49, Z:-0.16 [[ 9.99874761e-01 1.51265603e-02 -4.65280939e-03 3.79164729e+01] [-1.51250494e-02 9.99885545e-01 3.59743316e-04 -4.91617977e-01] [ 4.65771853e-03 -2.89324291e-04 9.99989111e-01 -1.57863902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59589822699999 meters Centerline goodness [0,1] 0.9606171681868554 Centerline is valid? [True, True] Translation: X:37.95, Y:-0.49, Z:-0.16 [[ 9.99883615e-01 1.42418599e-02 -5.47044603e-03 3.79457538e+01] [-1.42397593e-02 9.99898520e-01 4.22744853e-04 -4.92100536e-01] [ 5.47591156e-03 -3.44797817e-04 9.99984948e-01 -1.60543296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.625898227 meters Centerline goodness [0,1] 0.9521315750730855 Centerline is valid? [True, True] Translation: X:37.97, Y:-0.49, Z:-0.16 [[ 9.99901407e-01 1.29546066e-02 -5.41801367e-03 3.79740158e+01] [-1.29525286e-02 9.99916025e-01 4.18463915e-04 -4.93534218e-01] [ 5.42297973e-03 -3.48245680e-04 9.99985235e-01 -1.60416112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.655898227 meters Centerline goodness [0,1] 0.9377645795160169 Centerline is valid? [True, False] Translation: X:37.97, Y:-0.49, Z:-0.16 [[ 9.99948749e-01 8.36554465e-03 -5.70236080e-03 3.79742033e+01] [-8.39484835e-03 9.99951581e-01 -5.13445463e-03 -4.86909739e-01] [ 5.65913219e-03 5.18206194e-03 9.99970560e-01 -1.59264455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.685898227 meters Centerline goodness [0,1] 0.9015602176260135 Centerline is valid? [False, False] Translation: X:37.97, Y:-0.48, Z:-0.16 [[ 9.99955533e-01 7.59251064e-03 -5.59335467e-03 3.79730081e+01] [-7.62875966e-03 9.99949852e-01 -6.48815353e-03 -4.81156414e-01] [ 5.54381279e-03 6.53053538e-03 9.99963308e-01 -1.57799943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.715898227 meters Centerline goodness [0,1] 0.8793466023748328 Centerline is valid? [False, False] Translation: X:37.97, Y:-0.48, Z:-0.16 [[ 9.99958600e-01 7.23171468e-03 -5.52274989e-03 3.79724300e+01] [-7.27116847e-03 9.99947949e-01 -7.15751698e-03 -4.78243958e-01] [ 5.47070130e-03 7.19737751e-03 9.99959134e-01 -1.57121019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.745898227 meters Centerline goodness [0,1] 0.865447975342757 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.48, Z:-0.17 [[ 9.99996365e-01 2.69242629e-03 -1.40984459e-04 3.79782948e+01] [-2.69160013e-03 9.99980896e-01 5.56449301e-03 -4.76532202e-01] [ 1.55963752e-04 -5.56409331e-03 9.99984508e-01 -1.65180641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77589822699998 meters Centerline goodness [0,1] 0.9250844594594595 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.47, Z:-0.17 [[ 9.99997061e-01 2.41549192e-03 -2.10474995e-04 3.79787630e+01] [-2.41439874e-03 9.99984345e-01 5.04790002e-03 -4.74227566e-01] [ 2.22664862e-04 -5.04737701e-03 9.99987237e-01 -1.65583768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80589822699999 meters Centerline goodness [0,1] 0.8182411108773406 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.47, Z:-0.17 [[ 9.99997608e-01 2.15781843e-03 -3.58298118e-04 3.79793393e+01] [-2.15617436e-03 9.99987427e-01 4.52725230e-03 -4.71767715e-01] [ 3.68062602e-04 -4.52646891e-03 9.99989688e-01 -1.65719655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83589822699999 meters Centerline goodness [0,1] 0.8647741277463772 Centerline is valid? [False, False] Translation: X:37.94, Y:-0.46, Z:-0.16 [[ 9.99998009e-01 1.04479421e-03 -1.70027338e-03 3.79397586e+01] [-1.04774576e-03 9.99997944e-01 -1.73596521e-03 -4.62535382e-01] [ 1.69845616e-03 1.73774321e-03 9.99997048e-01 -1.64847971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86589822699999 meters Centerline goodness [0,1] 0.7525505394364722 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.46, Z:-0.16 [[ 9.99999928e-01 2.16968970e-04 -3.11571872e-04 3.79794975e+01] [-2.16738052e-04 9.99999702e-01 7.40979843e-04 -4.63548802e-01] [ 3.11732549e-04 -7.40912260e-04 9.99999677e-01 -1.64154866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89589822699999 meters Centerline goodness [0,1] 0.9391881887598621 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.46, Z:-0.16 [[ 9.99999937e-01 8.98098464e-05 -3.43325748e-04 3.79795341e+01] [-8.96081395e-05 9.99999823e-01 5.87478888e-04 -4.62970083e-01] [ 3.43378448e-04 -5.87448086e-04 9.99999768e-01 -1.64049045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92589822699999 meters Centerline goodness [0,1] 0.9422773249114421 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.46, Z:-0.16 [[ 9.99999933e-01 8.66836172e-06 -3.67007492e-04 3.79798775e+01] [-8.45178480e-06 9.99999826e-01 5.90113241e-04 -4.63160916e-01] [ 3.67012544e-04 -5.90110100e-04 9.99999759e-01 -1.64504910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95589822699999 meters Centerline goodness [0,1] 0.6483416339938539 Centerline is valid? [False, False] Translation: X:37.99, Y:-0.46, Z:-0.17 [[ 9.99994412e-01 -3.13765549e-03 -1.15381199e-03 3.79853676e+01] [ 3.13455788e-03 9.99991505e-01 -2.67675559e-03 -4.62022850e-01] [ 1.16220092e-03 2.67312394e-03 9.99995752e-01 -1.68133779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98589822699999 meters Centerline goodness [0,1] 0.5967905405405405 Centerline is valid? [False, False] Translation: X:37.99, Y:-0.46, Z:-0.17 [[ 9.99994214e-01 -3.13492044e-03 -1.32048601e-03 3.79864973e+01] [ 3.13165864e-03 9.99992058e-01 -2.46501651e-03 -4.63090934e-01] [ 1.32820315e-03 2.46086694e-03 9.99996090e-01 -1.69134513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.015898227 meters Centerline goodness [0,1] 0.8028834891496476 Centerline is valid? [False, False] Translation: X:37.99, Y:-0.46, Z:-0.17 [[ 9.99993966e-01 -3.15199060e-03 -1.46031441e-03 3.79871889e+01] [ 3.14862810e-03 9.99992400e-01 -2.29919416e-03 -4.63997760e-01] [ 1.46755035e-03 2.29458230e-03 9.99996291e-01 -1.69566039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.045898227 meters Centerline goodness [0,1] 0.48995356690586744 Centerline is valid? [False, False] Translation: X:37.99, Y:-0.46, Z:-0.17 [[ 9.99993343e-01 -3.24024779e-03 -1.67797831e-03 3.79879147e+01] [ 3.23620832e-03 9.99991873e-01 -2.40448510e-03 -4.63490120e-01] [ 1.68575580e-03 2.39903880e-03 9.99995701e-01 -1.69603211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.075898227 meters Centerline goodness [0,1] 0.7829102746866955 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.46, Z:-0.17 [[ 9.99998882e-01 -1.12157001e-03 -9.88906057e-04 3.79832224e+01] [ 1.12129454e-03 9.99999332e-01 -2.79077250e-04 -4.64262534e-01] [ 9.89218402e-04 2.77968083e-04 9.99999472e-01 -1.66865301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.105898227 meters Centerline goodness [0,1] 0.5208472593582888 Centerline is valid? [False, False] Translation: X:38.03, Y:-0.47, Z:-0.17 [[ 9.99998922e-01 -1.31836894e-03 -6.46756190e-04 3.80259019e+01] [ 1.31980173e-03 9.99996665e-01 2.21995275e-03 -4.66556193e-01] [ 6.43827317e-04 -2.22080395e-03 9.99997327e-01 -1.67814433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13589822699998 meters Centerline goodness [0,1] 0.8544702092710711 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.46, Z:-0.17 [[ 9.99998859e-01 -2.44263449e-04 -1.49107185e-03 3.79838249e+01] [ 2.41454001e-04 9.99998196e-01 -1.88406932e-03 -4.58213832e-01] [ 1.49152937e-03 1.88370715e-03 9.99997113e-01 -1.65607241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16589822699999 meters Centerline goodness [0,1] 0.8711297777590173 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.46, Z:-0.16 [[ 9.99998307e-01 1.51950128e-03 1.03810207e-03 3.80209936e+01] [-1.52093015e-03 9.99997895e-01 1.37702906e-03 -4.55720848e-01] [-1.03600748e-03 -1.37860561e-03 9.99998513e-01 -1.63333710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19589822699999 meters Centerline goodness [0,1] 0.8904042553191489 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.46, Z:-0.16 [[ 9.99983262e-01 5.62320131e-03 1.36182861e-03 3.80200764e+01] [-5.63083983e-03 9.99968062e-01 5.67168968e-03 -4.56269353e-01] [-1.32989206e-03 -5.67926299e-03 9.99982989e-01 -1.63471865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22589822699999 meters Centerline goodness [0,1] 0.8735348159412025 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.45, Z:-0.16 [[ 9.99984582e-01 5.40230100e-03 1.28451017e-03 3.80199598e+01] [-5.40875588e-03 9.99972490e-01 5.07595317e-03 -4.53432590e-01] [-1.25705301e-03 -5.08282251e-03 9.99986292e-01 -1.62828934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25589822699999 meters Centerline goodness [0,1] 0.9040247678018576 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.45, Z:-0.16 [[ 9.99985776e-01 5.20133466e-03 1.18041371e-03 3.80200109e+01] [-5.20670883e-03 9.99975882e-01 4.59632222e-03 -4.51191486e-01] [-1.15647823e-03 -4.60240292e-03 9.99988740e-01 -1.62387628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28589822699999 meters Centerline goodness [0,1] 0.8747875594833446 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.44, Z:-0.16 [[ 9.99992611e-01 3.83007930e-03 3.28860212e-04 3.79780875e+01] [-3.82908426e-03 9.99988244e-01 -2.97482928e-03 -4.37357054e-01] [-3.40250178e-04 2.97354807e-03 9.99995521e-01 -1.58790064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31589822699999 meters Centerline goodness [0,1] 0.9057003153906399 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.43, Z:-0.16 [[ 9.99993651e-01 3.55532968e-03 2.39990725e-04 3.79780264e+01] [-3.55444193e-03 9.99987191e-01 -3.60334287e-03 -4.34365717e-01] [-2.52798722e-04 3.60246696e-03 9.99993479e-01 -1.58134670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34589822699999 meters Centerline goodness [0,1] 0.9024118660447918 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.43, Z:-0.16 [[ 9.99994283e-01 3.37826125e-03 1.47040271e-04 3.79781942e+01] [-3.37763750e-03 9.99986080e-01 -4.05355256e-03 -4.32132524e-01] [-1.60732184e-04 4.05303274e-03 9.99991774e-01 -1.57881645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.375898227 meters Centerline goodness [0,1] 0.952514025171769 Centerline is valid? [False, True] Translation: X:37.98, Y:-0.43, Z:-0.16 [[ 9.99994860e-01 3.20615019e-03 -6.98218139e-06 3.79786856e+01] [-3.20614924e-03 9.99984788e-01 -4.48834611e-03 -4.29852378e-01] [-7.40823656e-06 4.48834542e-03 9.99989927e-01 -1.57797257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.405898227 meters Centerline goodness [0,1] 0.9108312662977803 Centerline is valid? [True, False] Translation: X:37.98, Y:-0.43, Z:-0.16 [[ 9.99974536e-01 7.12478484e-03 4.05761749e-04 3.79779479e+01] [-7.12486558e-03 9.99974598e-01 1.97902983e-04 -4.33223596e-01] [-4.04341426e-04 -2.00788942e-04 9.99999898e-01 -1.58820011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.435898227 meters Centerline goodness [0,1] 0.8009050726162913 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.43, Z:-0.16 [[ 9.99975113e-01 7.04342161e-03 4.05082867e-04 3.79779308e+01] [-7.04350242e-03 9.99975175e-01 1.98402405e-04 -4.33478561e-01] [-4.03675379e-04 -2.01250670e-04 9.99999898e-01 -1.58808220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.465898227 meters Centerline goodness [0,1] 0.8675428864043697 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.43, Z:-0.16 [[ 9.99976539e-01 6.81190986e-03 7.21264739e-04 3.79766201e+01] [-6.81201562e-03 9.99976788e-01 1.44277537e-04 -4.33951299e-01] [-7.20265191e-04 -1.49187419e-04 9.99999729e-01 -1.58247105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49589822699998 meters Centerline goodness [0,1] 0.708219034656057 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.44, Z:-0.16 [[ 9.99989341e-01 4.45123130e-03 1.22644696e-03 3.80178056e+01] [-4.45258355e-03 9.99989480e-01 1.10206003e-03 -4.36598042e-01] [-1.22152854e-03 -1.10750914e-03 9.99998641e-01 -1.58077709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52589822699998 meters Centerline goodness [0,1] 0.8617374994671555 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.43, Z:-0.16 [[ 9.99991733e-01 3.93766243e-03 -1.01448350e-03 3.79796575e+01] [-3.94141241e-03 9.99985308e-01 -3.72134837e-03 -4.30772763e-01] [ 9.99815185e-04 3.72531610e-03 9.99992561e-01 -1.58140776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55589822699999 meters Centerline goodness [0,1] 0.7276611947876122 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.43, Z:-0.16 [[ 9.99990602e-01 4.15623378e-03 -1.23358953e-03 3.79809116e+01] [-4.16013079e-03 9.99986311e-01 -3.17351504e-03 -4.33290232e-01] [ 1.22038277e-03 3.17861711e-03 9.99994204e-01 -1.59155897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58589822699999 meters Centerline goodness [0,1] 0.6786705931846866 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.43, Z:-0.16 [[ 9.99990450e-01 4.20968061e-03 -1.17428382e-03 3.79805183e+01] [-4.21312290e-03 9.99986790e-01 -2.94448612e-03 -4.34587268e-01] [ 1.16187296e-03 2.94940540e-03 9.99994976e-01 -1.58889925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61589822699999 meters Centerline goodness [0,1] 0.7402017564180865 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.44, Z:-0.16 [[ 9.99990517e-01 4.22296785e-03 -1.06421754e-03 3.79799062e+01] [-4.22596278e-03 9.99987072e-01 -2.82785125e-03 -4.35386581e-01] [ 1.05226185e-03 2.83232177e-03 9.99995435e-01 -1.58448435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64589822699999 meters Centerline goodness [0,1] 0.8040484273909423 Centerline is valid? [False, False] Translation: X:37.98, Y:-0.44, Z:-0.16 [[ 9.99973652e-01 7.25704602e-03 -1.74789149e-04 3.79756827e+01] [-7.25689190e-03 9.99973293e-01 8.66814023e-04 -4.38228910e-01] [ 1.81074990e-04 -8.65522758e-04 9.99999609e-01 -1.56882173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67589822699999 meters Centerline goodness [0,1] 0.6600922238524418 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.44, Z:-0.16 [[ 9.99982213e-01 5.94410601e-03 -4.91144533e-04 3.80189033e+01] [-5.94224350e-03 9.99975461e-01 3.71038508e-03 -4.44897241e-01] [ 5.13187403e-04 -3.70740058e-03 9.99992996e-01 -1.58542063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70589822699999 meters Centerline goodness [0,1] 0.6920822351080653 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.45, Z:-0.16 [[ 9.99981618e-01 6.03655470e-03 -5.68641516e-04 3.80194255e+01] [-6.03427119e-03 9.99974050e-01 3.93531663e-03 -4.45994446e-01] [ 5.92382514e-04 -3.93181295e-03 9.99992095e-01 -1.59027864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73589822699999 meters Centerline goodness [0,1] 0.7516734451787832 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.45, Z:-0.16 [[ 9.99981208e-01 6.07990526e-03 -7.86152003e-04 3.80202269e+01] [-6.07678913e-03 9.99973903e-01 3.90719674e-03 -4.45710442e-01] [ 8.09886873e-04 -3.90234604e-03 9.99992058e-01 -1.59190501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.765898227 meters Centerline goodness [0,1] 0.7932562457798784 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.44, Z:-0.16 [[ 9.99981024e-01 6.07324859e-03 -1.03343751e-03 3.80210647e+01] [-6.06957512e-03 9.99975380e-01 3.52138032e-03 -4.43434975e-01] [ 1.05479829e-03 -3.51504097e-03 9.99993266e-01 -1.59201015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.795898227 meters Centerline goodness [0,1] 0.937168311345084 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.44, Z:-0.16 [[ 9.99944238e-01 1.04875661e-02 -1.23756489e-03 3.80216804e+01] [-1.04785579e-02 9.99920077e-01 7.07383942e-03 -4.38703578e-01] [ 1.31165334e-03 -7.06047707e-03 9.99974214e-01 -1.58839752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.825898227 meters Centerline goodness [0,1] 0.9272927335054382 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.43, Z:-0.16 [[ 9.99942434e-01 1.06433882e-02 -1.35873573e-03 3.80215276e+01] [-1.06347135e-02 9.99923983e-01 6.23944669e-03 -4.33526198e-01] [ 1.42504130e-03 -6.22463775e-03 9.99979611e-01 -1.57745768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.855898227 meters Centerline goodness [0,1] 0.9272927335054382 Centerline is valid? [False, False] Translation: X:38.02, Y:-0.43, Z:-0.16 [[ 9.99975228e-01 6.75344293e-03 -1.98375181e-03 3.80229172e+01] [-6.75003044e-03 9.99975736e-01 1.72190642e-03 -4.30549701e-01] [ 1.99533248e-03 -1.70847338e-03 9.99996550e-01 -1.57023846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88589822699998 meters Centerline goodness [0,1] 0.982 Centerline is valid? [False, True] Translation: X:38.02, Y:-0.43, Z:-0.16 [[ 9.99973949e-01 6.89553827e-03 -2.13393726e-03 3.80224905e+01] [-6.89363002e-03 9.99975833e-01 9.00306804e-04 -4.25463537e-01] [ 2.14009379e-03 -8.85572776e-04 9.99997318e-01 -1.55343297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91589822699999 meters Centerline goodness [0,1] 0.9986141441290106 Centerline is valid? [True, True] Translation: X:38.05, Y:-0.41, Z:-0.15 [[ 9.99887857e-01 1.48397654e-02 2.01362936e-03 3.80539931e+01] [-1.48395107e-02 9.99889878e-01 -1.41344193e-04 -4.12337727e-01] [-2.01550513e-03 1.11447068e-04 9.99997963e-01 -1.48407587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94589822699999 meters Centerline goodness [0,1] 0.9997442891237641 Centerline is valid? [True, True] Translation: X:38.08, Y:-0.40, Z:-0.15 [[ 9.99834093e-01 1.80062145e-02 2.75016488e-03 3.80848559e+01] [-1.80057514e-02 9.99837865e-01 -1.93043258e-04 -4.02693632e-01] [-2.75319496e-03 1.43492446e-04 9.99996200e-01 -1.47674585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97589822699999 meters Centerline goodness [0,1] 0.9997460586181357 Centerline is valid? [True, True] Translation: X:38.11, Y:-0.40, Z:-0.15 [[ 9.99780236e-01 2.08173956e-02 2.47286484e-03 3.81137505e+01] [-2.08170301e-02 9.99783287e-01 -1.73445160e-04 -4.00101045e-01] [-2.47593961e-03 1.21929341e-04 9.99996927e-01 -1.48630393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00589822699999 meters Centerline goodness [0,1] 0.9998295769247156 Centerline is valid? [True, True] Translation: X:38.14, Y:-0.39, Z:-0.15 [[ 9.99656569e-01 2.62012929e-02 4.85711015e-04 3.81443826e+01] [-2.62012794e-02 9.99656687e-01 -3.40621526e-05 -3.91937501e-01] [-4.86436736e-04 2.13242046e-05 9.99999881e-01 -1.51602098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03589822699999 meters Centerline goodness [0,1] 0.9998309704409558 Centerline is valid? [True, True] Translation: X:38.17, Y:-0.39, Z:-0.15 [[ 9.99590118e-01 2.86283987e-02 -9.97348944e-05 3.81746559e+01] [-2.86283981e-02 9.99590123e-01 7.01287892e-06 -3.88634230e-01] [ 9.98947829e-05 -4.15475421e-06 9.99999995e-01 -1.54387248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06589822699999 meters Centerline goodness [0,1] 0.9999147975376489 Centerline is valid? [True, True] Translation: X:38.20, Y:-0.39, Z:-0.15 [[ 9.99514124e-01 3.11682261e-02 2.40888464e-04 3.82032511e+01] [-3.11682230e-02 9.99514153e-01 -1.68587873e-05 -3.88810623e-01] [-2.41296888e-04 9.34253060e-06 9.99999971e-01 -1.50902272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09589822699999 meters Centerline goodness [0,1] 0.9999159257624483 Centerline is valid? [True, True] Translation: X:38.23, Y:-0.39, Z:-0.15 [[ 9.99441855e-01 3.33831398e-02 1.24254999e-03 3.82333847e+01] [-3.33830574e-02 9.99442627e-01 -8.70656942e-05 -3.85723688e-01] [-1.24476395e-03 4.55369814e-05 9.99999224e-01 -1.49239529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.125898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.26, Y:-0.38, Z:-0.15 [[ 9.99276883e-01 3.79523433e-02 2.30901507e-03 3.82640943e+01] [-3.79520705e-02 9.99279548e-01 -1.61840204e-04 -3.76893762e-01] [-2.31349375e-03 7.40912722e-05 9.99997321e-01 -1.49013293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.155898227 meters Centerline goodness [0,1] 0.9999370937303418 Centerline is valid? [True, True] Translation: X:38.29, Y:-0.38, Z:-0.15 [[ 9.99192101e-01 4.01491860e-02 1.78529024e-03 3.82914202e+01] [-4.01490268e-02 9.99193695e-01 -1.24946066e-04 -3.81625529e-01] [-1.78886723e-03 5.31674571e-05 9.99998399e-01 -1.50391236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.185898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.32, Y:-0.38, Z:-0.15 [[ 9.99102850e-01 4.23373382e-02 1.02205785e-03 3.83209202e+01] [-4.23372872e-02 9.99103373e-01 -7.14938016e-05 -3.78012601e-01] [-1.02416830e-03 2.81585041e-05 9.99999475e-01 -1.53223567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.215898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.35, Y:-0.38, Z:-0.16 [[ 9.98948308e-01 4.58491652e-02 -3.62267278e-04 3.83497021e+01] [-4.58491590e-02 9.98948374e-01 2.53987119e-05 -3.78839682e-01] [ 3.63050818e-04 -8.76235020e-06 9.99999934e-01 -1.55372451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.38, Y:-0.38, Z:-0.16 [[ 9.98903804e-01 4.67955864e-02 -1.16731064e-03 3.83789863e+01] [-4.67955229e-02 9.98904486e-01 8.16905302e-05 -3.77895214e-01] [ 1.16985459e-03 -2.69760698e-05 9.99999315e-01 -1.55890213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.41, Y:-0.38, Z:-0.16 [[ 9.98883686e-01 4.72169907e-02 -1.39218587e-03 3.84075342e+01] [-4.72169008e-02 9.98884655e-01 9.73509999e-05 -3.79340883e-01] [ 1.39522973e-03 -3.15076233e-05 9.99999026e-01 -1.56146131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.44, Y:-0.38, Z:-0.16 [[ 9.98854216e-01 4.78240300e-02 -1.76572518e-03 3.84367288e+01] [-4.78238866e-02 9.98855776e-01 1.23370594e-04 -3.81265772e-01] [ 1.76960487e-03 -3.87853976e-05 9.99998433e-01 -1.56658146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.46, Y:-0.39, Z:-0.16 [[ 9.98779050e-01 4.93695755e-02 -1.74750986e-03 3.84644978e+01] [-4.93694375e-02 9.98780578e-01 1.22013418e-04 -3.86719481e-01] [ 1.75140265e-03 -3.55908670e-05 9.99998466e-01 -1.57954461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.49, Y:-0.39, Z:-0.16 [[ 9.98753457e-01 4.98657688e-02 -2.22190801e-03 3.84927646e+01] [-4.98655473e-02 9.98755928e-01 1.54990236e-04 -3.89934666e-01] [ 2.22687250e-03 -4.40003746e-05 9.99997520e-01 -1.58950397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.52, Y:-0.39, Z:-0.16 [[ 9.98738554e-01 5.01628343e-02 -2.23383253e-03 3.85199735e+01] [-5.01626114e-02 9.98741052e-01 1.55710608e-04 -3.94086417e-01] [ 2.23883113e-03 -4.34593144e-05 9.99997493e-01 -1.59028412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.55, Y:-0.40, Z:-0.16 [[ 9.98739219e-01 5.01592692e-02 -2.00498249e-03 3.85475748e+01] [-5.01590900e-02 9.98741231e-01 1.39599927e-04 -3.96460848e-01] [ 2.00946091e-03 -3.88558246e-05 9.99997980e-01 -1.57659341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.58, Y:-0.40, Z:-0.15 [[ 9.98709435e-01 5.07883988e-02 -5.88755620e-05 3.85764045e+01] [-5.07883986e-02 9.98709436e-01 4.15862554e-06 -3.98317470e-01] [ 5.90107893e-05 -1.16306305e-06 9.99999998e-01 -1.54782319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48589822699999 meters Centerline goodness [0,1] 0.999810570183747 Centerline is valid? [True, True] Translation: X:38.61, Y:-0.40, Z:-0.15 [[ 9.98713741e-01 5.06950619e-02 9.34911478e-04 3.86052517e+01] [-5.06950234e-02 9.98714179e-01 -6.48218918e-05 -4.01821150e-01] [-9.36995499e-04 1.73431548e-05 9.99999561e-01 -1.54986153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.63, Y:-0.40, Z:-0.15 [[ 9.98715199e-01 5.06448228e-02 1.74711020e-03 3.86339013e+01] [-5.06446884e-02 9.98716727e-01 -1.21110592e-04 -4.04895243e-01] [-1.75100181e-03 3.24731373e-05 9.99998466e-01 -1.52040551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.545898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.66, Y:-0.41, Z:-0.15 [[ 9.98777406e-01 4.93735302e-02 2.43895785e-03 3.86615405e+01] [-4.93732649e-02 9.98780382e-01 -1.68936928e-04 -4.12332744e-01] [-2.44432427e-03 4.83110746e-05 9.99997011e-01 -1.50781099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.575898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.69, Y:-0.42, Z:-0.15 [[ 9.98806374e-01 4.87635054e-02 2.81927577e-03 3.86884697e+01] [-4.87631493e-02 9.98810351e-01 -1.94967935e-04 -4.18131562e-01] [-2.82542914e-03 5.72584512e-05 9.99996007e-01 -1.49764305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.605898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.72, Y:-0.42, Z:-0.15 [[ 9.98808866e-01 4.86643386e-02 3.55399210e-03 3.87155776e+01] [-4.86637724e-02 9.98815187e-01 -2.45677759e-04 -4.22687323e-01] [-3.56173702e-03 7.24344618e-05 9.99993654e-01 -1.48697819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63589822699998 meters Centerline goodness [0,1] 0.9999788900382091 Centerline is valid? [True, True] Translation: X:38.74, Y:-0.42, Z:-0.15 [[ 9.98791667e-01 4.89755397e-02 4.07462488e-03 3.87443717e+01] [-4.89747987e-02 9.98799975e-01 -2.81503800e-04 -4.23879101e-01] [-4.08352203e-03 8.16097162e-05 9.99991659e-01 -1.48875247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66589822699999 meters Centerline goodness [0,1] 0.999957845038361 Centerline is valid? [True, True] Translation: X:38.77, Y:-0.43, Z:-0.15 [[ 9.98779723e-01 4.91697548e-02 4.62594317e-03 3.87708809e+01] [-4.91688037e-02 9.98790432e-01 -3.19171446e-04 -4.30651660e-01] [-4.63604135e-03 9.13298770e-05 9.99989249e-01 -1.47941131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69589822699999 meters Centerline goodness [0,1] 0.9999578272604588 Centerline is valid? [True, True] Translation: X:38.80, Y:-0.43, Z:-0.15 [[ 9.98785168e-01 4.90892188e-02 4.29391813e-03 3.87988334e+01] [-4.90883998e-02 9.98794394e-01 -2.95980510e-04 -4.34778511e-01] [-4.30327081e-03 8.48393736e-05 9.99990737e-01 -1.48345196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.83, Y:-0.44, Z:-0.15 [[ 9.98784603e-01 4.91299310e-02 3.94545950e-03 3.88270095e+01] [-4.91292414e-02 9.98792393e-01 -2.71580946e-04 -4.40098288e-01] [-3.95403769e-03 7.74134350e-05 9.99992180e-01 -1.48742491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.85, Y:-0.44, Z:-0.15 [[ 9.98775718e-01 4.92827450e-02 4.27495333e-03 3.88545068e+01] [-4.92819378e-02 9.98784864e-01 -2.94003547e-04 -4.44469502e-01] [-4.28424798e-03 8.29656194e-05 9.99990819e-01 -1.48963946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.88, Y:-0.45, Z:-0.15 [[ 9.98714270e-01 5.04227160e-02 5.23032557e-03 3.88833342e+01] [-5.04215244e-02 9.98727961e-01 -3.59525093e-04 -4.51555700e-01] [-5.24180062e-03 9.53418528e-05 9.99986257e-01 -1.47933221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.91, Y:-0.45, Z:-0.15 [[ 9.98661156e-01 5.14788029e-02 5.08225383e-03 3.89122323e+01] [-5.14776927e-02 9.98674084e-01 -3.49105888e-04 -4.54705319e-01] [-5.09348674e-03 8.70157890e-05 9.99987024e-01 -1.47728521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.94, Y:-0.46, Z:-0.15 [[ 9.98598792e-01 5.27286056e-02 4.48862648e-03 3.89402821e+01] [-5.27277532e-02 9.98608877e-01 -3.08111156e-04 -4.58540572e-01] [-4.49862852e-03 7.10042391e-05 9.99989879e-01 -1.48315103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.97, Y:-0.46, Z:-0.15 [[ 9.98544875e-01 5.37820618e-02 3.95265016e-03 3.89690071e+01] [-5.37814098e-02 9.98552696e-01 -2.71128059e-04 -4.62475633e-01] [-3.96151130e-03 5.81544356e-05 9.99992151e-01 -1.49928416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.905898227 meters Centerline goodness [0,1] 0.9999578343734188 Centerline is valid? [True, True] Translation: X:39.00, Y:-0.47, Z:-0.15 [[ 9.98492539e-01 5.47788065e-02 3.45417442e-03 3.89959782e+01] [-5.47783154e-02 9.98498513e-01 -2.36708430e-04 -4.69839105e-01] [-3.46195462e-03 4.71377461e-05 9.99994006e-01 -1.50681707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.935898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.02, Y:-0.47, Z:-0.15 [[ 9.98501150e-01 5.45695773e-02 4.19692925e-03 3.90249655e+01] [-5.45688511e-02 9.98509969e-01 -2.87441811e-04 -4.71841798e-01] [-4.20636127e-03 5.79893721e-05 9.99991152e-01 -1.49452501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.965898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.05, Y:-0.48, Z:-0.15 [[ 9.98512785e-01 5.42457999e-02 5.44158056e-03 3.90523405e+01] [-5.42445770e-02 9.98527610e-01 -3.72172695e-04 -4.79009285e-01] [-5.45375724e-03 7.64429586e-05 9.99985125e-01 -1.46184012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99589822699998 meters Centerline goodness [0,1] 0.9998935400076652 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.48, Z:-0.15 [[ 9.98593829e-01 5.26362134e-02 6.30814969e-03 3.90813775e+01] [-5.26345392e-02 9.98613749e-01 -4.31234855e-04 -4.82355823e-01] [-6.32210358e-03 9.86019122e-05 9.99980010e-01 -1.47598267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.11, Y:-0.49, Z:-0.15 [[ 9.98673834e-01 5.11210285e-02 6.10032327e-03 3.91095436e+01] [-5.11194368e-02 9.98692460e-01 -4.16651330e-04 -4.86364370e-01] [-6.11364650e-03 1.04253691e-04 9.99981306e-01 -1.47448844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.14, Y:-0.49, Z:-0.15 [[ 9.98782827e-01 4.90530954e-02 5.16321265e-03 3.91368809e+01] [-4.90519292e-02 9.98796167e-01 -3.52335648e-04 -4.92539438e-01] [-5.17428016e-03 9.86412528e-05 9.99986608e-01 -1.48477379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.17, Y:-0.50, Z:-0.15 [[ 9.98911627e-01 4.63681648e-02 5.05518014e-03 3.91664737e+01] [-4.63670129e-02 9.98924412e-01 -3.44898879e-04 -4.97402158e-01] [-5.06573518e-03 1.10129898e-04 9.99987163e-01 -1.49376202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11589822699999 meters Centerline goodness [0,1] 0.9999363300649433 Centerline is valid? [True, True] Translation: X:39.20, Y:-0.51, Z:-0.15 [[ 9.99189867e-01 3.98292541e-02 5.76542144e-03 3.91951947e+01] [-3.98276466e-02 9.99206487e-01 -3.93401902e-04 -5.13982938e-01] [-5.77651541e-03 1.63460026e-04 9.99983302e-01 -1.47632905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14589822699999 meters Centerline goodness [0,1] 0.9999145299145299 Centerline is valid? [True, True] Translation: X:39.22, Y:-0.51, Z:-0.15 [[ 9.99293823e-01 3.71177737e-02 5.84171852e-03 3.92245616e+01] [-3.71160786e-02 9.99310882e-01 -3.98342204e-04 -5.14820960e-01] [-5.85247846e-03 1.81239220e-04 9.99982858e-01 -1.49519736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.52, Z:-0.15 [[ 9.99292003e-01 3.72477670e-02 5.30070390e-03 3.92518427e+01] [-3.72463751e-02 9.99306048e-01 -3.61094366e-04 -5.23776369e-01] [-5.31047543e-03 1.63406706e-04 9.99985886e-01 -1.47064486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20589822699999 meters Centerline goodness [0,1] 0.999978795139846 Centerline is valid? [True, True] Translation: X:39.28, Y:-0.52, Z:-0.15 [[ 9.99187358e-01 3.99906387e-02 5.03701879e-03 3.92818767e+01] [-3.99894170e-02 9.99200044e-01 -3.43064587e-04 -5.21413211e-01] [-5.04670877e-03 1.41358354e-04 9.99987255e-01 -1.47423149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.31, Y:-0.52, Z:-0.15 [[ 9.99021507e-01 4.39100252e-02 5.28572415e-03 3.93107211e+01] [-4.39087358e-02 9.99035482e-01 -3.59803749e-04 -5.20303487e-01] [-5.29642496e-03 1.27362219e-04 9.99985966e-01 -1.46679823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.34, Y:-0.51, Z:-0.15 [[ 9.98491454e-01 5.46840841e-02 4.94648573e-03 3.93419899e+01] [-5.46830864e-02 9.98503704e-01 -3.36822545e-04 -5.08620311e-01] [-4.95750315e-03 6.58253263e-05 9.99987709e-01 -1.46959521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.295898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.37, Y:-0.50, Z:-0.15 [[ 9.98139268e-01 6.07871480e-02 4.78791977e-03 3.93707669e+01] [-6.07862849e-02 9.98150751e-01 -3.25720547e-04 -5.02731756e-01] [-4.79886533e-03 3.40746133e-05 9.99988485e-01 -1.46343070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.325898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.40, Y:-0.50, Z:-0.15 [[ 9.97780355e-01 6.63956886e-02 5.09670790e-03 3.94002907e+01] [-6.63947848e-02 9.97793372e-01 -3.46504299e-04 -4.96153406e-01] [-5.10846775e-03 7.34035759e-06 9.99986952e-01 -1.45087755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.355898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.43, Y:-0.49, Z:-0.14 [[ 9.97424987e-01 7.15186106e-02 5.33707681e-03 3.94281245e+01] [-7.15176945e-02 9.97439265e-01 -3.62532205e-04 -4.90197815e-01] [-5.34933777e-03 -2.00967496e-05 9.99985692e-01 -1.44272758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.46, Y:-0.48, Z:-0.15 [[ 9.96962108e-01 7.77214486e-02 5.09223610e-03 3.94560439e+01] [-7.77206975e-02 9.96975112e-01 -3.45538319e-04 -4.82495107e-01] [-5.10368839e-03 -5.12835302e-05 9.99986975e-01 -1.45036851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.48, Y:-0.48, Z:-0.15 [[ 9.96830991e-01 7.94134079e-02 4.63536572e-03 3.94843557e+01] [-7.94128049e-02 9.96841767e-01 -3.14280717e-04 -4.82948923e-01] [-4.64568426e-03 -5.48226355e-05 9.99989207e-01 -1.46443058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.51, Y:-0.49, Z:-0.15 [[ 9.96745830e-01 8.04582276e-02 4.92175176e-03 3.95128380e+01] [-8.04575653e-02 9.96757979e-01 -3.32723031e-04 -4.85446042e-01] [-4.93256564e-03 -6.43518702e-05 9.99987833e-01 -1.48021634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.54, Y:-0.49, Z:-0.15 [[ 9.96685597e-01 8.11610855e-02 5.54057569e-03 3.95415442e+01] [-8.11602622e-02 9.96700994e-01 -3.73645374e-04 -4.87811787e-01] [-5.55262276e-03 -7.72676128e-05 9.99984581e-01 -1.48231055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.57, Y:-0.49, Z:-0.15 [[ 9.96665508e-01 8.13955901e-02 5.71170628e-03 3.95690429e+01] [-8.13947213e-02 9.96681871e-01 -3.84798332e-04 -4.89625054e-01] [-5.72407498e-03 -8.13875153e-05 9.99983614e-01 -1.47410107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.60, Y:-0.49, Z:-0.15 [[ 9.96693699e-01 8.10689250e-02 5.43131153e-03 3.95969219e+01] [-8.10681370e-02 9.96708495e-01 -3.65438035e-04 -4.91879598e-01] [-5.44306001e-03 -7.60765202e-05 9.99985184e-01 -1.46917962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.62, Y:-0.50, Z:-0.15 [[ 9.96755155e-01 8.02827788e-02 5.81694653e-03 3.96244449e+01] [-8.02818689e-02 9.96772125e-01 -3.90122783e-04 -4.96988851e-01] [-5.82949030e-03 -7.81384444e-05 9.99983005e-01 -1.46957461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.65, Y:-0.51, Z:-0.14 [[ 9.96955076e-01 7.75629796e-02 8.03500569e-03 3.96513885e+01] [-7.75611566e-02 9.96987451e-01 -5.38716088e-04 -5.07307418e-01] [-8.05258427e-03 -8.61285958e-05 9.99967574e-01 -1.44695296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.68, Y:-0.52, Z:-0.14 [[ 9.97108914e-01 7.54452036e-02 9.04622262e-03 3.96798818e+01] [-7.54428205e-02 9.97149946e-01 -6.04877955e-04 -5.15186587e-01] [-9.06607554e-03 -7.93433491e-05 9.99958899e-01 -1.43218974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.655898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.71, Y:-0.52, Z:-0.14 [[ 9.97228280e-01 7.37671606e-02 9.70377007e-03 3.97069287e+01] [-7.37643428e-02 9.97275489e-01 -6.48458000e-04 -5.22031437e-01] [-9.72516694e-03 -6.91315649e-05 9.99952707e-01 -1.41058186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.685898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.53, Z:-0.14 [[ 9.97325003e-01 7.24457619e-02 9.71848666e-03 3.97357418e+01] [-7.24428768e-02 9.97372352e-01 -6.49024517e-04 -5.29837643e-01] [-9.73996897e-03 -5.67467534e-05 9.99952564e-01 -1.41310355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.715898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:-0.54, Z:-0.14 [[ 9.97278225e-01 7.32792095e-02 8.14248826e-03 3.97627617e+01] [-7.32772161e-02 9.97311463e-01 -5.43290742e-04 -5.37927567e-01] [-8.16040880e-03 -5.48468454e-05 9.99966702e-01 -1.44387949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.79, Y:-0.54, Z:-0.15 [[ 9.97066343e-01 7.62245720e-02 6.96573562e-03 3.97918295e+01] [-7.62231872e-02 9.97090673e-01 -4.64447097e-04 -5.39911419e-01] [-6.98087230e-03 -6.78660010e-05 9.99975631e-01 -1.47292144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.82, Y:-0.54, Z:-0.15 [[ 9.97071708e-01 7.61543634e-02 6.96577069e-03 3.98192511e+01] [-7.61529805e-02 9.97096038e-01 -4.63920803e-04 -5.41612582e-01] [-6.98087195e-03 -6.79018922e-05 9.99975631e-01 -1.47250092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.85, Y:-0.54, Z:-0.15 [[ 9.96746170e-01 8.03097776e-02 6.88565826e-03 3.98474605e+01] [-8.03085282e-02 9.96769949e-01 -4.58198741e-04 -5.38057282e-01] [-6.90021507e-03 -9.62692411e-05 9.99976189e-01 -1.46257313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.88, Y:-0.53, Z:-0.14 [[ 9.95931130e-01 8.97972245e-02 7.59231023e-03 3.98786663e+01] [-8.97959802e-02 9.95960053e-01 -5.05302220e-04 -5.29138754e-01] [-7.60701243e-03 -1.78512728e-04 9.99971050e-01 -1.44233941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86589822699999 meters Centerline goodness [0,1] 0.9998944189876893 Centerline is valid? [True, True] Translation: X:39.91, Y:-0.53, Z:-0.14 [[ 9.95539295e-01 9.40490350e-02 7.50279730e-03 3.99087752e+01] [-9.40479413e-02 9.95567544e-01 -4.99243840e-04 -5.26502432e-01] [-7.51649489e-03 -2.08605780e-04 9.99971729e-01 -1.44159198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89589822699999 meters Centerline goodness [0,1] 0.9995378927911276 Centerline is valid? [True, True] Translation: X:39.94, Y:-0.52, Z:-0.15 [[ 9.95265887e-01 9.69741938e-02 6.46680062e-03 3.99372651e+01] [-9.69734446e-02 9.95286876e-01 -4.30047543e-04 -5.23289117e-01] [-6.47802530e-03 -1.99096282e-04 9.99978998e-01 -1.45548362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92589822699999 meters Centerline goodness [0,1] 0.9999146411728302 Centerline is valid? [True, True] Translation: X:39.97, Y:-0.53, Z:-0.15 [[ 9.95144557e-01 9.82654748e-02 5.58633048e-03 3.99655418e+01] [-9.82649426e-02 9.95160220e-01 -3.70327518e-04 -5.29816943e-01] [-5.59568428e-03 -1.80411030e-04 9.99984328e-01 -1.49515938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95589822699999 meters Centerline goodness [0,1] 0.9998721145853315 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.53, Z:-0.15 [[ 9.95193071e-01 9.77855655e-02 5.36051738e-03 3.99936073e+01] [-9.77850734e-02 9.95207493e-01 -3.54442156e-04 -5.33608194e-01] [-5.36948639e-03 -1.71440207e-04 9.99985570e-01 -1.51104288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98589822699999 meters Centerline goodness [0,1] 0.9999363030277294 Centerline is valid? [True, True] Translation: X:40.02, Y:-0.54, Z:-0.15 [[ 9.95352711e-01 9.61270786e-02 5.70655343e-03 4.00217373e+01] [-9.61264991e-02 9.95369054e-01 -3.76386893e-04 -5.39459189e-01] [-5.71630767e-03 -1.73913288e-04 9.99983647e-01 -1.50765391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.015898227 meters Centerline goodness [0,1] 0.9997665088832757 Centerline is valid? [True, True] Translation: X:40.05, Y:-0.54, Z:-0.15 [[ 9.95580778e-01 9.37398695e-02 5.63480336e-03 4.00493139e+01] [-9.37392672e-02 9.95596711e-01 -3.71481544e-04 -5.42501599e-01] [-5.64481432e-03 -1.58362453e-04 9.99984055e-01 -1.51730600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.045898227 meters Centerline goodness [0,1] 0.9999788413524607 Centerline is valid? [True, True] Translation: X:40.08, Y:-0.55, Z:-0.15 [[ 9.95793761e-01 9.14838890e-02 5.04814410e-03 4.00777691e+01] [-9.14833813e-02 9.95806548e-01 -3.31867930e-04 -5.54719550e-01] [-5.05733552e-03 -1.31349278e-04 9.99987203e-01 -1.51544438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.075898227 meters Centerline goodness [0,1] 0.9999788252233939 Centerline is valid? [True, True] Translation: X:40.11, Y:-0.56, Z:-0.15 [[ 9.96094835e-01 8.80885830e-02 5.95656830e-03 4.01055172e+01] [-8.80878159e-02 9.96112636e-01 -3.91514428e-04 -5.62826348e-01] [-5.96790090e-03 -1.34715593e-04 9.99982183e-01 -1.48112725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.105898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.13, Y:-0.57, Z:-0.15 [[ 9.96137868e-01 8.74850932e-02 7.46363021e-03 4.01328750e+01] [-8.74838761e-02 9.96165815e-01 -4.90020942e-04 -5.73961131e-01] [-7.47788280e-03 -1.64818884e-04 9.99972027e-01 -1.47037944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13589822699998 meters Centerline goodness [0,1] 0.9999789065136686 Centerline is valid? [True, True] Translation: X:40.16, Y:-0.58, Z:-0.14 [[ 9.96113766e-01 8.76510736e-02 8.64029047e-03 4.01605146e+01] [-8.76494528e-02 9.96151220e-01 -5.66798009e-04 -5.80014077e-01] [-8.65671635e-03 -1.92721433e-04 9.99962511e-01 -1.44533099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16589822699999 meters Centerline goodness [0,1] 0.9999579062572349 Centerline is valid? [True, True] Translation: X:40.19, Y:-0.58, Z:-0.14 [[ 9.96031897e-01 8.85937827e-02 8.46183314e-03 4.01879705e+01] [-8.85922673e-02 9.96067820e-01 -5.54492991e-04 -5.77953361e-01] [-8.47768432e-03 -1.97360277e-04 9.99964044e-01 -1.43448341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19589822699999 meters Centerline goodness [0,1] 0.9998730937625584 Centerline is valid? [True, True] Translation: X:40.22, Y:-0.58, Z:-0.14 [[ 9.95921786e-01 8.98169755e-02 8.52688904e-03 4.02164031e+01] [-8.98154935e-02 9.95958265e-01 -5.57342837e-04 -5.80235411e-01] [-8.54248447e-03 -2.10776874e-04 9.99963490e-01 -1.43687521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22589822699999 meters Centerline goodness [0,1] 0.9999369880277252 Centerline is valid? [True, True] Translation: X:40.24, Y:-0.59, Z:-0.15 [[ 9.95834586e-01 9.07311626e-02 9.01846466e-03 4.02449497e+01] [-9.07295554e-02 9.95875395e-01 -5.88018393e-04 -5.88000048e-01] [-9.03461864e-03 -2.32672236e-04 9.99959160e-01 -1.45405757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25589822699999 meters Centerline goodness [0,1] 0.999936460870486 Centerline is valid? [True, True] Translation: X:40.27, Y:-0.60, Z:-0.15 [[ 9.95887979e-01 9.01597047e-02 8.85212002e-03 4.02726593e+01] [-9.01581394e-02 9.95927295e-01 -5.76530324e-04 -5.96223925e-01] [-8.86804775e-03 -2.23931052e-04 9.99960653e-01 -1.45267710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.30, Y:-0.60, Z:-0.15 [[ 9.96042616e-01 8.84641481e-02 8.55578399e-03 4.03000066e+01] [-8.84626272e-02 9.96079341e-01 -5.56782471e-04 -6.03154659e-01] [-8.57149496e-03 -2.02288059e-04 9.99963244e-01 -1.45144021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.33, Y:-0.62, Z:-0.15 [[ 9.96228040e-01 8.63540676e-02 8.52445645e-03 4.03282247e+01] [-8.63524841e-02 9.96264494e-01 -5.54344718e-04 -6.16369072e-01] [-8.54048321e-03 -1.83854238e-04 9.99963513e-01 -1.47024031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.36, Y:-0.62, Z:-0.14 [[ 9.96409506e-01 8.42165893e-02 8.69838069e-03 4.03556397e+01] [-8.42148637e-02 9.96447458e-01 -5.65118822e-04 -6.20716831e-01] [-8.71507171e-03 -1.69443177e-04 9.99962009e-01 -1.44689770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.375898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.38, Y:-0.64, Z:-0.14 [[ 9.96701187e-01 8.04377464e-02 1.07941093e-02 4.03834487e+01] [-8.04348723e-02 9.96759620e-01 -7.00834997e-04 -6.35098922e-01] [-1.08155059e-02 -1.69699728e-04 9.99941496e-01 -1.43062745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.405898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.41, Y:-0.65, Z:-0.14 [[ 9.96843694e-01 7.85907927e-02 1.12311188e-02 4.04112334e+01] [-7.85875698e-02 9.96906948e-01 -7.28679605e-04 -6.45517863e-01] [-1.12536479e-02 -1.56246664e-04 9.99936663e-01 -1.44751946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.435898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.44, Y:-0.65, Z:-0.15 [[ 9.96985802e-01 7.68393776e-02 1.07248135e-02 4.04400767e+01] [-7.68363413e-02 9.97043476e-01 -6.95468571e-04 -6.52879558e-01] [-1.07465447e-02 -1.30683138e-04 9.99942246e-01 -1.45416068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.465898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.47, Y:-0.66, Z:-0.15 [[ 9.97201612e-01 7.43417506e-02 7.88981432e-03 4.04687604e+01] [-7.43400315e-02 9.97232820e-01 -5.11334970e-04 -6.64711244e-01] [-7.90599533e-03 -7.66249889e-05 9.99968744e-01 -1.50812297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49589822699998 meters Centerline goodness [0,1] 0.9999787622647921 Centerline is valid? [True, True] Translation: X:40.50, Y:-0.67, Z:-0.15 [[ 9.97263257e-01 7.35763319e-02 7.24699280e-03 4.04969383e+01] [-7.35748640e-02 9.97289586e-01 -4.69308778e-04 -6.70147565e-01] [-7.26188047e-03 -6.51721095e-05 9.99973630e-01 -1.53103466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.52, Y:-0.67, Z:-0.15 [[ 9.97283990e-01 7.32932667e-02 7.26228296e-03 4.05231913e+01] [-7.32917922e-02 9.97310430e-01 -4.69327850e-04 -6.74674153e-01] [-7.27714911e-03 -6.42125832e-05 9.99973519e-01 -1.51907289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.55, Y:-0.68, Z:-0.15 [[ 9.97200882e-01 7.42663761e-02 8.65486173e-03 4.05519917e+01] [-7.42643209e-02 9.97238436e-01 -5.59048577e-04 -6.78847108e-01] [-8.67247928e-03 -8.52636945e-05 9.99962390e-01 -1.49992130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.58, Y:-0.68, Z:-0.15 [[ 9.97097401e-01 7.56425856e-02 8.65869641e-03 4.05802283e+01] [-7.56405851e-02 9.97134991e-01 -5.58758325e-04 -6.77567511e-01] [-8.67615509e-03 -9.78123891e-05 9.99962357e-01 -1.48076672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.61, Y:-0.68, Z:-0.15 [[ 9.96986140e-01 7.71306928e-02 8.33628822e-03 4.06079697e+01] [-7.71288966e-02 9.97020985e-01 -5.37224644e-04 -6.76409321e-01] [-8.35289080e-03 -1.07363188e-04 9.99965108e-01 -1.48607481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.68, Z:-0.15 [[ 9.96823692e-01 7.91763680e-02 8.58080766e-03 4.06364998e+01] [-7.91745436e-02 9.96860615e-01 -5.52631292e-04 -6.75890194e-01] [-8.59762454e-03 -1.28505565e-04 9.99963031e-01 -1.51225045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.66, Y:-0.67, Z:-0.15 [[ 9.96794461e-01 7.94856715e-02 9.10107796e-03 4.06643318e+01] [-7.94836371e-02 9.96835999e-01 -5.85587206e-04 -6.74034414e-01] [-9.11882793e-03 -1.39676694e-04 9.99958413e-01 -1.48776714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.69, Y:-0.68, Z:-0.15 [[ 9.96852167e-01 7.87804353e-02 8.91062937e-03 4.06928428e+01] [-7.87784593e-02 9.96891983e-01 -5.73068300e-04 -6.76524570e-01] [-8.92808156e-03 -1.30701276e-04 9.99960135e-01 -1.49239923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.72, Y:-0.68, Z:-0.15 [[ 9.96985119e-01 7.71499977e-02 8.27955354e-03 4.07209995e+01] [-7.71482388e-02 9.97019491e-01 -5.32087391e-04 -6.80098119e-01] [-8.29592681e-03 -1.08269763e-04 9.99965582e-01 -1.50377132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.765898227 meters Centerline goodness [0,1] 0.9999154262516915 Centerline is valid? [True, True] Translation: X:40.75, Y:-0.69, Z:-0.16 [[ 9.97306895e-01 7.31382534e-02 5.45470992e-03 4.07495675e+01] [-7.31374315e-02 9.97321810e-01 -3.50267720e-04 -6.86577415e-01] [-5.46571914e-03 -4.96190610e-05 9.99985062e-01 -1.57921003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.795898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.78, Y:-0.69, Z:-0.16 [[ 9.97408178e-01 7.17806968e-02 4.94548329e-03 4.07782651e+01] [-7.17800057e-02 9.97420438e-01 -3.17324583e-04 -6.90902191e-01] [-4.95550389e-03 -3.84846851e-05 9.99987721e-01 -1.58298328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.825898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.81, Y:-0.69, Z:-0.16 [[ 9.97509525e-01 7.03559518e-02 4.97863601e-03 4.08055869e+01] [-7.03552352e-02 9.97521949e-01 -3.19140598e-04 -6.93633821e-01] [-4.98875214e-03 -3.19273205e-05 9.99987556e-01 -1.58254041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.855898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.83, Y:-0.70, Z:-0.16 [[ 9.97604038e-01 6.89478983e-02 5.68944569e-03 4.08340463e+01] [-6.89469409e-02 9.97620262e-01 -3.64473015e-04 -6.96882244e-01] [-5.70103595e-03 -2.86701244e-05 9.99983749e-01 -1.57192262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.86, Y:-0.70, Z:-0.16 [[ 9.97740835e-01 6.68411440e-02 6.74445413e-03 4.08620873e+01] [-6.68397538e-02 9.97763630e-01 -4.31561774e-04 -7.00871445e-01] [-6.75821712e-03 -2.02108487e-05 9.99977163e-01 -1.55332146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91589822699999 meters Centerline goodness [0,1] 0.9998103346539661 Centerline is valid? [True, True] Translation: X:40.89, Y:-0.70, Z:-0.16 [[ 9.97793265e-01 6.60846621e-02 6.43564495e-03 4.08899857e+01] [-6.60833829e-02 9.97814019e-01 -4.11441811e-04 -7.02937797e-01] [-6.44876675e-03 -1.47553212e-05 9.99979206e-01 -1.57162451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.92, Y:-0.71, Z:-0.16 [[ 9.97805334e-01 6.59431453e-02 6.00140762e-03 4.09183800e+01] [-6.59420314e-02 9.97823382e-01 -3.83504921e-04 -7.06546164e-01] [-6.01363437e-03 -1.30817538e-05 9.99981918e-01 -1.56935896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.95, Y:-0.71, Z:-0.16 [[ 9.97775859e-01 6.63908435e-02 5.96582464e-03 4.09464655e+01] [-6.63897537e-02 9.97793694e-01 -3.80746182e-04 -7.08957828e-01] [-5.97794026e-03 -1.61702791e-05 9.99982132e-01 -1.58545769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.71, Z:-0.16 [[ 9.97552653e-01 6.96354683e-02 6.29329284e-03 4.09744818e+01] [-6.96343223e-02 9.97572504e-01 -4.01298354e-04 -7.07444650e-01] [-6.30596049e-03 -3.79129444e-05 9.99980117e-01 -1.57783330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.00, Y:-0.71, Z:-0.16 [[ 9.97413087e-01 7.16045951e-02 6.31784177e-03 4.10034803e+01] [-7.16034814e-02 9.97433095e-01 -4.02587573e-04 -7.05987497e-01] [-6.33045159e-03 -5.08333509e-05 9.99979961e-01 -1.57330447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.03, Y:-0.71, Z:-0.16 [[ 9.97265144e-01 7.36252080e-02 6.44688002e-03 4.10327560e+01] [-7.36240925e-02 9.97285979e-01 -4.10506144e-04 -7.05094369e-01] [-6.45960665e-03 -6.52622220e-05 9.99979134e-01 -1.57044211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.06, Y:-0.70, Z:-0.16 [[ 9.96955256e-01 7.76568767e-02 7.04465074e-03 4.10605076e+01] [-7.76556508e-02 9.96980140e-01 -4.47807599e-04 -7.00766378e-01] [-7.05815222e-03 -1.00612798e-04 9.99975086e-01 -1.55634275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.125898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.09, Y:-0.70, Z:-0.15 [[ 9.96781818e-01 7.97536827e-02 8.08437355e-03 4.10894181e+01] [-7.97521394e-02 9.96814593e-01 -5.13617187e-04 -6.99611392e-01] [-8.09958439e-03 -1.32781812e-04 9.99967189e-01 -1.54643436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.155898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.12, Y:-0.70, Z:-0.15 [[ 9.96657277e-01 8.11907273e-02 9.07400641e-03 4.11183572e+01] [-8.11888464e-02 9.96698570e-01 -5.76059520e-04 -6.99495176e-01] [-9.09081991e-03 -1.62574200e-04 9.99958664e-01 -1.53928561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.185898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.15, Y:-0.70, Z:-0.15 [[ 9.96703161e-01 8.05655303e-02 9.59191519e-03 4.11460584e+01] [-8.05634053e-02 9.96749300e-01 -6.08348891e-04 -7.00279549e-01] [-9.60974670e-03 -1.66414088e-04 9.99953811e-01 -1.53849209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.215898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.17, Y:-0.71, Z:-0.15 [[ 9.96855403e-01 7.86491720e-02 9.67535331e-03 4.11747229e+01] [-7.86469239e-02 9.96902345e-01 -6.13195246e-04 -7.06193804e-01] [-9.69360970e-03 -1.49669781e-04 9.99953005e-01 -1.54858677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.20, Y:-0.71, Z:-0.15 [[ 9.97057261e-01 7.60194227e-02 9.89275476e-03 4.12020747e+01] [-7.60169491e-02 9.97106329e-01 -6.26366347e-04 -7.10945478e-01] [-9.91174439e-03 -1.27493920e-04 9.99950869e-01 -1.53913909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27589822699998 meters Centerline goodness [0,1] 0.9997891940890022 Centerline is valid? [True, True] Translation: X:41.23, Y:-0.72, Z:-0.16 [[ 9.97538855e-01 6.95681335e-02 8.74684227e-03 4.12290600e+01] [-6.95659561e-02 9.97577201e-01 -5.53305498e-04 -7.23137287e-01] [-8.76414285e-03 -5.65387125e-05 9.99961593e-01 -1.57641824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.26, Y:-0.73, Z:-0.16 [[ 9.97739418e-01 6.66799324e-02 8.35709432e-03 4.12579771e+01] [-6.66778457e-02 9.97774416e-01 -5.28383087e-04 -7.30810594e-01] [-8.37372745e-03 -3.00444116e-05 9.99964939e-01 -1.57970003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.29, Y:-0.74, Z:-0.16 [[ 9.97928732e-01 6.38227054e-02 8.05660165e-03 4.12860419e+01] [-6.38206761e-02 9.97961253e-01 -5.08979716e-04 -7.36286887e-01] [-8.07266073e-03 -6.25228219e-06 9.99967416e-01 -1.58528795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.31, Y:-0.74, Z:-0.16 [[ 9.98232995e-01 5.88945964e-02 7.89396851e-03 4.13131831e+01] [-5.88924985e-02 9.98264206e-01 -4.98160172e-04 -7.44151986e-01] [-7.90960515e-03 3.23843920e-05 9.99968718e-01 -1.58581554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.34, Y:-0.75, Z:-0.16 [[ 9.98356703e-01 5.68112024e-02 7.50874872e-03 4.13407431e+01] [-5.68092485e-02 9.98384938e-01 -4.73423517e-04 -7.48689835e-01] [-7.52351738e-03 4.60791696e-05 9.99971697e-01 -1.58160245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.37, Y:-0.75, Z:-0.16 [[ 9.98451527e-01 5.52149053e-02 6.77220487e-03 4.13695139e+01] [-5.52132812e-02 9.98474492e-01 -4.26690470e-04 -7.52095100e-01] [-6.78543349e-03 5.21140995e-05 9.99976977e-01 -1.59632739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.40, Y:-0.75, Z:-0.16 [[ 9.98537063e-01 5.36869512e-02 6.43779673e-03 4.13982882e+01] [-5.36854537e-02 9.98557814e-01 -4.05315934e-04 -7.54557674e-01] [-6.45027241e-03 5.91069446e-05 9.99979195e-01 -1.62516456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.43, Y:-0.76, Z:-0.16 [[ 9.98692354e-01 5.08102500e-02 5.64797110e-03 4.14268961e+01] [-5.08090530e-02 9.98708323e-01 -3.55309912e-04 -7.58229974e-01] [-5.65872913e-03 6.78772290e-05 9.99983987e-01 -1.64893855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.45, Y:-0.76, Z:-0.17 [[ 9.98779130e-01 4.91476798e-02 4.97550640e-03 4.14547275e+01] [-4.91467319e-02 9.98791520e-01 -3.12684011e-04 -7.62829088e-01] [-4.98486130e-03 6.77723855e-05 9.99987573e-01 -1.65124655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.545898227 meters Centerline goodness [0,1] 0.9999789229634314 Centerline is valid? [True, True] Translation: X:41.48, Y:-0.76, Z:-0.17 [[ 9.98864830e-01 4.74877265e-02 3.73721375e-03 4.14831146e+01] [-4.74871812e-02 9.98871820e-01 -2.34569420e-04 -7.63059063e-01] [-3.74413666e-03 5.68333973e-05 9.99992989e-01 -1.68101614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.575898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.51, Y:-0.77, Z:-0.17 [[ 9.99017721e-01 4.42918188e-02 1.35168927e-03 4.15110425e+01] [-4.42917447e-02 9.99018636e-01 -8.47087548e-05 -7.66472049e-01] [-1.35411468e-03 2.47568711e-05 9.99999083e-01 -1.72262852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.605898227 meters Centerline goodness [0,1] 0.9999788596917744 Centerline is valid? [True, True] Translation: X:41.54, Y:-0.77, Z:-0.17 [[ 9.99092351e-01 4.25880041e-02 8.57875964e-04 4.15400378e+01] [-4.25879737e-02 9.99092719e-01 -5.37078437e-05 -7.69812632e-01] [-8.59384939e-04 1.71238968e-05 9.99999631e-01 -1.73951362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.57, Y:-0.77, Z:-0.17 [[ 9.99160229e-01 4.09689290e-02 6.18687012e-04 4.15685402e+01] [-4.09689129e-02 9.99160421e-01 -3.86851786e-05 -7.73058364e-01] [-6.19752465e-04 1.33057577e-05 9.99999808e-01 -1.74770884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.60, Y:-0.77, Z:-0.17 [[ 9.99163067e-01 4.08996733e-02 6.18691907e-04 4.15959816e+01] [-4.08996572e-02 9.99163258e-01 -3.86069502e-05 -7.74651287e-01] [-6.19753233e-04 1.32703518e-05 9.99999808e-01 -1.74728820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.62, Y:-0.78, Z:-0.18 [[ 9.99229573e-01 3.92417069e-02 5.89903322e-04 4.16238579e+01] [-3.92416920e-02 9.99229747e-01 -3.67896833e-05 -7.76983336e-01] [-5.90892637e-04 1.36125351e-05 9.99999825e-01 -1.75014945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72589822699999 meters Centerline goodness [0,1] 0.99993650121706 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.78, Z:-0.18 [[ 9.99315730e-01 3.69732039e-02 -1.02625265e-03 4.16517860e+01] [-3.69731574e-02 9.99316257e-01 6.41848147e-05 -7.76836080e-01] [ 1.02792407e-03 -2.61970943e-05 9.99999471e-01 -1.77439869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.68, Y:-0.78, Z:-0.18 [[ 9.99347594e-01 3.60801804e-02 -1.61469572e-03 4.16805671e+01] [-3.60800645e-02 9.99348897e-01 1.00846069e-04 -7.76822222e-01] [ 1.61728293e-03 -4.25219509e-05 9.99998691e-01 -1.78575469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78589822699999 meters Centerline goodness [0,1] 0.9999787478216517 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.78, Z:-0.18 [[ 9.99379708e-01 3.51625969e-02 -1.94717873e-03 4.17085790e+01] [-3.51624268e-02 9.99381603e-01 1.21499060e-04 -7.78935369e-01] [ 1.95024683e-03 -5.29561652e-05 9.99998097e-01 -1.79033482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81589822699999 meters Centerline goodness [0,1] 0.9999790413514137 Centerline is valid? [True, True] Translation: X:41.74, Y:-0.78, Z:-0.18 [[ 9.99445530e-01 3.32816614e-02 -9.82005334e-04 4.17367271e+01] [-3.32816173e-02 9.99446012e-01 6.12489117e-05 -7.79701722e-01] [ 9.83499780e-04 -2.85322252e-05 9.99999516e-01 -1.77957611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84589822699999 meters Centerline goodness [0,1] 0.9999367582267007 Centerline is valid? [True, True] Translation: X:41.77, Y:-0.78, Z:-0.18 [[ 9.99474412e-01 3.24156215e-02 -3.55584625e-04 4.17660077e+01] [-3.24156156e-02 9.99474476e-01 2.22075522e-05 -7.76983772e-01] [ 3.56117628e-04 -1.06693857e-05 9.99999937e-01 -1.76878033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.875898227 meters Centerline goodness [0,1] 0.9998718030895456 Centerline is valid? [True, True] Translation: X:41.80, Y:-0.78, Z:-0.18 [[ 9.99499754e-01 3.16263840e-02 1.18620355e-04 4.17950113e+01] [-3.16263833e-02 9.99499761e-01 -7.30865331e-06 -7.76593681e-01] [-1.18792162e-04 3.55346437e-06 9.99999993e-01 -1.77618233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.905898227 meters Centerline goodness [0,1] 0.9999150021249469 Centerline is valid? [True, True] Translation: X:41.82, Y:-0.77, Z:-0.18 [[ 9.99509343e-01 3.13107301e-02 8.43703815e-04 4.18240465e+01] [-3.13106971e-02 9.99509699e-01 -5.23753071e-05 -7.73876345e-01] [-8.44930054e-04 2.59326542e-05 9.99999643e-01 -1.76651166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.935898227 meters Centerline goodness [0,1] 0.9999148881843521 Centerline is valid? [True, True] Translation: X:41.85, Y:-0.77, Z:-0.18 [[ 9.99500474e-01 3.15584298e-02 1.69333707e-03 4.18527290e+01] [-3.15582969e-02 9.99501907e-01 -1.05112071e-04 -7.73221567e-01] [-1.69581081e-03 5.16207302e-05 9.99998561e-01 -1.75796271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.965898227 meters Centerline goodness [0,1] 0.9998723757258631 Centerline is valid? [True, True] Translation: X:41.88, Y:-0.77, Z:-0.18 [[ 9.99484751e-01 3.20556413e-02 1.63334913e-03 4.18819825e+01] [-3.20555185e-02 9.99486085e-01 -1.01309582e-04 -7.70974617e-01] [-1.63575728e-03 4.88995294e-05 9.99998661e-01 -1.75567123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99589822699998 meters Centerline goodness [0,1] 0.9999359426045737 Centerline is valid? [True, True] Translation: X:41.91, Y:-0.76, Z:-0.18 [[ 9.99437035e-01 3.35481168e-02 3.70733058e-04 4.19116107e+01] [-3.35481106e-02 9.99437103e-01 -2.29213780e-05 -7.63045949e-01] [-3.71293342e-04 1.04710805e-05 9.99999931e-01 -1.78305954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02589822699998 meters Centerline goodness [0,1] 0.9997890962775493 Centerline is valid? [True, True] Translation: X:41.94, Y:-0.76, Z:-0.18 [[ 9.99407312e-01 3.44167934e-02 -7.12938767e-04 4.19393759e+01] [-3.44167706e-02 9.99407566e-01 4.42658566e-05 -7.63087265e-01] [ 7.14039887e-04 -1.97025708e-05 9.99999745e-01 -1.80880484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.97, Y:-0.76, Z:-0.18 [[ 9.99379123e-01 3.52226710e-02 -8.55586517e-04 4.19683445e+01] [-3.52226385e-02 9.99379489e-01 5.30454651e-05 -7.61779289e-01] [ 8.56924019e-04 -2.28765158e-05 9.99999633e-01 -1.80934600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.00, Y:-0.76, Z:-0.18 [[ 9.99349064e-01 3.60743478e-02 -2.98293999e-04 4.19975389e+01] [-3.60743439e-02 9.99349109e-01 1.85116002e-05 -7.60989826e-01] [ 2.98767636e-04 -7.73879004e-06 9.99999955e-01 -1.80529549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11589822699999 meters Centerline goodness [0,1] 0.9997685866958388 Centerline is valid? [True, True] Translation: X:42.03, Y:-0.75, Z:-0.18 [[ 9.99285347e-01 3.77868755e-02 9.73372068e-04 4.20266271e+01] [-3.77868349e-02 9.99285821e-01 -6.01198699e-05 -7.54485644e-01] [-9.74948648e-04 2.32962554e-05 9.99999524e-01 -1.79719607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.06, Y:-0.75, Z:-0.18 [[ 9.99258111e-01 3.85082470e-02 5.84534929e-04 4.20562130e+01] [-3.85082324e-02 9.99258282e-01 -3.60718762e-05 -7.51610159e-01] [-5.85490434e-04 1.35357080e-05 9.99999829e-01 -1.78452512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.09, Y:-0.75, Z:-0.18 [[ 9.99247432e-01 3.87870379e-02 -3.69074432e-04 4.20853569e+01] [-3.87870321e-02 9.99247500e-01 2.28629572e-05 -7.50453507e-01] [ 3.69683490e-04 -8.53044941e-06 9.99999932e-01 -1.80344090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.11, Y:-0.75, Z:-0.18 [[ 9.99247086e-01 3.87632585e-02 -1.63434432e-03 4.21133459e+01] [-3.87631453e-02 9.99248422e-01 1.00921973e-04 -7.49078957e-01] [ 1.63702805e-03 -3.74936605e-05 9.99998659e-01 -1.82738242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.14, Y:-0.75, Z:-0.18 [[ 9.99271920e-01 3.80745565e-02 -2.44111088e-03 4.21411185e+01] [-3.80743023e-02 9.99274900e-01 1.50526776e-04 -7.50615195e-01] [ 2.44507207e-03 -5.74735863e-05 9.99997009e-01 -1.84508868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.265898227 meters Centerline goodness [0,1] 0.9999576477563898 Centerline is valid? [True, True] Translation: X:42.17, Y:-0.76, Z:-0.18 [[ 9.99393583e-01 3.47569638e-02 -2.10220917e-03 4.21691393e+01] [-3.47567681e-02 9.99395793e-01 1.29526005e-04 -7.57218423e-01] [ 2.10544093e-03 -5.63814614e-05 9.99997782e-01 -1.83861063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.295898227 meters Centerline goodness [0,1] 0.9999789721591387 Centerline is valid? [True, True] Translation: X:42.20, Y:-0.76, Z:-0.18 [[ 9.99457761e-01 3.28958976e-02 -1.42982740e-03 4.21976896e+01] [-3.28958053e-02 9.99458783e-01 8.80544790e-05 -7.58454278e-01] [ 1.43195019e-03 -4.09714085e-05 9.99998974e-01 -1.82178047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.325898227 meters Centerline goodness [0,1] 0.9997429085611449 Centerline is valid? [True, True] Translation: X:42.23, Y:-0.75, Z:-0.18 [[ 9.99519824e-01 3.09800692e-02 -5.97023170e-04 4.22270263e+01] [-3.09800527e-02 9.99520002e-01 3.67834594e-05 -7.53043077e-01] [ 5.97876155e-04 -1.82699876e-05 9.99999821e-01 -1.82415302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.355898227 meters Centerline goodness [0,1] 0.9999361240045991 Centerline is valid? [True, True] Translation: X:42.26, Y:-0.76, Z:-0.18 [[ 9.99584704e-01 2.88141852e-02 -4.02153614e-04 4.22557822e+01] [-2.88141776e-02 9.99584785e-01 2.47686417e-05 -7.57340165e-01] [ 4.02700322e-04 -1.31706297e-05 9.99999919e-01 -1.82177097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38589822699998 meters Centerline goodness [0,1] 0.9999787256674821 Centerline is valid? [True, True] Translation: X:42.28, Y:-0.76, Z:-0.18 [[ 9.99607154e-01 2.80064112e-02 -1.08560632e-03 4.22832790e+01] [-2.80063552e-02 9.99607743e-01 6.67392373e-05 -7.59968999e-01] [ 1.08704961e-03 -3.63091428e-05 9.99999409e-01 -1.83733091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.31, Y:-0.76, Z:-0.19 [[ 9.99625114e-01 2.72984639e-02 -2.10383800e-03 4.23126281e+01] [-2.72982525e-02 9.99627325e-01 1.29136457e-04 -7.55532095e-01] [ 2.10657918e-03 -7.16569442e-05 9.99997779e-01 -1.85264203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.34, Y:-0.76, Z:-0.19 [[ 9.99679349e-01 2.49578397e-02 -4.27858163e-03 4.23413140e+01] [-2.49569451e-02 9.99688493e-01 2.62344536e-04 -7.57968390e-01] [ 4.28379637e-03 -1.55480088e-04 9.99990812e-01 -1.89098727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47589822699999 meters Centerline goodness [0,1] 0.9999573324230917 Centerline is valid? [True, True] Translation: X:42.37, Y:-0.76, Z:-0.19 [[ 9.99725078e-01 2.30303490e-02 -4.40130351e-03 4.23707358e+01] [-2.30293846e-02 9.99734752e-01 2.69693486e-04 -7.58315551e-01] [ 4.40634720e-03 -1.68260031e-04 9.99990278e-01 -1.88869383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50589822699999 meters Centerline goodness [0,1] 0.9996620122943028 Centerline is valid? [True, True] Translation: X:42.40, Y:-0.77, Z:-0.19 [[ 9.99782895e-01 2.05118753e-02 -3.66403199e-03 4.23991481e+01] [-2.05111904e-02 9.99789598e-01 2.24398642e-04 -7.66373548e-01] [ 3.66786391e-03 -1.49196266e-04 9.99993262e-01 -1.87521667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53589822699999 meters Centerline goodness [0,1] 0.9998732438998627 Centerline is valid? [True, True] Translation: X:42.43, Y:-0.76, Z:-0.19 [[ 9.99834977e-01 1.79101214e-02 -3.04090867e-03 4.24300030e+01] [-1.79096378e-02 9.99839592e-01 1.86192621e-04 -7.64768280e-01] [ 3.04375562e-03 -1.31700322e-04 9.99995359e-01 -1.86224110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56589822699999 meters Centerline goodness [0,1] 0.999808461734911 Centerline is valid? [True, True] Translation: X:42.46, Y:-0.77, Z:-0.19 [[ 9.99883841e-01 1.49351488e-02 -3.04069300e-03 4.24597252e+01] [-1.49346516e-02 9.99888455e-01 1.86161899e-04 -7.69939760e-01] [ 3.04313418e-03 -1.40728584e-04 9.99995360e-01 -1.86751089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59589822699999 meters Centerline goodness [0,1] 0.9989466366106979 Centerline is valid? [True, True] Translation: X:42.49, Y:-0.78, Z:-0.19 [[ 9.99942613e-01 1.00615229e-02 -3.67919394e-03 4.24882387e+01] [-1.00607622e-02 9.99949364e-01 2.25222120e-04 -7.83119699e-01] [ 3.68127371e-03 -1.88193700e-04 9.99993206e-01 -1.88805801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.625898227 meters Centerline goodness [0,1] 0.9993447058574841 Centerline is valid? [True, True] Translation: X:42.52, Y:-0.78, Z:-0.19 [[ 9.99951322e-01 9.09134400e-03 -3.83423671e-03 4.25169848e+01] [-9.09051110e-03 9.99958653e-01 2.34600281e-04 -7.82109897e-01] [ 3.83621101e-03 -1.99733690e-04 9.99992622e-01 -1.89014387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.655898227 meters Centerline goodness [0,1] 0.9992218226176205 Centerline is valid? [True, True] Translation: X:42.54, Y:-0.79, Z:-0.19 [[ 9.99943156e-01 9.91647643e-03 -3.91775439e-03 4.25448978e+01] [-9.91561398e-03 9.99950810e-01 2.39502250e-04 -7.86160782e-01] [ 3.91993669e-03 -2.00641695e-04 9.99992297e-01 -1.88860867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.685898227 meters Centerline goodness [0,1] 0.999406515610759 Centerline is valid? [True, True] Translation: X:42.57, Y:-0.79, Z:-0.19 [[ 9.99926251e-01 1.12873221e-02 -4.48206413e-03 4.25740032e+01] [-1.12862081e-02 9.99936271e-01 2.73769746e-04 -7.86653532e-01] [ 4.48486863e-03 -2.23164047e-04 9.99989918e-01 -1.89390687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.715898227 meters Centerline goodness [0,1] 0.9996619337390128 Centerline is valid? [True, True] Translation: X:42.60, Y:-0.78, Z:-0.19 [[ 9.99901715e-01 1.27424742e-02 -5.84718425e-03 4.26030265e+01] [-1.27406047e-02 9.99918772e-01 3.56865948e-04 -7.83643844e-01] [ 5.85125665e-03 -2.82334211e-04 9.99982841e-01 -1.90846328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74589822699998 meters Centerline goodness [0,1] 0.9996413653432344 Centerline is valid? [True, True] Translation: X:42.63, Y:-0.78, Z:-0.19 [[ 9.99871363e-01 1.43110462e-02 -7.24236805e-03 4.26321307e+01] [-1.43082212e-02 9.99897535e-01 4.41733372e-04 -7.84635475e-01] [ 7.24794763e-03 -3.38051145e-04 9.99973676e-01 -1.93337079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77589822699998 meters Centerline goodness [0,1] 0.9997672548770683 Centerline is valid? [True, True] Translation: X:42.66, Y:-0.78, Z:-0.19 [[ 9.99824102e-01 1.72125621e-02 -7.44938372e-03 4.26610865e+01] [-1.72096550e-02 9.99851800e-01 4.54170622e-04 -7.84107110e-01] [ 7.45609716e-03 -3.25889410e-04 9.99972150e-01 -1.93488804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80589822699999 meters Centerline goodness [0,1] 0.9998932125923711 Centerline is valid? [True, True] Translation: X:42.69, Y:-0.78, Z:-0.19 [[ 9.99797120e-01 1.89886498e-02 -6.71932681e-03 4.26911614e+01] [-1.89863257e-02 9.99819660e-01 4.09510107e-04 -7.81658922e-01] [ 6.72589109e-03 -2.81851698e-04 9.99977341e-01 -1.91453772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83589822699999 meters Centerline goodness [0,1] 0.9998937752283833 Centerline is valid? [True, True] Translation: X:42.72, Y:-0.78, Z:-0.19 [[ 9.99766651e-01 2.08661632e-02 -5.58988246e-03 4.27212742e+01] [-2.08645850e-02 9.99782253e-01 3.40508973e-04 -7.78918965e-01] [ 5.59577040e-03 -2.23798938e-04 9.99984319e-01 -1.89640875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86589822699999 meters Centerline goodness [0,1] 0.9999788158034106 Centerline is valid? [True, True] Translation: X:42.75, Y:-0.78, Z:-0.19 [[ 9.99734168e-01 2.25143667e-02 -4.96956100e-03 4.27505893e+01] [-2.25131404e-02 9.99746501e-01 3.02556510e-04 -7.78070388e-01] [ 4.97511309e-03 -1.90595657e-04 9.99987606e-01 -1.88740936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89589822699999 meters Centerline goodness [0,1] 0.9999788018823929 Centerline is valid? [True, True] Translation: X:42.78, Y:-0.78, Z:-0.19 [[ 9.99665714e-01 2.53825831e-02 -4.91788354e-03 4.27796523e+01] [-2.53814176e-02 9.99677795e-01 2.99279604e-04 -7.75574403e-01] [ 4.92389546e-03 -1.74356703e-04 9.99987862e-01 -1.89778867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92589822699999 meters Centerline goodness [0,1] 0.9999789624268944 Centerline is valid? [True, True] Translation: X:42.81, Y:-0.77, Z:-0.19 [[ 9.99643578e-01 2.62101811e-02 -5.07379646e-03 4.28084118e+01] [-2.62089521e-02 9.99656439e-01 3.08566010e-04 -7.73801908e-01] [ 5.08014087e-03 -1.75477142e-04 9.99987081e-01 -1.90359370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95589822699999 meters Centerline goodness [0,1] 0.999957633401826 Centerline is valid? [True, True] Translation: X:42.84, Y:-0.78, Z:-0.19 [[ 9.99649502e-01 2.60700937e-02 -4.60683445e-03 4.28355970e+01] [-2.60690805e-02 9.99660105e-01 2.79853397e-04 -7.78414826e-01] [ 4.61256441e-03 -1.59659371e-04 9.99989349e-01 -1.90490757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98589822699999 meters Centerline goodness [0,1] 0.9999368314663523 Centerline is valid? [True, True] Translation: X:42.86, Y:-0.78, Z:-0.19 [[ 9.99712159e-01 2.37282694e-02 -3.54507605e-03 4.28646943e+01] [-2.37276553e-02 9.99718436e-01 2.15164584e-04 -7.77147057e-01] [ 3.54918337e-03 -1.30986308e-04 9.99993693e-01 -1.89128266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.015898227 meters Centerline goodness [0,1] 0.9999575551782682 Centerline is valid? [True, True] Translation: X:42.89, Y:-0.78, Z:-0.19 [[ 9.99761726e-01 2.16003768e-02 -3.14865210e-03 4.28940063e+01] [-2.15998823e-02 9.99766677e-01 1.90965244e-04 -7.76538065e-01] [ 3.15204237e-03 -1.22909227e-04 9.99995025e-01 -1.89240723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.045898227 meters Centerline goodness [0,1] 0.9999142367066896 Centerline is valid? [True, True] Translation: X:42.92, Y:-0.78, Z:-0.19 [[ 9.99811731e-01 1.89504610e-02 -4.16933725e-03 4.29247397e+01] [-1.89495714e-02 9.99820409e-01 2.52775787e-04 -7.77068557e-01] [ 4.17337869e-03 -1.73721043e-04 9.99991276e-01 -1.91007202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.075898227 meters Centerline goodness [0,1] 0.9993268684658911 Centerline is valid? [True, True] Translation: X:42.95, Y:-0.78, Z:-0.19 [[ 9.99888010e-01 1.32701773e-02 -6.91873879e-03 4.29536028e+01] [-1.32675926e-02 9.99911894e-01 4.19345187e-04 -7.81073130e-01] [ 6.92369400e-03 -3.27503218e-04 9.99975977e-01 -1.94794776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.105898227 meters Centerline goodness [0,1] 0.9988832936516298 Centerline is valid? [True, True] Translation: X:42.98, Y:-0.78, Z:-0.20 [[ 9.99915150e-01 1.05646276e-02 -7.62110626e-03 4.29840827e+01] [-1.05614133e-02 9.99944120e-01 4.61878453e-04 -7.81640288e-01] [ 7.62555997e-03 -3.81349609e-04 9.99970852e-01 -1.95776892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13589822699998 meters Centerline goodness [0,1] 0.9980017006802722 Centerline is valid? [True, True] Translation: X:43.01, Y:-0.78, Z:-0.20 [[ 9.99939809e-01 7.82024157e-03 -7.69561062e-03 4.30141804e+01] [-7.81688366e-03 9.99969339e-01 4.66323340e-04 -7.82046426e-01] [ 7.69902143e-03 -4.06139578e-04 9.99970280e-01 -1.95703005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16589822699999 meters Centerline goodness [0,1] 0.9931389005455309 Centerline is valid? [True, True] Translation: X:43.04, Y:-0.79, Z:-0.20 [[ 9.99962579e-01 5.30984099e-03 -6.82981681e-03 4.30432405e+01] [-5.30713870e-03 9.99985831e-01 4.13724415e-04 -7.88435368e-01] [ 6.83191685e-03 -3.77462148e-04 9.99976591e-01 -1.95597833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19589822699999 meters Centerline goodness [0,1] 0.9942871869765044 Centerline is valid? [True, True] Translation: X:43.07, Y:-0.79, Z:-0.19 [[ 9.99986864e-01 -1.25459322e-04 -5.12408446e-03 4.30735469e+01] [ 1.27051126e-04 9.99999944e-01 3.10327092e-04 -7.85583050e-01] [ 5.12404524e-03 -3.10974036e-04 9.99986824e-01 -1.91483306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22589822699999 meters Centerline goodness [0,1] 0.9841212787550744 Centerline is valid? [True, True] Translation: X:43.10, Y:-0.79, Z:-0.19 [[ 9.99984911e-01 -2.51330744e-03 -4.88480108e-03 4.31024132e+01] [ 2.51478196e-03 9.99996794e-01 2.95740796e-04 -7.90288625e-01] [ 4.88404213e-03 -3.08020543e-04 9.99988026e-01 -1.90345734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25589822699999 meters Centerline goodness [0,1] 0.9444267482109108 Centerline is valid? [True, False] Translation: X:43.10, Y:-0.79, Z:-0.19 [[ 9.99984048e-01 -2.75949186e-03 -4.92841705e-03 4.31025875e+01] [ 2.75906244e-03 9.99996189e-01 -9.39281224e-05 -7.88631757e-01] [ 4.92865747e-03 8.03288136e-05 9.99987851e-01 -1.90393177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28589822699999 meters Centerline goodness [0,1] 0.9245822987248011 Centerline is valid? [False, False] Translation: X:43.10, Y:-0.78, Z:-0.19 [[ 9.99959998e-01 -7.20551110e-03 -5.29926570e-03 4.31034211e+01] [ 7.17707637e-03 9.99959850e-01 -5.36537161e-03 -7.83177841e-01] [ 5.33771318e-03 5.32712375e-03 9.99971565e-01 -1.89541706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31589822699999 meters Centerline goodness [0,1] 0.9902257885526484 Centerline is valid? [False, True] Translation: X:43.06, Y:-0.77, Z:-0.19 [[ 9.99941291e-01 -8.98734759e-03 -6.05326446e-03 4.30617303e+01] [ 8.91411463e-03 9.99888043e-01 -1.20183253e-02 -7.73871044e-01] [ 6.16059962e-03 1.19636602e-02 9.99909455e-01 -1.88631731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34589822699999 meters Centerline goodness [0,1] 0.981616475038786 Centerline is valid? [True, True] Translation: X:43.09, Y:-0.78, Z:-0.19 [[ 9.99942658e-01 -9.03663266e-03 -5.74624943e-03 4.30911156e+01] [ 9.03875697e-03 9.99959090e-01 3.43823835e-04 -7.81244951e-01] [ 5.74290735e-03 -3.95743072e-04 9.99983431e-01 -1.91870432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.375898227 meters Centerline goodness [0,1] 0.9021260294962651 Centerline is valid? [True, False] Translation: X:43.09, Y:-0.78, Z:-0.19 [[ 9.99939071e-01 -9.29921068e-03 -5.94795961e-03 4.30916212e+01] [ 9.29727580e-03 9.99956717e-01 -3.52870245e-04 -7.77798758e-01] [ 5.95098358e-03 2.97548924e-04 9.99982248e-01 -1.91609071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.405898227 meters Centerline goodness [0,1] 0.9496182884136826 Centerline is valid? [False, False] Translation: X:43.11, Y:-0.77, Z:-0.18 [[ 9.99950824e-01 -6.20744462e-03 -7.73414058e-03 4.31094575e+01] [ 6.15377172e-03 9.99956953e-01 -6.94431511e-03 -7.71061743e-01] [ 7.77691410e-03 6.89637948e-03 9.99945978e-01 -1.84766828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.435898227 meters Centerline goodness [0,1] 0.9841645353793691 Centerline is valid? [False, True] Translation: X:43.11, Y:-0.77, Z:-0.19 [[ 9.99970121e-01 -2.02318037e-03 -7.46082381e-03 4.31086612e+01] [ 2.00453142e-03 9.99994850e-01 -2.50621326e-03 -7.72244808e-01] [ 7.46585592e-03 2.49118292e-03 9.99969027e-01 -1.85033773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.465898227 meters Centerline goodness [0,1] 0.9787953549704369 Centerline is valid? [True, True] Translation: X:43.14, Y:-0.77, Z:-0.19 [[ 9.99974832e-01 -9.92475497e-04 -7.02496693e-03 4.31367557e+01] [ 9.95616959e-04 9.99999406e-01 4.43702234e-04 -7.73531479e-01] [ 7.02452239e-03 -4.50685243e-04 9.99975226e-01 -1.87178010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49589822699998 meters Centerline goodness [0,1] 0.9665149751296434 Centerline is valid? [True, True] Translation: X:43.16, Y:-0.78, Z:-0.19 [[ 9.99975701e-01 1.09035840e-04 -6.97027107e-03 4.31645803e+01] [-1.05973067e-04 9.99999898e-01 4.39772908e-04 -7.78098533e-01] [ 6.97031831e-03 -4.39023561e-04 9.99975611e-01 -1.87438909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52589822699998 meters Centerline goodness [0,1] 0.9868087800759814 Centerline is valid? [True, True] Translation: X:43.19, Y:-0.77, Z:-0.19 [[ 9.99967798e-01 1.09771524e-03 -7.94973316e-03 4.31941847e+01] [-1.09376902e-03 9.99999276e-01 5.00726996e-04 -7.71662583e-01] [ 7.95027706e-03 -4.92015699e-04 9.99968275e-01 -1.89084006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55589822699999 meters Centerline goodness [0,1] 0.9875831862734675 Centerline is valid? [True, True] Translation: X:43.22, Y:-0.77, Z:-0.19 [[ 9.99962324e-01 2.21739658e-03 -8.39253911e-03 4.32231357e+01] [-2.21304449e-03 9.99997412e-01 5.27817744e-04 -7.70788723e-01] [ 8.39368777e-03 -5.09224795e-04 9.99964643e-01 -1.90499463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58589822699999 meters Centerline goodness [0,1] 0.9875831862734675 Centerline is valid? [True, True] Translation: X:43.25, Y:-0.77, Z:-0.19 [[ 9.99962470e-01 2.15018179e-03 -8.39256912e-03 4.32506135e+01] [-2.14583134e-03 9.99997559e-01 5.27340209e-04 -7.72399468e-01] [ 8.39368251e-03 -5.09311380e-04 9.99964643e-01 -1.90392778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61589822699999 meters Centerline goodness [0,1] 0.9877215482623047 Centerline is valid? [True, True] Translation: X:43.28, Y:-0.77, Z:-0.19 [[ 9.99963616e-01 4.19660564e-03 -7.42670899e-03 4.32790249e+01] [-4.19325778e-03 9.99991100e-01 4.66300757e-04 -7.74133308e-01] [ 7.42859977e-03 -4.35141686e-04 9.99972313e-01 -1.88462826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64589822699999 meters Centerline goodness [0,1] 0.9980851471245292 Centerline is valid? [True, True] Translation: X:43.31, Y:-0.77, Z:-0.19 [[ 9.99957733e-01 5.66279804e-03 -7.24321905e-03 4.33089480e+01] [-5.65965338e-03 9.99983881e-01 4.54576020e-04 -7.66825491e-01] [ 7.24567647e-03 -4.13562698e-04 9.99973664e-01 -1.86308903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67589822699999 meters Centerline goodness [0,1] 0.9924791322401593 Centerline is valid? [True, True] Translation: X:43.34, Y:-0.77, Z:-0.19 [[ 9.99938348e-01 7.76538062e-03 -7.93718539e-03 4.33376184e+01] [-7.76167203e-03 9.99969754e-01 4.97938807e-04 -7.70256468e-01] [ 7.94081200e-03 -4.36302278e-04 9.99968376e-01 -1.86791778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70589822699999 meters Centerline goodness [0,1] 0.9983675373134329 Centerline is valid? [True, True] Translation: X:43.37, Y:-0.76, Z:-0.19 [[ 9.99911169e-01 1.09115455e-02 -7.65456716e-03 4.33687721e+01] [-1.09081890e-02 9.99940389e-01 4.80108446e-04 -7.63947948e-01] [ 7.65934958e-03 -3.96568332e-04 9.99970588e-01 -1.86237655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73589822699999 meters Centerline goodness [0,1] 0.9994467967403562 Centerline is valid? [True, True] Translation: X:43.40, Y:-0.76, Z:-0.19 [[ 9.99845045e-01 1.63073048e-02 -6.62999767e-03 4.33989464e+01] [-1.63049053e-02 9.99866980e-01 4.15805462e-04 -7.60025680e-01] [ 6.63589642e-03 -3.07639547e-04 9.99977935e-01 -1.86859733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.765898227 meters Centerline goodness [0,1] 0.9998725329820909 Centerline is valid? [True, True] Translation: X:43.43, Y:-0.75, Z:-0.19 [[ 9.99824659e-01 1.79285113e-02 -5.40551297e-03 4.34291179e+01] [-1.79269403e-02 9.99839242e-01 3.38945575e-04 -7.54198833e-01] [ 5.41072078e-03 -2.41981836e-04 9.99985333e-01 -1.85598414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.795898227 meters Centerline goodness [0,1] 0.9998733829953362 Centerline is valid? [True, True] Translation: X:43.46, Y:-0.76, Z:-0.18 [[ 9.99816178e-01 1.85354678e-02 -4.90378521e-03 4.34570754e+01] [-1.85341828e-02 9.99828180e-01 3.07346360e-04 -7.56532364e-01] [ 4.90863945e-03 -2.16402211e-04 9.99987929e-01 -1.84792477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.825898227 meters Centerline goodness [0,1] 0.9996843567189934 Centerline is valid? [True, True] Translation: X:43.49, Y:-0.76, Z:-0.19 [[ 9.99824535e-01 1.80684932e-02 -4.94246143e-03 4.34851374e+01] [-1.80671837e-02 9.99836727e-01 3.09489000e-04 -7.57960776e-01] [ 4.94724646e-03 -2.20138337e-04 9.99987738e-01 -1.85126416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.855898227 meters Centerline goodness [0,1] 0.9997893539485603 Centerline is valid? [True, True] Translation: X:43.51, Y:-0.76, Z:-0.19 [[ 9.99840683e-01 1.71073216e-02 -5.09389711e-03 4.35136796e+01] [-1.71059195e-02 9.99853632e-01 3.18694673e-04 -7.56238656e-01] [ 5.09860354e-03 -2.31508105e-04 9.99986975e-01 -1.85680204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88589822699998 meters Centerline goodness [0,1] 0.9997452553814801 Centerline is valid? [True, True] Translation: X:43.54, Y:-0.76, Z:-0.19 [[ 9.99853557e-01 1.61592705e-02 -5.63404949e-03 4.35427434e+01] [-1.61575418e-02 9.99869396e-01 3.52221744e-04 -7.55618848e-01] [ 5.63900531e-03 -2.61137773e-04 9.99984067e-01 -1.87154887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91589822699999 meters Centerline goodness [0,1] 0.998300889410975 Centerline is valid? [True, True] Translation: X:43.57, Y:-0.76, Z:-0.19 [[ 9.99867741e-01 1.49531427e-02 -6.39557080e-03 4.35712598e+01] [-1.49508922e-02 9.99888149e-01 3.99551057e-04 -7.60696549e-01] [ 6.40082999e-03 -3.03878723e-04 9.99979468e-01 -1.89163523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94589822699999 meters Centerline goodness [0,1] 0.9972720928757216 Centerline is valid? [True, True] Translation: X:43.60, Y:-0.76, Z:-0.19 [[ 9.99905306e-01 1.16982823e-02 -7.24773005e-03 4.36017787e+01] [-1.16953079e-02 9.99931505e-01 4.52633987e-04 -7.57941558e-01] [ 7.25252866e-03 -3.67826690e-04 9.99973632e-01 -1.90551309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97589822699999 meters Centerline goodness [0,1] 0.9956621587139577 Centerline is valid? [True, True] Translation: X:43.63, Y:-0.76, Z:-0.19 [[ 9.99927170e-01 9.78292854e-03 -7.06747618e-03 4.36311805e+01] [-9.78005340e-03 9.99952077e-01 4.41260526e-04 -7.58060261e-01] [ 7.07145431e-03 -3.72108095e-04 9.99974928e-01 -1.89886353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00589822699999 meters Centerline goodness [0,1] 0.9725944352697703 Centerline is valid? [True, True] Translation: X:43.66, Y:-0.77, Z:-0.19 [[ 9.99948042e-01 7.60270087e-03 -6.79056133e-03 4.36600681e+01] [-7.59999754e-03 9.99971030e-01 4.23816603e-04 -7.67799867e-01] [ 6.79358676e-03 -3.72186333e-04 9.99976854e-01 -1.89899209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03589822699999 meters Centerline goodness [0,1] 0.9846006999681832 Centerline is valid? [True, True] Translation: X:43.69, Y:-0.76, Z:-0.19 [[ 9.99959422e-01 5.55513713e-03 -7.09189800e-03 4.36903742e+01] [-5.55213778e-03 9.99984489e-01 4.42544576e-04 -7.63929726e-01] [ 7.09424639e-03 -4.03151424e-04 9.99974754e-01 -1.89677837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06589822699999 meters Centerline goodness [0,1] 0.9048607616171783 Centerline is valid? [True, False] Translation: X:43.71, Y:-0.76, Z:-0.20 [[ 9.99983802e-01 2.27567154e-03 -5.21702075e-03 4.37149117e+01] [-2.23094009e-03 9.99960840e-01 8.56398096e-03 -7.61952257e-01] [ 5.23630526e-03 -8.55220338e-03 9.99949719e-01 -1.95239125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09589822699999 meters Centerline goodness [0,1] 0.9546335299073294 Centerline is valid? [False, True] Translation: X:43.72, Y:-0.76, Z:-0.20 [[ 9.99983551e-01 2.03476766e-03 -5.36256376e-03 4.37153622e+01] [-1.99174259e-03 9.99965885e-01 8.01639174e-03 -7.59316024e-01] [ 5.37869230e-03 -8.00557903e-03 9.99953489e-01 -1.95213575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.125898227 meters Centerline goodness [0,1] 0.9975382639409184 Centerline is valid? [True, True] Translation: X:43.75, Y:-0.74, Z:-0.19 [[ 9.99979777e-01 2.34888402e-03 -5.90994277e-03 4.37451573e+01] [-2.34678908e-03 9.99997181e-01 3.61387083e-04 -7.41531378e-01] [ 5.91077497e-03 -3.47510386e-04 9.99982471e-01 -1.90366929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.155898227 meters Centerline goodness [0,1] 0.9254336847888098 Centerline is valid? [True, False] Translation: X:43.79, Y:-0.74, Z:-0.19 [[ 9.99985785e-01 8.23246865e-04 -5.26807195e-03 4.37867145e+01] [-8.12250557e-04 9.99997488e-01 2.08914886e-03 -7.42261969e-01] [ 5.26977861e-03 -2.08484017e-03 9.99983941e-01 -1.90477711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.185898227 meters Centerline goodness [0,1] 0.9089525741820949 Centerline is valid? [False, False] Translation: X:43.79, Y:-0.74, Z:-0.19 [[ 9.99985298e-01 6.29290940e-04 -5.38589308e-03 4.37870687e+01] [-6.20366510e-04 9.99998432e-01 1.65851135e-03 -7.40240772e-01] [ 5.38692832e-03 -1.65514574e-03 9.99984121e-01 -1.90444926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.215898227 meters Centerline goodness [0,1] 0.9781369629944704 Centerline is valid? [False, True] Translation: X:43.79, Y:-0.73, Z:-0.19 [[ 9.99985262e-01 1.45062276e-04 -5.42721222e-03 4.37863346e+01] [-1.43473621e-04 9.99999947e-01 2.93108542e-04 -7.33662876e-01] [ 5.42725445e-03 -2.92325560e-04 9.99985230e-01 -1.88915405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24589822699998 meters Centerline goodness [0,1] 0.9984996570644719 Centerline is valid? [True, True] Translation: X:43.82, Y:-0.72, Z:-0.19 [[ 9.99988575e-01 1.33074461e-03 -4.59127330e-03 4.38160605e+01] [-1.32953968e-03 9.99999081e-01 2.65482071e-04 -7.19752612e-01] [ 4.59162237e-03 -2.59374757e-04 9.99989425e-01 -1.87450055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27589822699998 meters Centerline goodness [0,1] 0.9991512296560359 Centerline is valid? [True, True] Translation: X:43.85, Y:-0.72, Z:-0.19 [[ 9.99986973e-01 3.33501479e-03 -3.86422373e-03 4.38453711e+01] [-3.33417649e-03 9.99994417e-01 2.23360108e-04 -7.20778083e-01] [ 3.86494706e-03 -2.10473194e-04 9.99992509e-01 -1.86386911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30589822699999 meters Centerline goodness [0,1] 0.9891842307364109 Centerline is valid? [True, True] Translation: X:43.87, Y:-0.72, Z:-0.19 [[ 9.99963685e-01 5.81756135e-03 -6.22773904e-03 4.38743496e+01] [-5.81543278e-03 9.99983025e-01 3.59842571e-04 -7.22776637e-01] [ 6.22972673e-03 -3.23612506e-04 9.99980543e-01 -1.89929737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33589822699999 meters Centerline goodness [0,1] 0.9979429977097294 Centerline is valid? [True, True] Translation: X:43.90, Y:-0.71, Z:-0.19 [[ 9.99947784e-01 6.24505075e-03 -8.08875681e-03 4.39037553e+01] [-6.24147696e-03 9.99980413e-01 4.66990664e-04 -7.14805883e-01] [ 8.09151475e-03 -4.16480490e-04 9.99967176e-01 -1.90814020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36589822699999 meters Centerline goodness [0,1] 0.997479774662205 Centerline is valid? [True, True] Translation: X:43.93, Y:-0.71, Z:-0.19 [[ 9.99939947e-01 6.31433469e-03 -8.95722502e-03 4.39321887e+01] [-6.30995870e-03 9.99979959e-01 5.16719520e-04 -7.14090059e-01] [ 8.96030824e-03 -4.60168770e-04 9.99959750e-01 -1.91383115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39589822699999 meters Centerline goodness [0,1] 0.9893619280178363 Centerline is valid? [True, True] Translation: X:43.96, Y:-0.72, Z:-0.19 [[ 9.99936771e-01 6.43943780e-03 -9.21887503e-03 4.39596635e+01] [-6.43481264e-03 9.99979155e-01 5.31279327e-04 -7.18958925e-01] [ 9.22210400e-03 -4.71924001e-04 9.99957364e-01 -1.92693344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42589822699999 meters Centerline goodness [0,1] 0.998317171164728 Centerline is valid? [True, True] Translation: X:43.99, Y:-0.71, Z:-0.19 [[ 9.99948423e-01 7.13621139e-03 -7.22680422e-03 4.39895200e+01] [-7.13338909e-03 9.99974470e-01 4.16234169e-04 -7.12290500e-01] [ 7.22959005e-03 -3.64661095e-04 9.99973800e-01 -1.89491485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45589822699999 meters Centerline goodness [0,1] 0.9987729542184988 Centerline is valid? [True, True] Translation: X:44.02, Y:-0.71, Z:-0.19 [[ 9.99959099e-01 7.14941560e-03 -5.53959802e-03 4.40181053e+01] [-7.14775896e-03 9.99974404e-01 3.18794506e-04 -7.12822835e-01] [ 5.54173542e-03 -2.79185755e-04 9.99984605e-01 -1.87568973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48589822699999 meters Centerline goodness [0,1] 0.9987066406581291 Centerline is valid? [True, True] Translation: X:44.05, Y:-0.71, Z:-0.19 [[ 9.99968073e-01 6.32771122e-03 -4.87992897e-03 4.40469674e+01] [-6.32641700e-03 9.99979949e-01 2.80603758e-04 -7.11586135e-01] [ 4.88160670e-03 -2.49722334e-04 9.99988054e-01 -1.87206500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.515898227 meters Centerline goodness [0,1] 0.9994468673545368 Centerline is valid? [True, True] Translation: X:44.08, Y:-0.71, Z:-0.19 [[ 9.99970974e-01 5.99729260e-03 -4.69929801e-03 4.40754707e+01] [-5.99608982e-03 9.99981987e-01 2.69997476e-04 -7.11530110e-01] [ 4.70083261e-03 -2.41812226e-04 9.99988922e-01 -1.85919197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.545898227 meters Centerline goodness [0,1] 0.9953960070438971 Centerline is valid? [True, True] Translation: X:44.10, Y:-0.72, Z:-0.19 [[ 9.99973424e-01 3.18125094e-03 -6.55984442e-03 4.41042768e+01] [-3.17884742e-03 9.99994876e-01 3.76792781e-04 -7.15888616e-01] [ 6.56100948e-03 -3.55930023e-04 9.99978413e-01 -1.88777216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.575898227 meters Centerline goodness [0,1] 0.9924547496926794 Centerline is valid? [True, True] Translation: X:44.13, Y:-0.72, Z:-0.19 [[ 9.99973607e-01 1.29654581e-03 -7.14871239e-03 4.41343242e+01] [-1.29364392e-03 9.99999079e-01 4.10541321e-04 -7.19095101e-01] [ 7.14923809e-03 -4.01282598e-04 9.99974363e-01 -1.89578938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.605898227 meters Centerline goodness [0,1] 0.9646606315610523 Centerline is valid? [True, True] Translation: X:44.16, Y:-0.73, Z:-0.19 [[ 9.99970804e-01 -8.51791073e-04 -7.59381262e-03 4.41628388e+01] [ 8.55126860e-04 9.99999539e-01 4.36040822e-04 -7.29275197e-01] [ 7.59343771e-03 -4.42521764e-04 9.99971072e-01 -1.90497460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63589822699998 meters Centerline goodness [0,1] 0.9475373594371107 Centerline is valid? [True, False] Translation: X:44.16, Y:-0.73, Z:-0.19 [[ 9.99972841e-01 -1.11552723e-03 -7.28510789e-03 4.41619072e+01] [ 1.12303258e-03 9.99998843e-01 1.02622169e-03 -7.33641433e-01] [ 7.28395468e-03 -1.03437523e-03 9.99972937e-01 -1.90670746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66589822699999 meters Centerline goodness [0,1] 0.9173916715938846 Centerline is valid? [False, False] Translation: X:44.16, Y:-0.74, Z:-0.19 [[ 9.99973628e-01 -1.03290524e-03 -7.18864412e-03 4.41617652e+01] [ 1.04353066e-03 9.99998368e-01 1.47449078e-03 -7.36051433e-01] [ 7.18710938e-03 -1.48195346e-03 9.99973074e-01 -1.90938607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69589822699999 meters Centerline goodness [0,1] 0.9050066100899825 Centerline is valid? [False, False] Translation: X:44.16, Y:-0.74, Z:-0.19 [[ 9.99974901e-01 -9.80332208e-04 -7.01683314e-03 4.41611847e+01] [ 9.92851510e-04 9.99997921e-01 1.78092024e-03 -7.37847295e-01] [ 7.01507266e-03 -1.78784221e-03 9.99973796e-01 -1.90881128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72589822699999 meters Centerline goodness [0,1] 0.933171657528469 Centerline is valid? [False, False] Translation: X:44.18, Y:-0.74, Z:-0.18 [[ 9.99973675e-01 -1.45776584e-03 -7.10797230e-03 4.41781696e+01] [ 1.39850803e-03 9.99964288e-01 -8.33466555e-03 -7.36085095e-01] [ 7.11986845e-03 8.32450559e-03 9.99940003e-01 -1.84829635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75589822699999 meters Centerline goodness [0,1] 0.9268637803590285 Centerline is valid? [False, False] Translation: X:44.18, Y:-0.74, Z:-0.19 [[ 9.99974284e-01 2.68364144e-03 -6.65045690e-03 4.41772692e+01] [-2.70543248e-03 9.99990994e-01 -3.26979614e-03 -7.41279796e-01] [ 6.64162205e-03 3.28770442e-03 9.99972540e-01 -1.86000571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78589822699999 meters Centerline goodness [0,1] 0.9361959218901715 Centerline is valid? [False, False] Translation: X:44.12, Y:-0.74, Z:-0.19 [[ 9.99978872e-01 1.95460323e-03 -6.19959834e-03 4.41169062e+01] [-1.95388324e-03 9.99998084e-01 1.22189348e-04 -7.38459367e-01] [ 6.19982529e-03 -1.10073475e-04 9.99980775e-01 -1.88827874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81589822699999 meters Centerline goodness [0,1] 0.9763097362254659 Centerline is valid? [False, True] Translation: X:44.12, Y:-0.74, Z:-0.19 [[ 9.99975866e-01 2.16680557e-03 -6.60095215e-03 4.41184835e+01] [-2.16442545e-03 9.99997590e-01 3.67694566e-04 -7.39149224e-01] [ 6.60173297e-03 -3.53398424e-04 9.99978146e-01 -1.89367567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84589822699999 meters Centerline goodness [0,1] 0.9251676295702779 Centerline is valid? [True, False] Translation: X:44.16, Y:-0.74, Z:-0.19 [[ 9.99982836e-01 1.74346531e-03 -5.59350326e-03 4.41594008e+01] [-1.72137746e-03 9.99990712e-01 3.95122734e-03 -7.43047771e-01] [ 5.60034014e-03 -3.94153099e-03 9.99976550e-01 -1.89935134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.875898227 meters Centerline goodness [0,1] 0.9343827043428788 Centerline is valid? [False, False] Translation: X:44.16, Y:-0.74, Z:-0.19 [[ 9.99982874e-01 1.79607973e-03 -5.57006266e-03 4.41590639e+01] [-1.77419378e-03 9.99990697e-01 3.93166559e-03 -7.42901352e-01] [ 5.57707243e-03 -3.92171589e-03 9.99976758e-01 -1.89531308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.905898227 meters Centerline goodness [0,1] 0.9670248940010915 Centerline is valid? [False, True] Translation: X:44.16, Y:-0.74, Z:-0.19 [[ 9.99983925e-01 1.97672867e-03 -5.31436053e-03 4.41580430e+01] [-1.95416538e-03 9.99989070e-01 4.24756622e-03 -7.44477833e-01] [ 5.32269873e-03 -4.23711280e-03 9.99976858e-01 -1.89266397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.935898227 meters Centerline goodness [0,1] 0.978654921226495 Centerline is valid? [True, True] Translation: X:44.19, Y:-0.74, Z:-0.19 [[ 9.99983284e-01 1.58500675e-03 -5.56044529e-03 4.41869731e+01] [-1.58311262e-03 9.99998687e-01 3.45029382e-04 -7.41780512e-01] [ 5.56098486e-03 -3.36220803e-04 9.99984481e-01 -1.87907414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.965898227 meters Centerline goodness [0,1] 0.9773142444453885 Centerline is valid? [True, True] Translation: X:44.22, Y:-0.74, Z:-0.19 [[ 9.99976943e-01 4.39053579e-04 -6.77647445e-03 4.42166335e+01] [-4.36215227e-04 9.99999817e-01 4.20326102e-04 -7.44070853e-01] [ 6.77665776e-03 -4.17360409e-04 9.99976951e-01 -1.88871961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99589822699998 meters Centerline goodness [0,1] 0.8807281059063137 Centerline is valid? [True, False] Translation: X:44.22, Y:-0.75, Z:-0.19 [[ 9.99975223e-01 5.39811194e-04 -7.01871066e-03 4.42179804e+01] [-5.34323061e-04 9.99999550e-01 7.83780635e-04 -7.45786161e-01] [ 7.01913059e-03 -7.80010957e-04 9.99975061e-01 -1.89823872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02589822699998 meters Centerline goodness [0,1] 0.9095535162986778 Centerline is valid? [False, False] Translation: X:44.22, Y:-0.75, Z:-0.19 [[ 9.99972829e-01 7.60530848e-04 -7.33235697e-03 4.42197807e+01] [-7.48787413e-04 9.99998433e-01 1.60420301e-03 -7.49905603e-01] [ 7.33356552e-03 -1.59866904e-03 9.99971831e-01 -1.91244684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05589822699999 meters Centerline goodness [0,1] 0.9106350914962325 Centerline is valid? [False, False] Translation: X:44.22, Y:-0.75, Z:-0.19 [[ 9.99972877e-01 8.91016498e-04 -7.31104404e-03 4.42198375e+01] [-8.77125000e-04 9.99997805e-01 1.90305675e-03 -7.51372499e-01] [ 7.31272364e-03 -1.89659243e-03 9.99971463e-01 -1.91477773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08589822699999 meters Centerline goodness [0,1] 0.914403466131248 Centerline is valid? [False, False] Translation: X:44.26, Y:-0.76, Z:-0.19 [[ 9.99984841e-01 -6.67296757e-04 -5.46555843e-03 4.42589954e+01] [ 6.89534098e-04 9.99991489e-01 4.06775784e-03 -7.55138605e-01] [ 5.46279751e-03 -4.07146487e-03 9.99976790e-01 -1.91165622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11589822699999 meters Centerline goodness [0,1] 0.964175654853621 Centerline is valid? [False, True] Translation: X:44.22, Y:-0.75, Z:-0.19 [[ 9.99980197e-01 -5.05094346e-04 -6.27306169e-03 4.42176691e+01] [ 5.00163160e-04 9.99999565e-01 -7.87633056e-04 -7.50224800e-01] [ 6.27345679e-03 7.84479904e-04 9.99980014e-01 -1.89867785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14589822699999 meters Centerline goodness [0,1] 0.9172658791302859 Centerline is valid? [True, False] Translation: X:44.22, Y:-0.75, Z:-0.19 [[ 9.99977980e-01 -4.23739720e-04 -6.62274546e-03 4.42190153e+01] [ 4.16795161e-04 9.99999362e-01 -1.04993716e-03 -7.48267441e-01] [ 6.62318614e-03 1.04715371e-03 9.99977518e-01 -1.90298780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17589822699999 meters Centerline goodness [0,1] 0.8469165304154613 Centerline is valid? [False, False] Translation: X:44.26, Y:-0.75, Z:-0.19 [[ 9.99972641e-01 -5.66363885e-04 -7.37533740e-03 4.42640336e+01] [ 5.88518911e-04 9.99995320e-01 3.00211009e-03 -7.51695594e-01] [ 7.37360260e-03 -3.00636849e-03 9.99968295e-01 -1.93291436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20589822699999 meters Centerline goodness [0,1] 0.9017409766454353 Centerline is valid? [False, False] Translation: X:44.22, Y:-0.75, Z:-0.19 [[ 9.99960391e-01 -2.48580670e-04 -8.89691107e-03 4.42241245e+01] [ 2.36277737e-04 9.99999015e-01 -1.38385637e-03 -7.46789642e-01] [ 8.89724630e-03 1.38169941e-03 9.99959464e-01 -1.93126727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23589822699999 meters Centerline goodness [0,1] 0.8819974893082831 Centerline is valid? [False, False] Translation: X:44.22, Y:-0.75, Z:-0.19 [[ 9.99961148e-01 -3.02509658e-04 -8.80975910e-03 4.42236324e+01] [ 2.89481793e-04 9.99998863e-01 -1.48003691e-03 -7.46413272e-01] [ 8.81019681e-03 1.47742914e-03 9.99960098e-01 -1.92796215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.265898227 meters Centerline goodness [0,1] 0.8894092445975177 Centerline is valid? [False, False] Translation: X:44.26, Y:-0.75, Z:-0.19 [[ 9.99982916e-01 -5.02273945e-04 -5.82372779e-03 4.42583914e+01] [ 5.18039419e-04 9.99996205e-01 2.70591813e-03 -7.51140816e-01] [ 5.82234657e-03 -2.70888882e-03 9.99979381e-01 -1.90350598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.295898227 meters Centerline goodness [0,1] 0.934980688389561 Centerline is valid? [False, False] Translation: X:44.21, Y:-0.75, Z:-0.19 [[ 9.99981113e-01 -5.78285521e-04 -6.11871392e-03 4.42147766e+01] [ 5.67406292e-04 9.99998256e-01 -1.77961213e-03 -7.47007067e-01] [ 6.11973237e-03 1.77610672e-03 9.99979697e-01 -1.88159501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.325898227 meters Centerline goodness [0,1] 0.9167670110061896 Centerline is valid? [False, False] Translation: X:44.24, Y:-0.75, Z:-0.20 [[ 9.99994667e-01 -2.55061484e-03 -2.03960865e-03 4.42406741e+01] [ 2.56549618e-03 9.99969865e-01 7.32715131e-03 -7.51996583e-01] [ 2.02085845e-03 -7.33234485e-03 9.99971076e-01 -1.96176339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.355898227 meters Centerline goodness [0,1] 0.9383381456528713 Centerline is valid? [False, False] Translation: X:44.22, Y:-0.75, Z:-0.19 [[ 9.99974705e-01 -2.36195786e-03 -6.70894898e-03 4.42160867e+01] [ 2.33610305e-03 9.99989825e-01 -3.85900476e-03 -7.45412926e-01] [ 6.71799552e-03 3.84323435e-03 9.99970049e-01 -1.88136624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38589822699998 meters Centerline goodness [0,1] 0.8308930248441903 Centerline is valid? [False, False] Translation: X:44.22, Y:-0.75, Z:-0.19 [[ 9.99974382e-01 -2.40969923e-03 -6.74001616e-03 4.42160345e+01] [ 2.38345451e-03 9.99989558e-01 -3.89919261e-03 -7.45273073e-01] [ 6.74934166e-03 3.88302820e-03 9.99969684e-01 -1.87850150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41589822699999 meters Centerline goodness [0,1] 0.9614620919358626 Centerline is valid? [False, True] Translation: X:44.22, Y:-0.75, Z:-0.19 [[ 9.99975680e-01 -2.45581673e-03 -6.52748610e-03 4.42153514e+01] [ 2.43133142e-03 9.99989989e-01 -3.75639983e-03 -7.46214385e-01] [ 6.53664578e-03 3.74043799e-03 9.99971640e-01 -1.87835006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44589822699999 meters Centerline goodness [0,1] 0.9536899349959638 Centerline is valid? [True, True] Translation: X:44.24, Y:-0.75, Z:-0.19 [[ 9.99979395e-01 -3.38063786e-03 -5.45720845e-03 4.42439396e+01] [ 3.38259760e-03 9.99994218e-01 3.49920361e-04 -7.52758074e-01] [ 5.45599394e-03 -3.68372691e-04 9.99985048e-01 -1.89152550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47589822699999 meters Centerline goodness [0,1] 0.9536899349959638 Centerline is valid? [True, True] Translation: X:44.27, Y:-0.75, Z:-0.19 [[ 9.99979318e-01 -3.40333300e-03 -5.45721269e-03 4.42731058e+01] [ 3.40529272e-03 9.99994141e-01 3.49854163e-04 -7.54591165e-01] [ 5.45599005e-03 -3.68430334e-04 9.99985048e-01 -1.89221683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50589822699999 meters Centerline goodness [0,1] 0.8058081179262121 Centerline is valid? [True, False] Translation: X:44.27, Y:-0.75, Z:-0.19 [[ 9.99953605e-01 -7.63600642e-03 -5.87185415e-03 4.42737673e+01] [ 7.61003414e-03 9.99961218e-01 -4.43287717e-03 -7.51551101e-01] [ 5.90547591e-03 4.38798650e-03 9.99972935e-01 -1.87909335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53589822699999 meters Centerline goodness [0,1] 0.8976692142042816 Centerline is valid? [False, False] Translation: X:44.27, Y:-0.75, Z:-0.19 [[ 9.99953974e-01 -7.52138699e-03 -5.95632665e-03 4.42743217e+01] [ 7.49706260e-03 9.99963509e-01 -4.09564282e-03 -7.53121221e-01] [ 5.98691421e-03 4.05079936e-03 9.99973874e-01 -1.88330872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56589822699999 meters Centerline goodness [0,1] 0.9017627930857436 Centerline is valid? [False, False] Translation: X:44.24, Y:-0.75, Z:-0.19 [[ 9.99937002e-01 -7.76177168e-03 -8.10848973e-03 4.42350007e+01] [ 7.69928336e-03 9.99940640e-01 -7.70952724e-03 -7.51589022e-01] [ 8.16784800e-03 7.64661200e-03 9.99937406e-01 -1.88564304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59589822699999 meters Centerline goodness [0,1] 0.8500619318539668 Centerline is valid? [False, False] Translation: X:44.27, Y:-0.76, Z:-0.19 [[ 9.99952148e-01 -7.02894509e-03 -6.80405751e-03 4.42745325e+01] [ 7.02547235e-03 9.99975178e-01 -5.34159252e-04 -7.61297278e-01] [ 6.80764319e-03 4.86331974e-04 9.99976709e-01 -1.91756413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.625898227 meters Centerline goodness [0,1] 0.8367403081090232 Centerline is valid? [False, False] Translation: X:44.27, Y:-0.77, Z:-0.19 [[ 9.99954250e-01 -6.83278831e-03 -6.69412389e-03 4.42744200e+01] [ 6.83414696e-03 9.99976631e-01 1.80108051e-04 -7.65036621e-01] [ 6.69273681e-03 -2.25848437e-04 9.99977578e-01 -1.92182118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.655898227 meters Centerline goodness [0,1] 0.8756162869772186 Centerline is valid? [False, False] Translation: X:44.27, Y:-0.77, Z:-0.19 [[ 9.99956499e-01 -7.12909322e-03 -6.01471384e-03 4.42719195e+01] [ 7.13587897e-03 9.99973926e-01 1.10748701e-03 -7.72155949e-01] [ 6.00666164e-03 -1.15035910e-03 9.99981298e-01 -1.91862117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.685898227 meters Centerline goodness [0,1] 0.7460184759436526 Centerline is valid? [False, False] Translation: X:44.31, Y:-0.78, Z:-0.19 [[ 9.99949219e-01 -9.11455536e-03 -4.29935358e-03 4.43103824e+01] [ 9.13331031e-03 9.99948772e-01 4.36299782e-03 -7.80262235e-01] [ 4.25936655e-03 -4.40204359e-03 9.99981240e-01 -1.92025754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.715898227 meters Centerline goodness [0,1] 0.7920193211934684 Centerline is valid? [False, False] Translation: X:44.25, Y:-0.78, Z:-0.19 [[ 9.99957538e-01 -8.02626499e-03 -4.52786334e-03 4.42450880e+01] [ 7.98472379e-03 9.99926539e-01 -9.11923081e-03 -7.75620181e-01] [ 4.60072408e-03 9.08268985e-03 9.99948168e-01 -1.87638691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74589822699998 meters Centerline goodness [0,1] 0.7598638008086827 Centerline is valid? [False, False] Translation: X:44.25, Y:-0.78, Z:-0.19 [[ 9.99982857e-01 -4.02228592e-03 -4.25526813e-03 4.42451391e+01] [ 4.00725336e-03 9.99985722e-01 -3.53534148e-03 -7.84731345e-01] [ 4.26942753e-03 3.51822893e-03 9.99984697e-01 -1.89847061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77589822699998 meters Centerline goodness [0,1] 0.7757651600313912 Centerline is valid? [False, False] Translation: X:44.25, Y:-0.79, Z:-0.19 [[ 9.99984727e-01 -3.54925420e-03 -4.23647301e-03 4.42456794e+01] [ 3.53890980e-03 9.99990745e-01 -2.44675122e-03 -7.89793866e-01] [ 4.24511795e-03 2.43172136e-03 9.99988033e-01 -1.90911364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80589822699999 meters Centerline goodness [0,1] 0.7529891361449075 Centerline is valid? [False, False] Translation: X:44.25, Y:-0.79, Z:-0.19 [[ 9.99986810e-01 -2.81200788e-03 -4.29806876e-03 4.42458549e+01] [ 2.80577890e-03 9.99995006e-01 -1.45459476e-03 -7.93744840e-01] [ 4.30213762e-03 1.44251615e-03 9.99989705e-01 -1.90866856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83589822699999 meters Centerline goodness [0,1] 0.9025762321805281 Centerline is valid? [False, False] Translation: X:44.20, Y:-0.79, Z:-0.19 [[ 9.99990813e-01 1.97080138e-04 -4.28186629e-03 4.42027802e+01] [-2.09545647e-04 9.99995741e-01 -2.91097898e-03 -7.90289840e-01] [ 4.28127436e-03 2.91184948e-03 9.99986596e-01 -1.89788181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86589822699999 meters Centerline goodness [0,1] 0.860552472197016 Centerline is valid? [False, False] Translation: X:44.24, Y:-0.80, Z:-0.19 [[ 9.99995395e-01 1.98720147e-03 -2.29349372e-03 4.42413549e+01] [-1.98091645e-03 9.99994286e-01 2.73939547e-03 -7.96081624e-01] [ 2.29892435e-03 -2.73483964e-03 9.99993618e-01 -1.89192266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89589822699999 meters Centerline goodness [0,1] 0.8541688704593057 Centerline is valid? [False, False] Translation: X:44.24, Y:-0.80, Z:-0.19 [[ 9.99994445e-01 2.19734617e-03 -2.50639475e-03 4.42418553e+01] [-2.19032931e-03 9.99993684e-01 2.79890013e-03 -7.95890351e-01] [ 2.51252907e-03 -2.79339475e-03 9.99992942e-01 -1.88928227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92589822699999 meters Centerline goodness [0,1] 0.9659574468085106 Centerline is valid? [False, True] Translation: X:44.24, Y:-0.80, Z:-0.19 [[ 9.99993647e-01 2.41115140e-03 -2.62549160e-03 4.42422786e+01] [-2.40329700e-03 9.99992640e-01 2.99065214e-03 -7.96441252e-01] [ 2.63268319e-03 -2.98432330e-03 9.99992081e-01 -1.89017310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95589822699999 meters Centerline goodness [0,1] 0.920758241524974 Centerline is valid? [True, False] Translation: X:44.25, Y:-0.80, Z:-0.19 [[ 9.99994761e-01 3.11567030e-04 -3.22209530e-03 4.42463211e+01] [-3.09075192e-04 9.99999653e-01 7.73828580e-04 -7.99210566e-01] [ 3.22233528e-03 -7.72828656e-04 9.99994510e-01 -1.91364287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98589822699999 meters Centerline goodness [0,1] 0.9802981782707357 Centerline is valid? [False, True] Translation: X:44.25, Y:-0.80, Z:-0.19 [[ 9.99994902e-01 6.50890601e-04 -3.12616819e-03 4.42465093e+01] [-6.45791230e-04 9.99998460e-01 1.63192131e-03 -8.03326693e-01] [ 3.12722557e-03 -1.62989414e-03 9.99993782e-01 -1.92263186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.015898227 meters Centerline goodness [0,1] 0.9942371138437808 Centerline is valid? [True, True] Translation: X:44.28, Y:-0.80, Z:-0.19 [[ 9.99991151e-01 2.12637518e-04 -4.20159578e-03 4.42751217e+01] [-2.11445442e-04 9.99999937e-01 2.84162075e-04 -8.01743165e-01] [ 4.20165594e-03 -2.83271152e-04 9.99991133e-01 -1.93023084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.045898227 meters Centerline goodness [0,1] 0.9345192714951291 Centerline is valid? [True, False] Translation: X:44.28, Y:-0.80, Z:-0.20 [[ 9.99982896e-01 -2.47559973e-03 -5.29893983e-03 4.42811984e+01] [ 2.46322354e-03 9.99994226e-01 -2.34085026e-03 -8.04078694e-01] [ 5.30470424e-03 2.32775775e-03 9.99983221e-01 -1.96195947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.075898227 meters Centerline goodness [0,1] 0.8451329303858997 Centerline is valid? [False, False] Translation: X:44.29, Y:-0.81, Z:-0.20 [[ 9.99982119e-01 -1.42021416e-03 -5.80903805e-03 4.42853235e+01] [ 1.42051293e-03 9.99998990e-01 4.73065454e-05 -8.14157748e-01] [ 5.80896499e-03 -5.55575132e-05 9.99983126e-01 -1.99933521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.105898227 meters Centerline goodness [0,1] 0.9288307915758897 Centerline is valid? [False, False] Translation: X:44.29, Y:-0.82, Z:-0.20 [[ 9.99981974e-01 -1.13272880e-03 -5.89650222e-03 4.42858752e+01] [ 1.13723920e-03 9.99999063e-01 7.61631928e-04 -8.17576695e-01] [ 5.89563398e-03 -7.68323932e-04 9.99982325e-01 -2.00439074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13589822699998 meters Centerline goodness [0,1] 0.8976054780537598 Centerline is valid? [False, False] Translation: X:44.29, Y:-0.82, Z:-0.20 [[ 9.99982246e-01 -8.85506992e-04 -5.89259165e-03 4.42859306e+01] [ 8.93486439e-04 9.99998687e-01 1.35165424e-03 -8.20403719e-01] [ 5.89138701e-03 -1.35689519e-03 9.99981725e-01 -2.00573465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16589822699999 meters Centerline goodness [0,1] 0.9548983520551713 Centerline is valid? [False, True] Translation: X:44.28, Y:-0.82, Z:-0.20 [[ 9.99983179e-01 -5.82379768e-04 -5.77091131e-03 4.42848549e+01] [ 5.91604820e-04 9.99998550e-01 1.59696526e-03 -8.21156888e-01] [ 5.76997290e-03 -1.60035250e-03 9.99982073e-01 -1.99323793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19589822699999 meters Centerline goodness [0,1] 0.9533310787960771 Centerline is valid? [True, True] Translation: X:44.31, Y:-0.82, Z:-0.20 [[ 9.99986519e-01 1.73656797e-03 -4.89342471e-03 4.43145205e+01] [-1.73496816e-03 9.99998440e-01 3.31158033e-04 -8.23272169e-01] [ 4.89399216e-03 -3.22663632e-04 9.99987972e-01 -1.98146201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22589822699999 meters Centerline goodness [0,1] 0.8656910705662517 Centerline is valid? [True, False] Translation: X:44.31, Y:-0.82, Z:-0.20 [[ 9.99985343e-01 1.95111801e-03 -5.05037572e-03 4.43149841e+01] [-1.94933173e-03 9.99998036e-01 3.58589526e-04 -8.22801525e-01] [ 5.05106545e-03 -3.48739412e-04 9.99987182e-01 -1.98069104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25589822699999 meters Centerline goodness [0,1] 0.9884428873555361 Centerline is valid? [False, True] Translation: X:44.27, Y:-0.82, Z:-0.20 [[ 9.99976699e-01 3.05911659e-03 -6.10277096e-03 4.42733943e+01] [-3.07629893e-03 9.99991325e-01 -2.80809996e-03 -8.18988802e-01] [ 6.09412771e-03 2.82680847e-03 9.99977435e-01 -1.97370116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28589822699999 meters Centerline goodness [0,1] 0.9638897687678175 Centerline is valid? [True, True] Translation: X:44.30, Y:-0.83, Z:-0.20 [[ 9.99972633e-01 4.27463960e-03 -6.03831545e-03 4.43007938e+01] [-4.27239062e-03 9.99990799e-01 3.85301694e-04 -8.31134129e-01] [ 6.03990692e-03 -3.59493107e-04 9.99981695e-01 -2.00643549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31589822699999 meters Centerline goodness [0,1] 0.9377353330949326 Centerline is valid? [True, False] Translation: X:44.30, Y:-0.83, Z:-0.20 [[ 9.99970870e-01 4.52214105e-03 -6.14892394e-03 4.43015172e+01] [-4.51609347e-03 9.99989305e-01 9.97046726e-04 -8.34149021e-01] [ 6.15336696e-03 -9.69248567e-04 9.99980598e-01 -2.01324778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34589822699999 meters Centerline goodness [0,1] 0.9845386108208398 Centerline is valid? [False, True] Translation: X:44.30, Y:-0.84, Z:-0.20 [[ 9.99969867e-01 4.65577953e-03 -6.21195613e-03 4.43017219e+01] [-4.64718520e-03 9.99988226e-01 1.39723159e-03 -8.36152246e-01] [ 6.21838819e-03 -1.36832138e-03 9.99979729e-01 -2.01345961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.375898227 meters Centerline goodness [0,1] 0.9819016113541778 Centerline is valid? [True, True] Translation: X:44.33, Y:-0.84, Z:-0.20 [[ 9.99971111e-01 3.45960834e-03 -6.76814203e-03 4.43311348e+01] [-3.45670772e-03 9.99993929e-01 4.40220566e-04 -8.40373728e-01] [ 6.76962393e-03 -4.16812360e-04 9.99976999e-01 -2.01485692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.405898227 meters Centerline goodness [0,1] 0.8622721838887607 Centerline is valid? [True, False] Translation: X:44.37, Y:-0.85, Z:-0.20 [[ 9.99982759e-01 1.56614241e-03 -5.65948938e-03 4.43720879e+01] [-1.55264475e-03 9.99995942e-01 2.38856714e-03 -8.45546159e-01] [ 5.66320725e-03 -2.37973879e-03 9.99981132e-01 -2.01896841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.435898227 meters Centerline goodness [0,1] 0.8332001177905852 Centerline is valid? [False, False] Translation: X:44.37, Y:-0.85, Z:-0.20 [[ 9.99983299e-01 1.75970752e-03 -5.50498307e-03 4.43714594e+01] [-1.74380479e-03 9.99994297e-01 2.89225676e-03 -8.48166585e-01] [ 5.51004120e-03 -2.88260885e-03 9.99980665e-01 -2.01717064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.465898227 meters Centerline goodness [0,1] 0.986429159367679 Centerline is valid? [False, True] Translation: X:44.37, Y:-0.85, Z:-0.20 [[ 9.99983748e-01 1.71873434e-03 -5.43598431e-03 4.43709403e+01] [-1.70435587e-03 9.99995040e-01 2.64858158e-03 -8.46978922e-01] [ 5.44050956e-03 -2.63927368e-03 9.99981717e-01 -2.01217583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49589822699998 meters Centerline goodness [0,1] 0.9849403979128664 Centerline is valid? [True, True] Translation: X:44.40, Y:-0.85, Z:-0.20 [[ 9.99980371e-01 4.17944813e-03 -4.66799741e-03 4.44002331e+01] [-4.17812172e-03 9.99991228e-01 2.93865512e-04 -8.47746909e-01] [ 4.66918466e-03 -2.74356283e-04 9.99989062e-01 -1.99988830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52589822699998 meters Centerline goodness [0,1] 0.9911623318009111 Centerline is valid? [True, True] Translation: X:44.43, Y:-0.85, Z:-0.20 [[ 9.99971938e-01 6.36972846e-03 -3.94328228e-03 4.44301241e+01] [-6.36879939e-03 9.99979688e-01 2.48120528e-04 -8.45071361e-01] [ 3.94478264e-03 -2.22999592e-04 9.99992194e-01 -1.99468653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55589822699999 meters Centerline goodness [0,1] 0.9943391426027223 Centerline is valid? [True, True] Translation: X:44.46, Y:-0.84, Z:-0.20 [[ 9.99951435e-01 8.84371301e-03 -4.34928646e-03 4.44603309e+01] [-8.84260612e-03 9.99960866e-01 2.73662286e-04 -8.41929695e-01] [ 4.35153645e-03 -2.35189968e-04 9.99990504e-01 -1.99981575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58589822699999 meters Centerline goodness [0,1] 0.9952382976914247 Centerline is valid? [True, True] Translation: X:44.49, Y:-0.84, Z:-0.20 [[ 9.99952990e-01 8.50054075e-03 -4.66454855e-03 4.44892341e+01] [-8.49926537e-03 9.99963838e-01 2.93175016e-04 -8.43193588e-01] [ 4.66687201e-03 -2.53515998e-04 9.99989078e-01 -2.00360282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61589822699999 meters Centerline goodness [0,1] 0.9821568585899256 Centerline is valid? [True, True] Translation: X:44.52, Y:-0.85, Z:-0.20 [[ 9.99961956e-01 7.49792762e-03 -4.45723589e-03 4.45175500e+01] [-7.49675395e-03 9.99971860e-01 2.79967165e-04 -8.52888196e-01] [ 4.45920964e-03 -2.46541713e-04 9.99990027e-01 -2.00625120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64589822699999 meters Centerline goodness [0,1] 0.9828890872762828 Centerline is valid? [True, True] Translation: X:44.55, Y:-0.86, Z:-0.20 [[ 9.99975305e-01 5.98855353e-03 -3.67772983e-03 4.45470907e+01] [-5.98774446e-03 9.99982047e-01 2.30962672e-04 -8.57581119e-01] [ 3.67904693e-03 -2.08935662e-04 9.99993210e-01 -2.00494626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67589822699999 meters Centerline goodness [0,1] 0.9796826338425033 Centerline is valid? [True, True] Translation: X:44.58, Y:-0.86, Z:-0.20 [[ 9.99988455e-01 3.74328579e-03 -3.01304674e-03 4.45771335e+01] [-3.74273262e-03 9.99992978e-01 1.89209653e-04 -8.64427803e-01] [ 3.01373385e-03 -1.77930440e-04 9.99995443e-01 -1.99464921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70589822699999 meters Centerline goodness [0,1] 0.9681257344300822 Centerline is valid? [True, True] Translation: X:44.61, Y:-0.87, Z:-0.20 [[ 9.99995067e-01 8.78746486e-04 -3.01554127e-03 4.46063276e+01] [-8.78179560e-04 9.99999596e-01 1.89320303e-04 -8.73348547e-01] [ 3.01570642e-03 -1.86671182e-04 9.99995435e-01 -1.99145281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73589822699999 meters Centerline goodness [0,1] 0.9603987874130054 Centerline is valid? [True, True] Translation: X:44.64, Y:-0.88, Z:-0.20 [[ 9.99980342e-01 -4.58034269e-03 -4.28204147e-03 4.46364366e+01] [ 4.58153584e-03 9.99989469e-01 2.68871103e-04 -8.80472435e-01] [ 4.28076485e-03 -2.88484144e-04 9.99990796e-01 -1.99901591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.765898227 meters Centerline goodness [0,1] 0.9650220359023971 Centerline is valid? [True, True] Translation: X:44.67, Y:-0.88, Z:-0.20 [[ 9.99961488e-01 -6.65808871e-03 -5.71763867e-03 4.46668994e+01] [ 6.66024989e-03 9.99977756e-01 3.59027355e-04 -8.82355208e-01] [ 5.71512105e-03 -3.97094431e-04 9.99983590e-01 -2.01482459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.795898227 meters Centerline goodness [0,1] 0.8841161797657803 Centerline is valid? [True, False] Translation: X:44.67, Y:-0.88, Z:-0.20 [[ 9.99931670e-01 -9.55586110e-03 -6.73353070e-03 4.46724133e+01] [ 9.53782914e-03 9.99950855e-01 -2.70497902e-03 -8.83091945e-01] [ 6.75904819e-03 2.64057092e-03 9.99973671e-01 -2.04066364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.825898227 meters Centerline goodness [0,1] 0.8634905899232003 Centerline is valid? [False, False] Translation: X:44.67, Y:-0.89, Z:-0.21 [[ 9.99963067e-01 -5.60397954e-03 -6.51613034e-03 4.46721927e+01] [ 5.62025305e-03 9.99981127e-01 2.48179515e-03 -8.89642237e-01] [ 6.50209943e-03 -2.51832579e-03 9.99975690e-01 -2.05326754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.855898227 meters Centerline goodness [0,1] 0.8602388790411075 Centerline is valid? [False, False] Translation: X:44.67, Y:-0.89, Z:-0.21 [[ 9.99964873e-01 -5.41516011e-03 -6.39763618e-03 4.46717877e+01] [ 5.43427386e-03 9.99980812e-01 2.97403031e-03 -8.92085126e-01] [ 6.38140857e-03 -3.00869234e-03 9.99975112e-01 -2.05257752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88589822699998 meters Centerline goodness [0,1] 0.9592665858379598 Centerline is valid? [False, True] Translation: X:44.67, Y:-0.89, Z:-0.20 [[ 9.99967117e-01 -4.96730401e-03 -6.41018962e-03 4.46713059e+01] [ 4.98991100e-03 9.99981371e-01 3.51556555e-03 -8.94112893e-01] [ 6.39260732e-03 -3.54743622e-03 9.99973275e-01 -2.04340860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91589822699999 meters Centerline goodness [0,1] 0.9160670956851988 Centerline is valid? [True, False] Translation: X:44.67, Y:-0.89, Z:-0.20 [[ 9.99966742e-01 -4.67709267e-03 -6.68130566e-03 4.46723462e+01] [ 4.70159454e-03 9.99982263e-01 3.65624061e-03 -8.94049345e-01] [ 6.66408658e-03 -3.68753180e-03 9.99970996e-01 -2.04630749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94589822699999 meters Centerline goodness [0,1] 0.9263107182505603 Centerline is valid? [False, False] Translation: X:44.67, Y:-0.89, Z:-0.21 [[ 9.99965443e-01 -4.40808145e-03 -7.04850556e-03 4.46738509e+01] [ 4.43430630e-03 9.99983289e-01 3.70933749e-03 -8.93570662e-01] [ 7.03203671e-03 -3.74046454e-03 9.99968279e-01 -2.05157003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97589822699999 meters Centerline goodness [0,1] 0.9719568892645816 Centerline is valid? [False, True] Translation: X:44.67, Y:-0.89, Z:-0.21 [[ 9.99964855e-01 -4.27694220e-03 -7.21090097e-03 4.46746932e+01] [ 4.30367440e-03 9.99983910e-01 3.69575990e-03 -8.93037525e-01] [ 7.19497839e-03 -3.72666339e-03 9.99967172e-01 -2.05720039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00589822699999 meters Centerline goodness [0,1] 0.9872275204359673 Centerline is valid? [True, True] Translation: X:44.70, Y:-0.89, Z:-0.20 [[ 9.99971277e-01 -2.48759835e-03 -7.15943840e-03 4.47049454e+01] [ 2.49050753e-03 9.99996820e-01 3.97454991e-04 -8.88096108e-01] [ 7.15842692e-03 -4.15274210e-04 9.99974292e-01 -2.03915161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03589822699999 meters Centerline goodness [0,1] 0.9899328859060402 Centerline is valid? [True, True] Translation: X:44.73, Y:-0.89, Z:-0.20 [[ 9.99980846e-01 -3.86777654e-04 -6.17716620e-03 4.47337846e+01] [ 3.88902877e-04 9.99999866e-01 3.42847372e-04 -8.89181203e-01] [ 6.17703276e-03 -3.45243123e-04 9.99980862e-01 -2.02269475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06589822699999 meters Centerline goodness [0,1] 0.9967232648197796 Centerline is valid? [True, True] Translation: X:44.76, Y:-0.88, Z:-0.20 [[ 9.99972458e-01 5.42458321e-03 -5.06535776e-03 4.47630491e+01] [-5.42322941e-03 9.99985255e-01 2.80963337e-04 -8.83323387e-01] [ 5.06680718e-03 -2.53485001e-04 9.99987132e-01 -1.99719173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09589822699999 meters Centerline goodness [0,1] 0.9959432475039411 Centerline is valid? [True, True] Translation: X:44.79, Y:-0.89, Z:-0.20 [[ 9.99953259e-01 8.49370829e-03 -4.61909297e-03 4.47919724e+01] [-8.49261498e-03 9.99963904e-01 2.56257216e-04 -8.85461907e-01] [ 4.62110282e-03 -2.17017060e-04 9.99989299e-01 -2.00256581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.125898227 meters Centerline goodness [0,1] 0.9995356984572527 Centerline is valid? [True, True] Translation: X:44.82, Y:-0.88, Z:-0.20 [[ 9.99930662e-01 1.09861352e-02 -4.23970682e-03 4.48223665e+01] [-1.09852368e-02 9.99939633e-01 2.35133387e-04 -8.79493125e-01] [ 4.24203409e-03 -1.88542900e-04 9.99990985e-01 -1.99219212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.155898227 meters Centerline goodness [0,1] 0.9998708566508825 Centerline is valid? [True, True] Translation: X:44.85, Y:-0.88, Z:-0.20 [[ 9.99918439e-01 1.21800570e-02 -3.84204402e-03 4.48515471e+01] [-1.21793292e-02 9.99925807e-01 2.12770717e-04 -8.75781552e-01] [ 3.84435053e-03 -1.65959844e-04 9.99992597e-01 -1.98423927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.185898227 meters Centerline goodness [0,1] 0.999068230909322 Centerline is valid? [True, True] Translation: X:44.88, Y:-0.88, Z:-0.20 [[ 9.99917476e-01 1.23636681e-02 -3.49015201e-03 4.48784671e+01] [-1.23630696e-02 9.99923556e-01 1.93023508e-04 -8.84946583e-01] [ 3.49227168e-03 -1.49858587e-04 9.99993891e-01 -1.99579404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.215898227 meters Centerline goodness [0,1] 0.9997438524590164 Centerline is valid? [True, True] Translation: X:44.91, Y:-0.88, Z:-0.20 [[ 9.99926050e-01 1.17023792e-02 -3.30886848e-03 4.49072156e+01] [-1.17018380e-02 9.99931514e-01 1.82874953e-04 -8.81504106e-01] [ 3.31078195e-03 -1.44141587e-04 9.99994509e-01 -1.98902637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24589822699998 meters Centerline goodness [0,1] 0.9996821831896096 Centerline is valid? [True, True] Translation: X:44.94, Y:-0.89, Z:-0.20 [[ 9.99939987e-01 1.03966367e-02 -3.45426317e-03 4.49361435e+01] [-1.03960393e-02 9.99945942e-01 1.90838705e-04 -8.85878616e-01] [ 3.45606052e-03 -1.54916597e-04 9.99994016e-01 -1.99699343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27589822699998 meters Centerline goodness [0,1] 0.9992943440607291 Centerline is valid? [True, True] Translation: X:44.96, Y:-0.89, Z:-0.20 [[ 9.99953233e-01 8.55943753e-03 -4.50189841e-03 4.49639235e+01] [-8.55840528e-03 9.99963345e-01 2.48507457e-04 -8.91077932e-01] [ 4.50386048e-03 -2.09966764e-04 9.99989836e-01 -2.01073318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30589822699999 meters Centerline goodness [0,1] 0.999319192391975 Centerline is valid? [True, True] Translation: X:44.99, Y:-0.89, Z:-0.20 [[ 9.99969409e-01 5.17324303e-03 -5.86674837e-03 4.49940875e+01] [-5.17143078e-03 9.99986576e-01 3.24029111e-04 -8.92428768e-01] [ 5.86834589e-03 -2.93679716e-04 9.99982738e-01 -2.01595864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33589822699999 meters Centerline goodness [0,1] 0.9985135479486962 Centerline is valid? [True, True] Translation: X:45.02, Y:-0.90, Z:-0.20 [[ 9.99972471e-01 3.88231172e-03 -6.32332206e-03 4.50222616e+01] [-3.88018215e-03 9.99992411e-01 3.49013544e-04 -8.96817584e-01] [ 6.32462905e-03 -3.24468294e-04 9.99979947e-01 -2.02164828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36589822699999 meters Centerline goodness [0,1] 0.9542308503903777 Centerline is valid? [True, True] Translation: X:45.05, Y:-0.91, Z:-0.20 [[ 9.99975344e-01 2.97678546e-03 -6.35998678e-03 4.50488004e+01] [-2.97461596e-03 9.99995514e-01 3.50547699e-04 -9.14075211e-01] [ 6.36100176e-03 -3.31620538e-04 9.99979714e-01 -2.04772606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39589822699999 meters Centerline goodness [0,1] 0.9542308503903777 Centerline is valid? [True, True] Translation: X:45.08, Y:-0.92, Z:-0.20 [[ 9.99975470e-01 2.93424505e-03 -6.35999864e-03 4.50771206e+01] [-2.93207607e-03 9.99995640e-01 3.50332508e-04 -9.15551485e-01] [ 6.36099888e-03 -3.31675914e-04 9.99979714e-01 -2.04872051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42589822699999 meters Centerline goodness [0,1] 0.9945817956867681 Centerline is valid? [True, True] Translation: X:45.11, Y:-0.90, Z:-0.20 [[ 9.99977767e-01 2.64770957e-03 -6.12012621e-03 4.51068028e+01] [-2.64569760e-03 9.99996443e-01 3.36818721e-04 -9.03961550e-01] [ 6.12099624e-03 -3.20619229e-04 9.99981215e-01 -2.01460041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45589822699999 meters Centerline goodness [0,1] 0.9950326119822038 Centerline is valid? [True, True] Translation: X:45.14, Y:-0.90, Z:-0.20 [[ 9.99979936e-01 2.39781225e-03 -5.86324266e-03 4.51354357e+01] [-2.39596299e-03 9.99997078e-01 3.22403845e-04 -9.04166298e-01] [ 5.86399859e-03 -3.08349264e-04 9.99982759e-01 -2.01384486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48589822699999 meters Centerline goodness [0,1] 0.9917308979424402 Centerline is valid? [True, True] Translation: X:45.16, Y:-0.91, Z:-0.20 [[ 9.99976972e-01 1.88776605e-03 -6.51864547e-03 4.51639008e+01] [-1.88547126e-03 9.99998158e-01 3.58160834e-04 -9.05432625e-01] [ 6.51930959e-03 -3.45861868e-04 9.99978689e-01 -2.02578999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.515898227 meters Centerline goodness [0,1] 0.9865503298574164 Centerline is valid? [True, True] Translation: X:45.19, Y:-0.91, Z:-0.20 [[ 9.99969150e-01 1.11770319e-03 -7.77499722e-03 4.51921989e+01] [-1.11441690e-03 9.99999288e-01 4.26993672e-04 -9.08516618e-01] [ 7.77546894e-03 -4.18315911e-04 9.99969683e-01 -2.03994216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.545898227 meters Centerline goodness [0,1] 0.989867983256413 Centerline is valid? [True, True] Translation: X:45.22, Y:-0.91, Z:-0.21 [[ 9.99963710e-01 1.34482358e-04 -8.51823633e-03 4.52214785e+01] [-1.30504621e-04 9.99999882e-01 4.67521370e-04 -9.07338510e-01] [ 8.51829820e-03 -4.66392735e-04 9.99963610e-01 -2.05074080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.575898227 meters Centerline goodness [0,1] 0.9887320932221509 Centerline is valid? [True, True] Translation: X:45.25, Y:-0.91, Z:-0.20 [[ 9.99967445e-01 -1.96985841e-03 -7.82480990e-03 4.52492560e+01] [ 1.97327588e-03 9.99997961e-01 4.29052278e-04 -9.12304504e-01] [ 7.82394877e-03 -4.44478819e-04 9.99969294e-01 -2.04824894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.605898227 meters Centerline goodness [0,1] 0.9828777283322738 Centerline is valid? [True, True] Translation: X:45.28, Y:-0.92, Z:-0.20 [[ 9.99972988e-01 -2.39520843e-03 -6.94881678e-03 4.52766932e+01] [ 2.39791059e-03 9.99997053e-01 3.80560583e-04 -9.16699315e-01] [ 6.94788478e-03 -3.97212945e-04 9.99975784e-01 -2.03859425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63589822699998 meters Centerline goodness [0,1] 0.9099267800033665 Centerline is valid? [True, False] Translation: X:45.28, Y:-0.92, Z:-0.20 [[ 9.99972930e-01 -2.37830533e-03 -6.96290885e-03 4.52762575e+01] [ 2.38096035e-03 9.99997096e-01 3.73045280e-04 -9.16677359e-01] [ 6.96200141e-03 -3.89613592e-04 9.99975689e-01 -2.03061589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66589822699999 meters Centerline goodness [0,1] 0.9854759485094851 Centerline is valid? [False, True] Translation: X:45.28, Y:-0.92, Z:-0.20 [[ 9.99973220e-01 -2.34065952e-03 -6.93400916e-03 4.52756850e+01] [ 2.34312462e-03 9.99997195e-01 3.47405902e-04 -9.16481028e-01] [ 6.93317655e-03 -3.63643846e-04 9.99975899e-01 -2.02293121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69589822699999 meters Centerline goodness [0,1] 0.9802964948280917 Centerline is valid? [True, True] Translation: X:45.30, Y:-0.92, Z:-0.20 [[ 9.99982394e-01 -1.00247350e-03 -5.84868505e-03 4.53040886e+01] [ 1.00431508e-03 9.99999447e-01 3.11942112e-04 -9.20763584e-01] [ 5.84836910e-03 -3.17810542e-04 9.99982848e-01 -2.00808769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72589822699999 meters Centerline goodness [0,1] 0.9963011222731285 Centerline is valid? [True, True] Translation: X:45.33, Y:-0.92, Z:-0.20 [[ 9.99988723e-01 4.83048865e-04 -4.72438337e-03 4.53344076e+01] [-4.81865228e-04 9.99999852e-01 2.51672832e-04 -9.16694609e-01] [ 4.72450425e-03 -2.49393478e-04 9.99988808e-01 -1.97930832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75589822699999 meters Centerline goodness [0,1] 0.9991411993883664 Centerline is valid? [True, True] Translation: X:45.36, Y:-0.92, Z:-0.19 [[ 9.99989373e-01 4.00559344e-03 -2.28234984e-03 4.53643073e+01] [-4.00532637e-03 9.99991971e-01 1.21573527e-04 -9.15653902e-01] [ 2.28281849e-03 -1.12430679e-04 9.99997388e-01 -1.94304638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78589822699999 meters Centerline goodness [0,1] 0.9995560441418967 Centerline is valid? [True, True] Translation: X:45.39, Y:-0.92, Z:-0.19 [[ 9.99981382e-01 5.87538040e-03 -1.64763929e-03 4.53940983e+01] [-5.87524385e-03 9.99982737e-01 8.77073155e-05 -9.15112824e-01] [ 1.64812616e-03 -7.80254001e-05 9.99998639e-01 -1.93020505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81589822699999 meters Centerline goodness [0,1] 0.9997434526990914 Centerline is valid? [True, True] Translation: X:45.42, Y:-0.91, Z:-0.19 [[ 9.99968471e-01 7.61395185e-03 -2.25473127e-03 4.54242163e+01] [-7.61370093e-03 9.99971008e-01 1.19849854e-04 -9.11680304e-01] [ 2.25557843e-03 -1.02679226e-04 9.99997451e-01 -1.92876793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84589822699999 meters Centerline goodness [0,1] 0.999682008013398 Centerline is valid? [True, True] Translation: X:45.45, Y:-0.92, Z:-0.20 [[ 9.99957587e-01 8.71106036e-03 -2.99013861e-03 4.54514861e+01] [-8.71062434e-03 9.99962049e-01 1.58810989e-04 -9.17926228e-01] [ 2.99140854e-03 -1.32758280e-04 9.99995517e-01 -1.95054877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.875898227 meters Centerline goodness [0,1] 0.9988408362839318 Centerline is valid? [True, True] Translation: X:45.48, Y:-0.92, Z:-0.20 [[ 9.99948041e-01 9.44373343e-03 -3.83807808e-03 4.54791454e+01] [-9.44302116e-03 9.99955393e-01 2.03658484e-04 -9.21414294e-01] [ 3.83983017e-03 -1.67404850e-04 9.99992614e-01 -1.96103671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.905898227 meters Centerline goodness [0,1] 0.9995125156312923 Centerline is valid? [True, True] Translation: X:45.51, Y:-0.92, Z:-0.20 [[ 9.99941445e-01 9.97398005e-03 -4.19838950e-03 4.55081086e+01] [-9.97313310e-03 9.99950242e-01 2.22619027e-04 -9.20719006e-01] [ 4.20040099e-03 -1.80734894e-04 9.99991162e-01 -1.96309006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.935898227 meters Centerline goodness [0,1] 0.9994674165441725 Centerline is valid? [True, True] Translation: X:45.54, Y:-0.92, Z:-0.20 [[ 9.99934183e-01 1.06871811e-02 -4.17297682e-03 4.55354058e+01] [-1.06863516e-02 9.99942875e-01 2.21023586e-04 -9.23708393e-01] [ 4.17510056e-03 -1.76415141e-04 9.99991269e-01 -1.97131117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.965898227 meters Centerline goodness [0,1] 0.999788036796812 Centerline is valid? [True, True] Translation: X:45.56, Y:-0.92, Z:-0.20 [[ 9.99932788e-01 1.08996913e-02 -3.95164243e-03 4.55645799e+01] [-1.08989498e-02 9.99940583e-01 2.09139347e-04 -9.24616429e-01] [ 3.95368718e-03 -1.66056538e-04 9.99992170e-01 -1.95681741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99589822699998 meters Centerline goodness [0,1] 0.9990169889945507 Centerline is valid? [True, True] Translation: X:45.59, Y:-0.93, Z:-0.20 [[ 9.99936227e-01 1.05504075e-02 -4.02870214e-03 4.55925555e+01] [-1.05496350e-02 9.99944328e-01 2.12946696e-04 -9.29598654e-01] [ 4.03072453e-03 -1.70431779e-04 9.99991862e-01 -1.96493818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02589822699998 meters Centerline goodness [0,1] 0.999343984763517 Centerline is valid? [True, True] Translation: X:45.62, Y:-0.93, Z:-0.20 [[ 9.99942797e-01 9.67823477e-03 -4.55359996e-03 4.56210151e+01] [-9.67723958e-03 9.99953145e-01 2.40532973e-04 -9.33364051e-01] [ 4.55571454e-03 -1.96452936e-04 9.99989603e-01 -1.97549136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05589822699999 meters Centerline goodness [0,1] 0.9976368815275873 Centerline is valid? [True, True] Translation: X:45.65, Y:-0.94, Z:-0.20 [[ 9.99953274e-01 7.92624518e-03 -5.53387239e-03 4.56502205e+01] [-7.92474899e-03 9.99968556e-01 2.92244390e-04 -9.44316887e-01] [ 5.53601478e-03 -2.48376185e-04 9.99984645e-01 -1.99683945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08589822699999 meters Centerline goodness [0,1] 0.99949261114987 Centerline is valid? [True, True] Translation: X:45.68, Y:-0.94, Z:-0.20 [[ 9.99957599e-01 7.51327603e-03 -5.32453427e-03 4.56788918e+01] [-7.51188657e-03 9.99971746e-01 2.80906205e-04 -9.42943174e-01] [ 5.32649436e-03 -2.40896997e-04 9.99985785e-01 -1.98153093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11589822699999 meters Centerline goodness [0,1] 0.9996838377877076 Centerline is valid? [True, True] Translation: X:45.71, Y:-0.95, Z:-0.20 [[ 9.99955787e-01 7.95744195e-03 -5.01040231e-03 4.57073309e+01] [-7.95621833e-03 9.99968314e-01 2.64101090e-04 -9.46321429e-01] [ 5.01234512e-03 -2.24225559e-04 9.99987413e-01 -1.97966400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14589822699999 meters Centerline goodness [0,1] 0.9997222459618836 Centerline is valid? [True, True] Translation: X:45.74, Y:-0.95, Z:-0.20 [[ 9.99947077e-01 8.66669093e-03 -5.54356137e-03 4.57358564e+01] [-8.66520529e-03 9.99962414e-01 2.91955385e-04 -9.47587734e-01] [ 5.54588329e-03 -2.43903837e-04 9.99984592e-01 -1.98172513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17589822699999 meters Centerline goodness [0,1] 0.9995980112133714 Centerline is valid? [True, True] Translation: X:45.76, Y:-0.95, Z:-0.20 [[ 9.99932588e-01 9.73394735e-03 -6.33008751e-03 4.57645124e+01] [-9.73203336e-03 9.99952587e-01 3.33097055e-04 -9.50063429e-01] [ 6.33302973e-03 -2.71469978e-04 9.99979909e-01 -1.99462369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20589822699999 meters Centerline goodness [0,1] 0.9951632153102034 Centerline is valid? [True, True] Translation: X:45.79, Y:-0.96, Z:-0.20 [[ 9.99891565e-01 1.24587823e-02 -7.85094585e-03 4.57928831e+01] [-1.24559229e-02 9.99922337e-01 4.13001619e-04 -9.61783599e-01] [ 7.85548162e-03 -3.15166059e-04 9.99969096e-01 -2.03213222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23589822699999 meters Centerline goodness [0,1] 0.9997006052051923 Centerline is valid? [True, True] Translation: X:45.82, Y:-0.95, Z:-0.20 [[ 9.99873307e-01 1.35710207e-02 -8.31846283e-03 4.58226405e+01] [-1.35678516e-02 9.99907857e-01 4.37296049e-04 -9.53193854e-01] [ 8.32363089e-03 -3.24376978e-04 9.99965305e-01 -2.00859915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.265898227 meters Centerline goodness [0,1] 0.9998722044728434 Centerline is valid? [True, True] Translation: X:45.85, Y:-0.95, Z:-0.20 [[ 9.99861041e-01 1.45422206e-02 -8.14996572e-03 4.58514180e+01] [-1.45392140e-02 9.99894208e-01 4.28042667e-04 -9.53638723e-01] [ 8.15532821e-03 -3.09489091e-04 9.99966697e-01 -1.99996071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.295898227 meters Centerline goodness [0,1] 0.9998296023344481 Centerline is valid? [True, True] Translation: X:45.88, Y:-0.96, Z:-0.20 [[ 9.99859352e-01 1.50866970e-02 -7.32578872e-03 4.58794941e+01] [-1.50842848e-02 9.99886152e-01 3.84412955e-04 -9.57498211e-01] [ 7.33075422e-03 -2.73854604e-04 9.99973092e-01 -1.99965961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.325898227 meters Centerline goodness [0,1] 0.9998088806778366 Centerline is valid? [True, True] Translation: X:45.91, Y:-0.96, Z:-0.20 [[ 9.99870705e-01 1.48183557e-02 -6.24417140e-03 4.59077403e+01] [-1.48166009e-02 9.99890175e-01 3.27187957e-04 -9.60254810e-01] [ 6.24833402e-03 -2.34628258e-04 9.99980451e-01 -1.99076903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.355898227 meters Centerline goodness [0,1] 0.9966016736757147 Centerline is valid? [True, True] Translation: X:45.94, Y:-0.97, Z:-0.20 [[ 9.99890621e-01 1.35463512e-02 -5.93660054e-03 4.59352595e+01] [-1.35447450e-02 9.99908217e-01 3.10673973e-04 -9.71997720e-01] [ 5.94026416e-03 -2.30230251e-04 9.99982330e-01 -2.02069328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38589822699998 meters Centerline goodness [0,1] 0.9996631224339404 Centerline is valid? [True, True] Translation: X:45.97, Y:-0.97, Z:-0.20 [[ 9.99926186e-01 1.06796598e-02 -5.79382429e-03 4.59657195e+01] [-1.06780818e-02 9.99942942e-01 3.03223796e-04 -9.69303494e-01] [ 5.79673203e-03 -2.41334484e-04 9.99983170e-01 -1.99621262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41589822699999 meters Centerline goodness [0,1] 0.9996631224339404 Centerline is valid? [True, True] Translation: X:45.99, Y:-0.97, Z:-0.20 [[ 9.99926663e-01 1.06348509e-02 -5.79384073e-03 4.59940290e+01] [-1.06332740e-02 9.99943419e-01 3.02909612e-04 -9.70701990e-01] [ 5.79673431e-03 -2.41279902e-04 9.99983170e-01 -1.99667413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44589822699999 meters Centerline goodness [0,1] 0.9988393686165274 Centerline is valid? [True, True] Translation: X:46.02, Y:-0.98, Z:-0.20 [[ 9.99938738e-01 9.37544140e-03 -5.88406580e-03 4.60225246e+01] [-9.37379425e-03 9.99956018e-01 3.07449023e-04 -9.75854634e-01] [ 5.88668947e-03 -2.52274166e-04 9.99982641e-01 -1.99851507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47589822699999 meters Centerline goodness [0,1] 0.9952419561321157 Centerline is valid? [True, True] Translation: X:46.05, Y:-0.98, Z:-0.20 [[ 9.99948791e-01 7.26142902e-03 -7.04889416e-03 4.60506864e+01] [-7.25901494e-03 9.99973585e-01 3.68001377e-04 -9.78516756e-01] [ 7.05138018e-03 -3.16814504e-04 9.99975089e-01 -2.01374104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50589822699999 meters Centerline goodness [0,1] 0.9967218698114011 Centerline is valid? [True, True] Translation: X:46.08, Y:-0.98, Z:-0.20 [[ 9.99949826e-01 6.65780853e-03 -7.48464001e-03 4.60797952e+01] [-6.65507234e-03 9.99977779e-01 3.90420658e-04 -9.76678407e-01] [ 7.48707304e-03 -3.40590248e-04 9.99971913e-01 -2.02164128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53589822699999 meters Centerline goodness [0,1] 0.9893544685733713 Centerline is valid? [True, True] Translation: X:46.11, Y:-0.98, Z:-0.20 [[ 9.99952292e-01 5.94624458e-03 -7.74960273e-03 4.61069269e+01] [-5.94329414e-03 9.99982257e-01 4.03695371e-04 -9.79765048e-01] [ 7.75186570e-03 -3.57617943e-04 9.99969890e-01 -2.03163543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56589822699999 meters Centerline goodness [0,1] 0.9985386619226126 Centerline is valid? [True, True] Translation: X:46.14, Y:-0.97, Z:-0.20 [[ 9.99953362e-01 5.31039618e-03 -8.06677027e-03 4.61362283e+01] [-5.30718131e-03 9.99985829e-01 4.19885927e-04 -9.73359292e-01] [ 8.06888572e-03 -3.77054532e-04 9.99967375e-01 -2.02273923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59589822699999 meters Centerline goodness [0,1] 0.9962894248608535 Centerline is valid? [True, True] Translation: X:46.16, Y:-0.98, Z:-0.20 [[ 9.99952789e-01 4.73110431e-03 -8.48747368e-03 4.61636628e+01] [-4.72752952e-03 9.99988728e-01 4.41197339e-04 -9.76276175e-01] [ 8.48946536e-03 -4.01051727e-04 9.99963883e-01 -2.03068633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.625898227 meters Centerline goodness [0,1] 0.9966649672869403 Centerline is valid? [True, True] Translation: X:46.19, Y:-0.98, Z:-0.20 [[ 9.99950302e-01 3.73983257e-03 -9.24162123e-03 4.61922276e+01] [-3.73555550e-03 9.99992908e-01 4.80023097e-04 -9.76017069e-01] [ 9.24335089e-03 -4.45476652e-04 9.99957180e-01 -2.04160822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.655898227 meters Centerline goodness [0,1] 0.9905646312112628 Centerline is valid? [True, True] Translation: X:46.22, Y:-0.98, Z:-0.21 [[ 9.99945111e-01 1.22600070e-03 -1.04054044e-02 4.62229100e+01] [-1.22044191e-03 9.99999109e-01 5.40554690e-04 -9.76066359e-01] [ 1.04060578e-02 -5.27825828e-04 9.99945716e-01 -2.05705713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.685898227 meters Centerline goodness [0,1] 0.9665063696954358 Centerline is valid? [True, True] Translation: X:46.25, Y:-0.99, Z:-0.21 [[ 9.99953333e-01 -9.16235730e-04 -9.61730568e-03 4.62512939e+01] [ 9.21077990e-04 9.99999451e-01 4.99077236e-04 -9.85199580e-01] [ 9.61684313e-03 -5.07912234e-04 9.99953628e-01 -2.05298520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.715898227 meters Centerline goodness [0,1] 0.9858951175406871 Centerline is valid? [True, True] Translation: X:46.28, Y:-0.98, Z:-0.20 [[ 9.99954772e-01 -3.69756737e-03 -8.76252646e-03 4.62821137e+01] [ 3.70169419e-03 9.99993045e-01 4.54790255e-04 -9.81673013e-01] [ 8.76078390e-03 -4.87205879e-04 9.99961505e-01 -2.02783135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74589822699998 meters Centerline goodness [0,1] 0.9749919571045577 Centerline is valid? [True, True] Translation: X:46.31, Y:-0.99, Z:-0.20 [[ 9.99941974e-01 -7.05596348e-03 -8.14014806e-03 4.63108806e+01] [ 7.05963476e-03 9.99974991e-01 4.22363004e-04 -9.86991694e-01] [ 8.13696431e-03 -4.79804968e-04 9.99966779e-01 -2.01447299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77589822699998 meters Centerline goodness [0,1] 0.9511438867007458 Centerline is valid? [True, True] Translation: X:46.34, Y:-1.00, Z:-0.20 [[ 9.99915051e-01 -1.02307125e-02 -8.07608519e-03 4.63395966e+01] [ 1.02344286e-02 9.99947539e-01 4.18942541e-04 -9.95670473e-01] [ 8.07137543e-03 -5.01561069e-04 9.99967300e-01 -2.01787904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80589822699999 meters Centerline goodness [0,1] 0.9482059878206625 Centerline is valid? [True, False] Translation: X:46.34, Y:-0.99, Z:-0.20 [[ 9.99858244e-01 -1.46515965e-02 -8.29589522e-03 4.63402148e+01] [ 1.46162901e-02 9.99883928e-01 -4.30064642e-03 -9.93454706e-01] [ 8.35794363e-03 4.17878157e-03 9.99956340e-01 -2.01331857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83589822699999 meters Centerline goodness [0,1] 0.9110964417282426 Centerline is valid? [False, False] Translation: X:46.34, Y:-1.00, Z:-0.20 [[ 9.99858233e-01 -1.46414495e-02 -8.31517336e-03 4.63409789e+01] [ 1.46135432e-02 9.99887412e-01 -3.40697359e-03 -9.98538834e-01] [ 8.36412020e-03 3.28497645e-03 9.99959624e-01 -2.02557219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86589822699999 meters Centerline goodness [0,1] 0.9197821295354357 Centerline is valid? [False, False] Translation: X:46.34, Y:-1.00, Z:-0.20 [[ 9.99860543e-01 -1.45391063e-02 -8.21641824e-03 4.63406409e+01] [ 1.45147790e-02 9.99890116e-01 -3.01273056e-03 -1.00060919e+00] [ 8.25931780e-03 2.89305092e-03 9.99961706e-01 -2.02509753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89589822699999 meters Centerline goodness [0,1] 0.9698912323439537 Centerline is valid? [False, True] Translation: X:46.34, Y:-1.00, Z:-0.20 [[ 9.99862204e-01 -1.45407112e-02 -8.00876019e-03 4.63395905e+01] [ 1.45181763e-02 9.99890502e-01 -2.86476447e-03 -1.00158626e+00] [ 8.04953896e-03 2.74809712e-03 9.99963826e-01 -2.01838951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92589822699999 meters Centerline goodness [0,1] 0.8349027786555436 Centerline is valid? [True, False] Translation: X:46.36, Y:-1.00, Z:-0.20 [[ 9.99863626e-01 -1.50934522e-02 -6.70203137e-03 4.63565633e+01] [ 1.49999612e-02 9.99792433e-01 -1.37874171e-02 -9.99008500e-01] [ 6.90873997e-03 1.36850067e-02 9.99882488e-01 -1.96992658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95589822699999 meters Centerline goodness [0,1] 0.8164763286853008 Centerline is valid? [False, False] Translation: X:46.36, Y:-1.00, Z:-0.20 [[ 9.99917383e-01 -1.10831402e-02 -6.51085724e-03 4.63560718e+01] [ 1.10254027e-02 9.99900162e-01 -8.83783513e-03 -1.00357286e+00] [ 6.60815817e-03 8.76532015e-03 9.99939749e-01 -1.97677470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98589822699999 meters Centerline goodness [0,1] 0.9341349336864362 Centerline is valid? [False, False] Translation: X:46.32, Y:-1.01, Z:-0.20 [[ 9.99925599e-01 -8.72058682e-03 -8.52920328e-03 4.63174923e+01] [ 8.65810603e-03 9.99935614e-01 -7.33520834e-03 -1.00775452e+00] [ 8.59262144e-03 7.26081585e-03 9.99936722e-01 -2.00817198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.015898227 meters Centerline goodness [0,1] 0.9113375473014397 Centerline is valid? [False, False] Translation: X:46.34, Y:-1.02, Z:-0.21 [[ 9.99955819e-01 -8.67237223e-03 -3.62615626e-03 4.63416202e+01] [ 8.68561960e-03 9.99955604e-01 3.65363645e-03 -1.01764847e+00] [ 3.59430958e-03 -3.68497044e-03 9.99986751e-01 -2.08004303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.045898227 meters Centerline goodness [0,1] 0.9375266524520256 Centerline is valid? [False, False] Translation: X:46.34, Y:-1.02, Z:-0.21 [[ 9.99958384e-01 -8.40202637e-03 -3.55486727e-03 4.63413215e+01] [ 8.41721063e-03 9.99955423e-01 4.27822104e-03 -1.02073179e+00] [ 3.51876307e-03 -4.30796506e-03 9.99984530e-01 -2.07909592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.075898227 meters Centerline goodness [0,1] 0.9215287918227414 Centerline is valid? [False, False] Translation: X:46.34, Y:-1.02, Z:-0.21 [[ 9.99915745e-01 -1.23912821e-02 -3.86772429e-03 4.63419323e+01] [ 1.23911276e-02 9.99923225e-01 -6.39050057e-05 -1.01969601e+00] [ 3.86821921e-03 1.59741562e-05 9.99992518e-01 -2.07045956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.105898227 meters Centerline goodness [0,1] 0.8859787907294963 Centerline is valid? [False, False] Translation: X:46.34, Y:-1.02, Z:-0.21 [[ 9.99919339e-01 -1.20858501e-02 -3.90478920e-03 4.63422006e+01] [ 1.20888712e-02 9.99926645e-01 7.51023295e-04 -1.02363426e+00] [ 3.89542601e-03 -7.98167211e-04 9.99992094e-01 -2.07319148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13589822699998 meters Centerline goodness [0,1] 0.7773826308368932 Centerline is valid? [False, False] Translation: X:46.34, Y:-1.02, Z:-0.21 [[ 9.99861294e-01 -1.60888252e-02 -4.30612070e-03 4.63437370e+01] [ 1.60745625e-02 9.99865262e-01 -3.32655815e-03 -1.02409313e+00] [ 4.35906092e-03 3.25687773e-03 9.99985196e-01 -2.07424948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16589822699999 meters Centerline goodness [0,1] 0.8566784301144262 Centerline is valid? [False, False] Translation: X:46.31, Y:-1.03, Z:-0.21 [[ 9.99844447e-01 -1.62418805e-02 -6.87623953e-03 4.63065328e+01] [ 1.62148999e-02 9.99860682e-01 -3.96149006e-03 -1.03062526e+00] [ 6.93962360e-03 3.84937630e-03 9.99968511e-01 -2.10624774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19589822699999 meters Centerline goodness [0,1] 0.8587726953449266 Centerline is valid? [False, False] Translation: X:46.31, Y:-1.03, Z:-0.21 [[ 9.99849056e-01 -1.59018827e-02 -6.99972332e-03 4.63071550e+01] [ 1.58795535e-02 9.99868681e-01 -3.23412321e-03 -1.03391813e+00] [ 7.05023278e-03 3.12248255e-03 9.99970272e-01 -2.11036052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22589822699999 meters Centerline goodness [0,1] 0.8595505617977528 Centerline is valid? [False, False] Translation: X:46.31, Y:-1.04, Z:-0.21 [[ 9.99912017e-01 -1.14098210e-02 -6.76571043e-03 4.63067554e+01] [ 1.14250427e-02 9.99932278e-01 2.21546606e-03 -1.04033846e+00] [ 6.73997417e-03 -2.29256967e-03 9.99974658e-01 -2.11933713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25589822699999 meters Centerline goodness [0,1] 0.8658943897180061 Centerline is valid? [False, False] Translation: X:46.31, Y:-1.04, Z:-0.21 [[ 9.99912639e-01 -1.11846373e-02 -7.04404280e-03 4.63076768e+01] [ 1.12025332e-02 9.99934109e-01 2.50625992e-03 -1.04150522e+00] [ 7.01554705e-03 -2.58495210e-03 9.99972050e-01 -2.11998205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28589822699999 meters Centerline goodness [0,1] 0.8658943897180061 Centerline is valid? [False, False] Translation: X:46.31, Y:-1.04, Z:-0.21 [[ 9.99912639e-01 -1.11846373e-02 -7.04404280e-03 4.63076768e+01] [ 1.12025332e-02 9.99934109e-01 2.50625992e-03 -1.04150522e+00] [ 7.01554705e-03 -2.58495210e-03 9.99972050e-01 -2.11998205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31589822699999 meters Centerline goodness [0,1] 0.8446952787874923 Centerline is valid? [False, False] Translation: X:46.31, Y:-1.04, Z:-0.21 [[ 9.99913499e-01 -1.09607305e-02 -7.27023169e-03 4.63085898e+01] [ 1.09807845e-02 9.99935998e-01 2.72421414e-03 -1.04216372e+00] [ 7.23990701e-03 -2.80381134e-03 9.99969861e-01 -2.12375640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34589822699999 meters Centerline goodness [0,1] 0.8998900587762696 Centerline is valid? [False, False] Translation: X:46.31, Y:-1.04, Z:-0.21 [[ 9.99914436e-01 -1.07129517e-02 -7.50688518e-03 4.63092487e+01] [ 1.07348376e-02 9.99938229e-01 2.88124066e-03 -1.04237737e+00] [ 7.47555488e-03 -2.96157932e-03 9.99967672e-01 -2.12209067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.375898227 meters Centerline goodness [0,1] 0.9343278500138325 Centerline is valid? [False, False] Translation: X:46.31, Y:-1.05, Z:-0.21 [[ 9.99954512e-01 -6.14163850e-03 -7.29761612e-03 4.63081795e+01] [ 6.19947563e-03 9.99949344e-01 7.92947106e-03 -1.04628169e+00] [ 7.24854651e-03 -7.97435176e-03 9.99941932e-01 -2.11750862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.405898227 meters Centerline goodness [0,1] 0.9201021679015473 Centerline is valid? [False, False] Translation: X:46.31, Y:-1.04, Z:-0.21 [[ 9.99920084e-01 -1.00298435e-02 -7.69592197e-03 4.63090261e+01] [ 1.00537542e-02 9.99944733e-01 3.07455973e-03 -1.04164044e+00] [ 7.66465929e-03 -3.15168693e-03 9.99965659e-01 -2.10751545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.435898227 meters Centerline goodness [0,1] 0.9236691133046486 Centerline is valid? [False, False] Translation: X:46.31, Y:-1.04, Z:-0.21 [[ 9.99870304e-01 -1.39766613e-02 -8.00181914e-03 4.63097212e+01] [ 1.39615177e-02 9.99900641e-01 -1.94526343e-03 -1.03609647e+00] [ 8.02821238e-03 1.83329359e-03 9.99966093e-01 -2.09886308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.465898227 meters Centerline goodness [0,1] 0.9593866111123043 Centerline is valid? [False, True] Translation: X:46.27, Y:-1.03, Z:-0.21 [[ 9.99881352e-01 -1.28245664e-02 -8.53305284e-03 4.62669516e+01] [ 1.27897087e-02 9.99909691e-01 -4.12713608e-03 -1.03101609e+00] [ 8.58521096e-03 4.01751114e-03 9.99955076e-01 -2.09716455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49589822699998 meters Centerline goodness [0,1] 0.9431868619618287 Centerline is valid? [True, False] Translation: X:46.29, Y:-1.03, Z:-0.21 [[ 9.99908189e-01 -1.18689934e-02 -6.53769824e-03 4.62873263e+01] [ 1.17792665e-02 9.99838183e-01 -1.35961846e-02 -1.02702151e+00] [ 6.69801336e-03 1.35179270e-02 9.99886195e-01 -2.09037451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52589822699998 meters Centerline goodness [0,1] 0.972702164557775 Centerline is valid? [False, True] Translation: X:46.24, Y:-1.02, Z:-0.21 [[ 9.99916468e-01 -1.10563214e-02 -6.69431151e-03 4.62432255e+01] [ 1.09444275e-02 9.99803522e-01 -1.65268305e-02 -1.01976349e+00] [ 6.87572218e-03 1.64521846e-02 9.99841012e-01 -2.07085639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55589822699999 meters Centerline goodness [0,1] 0.9407482647706111 Centerline is valid? [True, False] Translation: X:46.27, Y:-1.03, Z:-0.21 [[ 9.99935088e-01 -1.10560233e-02 -2.75381697e-03 4.62654271e+01] [ 1.10425534e-02 9.99927221e-01 -4.85947450e-03 -1.02518320e+00] [ 2.80734302e-03 4.82874990e-03 9.99984401e-01 -2.12592022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58589822699999 meters Centerline goodness [0,1] 0.9075420647670585 Centerline is valid? [False, False] Translation: X:46.27, Y:-1.03, Z:-0.21 [[ 9.99969481e-01 -7.35088521e-03 -2.64599773e-03 4.62654530e+01] [ 7.35075888e-03 9.99972981e-01 -5.74643040e-05 -1.02975348e+00] [ 2.64634865e-03 3.80124589e-05 9.99996498e-01 -2.13609732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61589822699999 meters Centerline goodness [0,1] 0.8475454930173508 Centerline is valid? [False, False] Translation: X:46.27, Y:-1.03, Z:-0.21 [[ 9.99969298e-01 -7.33850687e-03 -2.74750124e-03 4.62662567e+01] [ 7.33964004e-03 9.99972983e-01 4.02583754e-04 -1.03233119e+00] [ 2.74447265e-03 -4.22737064e-04 9.99996145e-01 -2.14434160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64589822699999 meters Centerline goodness [0,1] 0.8841655324940456 Centerline is valid? [False, False] Translation: X:46.27, Y:-1.04, Z:-0.22 [[ 9.99969182e-01 -7.37526999e-03 -2.69077633e-03 4.62669025e+01] [ 7.37794663e-03 9.99972296e-01 9.86183147e-04 -1.03577117e+00] [ 2.68342842e-03 -1.00600516e-03 9.99995894e-01 -2.15947477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67589822699999 meters Centerline goodness [0,1] 0.6778389089146062 Centerline is valid? [False, False] Translation: X:46.27, Y:-1.03, Z:-0.22 [[ 9.99927297e-01 -1.17353773e-02 -2.77144258e-03 4.62673061e+01] [ 1.17256637e-02 9.99925142e-01 -3.49551508e-03 -1.03485458e+00] [ 2.81225631e-03 3.46276394e-03 9.99990050e-01 -2.15930759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70589822699999 meters Centerline goodness [0,1] 0.5630570832543145 Centerline is valid? [False, False] Translation: X:46.26, Y:-1.04, Z:-0.21 [[ 9.99920284e-01 -1.24677438e-02 -1.99504556e-03 4.62640967e+01] [ 1.24612724e-02 9.99917158e-01 -3.22393781e-03 -1.03888332e+00] [ 2.03507552e-03 3.19882001e-03 9.99992813e-01 -2.14814988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73589822699999 meters Centerline goodness [0,1] 0.6840827797649464 Centerline is valid? [False, False] Translation: X:46.26, Y:-1.04, Z:-0.21 [[ 9.99921599e-01 -1.23747094e-02 -1.91373415e-03 4.62634604e+01] [ 1.23693087e-02 9.99919553e-01 -2.80861248e-03 -1.04119588e+00] [ 1.94833596e-03 2.78472071e-03 9.99994225e-01 -2.14120414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.765898227 meters Centerline goodness [0,1] 0.7121689517159159 Centerline is valid? [False, False] Translation: X:46.26, Y:-1.05, Z:-0.21 [[ 9.99965489e-01 -8.12745619e-03 -1.72219395e-03 4.62630210e+01] [ 8.13173931e-03 9.99963825e-01 2.49478276e-03 -1.04717630e+00] [ 1.70185541e-03 -2.50870110e-03 9.99995405e-01 -2.14742141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.795898227 meters Centerline goodness [0,1] 0.7974754077280812 Centerline is valid? [False, False] Translation: X:46.26, Y:-1.05, Z:-0.21 [[ 9.99966026e-01 -8.03366077e-03 -1.84591929e-03 4.62633839e+01] [ 8.03855096e-03 9.99964160e-01 2.65722016e-03 -1.04786556e+00] [ 1.82450593e-03 -2.67196840e-03 9.99994766e-01 -2.14731456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.825898227 meters Centerline goodness [0,1] 0.6563555743243243 Centerline is valid? [False, False] Translation: X:46.26, Y:-1.05, Z:-0.21 [[ 9.99965077e-01 -8.07686918e-03 -2.14707711e-03 4.62645400e+01] [ 8.08216455e-03 9.99964290e-01 2.46918611e-03 -1.04703226e+00] [ 2.12705715e-03 -2.48645291e-03 9.99994647e-01 -2.14999632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.855898227 meters Centerline goodness [0,1] 0.7845527597916183 Centerline is valid? [False, False] Translation: X:46.27, Y:-1.05, Z:-0.22 [[ 9.99965078e-01 -8.03939507e-03 -2.28293070e-03 4.62650904e+01] [ 8.04439987e-03 9.99965242e-01 2.19161822e-03 -1.04524655e+00] [ 2.26523206e-03 -2.20990649e-03 9.99994993e-01 -2.15169797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88589822699998 meters Centerline goodness [0,1] 0.9152817099263038 Centerline is valid? [False, False] Translation: X:46.20, Y:-1.04, Z:-0.21 [[ 9.99999326e-01 1.08193878e-04 -1.15580380e-03 4.62007020e+01] [-1.12612118e-04 9.99992685e-01 -3.82327476e-03 -1.03725003e+00] [ 1.15538169e-03 3.82340234e-03 9.99992023e-01 -2.14331902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91589822699999 meters Centerline goodness [0,1] 0.8351226343036579 Centerline is valid? [False, False] Translation: X:46.24, Y:-1.04, Z:-0.21 [[ 9.99998952e-01 1.42412482e-03 2.61914074e-04 4.62409988e+01] [-1.42390131e-03 9.99998624e-01 -8.51584271e-04 -1.03826701e+00] [-2.63126476e-04 8.51210438e-04 9.99999603e-01 -2.13562800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94589822699999 meters Centerline goodness [0,1] 0.9497402569638925 Centerline is valid? [False, False] Translation: X:46.24, Y:-1.04, Z:-0.21 [[ 9.99984130e-01 5.61811555e-03 4.19302447e-04 4.62404786e+01] [-5.61946451e-03 9.99978804e-01 3.28847098e-03 -1.03757692e+00] [-4.00818550e-04 -3.29077505e-03 9.99994505e-01 -2.13473300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97589822699999 meters Centerline goodness [0,1] 0.884062820217905 Centerline is valid? [False, False] Translation: X:46.28, Y:-1.04, Z:-0.21 [[ 9.99979392e-01 6.30569092e-03 1.20569541e-03 4.62815570e+01] [-6.31117928e-03 9.99969487e-01 4.60374029e-03 -1.03561150e+00] [-1.17662886e-03 -4.61125478e-03 9.99988676e-01 -2.12127684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00589822699999 meters Centerline goodness [0,1] 0.9432560092369057 Centerline is valid? [False, False] Translation: X:46.28, Y:-1.03, Z:-0.21 [[ 9.99980420e-01 6.18922167e-03 9.24115363e-04 4.62819939e+01] [-6.19252113e-03 9.99974305e-01 3.61127756e-03 -1.03011246e+00] [-9.01740620e-04 -3.61692946e-03 9.99993052e-01 -2.11254866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03589822699999 meters Centerline goodness [0,1] 0.9801432567601933 Centerline is valid? [False, True] Translation: X:46.28, Y:-1.03, Z:-0.21 [[ 9.99981884e-01 5.97238975e-03 7.49256136e-04 4.62821497e+01] [-5.97438391e-03 9.99978540e-01 2.68812135e-03 -1.02533087e+00] [-7.33185548e-04 -2.69254899e-03 9.99996106e-01 -2.10518914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06589822699999 meters Centerline goodness [0,1] 0.9898102152592027 Centerline is valid? [True, True] Translation: X:46.31, Y:-1.02, Z:-0.21 [[ 9.99948862e-01 9.94310928e-03 1.84602351e-03 4.63119901e+01] [-9.94290044e-03 9.99950561e-01 -1.22274786e-04 -1.01952678e+00] [-1.84714803e-03 1.03913705e-04 9.99998289e-01 -2.09149396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09589822699999 meters Centerline goodness [0,1] 0.9945742726534798 Centerline is valid? [True, True] Translation: X:46.34, Y:-1.02, Z:-0.21 [[ 9.99927274e-01 1.17289485e-02 2.80695711e-03 4.63423413e+01] [-1.17284731e-02 9.99931202e-01 -1.85742731e-04 -1.01830362e+00] [-2.80894257e-03 1.52807902e-04 9.99996043e-01 -2.08237021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.125898227 meters Centerline goodness [0,1] 0.9905834874726753 Centerline is valid? [True, True] Translation: X:46.37, Y:-1.02, Z:-0.21 [[ 9.99903049e-01 1.32732894e-02 4.20866653e-03 4.63708133e+01] [-1.32722344e-02 9.99911881e-01 -2.78512818e-04 -1.02332125e+00] [-4.21199245e-03 2.22627407e-04 9.99991105e-01 -2.06955592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.155898227 meters Centerline goodness [0,1] 0.9996160819025275 Centerline is valid? [True, True] Translation: X:46.40, Y:-1.01, Z:-0.20 [[ 9.99870004e-01 1.48760391e-02 6.21915642e-03 4.64017850e+01] [-1.48737687e-02 9.99889295e-01 -4.11157472e-04 -1.01180508e+00] [-6.22458433e-03 3.18601729e-04 9.99980576e-01 -2.03068479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.185898227 meters Centerline goodness [0,1] 0.9987585481325618 Centerline is valid? [True, True] Translation: X:46.43, Y:-1.02, Z:-0.20 [[ 9.99832550e-01 1.67391860e-02 7.39409085e-03 4.64305805e+01] [-1.67360292e-02 9.99859823e-01 -4.88606937e-04 -1.02061892e+00] [-7.40123325e-03 3.64777399e-04 9.99972544e-01 -2.01101016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.215898227 meters Centerline goodness [0,1] 0.9998501295309055 Centerline is valid? [True, True] Translation: X:46.46, Y:-1.01, Z:-0.20 [[ 9.99800090e-01 1.84573668e-02 7.68801919e-03 4.64614177e+01] [-1.84540053e-02 9.99829581e-01 -5.07953089e-04 -1.00833646e+00] [-7.69608449e-03 3.65976797e-04 9.99970318e-01 -2.00060080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24589822699998 meters Centerline goodness [0,1] 0.9999360763674331 Centerline is valid? [True, True] Translation: X:46.49, Y:-1.01, Z:-0.20 [[ 9.99739134e-01 2.21164917e-02 5.70304669e-03 4.64909749e+01] [-2.21147019e-02 9.99755369e-01 -3.76708054e-04 -1.00882092e+00] [-5.70998300e-03 2.50488606e-04 9.99983667e-01 -2.03382529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27589822699998 meters Centerline goodness [0,1] 0.9997267529846982 Centerline is valid? [True, True] Translation: X:46.52, Y:-1.02, Z:-0.21 [[ 9.99716363e-01 2.32255061e-02 5.26972586e-03 4.65189632e+01] [-2.32239933e-02 9.99730226e-01 -3.48096498e-04 -1.01741822e+00] [-5.27638894e-03 2.25613687e-04 9.99986054e-01 -2.06003685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30589822699999 meters Centerline goodness [0,1] 0.9998733696340383 Centerline is valid? [True, True] Translation: X:46.55, Y:-1.01, Z:-0.21 [[ 9.99703064e-01 2.38338704e-02 5.07242228e-03 4.65477675e+01] [-2.38324772e-02 9.99715910e-01 -3.34944351e-04 -1.01494773e+00] [-5.07896428e-03 2.13956506e-04 9.99987079e-01 -2.06874857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33589822699999 meters Centerline goodness [0,1] 0.9995570835003058 Centerline is valid? [True, True] Translation: X:46.58, Y:-1.02, Z:-0.21 [[ 9.99690317e-01 2.43125134e-02 5.30778156e-03 4.65758107e+01] [-2.43109963e-02 9.99704383e-01 -3.50176904e-04 -1.02236886e+00] [-5.31472617e-03 2.21031002e-04 9.99985852e-01 -2.07689524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36589822699999 meters Centerline goodness [0,1] 0.9996857059045384 Centerline is valid? [True, True] Translation: X:46.60, Y:-1.03, Z:-0.21 [[ 9.99676085e-01 2.48181794e-02 5.63771982e-03 4.66049964e+01] [-2.48164771e-02 9.99691955e-01 -3.71726967e-04 -1.02506116e+00] [-5.64520874e-03 2.31698214e-04 9.99984039e-01 -2.07607688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39589822699999 meters Centerline goodness [0,1] 0.9998742111993962 Centerline is valid? [True, True] Translation: X:46.63, Y:-1.03, Z:-0.21 [[ 9.99648599e-01 2.59643436e-02 5.34151405e-03 4.66338248e+01] [-2.59628324e-02 9.99662847e-01 -3.52080194e-04 -1.02705351e+00] [-5.34885467e-03 2.13275638e-04 9.99985672e-01 -2.08225317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42589822699999 meters Centerline goodness [0,1] 0.9999789438221174 Centerline is valid? [True, True] Translation: X:46.66, Y:-1.02, Z:-0.21 [[ 9.99560970e-01 2.94548125e-02 3.20646744e-03 4.66637157e+01] [-2.94542862e-02 9.99566106e-01 -2.11246141e-04 -1.02166545e+00] [-3.21129838e-03 1.16709189e-04 9.99994837e-01 -2.10410526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.69, Y:-1.02, Z:-0.21 [[ 9.99492335e-01 3.17990454e-02 1.97290947e-03 4.66921474e+01] [-3.17988505e-02 9.99494280e-01 -1.30099623e-04 -1.02316119e+00] [-1.97604878e-03 6.72973227e-05 9.99998045e-01 -2.12321514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48589822699999 meters Centerline goodness [0,1] 0.9999578796621948 Centerline is valid? [True, True] Translation: X:46.72, Y:-1.02, Z:-0.21 [[ 9.99398630e-01 3.46314823e-02 1.74309738e-03 4.67219801e+01] [-3.46313346e-02 9.99400149e-01 -1.14834486e-04 -1.02289250e+00] [-1.74602867e-03 5.43996392e-05 9.99998474e-01 -2.13099166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.515898227 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:46.75, Y:-1.02, Z:-0.21 [[ 9.99284872e-01 3.77696660e-02 1.78773059e-03 4.67515126e+01] [-3.77695158e-02 9.99286470e-01 -1.17729475e-04 -1.02216599e+00] [-1.79090160e-03 5.01235648e-05 9.99998395e-01 -2.13368898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.545898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.78, Y:-1.02, Z:-0.21 [[ 9.99163828e-01 4.08027513e-02 2.60396565e-03 4.67816228e+01] [-4.08024431e-02 9.99167219e-01 -1.71392854e-04 -1.02111057e+00] [-2.60879042e-03 6.50013793e-05 9.99996595e-01 -2.13060738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.575898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.81, Y:-1.02, Z:-0.21 [[ 9.99042697e-01 4.36376213e-02 3.07362917e-03 4.68093746e+01] [-4.36372053e-02 9.99047423e-01 -2.02302206e-04 -1.02285365e+00] [-3.07952929e-03 6.79839541e-05 9.99995256e-01 -2.13565931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.605898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:-1.02, Z:-0.21 [[ 9.98826019e-01 4.82298676e-02 4.52361774e-03 4.68394286e+01] [-4.82290171e-02 9.98836260e-01 -2.96993654e-04 -1.02245343e+00] [-4.53267738e-03 7.84753519e-05 9.99989724e-01 -2.11553050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:-1.02, Z:-0.21 [[ 9.98732374e-01 5.01334057e-02 4.50413751e-03 4.68678915e+01] [-5.01325812e-02 9.98742528e-01 -2.95839796e-04 -1.02248698e+00] [-4.51330514e-03 6.96607428e-05 9.99989813e-01 -2.11230473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-1.03, Z:-0.21 [[ 9.98634719e-01 5.20949565e-02 3.84891824e-03 4.68960257e+01] [-5.20943695e-02 9.98642135e-01 -2.52682202e-04 -1.02523345e+00] [-3.85685539e-03 5.18302512e-05 9.99992561e-01 -2.13207743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.92, Y:-1.03, Z:-0.22 [[ 9.98533357e-01 5.40655038e-02 2.83834083e-03 4.69245363e+01] [-5.40651926e-02 9.98537391e-01 -1.86308455e-04 -1.02539040e+00] [-2.84426231e-03 3.25797631e-05 9.99995955e-01 -2.15142444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.95, Y:-1.03, Z:-0.22 [[ 9.98449466e-01 5.56273950e-02 2.06321431e-03 4.69518896e+01] [-5.56272339e-02 9.98451597e-01 -1.35450443e-04 -1.02754766e+00] [-2.06755438e-03 2.04695179e-05 9.99997862e-01 -2.18250179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.98, Y:-1.03, Z:-0.22 [[ 9.98370271e-01 5.70410657e-02 1.76575004e-03 4.69805197e+01] [-5.70409499e-02 9.98371833e-01 -1.15902936e-04 -1.03012185e+00] [-1.76948633e-03 1.49939865e-05 9.99998434e-01 -2.18979835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.01, Y:-1.03, Z:-0.22 [[ 9.98146140e-01 6.08020138e-02 2.72014840e-03 4.70080901e+01] [-6.08017533e-02 9.98149846e-01 -1.78424921e-04 -1.03139999e+00] [-2.72596430e-03 1.27043541e-05 9.99996284e-01 -2.17327277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-1.03, Z:-0.22 [[ 9.98010452e-01 6.29601800e-02 3.33964517e-03 4.70367090e+01] [-6.29598017e-02 9.98016040e-01 -2.18392039e-04 -1.03166819e+00] [-3.34676945e-03 7.69414003e-06 9.99994400e-01 -2.16171692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84589822699999 meters Centerline goodness [0,1] 0.9997885611586849 Centerline is valid? [True, True] Translation: X:47.07, Y:-1.03, Z:-0.22 [[ 9.97892816e-01 6.47457552e-02 4.23267927e-03 4.70651225e+01] [-6.47451649e-02 9.97901792e-01 -2.76475636e-04 -1.03231029e+00] [-4.24169885e-03 1.84753387e-06 9.99991004e-01 -2.16196897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.09, Y:-1.03, Z:-0.21 [[ 9.97792121e-01 6.62406211e-02 4.80236470e-03 4.70934556e+01] [-6.62398796e-02 9.97803678e-01 -3.13451262e-04 -1.03352248e+00] [-4.81258037e-03 -5.34885990e-06 9.99988419e-01 -2.14823199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.905898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.12, Y:-1.03, Z:-0.22 [[ 9.97681392e-01 6.78706032e-02 5.04186319e-03 4.71212108e+01] [-6.78698085e-02 9.97694132e-01 -3.28755618e-04 -1.03428259e+00] [-5.05255016e-03 -1.41969265e-05 9.99987236e-01 -2.15435621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.935898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:-1.03, Z:-0.22 [[ 9.97467354e-01 7.10574696e-02 3.11661939e-03 4.71494682e+01] [-7.10571816e-02 9.97472223e-01 -2.03168973e-04 -1.03336685e+00] [-3.12317794e-03 -1.88037722e-05 9.99995123e-01 -2.18232980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.965898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.18, Y:-1.03, Z:-0.22 [[ 9.97340312e-01 7.28290545e-02 2.86892304e-03 4.71780757e+01] [-7.28288181e-02 9.97344438e-01 -1.86922040e-04 -1.03329356e+00] [-2.87491780e-03 -2.25153883e-05 9.99995867e-01 -2.18549028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.21, Y:-1.03, Z:-0.22 [[ 9.97209088e-01 7.45616189e-02 3.82096697e-03 4.72070153e+01] [-7.45612135e-02 9.97216408e-01 -2.48632836e-04 -1.03358536e+00] [-3.82886942e-03 -3.69570096e-05 9.99992669e-01 -2.17091573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.23, Y:-1.03, Z:-0.22 [[ 9.97097464e-01 7.59548432e-02 5.24490656e-03 4.72348141e+01] [-7.59541000e-02 9.97111257e-01 -3.41039789e-04 -1.03280559e+00] [-5.25565899e-03 -5.83222481e-05 9.99986187e-01 -2.15730346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.26, Y:-1.03, Z:-0.21 [[ 9.97033280e-01 7.67032860e-02 6.42217393e-03 4.72639524e+01] [-7.67021929e-02 9.97053960e-01 -4.16690322e-04 -1.03452049e+00] [-6.43521547e-03 -7.71407057e-05 9.99979291e-01 -2.13473593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.29, Y:-1.04, Z:-0.21 [[ 9.97020909e-01 7.68138109e-02 6.99607336e-03 4.72907509e+01] [-7.68125185e-02 9.97045451e-01 -4.53634430e-04 -1.03601915e+00] [-7.01024851e-03 -8.51030034e-05 9.99975424e-01 -2.12963056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.32, Y:-1.04, Z:-0.21 [[ 9.97154307e-01 7.51034604e-02 6.53894528e-03 4.73187881e+01] [-7.51022985e-02 9.97175745e-01 -4.23401657e-04 -1.04443146e+00] [-6.55227656e-03 -6.88930343e-05 9.99978531e-01 -2.13891851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.35, Y:-1.05, Z:-0.21 [[ 9.97244571e-01 7.38679990e-02 6.83994165e-03 4.73478034e+01] [-7.38667012e-02 9.97268025e-01 -4.42518227e-04 -1.05011678e+00] [-6.85394304e-03 -6.39450265e-05 9.99976509e-01 -2.13600307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.38, Y:-1.05, Z:-0.21 [[ 9.97300810e-01 7.30017579e-02 7.86363497e-03 4.73764644e+01] [-7.30000181e-02 9.97331810e-01 -5.08431938e-04 -1.05415710e+00] [-7.87976972e-03 -6.69859104e-05 9.99968952e-01 -2.11663114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.40, Y:-1.06, Z:-0.21 [[ 9.97306040e-01 7.29302740e-02 7.86365696e-03 4.74038917e+01] [-7.29285346e-02 9.97337040e-01 -5.08091487e-04 -1.05580065e+00] [-7.87977161e-03 -6.67622701e-05 9.99968952e-01 -2.11920284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.43, Y:-1.06, Z:-0.21 [[ 9.97275110e-01 7.32405963e-02 8.84143196e-03 4.74313281e+01] [-7.32384162e-02 9.97314298e-01 -5.70542091e-04 -1.05768732e+00] [-8.85947335e-03 -7.85450467e-05 9.99960751e-01 -2.09992215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.265898227 meters Centerline goodness [0,1] 0.9998740977001846 Centerline is valid? [True, True] Translation: X:47.46, Y:-1.06, Z:-0.21 [[ 9.97191443e-01 7.42407828e-02 9.87584562e-03 4.74600268e+01] [-7.42381181e-02 9.97240340e-01 -6.36645776e-04 -1.05994143e+00] [-9.89585673e-03 -9.83064736e-05 9.99951030e-01 -2.09393753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.295898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.49, Y:-1.06, Z:-0.21 [[ 9.97072917e-01 7.58089441e-02 9.92989558e-03 4.74885371e+01] [-7.58063325e-02 9.97122355e-01 -6.39662355e-04 -1.06312426e+00] [-9.94981300e-03 -1.14958957e-04 9.99950493e-01 -2.08419729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.325898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.52, Y:-1.07, Z:-0.21 [[ 9.96890836e-01 7.80935383e-02 1.04909389e-02 4.75164162e+01] [-7.80907554e-02 9.96946026e-01 -6.75271174e-04 -1.07090225e+00] [-1.05116342e-02 -1.46073700e-04 9.99944741e-01 -2.09133998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.355898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.54, Y:-1.08, Z:-0.21 [[ 9.96847627e-01 7.86542900e-02 1.04072930e-02 4.75445613e+01] [-7.86515881e-02 9.96901941e-01 -6.69282604e-04 -1.07578529e+00] [-1.04276925e-02 -1.51377344e-04 9.99945619e-01 -2.09366245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38589822699998 meters Centerline goodness [0,1] 0.9998716659893483 Centerline is valid? [True, True] Translation: X:47.57, Y:-1.08, Z:-0.21 [[ 9.96814823e-01 7.91176808e-02 1.00300533e-02 4.75717675e+01] [-7.91151994e-02 9.96865272e-01 -6.44551539e-04 -1.08002964e+00] [-1.00496072e-02 -1.51031135e-04 9.99949490e-01 -2.11213904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41589822699999 meters Centerline goodness [0,1] 0.9998732305091907 Centerline is valid? [True, True] Translation: X:47.60, Y:-1.08, Z:-0.21 [[ 9.96763407e-01 7.98716071e-02 9.12343837e-03 4.75996085e+01] [-7.98695900e-02 9.96805149e-01 -5.85805100e-04 -1.08270704e+00] [-9.14107954e-03 -1.44776196e-04 9.99958209e-01 -2.12611437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.63, Y:-1.09, Z:-0.22 [[ 9.96702160e-01 8.07955418e-02 7.54218035e-03 4.76276668e+01] [-8.07941941e-02 9.96730688e-01 -4.83700286e-04 -1.09177922e+00] [-7.55660344e-03 -1.27259264e-04 9.99971440e-01 -2.15367377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.66, Y:-1.10, Z:-0.22 [[ 9.96709276e-01 8.07746239e-02 6.78821123e-03 4.76555320e+01] [-8.07735334e-02 9.96732385e-01 -4.35098106e-04 -1.09724670e+00] [-6.80117486e-03 -1.14641488e-04 9.99976865e-01 -2.17571588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.68, Y:-1.10, Z:-0.22 [[ 9.96709024e-01 8.08274785e-02 6.16768224e-03 4.76840720e+01] [-8.08265814e-02 9.96728101e-01 -3.94973754e-04 -1.10335518e+00] [-6.17942694e-03 -1.04838767e-04 9.99980902e-01 -2.18998196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.71, Y:-1.11, Z:-0.22 [[ 9.96667441e-01 8.13717223e-02 5.71440030e-03 4.77120790e+01] [-8.13709623e-02 9.96683818e-01 -3.65750375e-04 -1.10807142e+00] [-5.72521205e-03 -1.00454762e-04 9.99983606e-01 -2.20103399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.74, Y:-1.11, Z:-0.22 [[ 9.96603206e-01 8.21480668e-02 5.80903180e-03 4.77400790e+01] [-8.21472969e-02 9.96620130e-01 -3.71421771e-04 -1.11487341e+00] [-5.81990961e-03 -1.07036132e-04 9.99983058e-01 -2.20365864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.77, Y:-1.12, Z:-0.22 [[ 9.96460439e-01 8.38904326e-02 5.38406290e-03 4.77672185e+01] [-8.38897976e-02 9.96474979e-01 -3.44070103e-04 -1.12074502e+00] [-5.39394816e-03 -1.08815702e-04 9.99985447e-01 -2.21509486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.79, Y:-1.12, Z:-0.22 [[ 9.96370847e-01 8.50046349e-02 4.39852027e-03 4.77943692e+01] [-8.50042218e-02 9.96380551e-01 -2.81113791e-04 -1.12430655e+00] [-4.40649602e-03 -9.37992060e-05 9.99990287e-01 -2.23231955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.655898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.82, Y:-1.13, Z:-0.23 [[ 9.96310820e-01 8.57637531e-02 3.05416896e-03 4.78232056e+01] [-8.57635588e-02 9.96315499e-01 -1.94785809e-04 -1.12987331e+00] [-3.05962143e-03 -6.78691898e-05 9.99995317e-01 -2.25217193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.685898227 meters Centerline goodness [0,1] 0.9999788341870212 Centerline is valid? [True, True] Translation: X:47.85, Y:-1.13, Z:-0.23 [[ 9.96267641e-01 8.62928682e-02 2.08046742e-03 4.78507312e+01] [-8.62927787e-02 9.96269812e-01 -1.32890793e-04 -1.13304120e+00] [-2.08417441e-03 -4.71345178e-05 9.99997827e-01 -2.28055194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.715898227 meters Centerline goodness [0,1] 0.9999575803851701 Centerline is valid? [True, True] Translation: X:47.88, Y:-1.14, Z:-0.23 [[ 9.96233359e-01 8.66912158e-02 1.93090457e-03 4.78782613e+01] [-8.66911397e-02 9.96235229e-01 -1.23254364e-04 -1.13562785e+00] [-1.93432022e-03 -4.46022084e-05 9.99998128e-01 -2.29362446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74589822699998 meters Centerline goodness [0,1] 0.9997859497409992 Centerline is valid? [True, True] Translation: X:47.91, Y:-1.15, Z:-0.23 [[ 9.96241062e-01 8.65776985e-02 2.83711962e-03 4.79064307e+01] [-8.65775350e-02 9.96245099e-01 -1.80628563e-04 -1.14907363e+00] [-2.84210493e-03 -6.56812325e-05 9.99995959e-01 -2.26639693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77589822699998 meters Centerline goodness [0,1] 0.9998301486199576 Centerline is valid? [True, True] Translation: X:47.93, Y:-1.15, Z:-0.22 [[ 9.96296918e-01 8.58560423e-02 4.60343970e-03 4.79343796e+01] [-8.58556063e-02 9.96307548e-01 -2.92610994e-04 -1.15278653e+00] [-4.61156414e-03 -1.03703675e-04 9.99989361e-01 -2.23192153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80589822699999 meters Centerline goodness [0,1] 0.9998738727375922 Centerline is valid? [True, True] Translation: X:47.96, Y:-1.16, Z:-0.22 [[ 9.96446768e-01 8.41040019e-02 4.51163490e-03 4.79615405e+01] [-8.41035665e-02 9.96456978e-01 -2.86480243e-04 -1.15817910e+00] [-4.51974421e-03 -9.39822739e-05 9.99989781e-01 -2.24825724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83589822699999 meters Centerline goodness [0,1] 0.9999571651924354 Centerline is valid? [True, True] Translation: X:47.99, Y:-1.17, Z:-0.23 [[ 9.96662273e-01 8.15655000e-02 3.37394209e-03 4.79896316e+01] [-8.15652424e-02 9.96667982e-01 -2.14130905e-04 -1.17103511e+00] [-3.38016575e-03 -6.17802097e-05 9.99994285e-01 -2.26123801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86589822699999 meters Centerline goodness [0,1] 0.9998954390514231 Centerline is valid? [True, True] Translation: X:48.02, Y:-1.17, Z:-0.23 [[ 9.96846392e-01 7.93148872e-02 2.53353034e-03 4.80177611e+01] [-7.93147347e-02 9.96849611e-01 -1.60780820e-04 -1.17460129e+00] [-2.53830104e-03 -4.06725066e-05 9.99996778e-01 -2.29751592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89589822699999 meters Centerline goodness [0,1] 0.9999786233433091 Centerline is valid? [True, True] Translation: X:48.05, Y:-1.19, Z:-0.23 [[ 9.97057827e-01 7.66300264e-02 1.87850509e-03 4.80455754e+01] [-7.66299377e-02 9.97059596e-01 -1.19236179e-04 -1.18668502e+00] [-1.88211860e-03 -2.50643623e-05 9.99998228e-01 -2.29032667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92589822699999 meters Centerline goodness [0,1] 0.9998722480091982 Centerline is valid? [True, True] Translation: X:48.07, Y:-1.20, Z:-0.23 [[ 9.97261522e-01 7.39314580e-02 1.89643709e-03 4.80744176e+01] [-7.39313631e-02 9.97263325e-01 -1.20189429e-04 -1.19516468e+00] [-1.90013294e-03 -2.03458865e-05 9.99998195e-01 -2.29178890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95589822699999 meters Centerline goodness [0,1] 0.999830841773624 Centerline is valid? [True, True] Translation: X:48.10, Y:-1.21, Z:-0.23 [[ 9.97743697e-01 6.70670460e-02 3.08641653e-03 4.81010600e+01] [-6.70667623e-02 9.97748471e-01 -1.95429127e-04 -1.21124561e+00] [-3.09257423e-03 -1.20077840e-05 9.99995218e-01 -2.27688523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98589822699999 meters Centerline goodness [0,1] 0.9999362597203927 Centerline is valid? [True, True] Translation: X:48.13, Y:-1.22, Z:-0.23 [[ 9.97988769e-01 6.32935746e-02 3.51288986e-03 4.81290636e+01] [-6.32931850e-02 9.97994952e-01 -2.22077063e-04 -1.21985869e+00] [-3.51990240e-03 -7.11573806e-07 9.99993805e-01 -2.26533854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.015898227 meters Centerline goodness [0,1] 0.9999789748118245 Centerline is valid? [True, True] Translation: X:48.16, Y:-1.23, Z:-0.23 [[ 9.98173135e-01 6.02904377e-02 3.93143881e-03 4.81560583e+01] [-6.02899270e-02 9.98180877e-01 -2.48381512e-04 -1.22659406e+00] [-3.93926206e-03 1.09015939e-05 9.99992241e-01 -2.27732196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.045898227 meters Centerline goodness [0,1] 0.9999162777068464 Centerline is valid? [True, True] Translation: X:48.18, Y:-1.23, Z:-0.23 [[ 9.98342693e-01 5.73807169e-02 4.39543240e-03 4.81849386e+01] [-5.73800524e-02 9.98352369e-01 -2.77240632e-04 -1.23042045e+00] [-4.40409861e-03 2.45710178e-05 9.99990302e-01 -2.27328094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.075898227 meters Centerline goodness [0,1] 0.9998936419135946 Centerline is valid? [True, True] Translation: X:48.21, Y:-1.23, Z:-0.23 [[ 9.98345769e-01 5.72905937e-02 4.84906495e-03 4.82140388e+01] [-5.72897851e-02 9.98357545e-01 -3.05590489e-04 -1.23034757e+00] [-4.85860804e-03 2.72830831e-05 9.99988197e-01 -2.26706886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.105898227 meters Centerline goodness [0,1] 0.9998726249867318 Centerline is valid? [True, True] Translation: X:48.24, Y:-1.23, Z:-0.23 [[ 9.98320908e-01 5.76902691e-02 5.21510098e-03 4.82416694e+01] [-5.76893405e-02 9.98334529e-01 -3.28440935e-04 -1.23035826e+00] [-5.22536323e-03 2.70337160e-05 9.99986347e-01 -2.25920343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13589822699998 meters Centerline goodness [0,1] 0.9998315754015874 Centerline is valid? [True, True] Translation: X:48.27, Y:-1.23, Z:-0.23 [[ 9.98267171e-01 5.85784832e-02 5.58716601e-03 4.82699482e+01] [-5.85774339e-02 9.98282806e-01 -3.51410327e-04 -1.22992782e+00] [-5.59815685e-03 2.35195458e-05 9.99984330e-01 -2.25448937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16589822699999 meters Centerline goodness [0,1] 0.9998105901170132 Centerline is valid? [True, True] Translation: X:48.30, Y:-1.23, Z:-0.23 [[ 9.98215384e-01 5.94352192e-02 5.78810230e-03 4.82993637e+01] [-5.94341093e-02 9.98232165e-01 -3.63720252e-04 -1.22935362e+00] [-5.79948768e-03 1.90604457e-05 9.99983183e-01 -2.25119386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19589822699999 meters Centerline goodness [0,1] 0.999873835607797 Centerline is valid? [True, True] Translation: X:48.33, Y:-1.23, Z:-0.23 [[ 9.98184906e-01 5.99623265e-02 5.60463535e-03 4.83274862e+01] [-5.99612947e-02 9.98200641e-01 -3.52106079e-04 -1.22944343e+00] [-5.61566370e-03 1.54057820e-05 9.99984232e-01 -2.25951709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22589822699999 meters Centerline goodness [0,1] 0.9999159098553649 Centerline is valid? [True, True] Translation: X:48.36, Y:-1.23, Z:-0.23 [[ 9.98238174e-01 5.91562561e-02 4.59179910e-03 4.83559396e+01] [-5.91555562e-02 9.98248735e-01 -2.88212736e-04 -1.23015856e+00] [-4.60080723e-03 1.60745262e-05 9.99989416e-01 -2.27546717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25589822699999 meters Centerline goodness [0,1] 0.9999367528935551 Centerline is valid? [True, True] Translation: X:48.38, Y:-1.23, Z:-0.23 [[ 9.98339914e-01 5.74076648e-02 4.66639941e-03 4.83849027e+01] [-5.74069239e-02 9.98350820e-01 -2.92667967e-04 -1.23392517e+00] [-4.67550506e-03 2.42984771e-05 9.99989069e-01 -2.29184520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28589822699999 meters Centerline goodness [0,1] 0.9998516446252967 Centerline is valid? [True, True] Translation: X:48.41, Y:-1.24, Z:-0.23 [[ 9.98481495e-01 5.48800739e-02 4.78356562e-03 4.84130155e+01] [-5.48792671e-02 9.98492952e-01 -2.99864016e-04 -1.23818490e+00] [-4.79281312e-03 3.68900958e-05 9.99988514e-01 -2.28239031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31589822699999 meters Centerline goodness [0,1] 0.999788779993241 Centerline is valid? [True, True] Translation: X:48.44, Y:-1.24, Z:-0.23 [[ 9.98599153e-01 5.26748837e-02 5.00876122e-03 4.84421058e+01] [-5.26739736e-02 9.98611713e-01 -3.13544520e-04 -1.24128475e+00] [-5.01832355e-03 4.92739361e-05 9.99987407e-01 -2.27899480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34589822699999 meters Centerline goodness [0,1] 0.9998508988668314 Centerline is valid? [True, True] Translation: X:48.47, Y:-1.24, Z:-0.23 [[ 9.98677576e-01 5.11932715e-02 4.72742269e-03 4.84708109e+01] [-5.11924451e-02 9.98688763e-01 -2.95738595e-04 -1.24257225e+00] [-4.73636375e-03 5.33391766e-05 9.99988782e-01 -2.27659593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.375898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.50, Y:-1.24, Z:-0.23 [[ 9.98723218e-01 5.03328442e-02 4.30561236e-03 4.84997679e+01] [-5.03321514e-02 9.98732498e-01 -2.69185809e-04 -1.24358218e+00] [-4.31370387e-03 5.21313845e-05 9.99990695e-01 -2.28685589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.405898227 meters Centerline goodness [0,1] 0.9998927866883952 Centerline is valid? [True, True] Translation: X:48.53, Y:-1.24, Z:-0.23 [[ 9.98788954e-01 4.90485765e-02 3.85525925e-03 4.85275289e+01] [-4.90480117e-02 9.98796393e-01 -2.40956476e-04 -1.24382453e+00] [-3.86243760e-03 5.15718657e-05 9.99992539e-01 -2.29429808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.435898227 meters Centerline goodness [0,1] 0.9998741399563685 Centerline is valid? [True, True] Translation: X:48.55, Y:-1.25, Z:-0.23 [[ 9.98836390e-01 4.80109201e-02 4.56266658e-03 4.85549473e+01] [-4.80101200e-02 9.98846809e-01 -2.84793917e-04 -1.24671795e+00] [-4.57107817e-03 6.54083579e-05 9.99989550e-01 -2.28975632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.465898227 meters Centerline goodness [0,1] 0.9998719972692751 Centerline is valid? [True, True] Translation: X:48.58, Y:-1.25, Z:-0.23 [[ 9.98931838e-01 4.58242177e-02 5.94343585e-03 4.85833329e+01] [-4.58228247e-02 9.98949514e-01 -3.70425126e-04 -1.24893009e+00] [-5.95416680e-03 9.76844327e-05 9.99982269e-01 -2.26841505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49589822699998 meters Centerline goodness [0,1] 0.9998307845252449 Centerline is valid? [True, True] Translation: X:48.61, Y:-1.25, Z:-0.23 [[ 9.99047924e-01 4.30979469e-02 6.76849281e-03 4.86119703e+01] [-4.30960803e-02 9.99070843e-01 -4.21439106e-04 -1.25470393e+00] [-6.78036699e-03 1.29342353e-04 9.99977005e-01 -2.26028328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52589822699998 meters Centerline goodness [0,1] 0.9999156296140055 Centerline is valid? [True, True] Translation: X:48.64, Y:-1.26, Z:-0.23 [[ 9.99187923e-01 3.97379196e-02 6.66274140e-03 4.86411677e+01] [-3.97360380e-02 9.99210126e-01 -4.14595134e-04 -1.25998857e+00] [-6.67395382e-03 1.49507505e-04 9.99977718e-01 -2.26655848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55589822699999 meters Centerline goodness [0,1] 0.9998709594167365 Centerline is valid? [True, True] Translation: X:48.67, Y:-1.26, Z:-0.23 [[ 9.99338027e-01 3.58346601e-02 6.27572303e-03 4.86708807e+01] [-3.58329149e-02 9.99357719e-01 -3.90346963e-04 -1.26271417e+00] [-6.28568020e-03 1.65211114e-04 9.99980231e-01 -2.27936085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58589822699999 meters Centerline goodness [0,1] 0.9997877578741828 Centerline is valid? [True, True] Translation: X:48.70, Y:-1.28, Z:-0.23 [[ 9.99553790e-01 2.92996165e-02 5.80975849e-03 4.86991466e+01] [-2.92980109e-02 9.99570656e-01 -3.61293097e-04 -1.27865620e+00] [-5.81784986e-03 1.90917516e-04 9.99983058e-01 -2.29037412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61589822699999 meters Centerline goodness [0,1] 0.9998079467372285 Centerline is valid? [True, True] Translation: X:48.73, Y:-1.28, Z:-0.23 [[ 9.99624152e-01 2.67962776e-02 5.78917031e-03 4.87293798e+01] [-2.67946420e-02 9.99640894e-01 -3.59919887e-04 -1.28217820e+00] [-5.79673590e-03 2.04665866e-04 9.99983178e-01 -2.28927481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64589822699999 meters Centerline goodness [0,1] 0.9998716769681545 Centerline is valid? [True, True] Translation: X:48.76, Y:-1.29, Z:-0.23 [[ 9.99673509e-01 2.49443250e-02 5.53681213e-03 4.87593140e+01] [-2.49428007e-02 9.99688821e-01 -3.44185431e-04 -1.28873336e+00] [-5.54367466e-03 2.05969456e-04 9.99984613e-01 -2.28635420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67589822699999 meters Centerline goodness [0,1] 0.9998083883329785 Centerline is valid? [True, True] Translation: X:48.79, Y:-1.29, Z:-0.23 [[ 9.99711442e-01 2.35428891e-02 4.77125296e-03 4.87889465e+01] [-2.35417408e-02 9.99722811e-01 -2.96691246e-04 -1.29418447e+00] [-4.77691539e-03 1.84282033e-04 9.99988573e-01 -2.29626898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70589822699999 meters Centerline goodness [0,1] 0.9997229385562968 Centerline is valid? [True, True] Translation: X:48.82, Y:-1.30, Z:-0.23 [[ 9.99737988e-01 2.26089369e-02 3.57652692e-03 4.88177206e+01] [-2.26082858e-02 9.99744375e-01 -2.22385185e-04 -1.30118857e+00] [-3.58064057e-03 1.41467774e-04 9.99993579e-01 -2.31362087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73589822699999 meters Centerline goodness [0,1] 0.9997243777297206 Centerline is valid? [True, True] Translation: X:48.85, Y:-1.30, Z:-0.23 [[ 9.99754215e-01 2.18568530e-02 3.71312854e-03 4.88475338e+01] [-2.18561457e-02 9.99761099e-01 -2.30967956e-04 -1.30493709e+00] [-3.71728970e-03 1.49756509e-04 9.99993080e-01 -2.31158826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.765898227 meters Centerline goodness [0,1] 0.9995977814471401 Centerline is valid? [True, True] Translation: X:48.88, Y:-1.31, Z:-0.23 [[ 9.99735870e-01 2.24608063e-02 4.86859710e-03 4.88774664e+01] [-2.24595981e-02 9.99747706e-01 -3.02700284e-04 -1.30823431e+00] [-4.87416767e-03 1.93273598e-04 9.99988102e-01 -2.30094588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.795898227 meters Centerline goodness [0,1] 0.9997466804585083 Centerline is valid? [True, True] Translation: X:48.91, Y:-1.31, Z:-0.23 [[ 9.99693487e-01 2.40576619e-02 5.84466953e-03 4.89078742e+01] [-2.40559479e-02 9.99710548e-01 -3.63386638e-04 -1.30658235e+00] [-5.85172001e-03 2.22676189e-04 9.99982854e-01 -2.28657343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.825898227 meters Centerline goodness [0,1] 0.9997668651844944 Centerline is valid? [True, True] Translation: X:48.94, Y:-1.30, Z:-0.23 [[ 9.99640826e-01 2.61028816e-02 6.07107454e-03 4.89389706e+01] [-2.61010701e-02 9.99659238e-01 -3.77424854e-04 -1.30456789e+00] [-6.07885762e-03 2.18827751e-04 9.99981500e-01 -2.28581666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.855898227 meters Centerline goodness [0,1] 0.9998730642294998 Centerline is valid? [True, True] Translation: X:48.97, Y:-1.30, Z:-0.23 [[ 9.99580197e-01 2.84000621e-02 5.73287804e-03 4.89685910e+01] [-2.83984837e-02 9.99596618e-01 -3.56545535e-04 -1.30321077e+00] [-5.74069142e-03 1.93590813e-04 9.99983503e-01 -2.29605917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88589822699998 meters Centerline goodness [0,1] 0.9998098939630772 Centerline is valid? [True, True] Translation: X:49.00, Y:-1.30, Z:-0.23 [[ 9.99528374e-01 3.02787365e-02 5.12138297e-03 4.89986388e+01] [-3.02775020e-02 9.99541481e-01 -3.18417074e-04 -1.30251002e+00] [-5.12867598e-03 1.63204216e-04 9.99986835e-01 -2.31346332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91589822699999 meters Centerline goodness [0,1] 0.9996175745729583 Centerline is valid? [True, True] Translation: X:49.03, Y:-1.30, Z:-0.23 [[ 9.99501312e-01 3.12571189e-02 4.48541008e-03 4.90281911e+01] [-3.12561813e-02 9.99511367e-01 -2.78989259e-04 -1.30119630e+00] [-4.49193876e-03 1.38653340e-04 9.99989902e-01 -2.34471619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94589822699999 meters Centerline goodness [0,1] 0.9996820754117124 Centerline is valid? [True, True] Translation: X:49.06, Y:-1.30, Z:-0.23 [[ 9.99515648e-01 3.08052373e-02 4.41674001e-03 4.90581789e+01] [-3.08043243e-02 9.99525396e-01 -2.74618457e-04 -1.30375899e+00] [-4.42310349e-03 1.38430753e-04 9.99990208e-01 -2.34151160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97589822699999 meters Centerline goodness [0,1] 0.9997020135370993 Centerline is valid? [True, True] Translation: X:49.09, Y:-1.31, Z:-0.23 [[ 9.99547610e-01 2.96881858e-02 4.81530162e-03 4.90876968e+01] [-2.96870885e-02 9.99559196e-01 -2.99214312e-04 -1.30760625e+00] [-4.82206215e-03 1.56126665e-04 9.99988362e-01 -2.33611217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00589822699999 meters Centerline goodness [0,1] 0.9998317560462671 Centerline is valid? [True, True] Translation: X:49.12, Y:-1.31, Z:-0.23 [[ 9.99582611e-01 2.82982326e-02 5.81499877e-03 4.91166243e+01] [-2.82966097e-02 9.99599506e-01 -3.61189973e-04 -1.31303978e+00] [-5.82289094e-03 1.96494466e-04 9.99983028e-01 -2.32899283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03589822699999 meters Centerline goodness [0,1] 0.9997242666553545 Centerline is valid? [True, True] Translation: X:49.15, Y:-1.32, Z:-0.23 [[ 9.99672608e-01 2.44378235e-02 7.58091593e-03 4.91471843e+01] [-2.44349541e-02 9.99701311e-01 -4.70902682e-04 -1.31582313e+00] [-7.59015943e-03 2.85509179e-04 9.99971154e-01 -2.29857053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06589822699999 meters Centerline goodness [0,1] 0.999768926980926 Centerline is valid? [True, True] Translation: X:49.18, Y:-1.32, Z:-0.23 [[ 9.99741368e-01 2.15923612e-02 7.13917067e-03 4.91780810e+01] [-2.15897436e-02 9.99766816e-01 -4.43538625e-04 -1.32138373e+00] [-7.14708297e-03 2.89291048e-04 9.99974417e-01 -2.31268971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09589822699999 meters Centerline goodness [0,1] 0.999768926980926 Centerline is valid? [True, True] Translation: X:49.21, Y:-1.32, Z:-0.23 [[ 9.99740878e-01 2.16150127e-02 7.13916718e-03 4.92088804e+01] [-2.16123952e-02 9.99766326e-01 -4.43594747e-04 -1.32334002e+00] [-7.14708725e-03 2.89185299e-04 9.99974417e-01 -2.31557691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.125898227 meters Centerline goodness [0,1] 0.9996580173556192 Centerline is valid? [True, True] Translation: X:49.24, Y:-1.33, Z:-0.23 [[ 9.99814595e-01 1.83166263e-02 5.93950754e-03 4.92395496e+01] [-1.83147556e-02 9.99832203e-01 -3.69190102e-04 -1.32569494e+00] [-5.94527322e-03 2.60341023e-04 9.99982293e-01 -2.34017358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.155898227 meters Centerline goodness [0,1] 0.9996841307277629 Centerline is valid? [True, True] Translation: X:49.27, Y:-1.34, Z:-0.24 [[ 9.99880970e-01 1.47488796e-02 4.52940950e-03 4.92683252e+01] [-1.47477546e-02 9.99891206e-01 -2.81669884e-04 -1.33545826e+00] [-4.53307104e-03 2.14837737e-04 9.99989703e-01 -2.37305558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.185898227 meters Centerline goodness [0,1] 0.9986680479502738 Centerline is valid? [True, True] Translation: X:49.30, Y:-1.34, Z:-0.24 [[ 9.99930565e-01 1.14544679e-02 2.76772324e-03 4.92976810e+01] [-1.14540357e-02 9.99934386e-01 -1.71982199e-04 -1.34415738e+00] [-2.76951160e-03 1.40268656e-04 9.99996155e-01 -2.40675537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.215898227 meters Centerline goodness [0,1] 0.9907994318543173 Centerline is valid? [True, True] Translation: X:49.33, Y:-1.35, Z:-0.24 [[ 9.99963068e-01 8.42199525e-03 1.71232903e-03 4.93269699e+01] [-8.42182512e-03 9.99964530e-01 -1.06541601e-04 -1.35344638e+00] [-1.71316558e-03 9.21167302e-05 9.99998528e-01 -2.44708727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24589822699998 meters Centerline goodness [0,1] 0.9701152816708466 Centerline is valid? [True, True] Translation: X:49.36, Y:-1.36, Z:-0.25 [[ 9.99984689e-01 5.52511081e-03 3.06608253e-04 4.93564653e+01] [-5.52510520e-03 9.99984736e-01 -1.91457850e-05 -1.36231523e+00] [-3.06709355e-04 1.74514490e-05 9.99999953e-01 -2.45269297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27589822699998 meters Centerline goodness [0,1] 0.9954839935003271 Centerline is valid? [True, True] Translation: X:49.39, Y:-1.35, Z:-0.24 [[ 9.99983854e-01 5.68131112e-03 -1.17530848e-04 4.93878921e+01] [-5.68131030e-03 9.99983861e-01 7.30587045e-06 -1.35396859e+00] [ 1.17570458e-04 -6.63802327e-06 9.99999993e-01 -2.43358063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30589822699999 meters Centerline goodness [0,1] 0.9964784250498536 Centerline is valid? [True, True] Translation: X:49.42, Y:-1.35, Z:-0.24 [[ 9.99973930e-01 7.21164366e-03 -3.62902979e-04 4.94185337e+01] [-7.21163594e-03 9.99973996e-01 2.25585214e-05 -1.35408513e+00] [ 3.63056226e-04 -1.99408091e-05 9.99999934e-01 -2.43754782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33589822699999 meters Centerline goodness [0,1] 0.9974418009721157 Centerline is valid? [True, True] Translation: X:49.45, Y:-1.35, Z:-0.24 [[ 9.99956866e-01 9.28533035e-03 -2.21167576e-04 4.94490340e+01] [-9.28532756e-03 9.99956890e-01 1.36375040e-05 -1.35377987e+00] [ 2.21284671e-04 -1.15833024e-05 9.99999975e-01 -2.44048057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36589822699999 meters Centerline goodness [0,1] 0.9991884330350469 Centerline is valid? [True, True] Translation: X:49.48, Y:-1.35, Z:-0.24 [[ 9.99928650e-01 1.19243455e-02 7.09921035e-04 4.94793282e+01] [-1.19243171e-02 9.99928902e-01 -4.42150242e-05 -1.35103519e+00] [-7.10397796e-04 3.57465459e-05 9.99999747e-01 -2.43379649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39589822699999 meters Centerline goodness [0,1] 0.9994961053139894 Centerline is valid? [True, True] Translation: X:49.51, Y:-1.35, Z:-0.24 [[ 9.99880610e-01 1.52240764e-02 2.64438231e-03 4.95094873e+01] [-1.52236947e-02 9.99884099e-01 -1.64407566e-04 -1.34708223e+00] [-2.64657878e-03 1.24130669e-04 9.99996490e-01 -2.41507659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42589822699999 meters Centerline goodness [0,1] 0.9995816512226243 Centerline is valid? [True, True] Translation: X:49.54, Y:-1.35, Z:-0.24 [[ 9.99876410e-01 1.52459241e-02 3.83741486e-03 4.95399671e+01] [-1.52451212e-02 9.99883758e-01 -2.38401863e-04 -1.34901063e+00] [-3.84060344e-03 1.79870545e-04 9.99992609e-01 -2.40721500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45589822699999 meters Centerline goodness [0,1] 0.9995135363790186 Centerline is valid? [True, True] Translation: X:49.57, Y:-1.35, Z:-0.24 [[ 9.99891338e-01 1.40335607e-02 4.51338621e-03 4.95701850e+01] [-1.40324376e-02 9.99901501e-01 -2.80397018e-04 -1.35241499e+00] [-4.51687661e-03 2.17032739e-04 9.99989775e-01 -2.39630954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48589822699999 meters Centerline goodness [0,1] 0.9993254637436763 Centerline is valid? [True, True] Translation: X:49.60, Y:-1.36, Z:-0.24 [[ 9.99918889e-01 1.19621287e-02 4.37298240e-03 4.96008895e+01] [-1.19610553e-02 9.99928427e-01 -2.71525364e-04 -1.35845409e+00] [-4.37591743e-03 2.19197855e-04 9.99990402e-01 -2.39773622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.515898227 meters Centerline goodness [0,1] 0.9793654833100055 Centerline is valid? [True, True] Translation: X:49.63, Y:-1.38, Z:-0.24 [[ 9.99981106e-01 5.51650093e-03 2.71208936e-03 4.96292243e+01] [-5.51606381e-03 9.99984772e-01 -1.68630223e-04 -1.37536785e+00] [-2.71297831e-03 1.53666979e-04 9.99996308e-01 -2.43500683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.545898227 meters Centerline goodness [0,1] 0.9788987309428498 Centerline is valid? [True, True] Translation: X:49.66, Y:-1.38, Z:-0.24 [[ 9.99994357e-01 2.38451430e-03 2.36641647e-03 4.96594525e+01] [-2.38417297e-03 9.99997147e-01 -1.47050389e-04 -1.37863734e+00] [-2.36676036e-03 1.41407613e-04 9.99997189e-01 -2.44298421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.575898227 meters Centerline goodness [0,1] 0.9860135380410412 Centerline is valid? [True, True] Translation: X:49.69, Y:-1.38, Z:-0.24 [[ 9.99996074e-01 -3.41513354e-04 2.78117748e-03 4.96902585e+01] [ 3.41995346e-04 9.99999927e-01 -1.72831102e-04 -1.37937877e+00] [-2.78111825e-03 1.73781573e-04 9.99996118e-01 -2.43468049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60589822699998 meters Centerline goodness [0,1] 0.9878572802873207 Centerline is valid? [True, True] Translation: X:49.72, Y:-1.38, Z:-0.24 [[ 9.99993026e-01 -1.54074795e-03 3.40192171e-03 4.97216738e+01] [ 1.54147304e-03 9.99998790e-01 -2.10530504e-04 -1.38187649e+00] [-3.40159322e-03 2.15773007e-04 9.99994191e-01 -2.43014716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63589822699998 meters Centerline goodness [0,1] 0.9882682280536798 Centerline is valid? [True, True] Translation: X:49.75, Y:-1.39, Z:-0.24 [[ 9.99990094e-01 -2.36857997e-03 3.76840924e-03 4.97539834e+01] [ 2.36948053e-03 9.99997165e-01 -2.34530127e-04 -1.38522150e+00] [-3.76784305e-03 2.43456977e-04 9.99992872e-01 -2.43108252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66589822699999 meters Centerline goodness [0,1] 0.8802443473465406 Centerline is valid? [True, False] Translation: X:49.75, Y:-1.39, Z:-0.24 [[ 9.99990166e-01 -2.25539558e-03 3.81847439e-03 4.97536663e+01] [ 2.25502445e-03 9.99997452e-01 1.01495669e-04 -1.38694942e+00] [-3.81869357e-03 -9.28839175e-05 9.99992704e-01 -2.42874623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69589822699999 meters Centerline goodness [0,1] 0.9267172016600322 Centerline is valid? [False, False] Translation: X:49.75, Y:-1.39, Z:-0.24 [[ 9.99990354e-01 -2.08488957e-03 3.86595806e-03 4.97532440e+01] [ 2.08213398e-03 9.99997576e-01 7.16669477e-04 -1.39008723e+00] [-3.86744286e-03 -7.08613122e-04 9.99992270e-01 -2.42478577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72589822699999 meters Centerline goodness [0,1] 0.9200629291834088 Centerline is valid? [False, False] Translation: X:49.75, Y:-1.39, Z:-0.24 [[ 9.99990553e-01 -1.94975294e-03 3.88488960e-03 4.97532813e+01] [ 1.94547191e-03 9.99997497e-01 1.10544504e-03 -1.39200886e+00] [-3.88703522e-03 -1.09787665e-03 9.99991843e-01 -2.42678971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75589822699999 meters Centerline goodness [0,1] 0.9724372407304452 Centerline is valid? [False, True] Translation: X:49.75, Y:-1.39, Z:-0.24 [[ 9.99991117e-01 -1.73528158e-03 3.84129753e-03 4.97537424e+01] [ 1.72896558e-03 9.99997149e-01 1.64694741e-03 -1.39459856e+00] [-3.84414450e-03 -1.64029130e-03 9.99991266e-01 -2.43316202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78589822699999 meters Centerline goodness [0,1] 0.7972548440827342 Centerline is valid? [True, False] Translation: X:49.80, Y:-1.40, Z:-0.24 [[ 9.99993650e-01 -2.38324238e-03 2.64948418e-03 4.97980104e+01] [ 2.37499175e-03 9.99992335e-01 3.11284977e-03 -1.40009670e+00] [-2.65688254e-03 -3.10653750e-03 9.99991645e-01 -2.43578597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81589822699999 meters Centerline goodness [0,1] 0.9449777022722446 Centerline is valid? [False, False] Translation: X:49.80, Y:-1.40, Z:-0.24 [[ 9.99994436e-01 -2.15555723e-03 2.54584999e-03 4.97987329e+01] [ 2.14610517e-03 9.99990816e-01 3.70964792e-03 -1.40301185e+00] [-2.55382297e-03 -3.70416362e-03 9.99989879e-01 -2.44294392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84589822699999 meters Centerline goodness [0,1] 0.9545979469632164 Centerline is valid? [False, True] Translation: X:49.80, Y:-1.40, Z:-0.24 [[ 9.99977601e-01 -6.29626139e-03 2.27023777e-03 4.97996727e+01] [ 6.29818622e-03 9.99979812e-01 -8.41704400e-04 -1.40123358e+00] [-2.26489235e-03 8.55983927e-04 9.99997069e-01 -2.44304091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.875898227 meters Centerline goodness [0,1] 0.9262785407363721 Centerline is valid? [True, False] Translation: X:49.84, Y:-1.41, Z:-0.24 [[ 9.99977234e-01 -5.76656662e-03 3.50408676e-03 4.98401935e+01] [ 5.75628858e-03 9.99979122e-01 2.93619829e-03 -1.41001776e+00] [-3.52094538e-03 -2.91596091e-03 9.99989550e-01 -2.44169360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.905898227 meters Centerline goodness [0,1] 0.8821544534284077 Centerline is valid? [False, False] Translation: X:49.84, Y:-1.41, Z:-0.24 [[ 9.99977376e-01 -5.67308212e-03 3.61442489e-03 4.98395313e+01] [ 5.66158979e-03 9.99978911e-01 3.18190889e-03 -1.41134087e+00] [-3.63239989e-03 -3.16137351e-03 9.99988406e-01 -2.43653589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.935898227 meters Centerline goodness [0,1] 0.9850487540628385 Centerline is valid? [False, True] Translation: X:49.80, Y:-1.41, Z:-0.24 [[ 9.99983136e-01 -4.86446098e-03 3.17262746e-03 4.97957766e+01] [ 4.85647483e-03 9.99985032e-01 2.52006875e-03 -1.40924907e+00] [-3.18483875e-03 -2.50461846e-03 9.99991792e-01 -2.43085807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.965898227 meters Centerline goodness [0,1] 0.9815206929740135 Centerline is valid? [True, True] Translation: X:49.83, Y:-1.41, Z:-0.25 [[ 9.99990442e-01 -3.72717633e-03 2.28568472e-03 4.98258573e+01] [ 3.72751374e-03 9.99993043e-01 -1.43374390e-04 -1.41159268e+00] [-2.28513443e-03 1.51892941e-04 9.99997378e-01 -2.45117681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99589822699998 meters Centerline goodness [0,1] 0.9446174998388794 Centerline is valid? [True, False] Translation: X:49.83, Y:-1.41, Z:-0.25 [[ 9.99991013e-01 -3.73054099e-03 2.01415896e-03 4.98272655e+01] [ 3.73132946e-03 9.99992963e-01 -3.87843904e-04 -1.41010259e+00] [-2.01269792e-03 3.95355909e-04 9.99997896e-01 -2.46078721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02589822699998 meters Centerline goodness [0,1] 0.985468085106383 Centerline is valid? [False, True] Translation: X:49.83, Y:-1.41, Z:-0.25 [[ 9.99998842e-01 -8.68300240e-04 1.24970055e-03 4.98328930e+01] [ 8.65402130e-04 9.99996940e-01 2.31771915e-03 -1.40773471e+00] [-1.25170920e-03 -2.31663497e-03 9.99996533e-01 -2.50217300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05589822699999 meters Centerline goodness [0,1] 0.9834412323996325 Centerline is valid? [True, True] Translation: X:49.86, Y:-1.41, Z:-0.25 [[ 9.99998121e-01 6.27750340e-04 1.83399843e-03 4.98624397e+01] [-6.27548785e-04 9.99999797e-01 -1.10472225e-04 -1.40809874e+00] [-1.83406741e-03 1.09321094e-04 9.99998312e-01 -2.49663885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08589822699999 meters Centerline goodness [0,1] 0.9787780538127921 Centerline is valid? [True, True] Translation: X:49.89, Y:-1.41, Z:-0.25 [[ 9.99993691e-01 1.20608336e-03 3.34128632e-03 4.98930507e+01] [-1.20541907e-03 9.99999253e-01 -2.00820398e-04 -1.41231064e+00] [-3.34152603e-03 1.96791481e-04 9.99994398e-01 -2.47798165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11589822699999 meters Centerline goodness [0,1] 0.9768829391386168 Centerline is valid? [True, True] Translation: X:49.92, Y:-1.41, Z:-0.25 [[ 9.99987892e-01 1.48590427e-03 4.69124188e-03 4.99239639e+01] [-1.48460095e-03 9.99998858e-01 -2.81289719e-04 -1.41441375e+00] [-4.69165450e-03 2.74321691e-04 9.99988957e-01 -2.45155035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14589822699999 meters Centerline goodness [0,1] 0.9874403309642517 Centerline is valid? [True, True] Translation: X:49.96, Y:-1.41, Z:-0.24 [[ 9.99986058e-01 1.00370666e-03 5.18433193e-03 4.99558732e+01] [-1.00210370e-03 9.99999449e-01 -3.11782955e-04 -1.41253332e+00] [-5.18464201e-03 3.06583370e-04 9.99986513e-01 -2.44218643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17589822699999 meters Centerline goodness [0,1] 0.9841447451758646 Centerline is valid? [True, True] Translation: X:49.99, Y:-1.41, Z:-0.24 [[ 9.99987628e-01 4.33808070e-04 4.95538427e-03 4.99882200e+01] [-4.32333716e-04 9.99999862e-01 -2.98593155e-04 -1.41373568e+00] [-4.95551311e-03 2.96447081e-04 9.99987677e-01 -2.44919408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20589822699999 meters Centerline goodness [0,1] 0.9894070505989172 Centerline is valid? [True, True] Translation: X:50.02, Y:-1.41, Z:-0.25 [[ 9.99986343e-01 -6.63356558e-04 5.18400907e-03 5.00202799e+01] [ 6.64989906e-04 9.99999730e-01 -3.13356918e-04 -1.41194956e+00] [-5.18379980e-03 3.16799952e-04 9.99986514e-01 -2.46317167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23589822699999 meters Centerline goodness [0,1] 0.9273620623644021 Centerline is valid? [True, False] Translation: X:50.02, Y:-1.41, Z:-0.25 [[ 9.99986353e-01 -6.97125193e-04 5.17765048e-03 5.00204264e+01] [ 6.98736398e-04 9.99999708e-01 -3.09382103e-04 -1.41202278e+00] [-5.17743329e-03 3.12995694e-04 9.99986548e-01 -2.46517207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.265898227 meters Centerline goodness [0,1] 0.8776851890624345 Centerline is valid? [False, False] Translation: X:50.06, Y:-1.42, Z:-0.25 [[ 9.99984235e-01 -1.29989723e-03 5.46261958e-03 5.00624591e+01] [ 1.29385805e-03 9.99998548e-01 1.10893591e-03 -1.41575344e+00] [-5.46405315e-03 -1.10185057e-03 9.99984465e-01 -2.46181379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.295898227 meters Centerline goodness [0,1] 0.9567253929739424 Centerline is valid? [False, True] Translation: X:50.06, Y:-1.42, Z:-0.25 [[ 9.99984317e-01 -1.28832101e-03 5.45025065e-03 5.00624242e+01] [ 1.28125412e-03 9.99998334e-01 1.29991201e-03 -1.41691135e+00] [-5.45191628e-03 -1.29290846e-03 9.99984302e-01 -2.46082126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.325898227 meters Centerline goodness [0,1] 0.9531370038412292 Centerline is valid? [True, True] Translation: X:50.09, Y:-1.42, Z:-0.25 [[ 9.99980536e-01 -3.87960859e-03 4.88639590e-03 5.00927435e+01] [ 3.88117218e-03 9.99992420e-01 -3.10545875e-04 -1.42073298e+00] [-4.88515407e-03 3.29504774e-04 9.99988013e-01 -2.46952558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35589822699998 meters Centerline goodness [0,1] 0.8859279141104295 Centerline is valid? [True, False] Translation: X:50.09, Y:-1.42, Z:-0.25 [[ 9.99980733e-01 -3.73778659e-03 4.95610080e-03 5.00926462e+01] [ 3.73652141e-03 9.99992984e-01 2.64511797e-04 -1.42375447e+00] [-4.95705472e-03 -2.45988124e-04 9.99987683e-01 -2.47236960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38589822699998 meters Centerline goodness [0,1] 0.8628247098337656 Centerline is valid? [False, False] Translation: X:50.09, Y:-1.43, Z:-0.25 [[ 9.99980486e-01 -3.68451553e-03 5.04497697e-03 5.00923960e+01] [ 3.68068632e-03 9.99992931e-01 7.68089126e-04 -1.42654918e+00] [-5.04777134e-03 -7.49505160e-04 9.99986979e-01 -2.47347587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41589822699999 meters Centerline goodness [0,1] 0.8208053407698483 Centerline is valid? [False, False] Translation: X:50.09, Y:-1.43, Z:-0.25 [[ 9.99980508e-01 -3.73895171e-03 5.00036313e-03 5.00926525e+01] [ 3.73321076e-03 9.99992362e-01 1.15694827e-03 -1.42897716e+00] [-5.00465071e-03 -1.13825831e-03 9.99986829e-01 -2.47609183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44589822699999 meters Centerline goodness [0,1] 0.5777730826114515 Centerline is valid? [False, False] Translation: X:50.09, Y:-1.43, Z:-0.25 [[ 9.99981137e-01 -3.74380112e-03 4.86918143e-03 5.00935029e+01] [ 3.73505667e-03 9.99991398e-01 1.80373120e-03 -1.43270740e+00] [-4.87589236e-03 -1.78551050e-03 9.99986519e-01 -2.48307540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47589822699999 meters Centerline goodness [0,1] 0.8094172792159369 Centerline is valid? [False, False] Translation: X:50.09, Y:-1.43, Z:-0.25 [[ 9.99958173e-01 -7.89681945e-03 4.61432954e-03 5.00942245e+01] [ 7.91067785e-03 9.99964231e-01 -2.99284476e-03 -1.42956950e+00] [-4.59053053e-03 3.02922206e-03 9.99984875e-01 -2.47959509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50589822699999 meters Centerline goodness [0,1] 0.8049529700872807 Centerline is valid? [False, False] Translation: X:50.09, Y:-1.43, Z:-0.25 [[ 9.99958723e-01 -7.85285850e-03 4.57007716e-03 5.00944411e+01] [ 7.86632235e-03 9.99964751e-01 -2.93560862e-03 -1.42981962e+00] [-4.54686315e-03 2.97143714e-03 9.99985248e-01 -2.48054400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53589822699999 meters Centerline goodness [0,1] 0.8896424827232076 Centerline is valid? [False, False] Translation: X:50.09, Y:-1.43, Z:-0.25 [[ 9.99958300e-01 -7.91619320e-03 4.55327951e-03 5.00945305e+01] [ 7.93069689e-03 9.99963507e-01 -3.17614044e-03 -1.42861783e+00] [-4.52797041e-03 3.21211867e-03 9.99984590e-01 -2.48082881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56589822699999 meters Centerline goodness [0,1] 0.8101617795753286 Centerline is valid? [False, False] Translation: X:50.14, Y:-1.43, Z:-0.25 [[ 9.99968058e-01 -6.37437034e-03 4.82183581e-03 5.01373327e+01] [ 6.37352487e-03 9.99979671e-01 1.90688398e-04 -1.43135902e+00] [-4.82295331e-03 -1.59950216e-04 9.99988357e-01 -2.48738611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59589822699999 meters Centerline goodness [0,1] 0.8624707148736782 Centerline is valid? [False, False] Translation: X:50.14, Y:-1.43, Z:-0.25 [[ 9.99984478e-01 -2.51075298e-03 4.97401466e-03 5.01366332e+01] [ 2.49252586e-03 9.99990169e-01 3.66728456e-03 -1.42759209e+00] [-4.98317341e-03 -3.65482977e-03 9.99980905e-01 -2.48455353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.625898227 meters Centerline goodness [0,1] 0.9103989813242784 Centerline is valid? [False, False] Translation: X:50.14, Y:-1.42, Z:-0.25 [[ 9.99983711e-01 -2.78080633e-03 4.98445419e-03 5.01361013e+01] [ 2.76681835e-03 9.99992221e-01 2.81102156e-03 -1.42337062e+00] [-4.99223233e-03 -2.79718469e-03 9.99983627e-01 -2.47553969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.655898227 meters Centerline goodness [0,1] 0.9709058380013206 Centerline is valid? [False, True] Translation: X:50.14, Y:-1.42, Z:-0.25 [[ 9.99982782e-01 -3.00584334e-03 5.03985364e-03 5.01354553e+01] [ 2.99535165e-03 9.99993334e-01 2.08800089e-03 -1.41978884e+00] [-5.04609625e-03 -2.07286880e-03 9.99985120e-01 -2.46725978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.685898227 meters Centerline goodness [0,1] 0.9240473957889352 Centerline is valid? [True, False] Translation: X:50.14, Y:-1.42, Z:-0.25 [[ 9.99981841e-01 -3.20007171e-03 5.10653222e-03 5.01350538e+01] [ 3.19252890e-03 9.99993802e-01 1.48455870e-03 -1.41681958e+00] [-5.11125127e-03 -1.46822899e-03 9.99985860e-01 -2.46352062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.715898227 meters Centerline goodness [0,1] 0.8873248421186928 Centerline is valid? [False, False] Translation: X:50.14, Y:-1.41, Z:-0.25 [[ 9.99981631e-01 -3.36916002e-03 5.03849355e-03 5.01351852e+01] [ 3.36408190e-03 9.99993825e-01 1.01600050e-03 -1.41453744e+00] [-5.04188551e-03 -9.99031929e-04 9.99986791e-01 -2.46210628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74589822699998 meters Centerline goodness [0,1] 0.9276803160765283 Centerline is valid? [False, False] Translation: X:50.11, Y:-1.41, Z:-0.24 [[ 9.99985981e-01 -5.29032537e-03 -2.25912699e-04 5.01128303e+01] [ 5.28735924e-03 9.99919151e-01 -1.15643605e-02 -1.40620050e+00] [ 2.87073664e-04 1.15630039e-02 9.99933105e-01 -2.40845368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77589822699998 meters Centerline goodness [0,1] 0.7943813508667066 Centerline is valid? [False, False] Translation: X:50.11, Y:-1.41, Z:-0.24 [[ 9.99998526e-01 -1.69819045e-03 -2.51445143e-04 5.01133297e+01] [ 1.69645172e-03 9.99975707e-01 -6.76079270e-03 -1.41141645e+00] [ 2.62920148e-04 6.76035618e-03 9.99977114e-01 -2.41895767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80589822699999 meters Centerline goodness [0,1] 0.7680284873555375 Centerline is valid? [False, False] Translation: X:50.11, Y:-1.41, Z:-0.24 [[ 9.99998570e-01 -1.66247272e-03 -3.08712178e-04 5.01137114e+01] [ 1.66047923e-03 9.99978465e-01 -6.34917525e-03 -1.41366202e+00] [ 3.19260860e-04 6.34865356e-03 9.99979796e-01 -2.42282979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83589822699999 meters Centerline goodness [0,1] 0.5746429562581389 Centerline is valid? [False, False] Translation: X:50.11, Y:-1.42, Z:-0.24 [[ 9.99998671e-01 -1.59807599e-03 -3.22422540e-04 5.01136220e+01] [ 1.59612309e-03 9.99980912e-01 -5.96892699e-03 -1.41568954e+00] [ 3.31955185e-04 5.96840443e-03 9.99982134e-01 -2.42106372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86589822699999 meters Centerline goodness [0,1] 0.6777642156656425 Centerline is valid? [False, False] Translation: X:50.15, Y:-1.42, Z:-0.24 [[ 9.99999452e-01 -4.48706920e-04 9.45784160e-04 5.01529918e+01] [ 4.49637156e-04 9.99999415e-01 -9.83577163e-04 -1.42365812e+00] [-9.45342269e-04 9.84001883e-04 9.99999069e-01 -2.42040539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89589822699999 meters Centerline goodness [0,1] 0.7433051818529051 Centerline is valid? [False, False] Translation: X:50.15, Y:-1.42, Z:-0.24 [[ 9.99999505e-01 -3.77764149e-04 9.20636848e-04 5.01529616e+01] [ 3.78528874e-04 9.99999583e-01 -8.30615189e-04 -1.42437454e+00] [-9.20322688e-04 8.30963266e-04 9.99999231e-01 -2.41853366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92589822699999 meters Centerline goodness [0,1] 0.7903762586115527 Centerline is valid? [False, False] Translation: X:50.15, Y:-1.43, Z:-0.24 [[ 9.99999818e-01 -2.13136990e-05 6.03244696e-04 5.01547970e+01] [ 2.16149931e-05 9.99999875e-01 -4.99453694e-04 -1.42528472e+00] [-6.03233975e-04 4.99466642e-04 9.99999693e-01 -2.43237159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95589822699999 meters Centerline goodness [0,1] 0.8793420579716273 Centerline is valid? [False, False] Translation: X:50.16, Y:-1.43, Z:-0.24 [[ 9.99999944e-01 1.86674970e-04 2.77634625e-04 5.01564087e+01] [-1.86590260e-04 9.99999936e-01 -3.05109160e-04 -1.42580712e+00] [-2.77691563e-04 3.05057339e-04 9.99999915e-01 -2.44231765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98589822699999 meters Centerline goodness [0,1] 0.7499000778341082 Centerline is valid? [False, False] Translation: X:50.16, Y:-1.43, Z:-0.24 [[ 9.99999932e-01 3.58797510e-04 -9.04066051e-05 5.01579547e+01] [-3.58820810e-04 9.99999902e-01 -2.57845029e-04 -1.42559852e+00] [ 9.03140821e-05 2.57877451e-04 9.99999963e-01 -2.44839266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.015898227 meters Centerline goodness [0,1] 0.7499000778341082 Centerline is valid? [False, False] Translation: X:50.16, Y:-1.43, Z:-0.24 [[ 9.99999932e-01 3.58797510e-04 -9.04066051e-05 5.01579547e+01] [-3.58820810e-04 9.99999902e-01 -2.57845029e-04 -1.42559852e+00] [ 9.03140821e-05 2.57877451e-04 9.99999963e-01 -2.44839266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.045898227 meters Centerline goodness [0,1] 0.9474843766550154 Centerline is valid? [False, False] Translation: X:50.16, Y:-1.42, Z:-0.24 [[ 9.99999861e-01 4.45449662e-04 -2.82270215e-04 5.01586459e+01] [-4.45561019e-04 9.99999823e-01 -3.94567389e-04 -1.42454026e+00] [ 2.82094405e-04 3.94693102e-04 9.99999882e-01 -2.44967734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.075898227 meters Centerline goodness [0,1] 0.9750202826764592 Centerline is valid? [False, True] Translation: X:50.15, Y:-1.42, Z:-0.24 [[ 9.99997124e-01 2.37052636e-03 3.64203476e-04 5.01537695e+01] [-2.37100473e-03 9.99996320e-01 1.31870637e-03 -1.42487179e+00] [-3.61076107e-04 -1.31956611e-03 9.99999064e-01 -2.41577904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10589822699998 meters Centerline goodness [0,1] 0.9679742765273311 Centerline is valid? [True, True] Translation: X:50.18, Y:-1.43, Z:-0.24 [[ 9.99987034e-01 5.07311034e-03 4.42642387e-04 5.01836087e+01] [-5.07309731e-03 9.99987131e-01 -3.05679926e-05 -1.42637294e+00] [-4.42791766e-04 2.83220283e-05 9.99999902e-01 -2.42229745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13589822699998 meters Centerline goodness [0,1] 0.9934124692546251 Centerline is valid? [True, True] Translation: X:50.21, Y:-1.42, Z:-0.24 [[ 9.99967237e-01 8.06189978e-03 7.28394504e-04 5.02146455e+01] [-8.06186535e-03 9.99967501e-01 -5.01910034e-05 -1.42040557e+00] [-7.28775467e-04 4.43171405e-05 9.99999733e-01 -2.40085829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16589822699999 meters Centerline goodness [0,1] 0.9937529019458866 Centerline is valid? [True, True] Translation: X:50.24, Y:-1.42, Z:-0.24 [[ 9.99909548e-01 1.34190404e-02 9.08164804e-04 5.02439324e+01] [-1.34189892e-02 9.99909959e-01 -6.25013572e-05 -1.42107989e+00] [-9.08921741e-04 5.03090502e-05 9.99999586e-01 -2.41209446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19589822699999 meters Centerline goodness [0,1] 0.9944963875903102 Centerline is valid? [True, True] Translation: X:50.27, Y:-1.42, Z:-0.24 [[ 9.99876613e-01 1.56840892e-02 8.75925102e-04 5.02735204e+01] [-1.56840428e-02 9.99876996e-01 -5.98180698e-05 -1.42044614e+00] [-8.76755552e-04 4.60726422e-05 9.99999615e-01 -2.41915749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22589822699999 meters Centerline goodness [0,1] 0.9978862413528056 Centerline is valid? [True, True] Translation: X:50.30, Y:-1.42, Z:-0.24 [[ 9.99841623e-01 1.77040694e-02 1.81491206e-03 5.03031694e+01] [-1.77038712e-02 9.99843266e-01 -1.25185182e-04 -1.42005297e+00] [-1.81684388e-03 9.30343859e-05 9.99998345e-01 -2.41005621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25589822699999 meters Centerline goodness [0,1] 0.9993808842680557 Centerline is valid? [True, True] Translation: X:50.33, Y:-1.42, Z:-0.24 [[ 9.99804014e-01 1.95974378e-02 2.80591364e-03 5.03337964e+01] [-1.95969724e-02 9.99807942e-01 -1.93248917e-04 -1.41789860e+00] [-2.80916192e-03 1.38223631e-04 9.99996045e-01 -2.38504565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28589822699999 meters Centerline goodness [0,1] 0.9993062854740382 Centerline is valid? [True, True] Translation: X:50.36, Y:-1.42, Z:-0.24 [[ 9.99752576e-01 2.18418535e-02 4.20947717e-03 5.03632970e+01] [-2.18408267e-02 9.99761419e-01 -2.89736795e-04 -1.42313710e+00] [-4.21480126e-03 1.97726646e-04 9.99991098e-01 -2.37664787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31589822699999 meters Centerline goodness [0,1] 0.9996845492208366 Centerline is valid? [True, True] Translation: X:50.39, Y:-1.42, Z:-0.23 [[ 9.99624556e-01 2.63783463e-02 7.41146473e-03 5.03942149e+01] [-2.63752880e-02 9.99651981e-01 -5.10098717e-04 -1.41916338e+00] [-7.42234096e-03 3.14427687e-04 9.99972405e-01 -2.33534751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34589822699999 meters Centerline goodness [0,1] 0.9999576244252812 Centerline is valid? [True, True] Translation: X:50.43, Y:-1.41, Z:-0.23 [[ 9.99553555e-01 2.83492000e-02 9.43470666e-03 5.04253935e+01] [-2.83443318e-02 9.99598008e-01 -6.49327035e-04 -1.41433037e+00] [-9.44932189e-03 3.81616690e-04 9.99955281e-01 -2.29130110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.375898227 meters Centerline goodness [0,1] 0.9999154959332418 Centerline is valid? [True, True] Translation: X:50.46, Y:-1.42, Z:-0.23 [[ 9.99503309e-01 2.98716024e-02 1.00409995e-02 5.04553729e+01] [-2.98661643e-02 9.99553668e-01 -6.91136046e-04 -1.41678972e+00] [-1.00571632e-02 3.90906623e-04 9.99949349e-01 -2.28246545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.405898227 meters Centerline goodness [0,1] 0.9999786893979755 Centerline is valid? [True, True] Translation: X:50.49, Y:-1.41, Z:-0.23 [[ 9.99441078e-01 3.18736846e-02 1.00796732e-02 5.04874818e+01] [-3.18682988e-02 9.99491835e-01 -6.94521489e-04 -1.41422624e+00] [-1.00966880e-02 3.72911267e-04 9.99948958e-01 -2.29137757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.435898227 meters Centerline goodness [0,1] 0.9999580985104021 Centerline is valid? [True, True] Translation: X:50.52, Y:-1.41, Z:-0.23 [[ 9.99270296e-01 3.68668956e-02 9.98534228e-03 5.05175284e+01] [-3.68618552e-02 9.99320134e-01 -6.88409607e-04 -1.41348666e+00] [-1.00039331e-02 3.19829030e-04 9.99949908e-01 -2.30352738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.465898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.55, Y:-1.41, Z:-0.23 [[ 9.99158468e-01 3.98278541e-02 9.80291691e-03 5.05481201e+01] [-3.98231395e-02 9.99206516e-01 -6.75741611e-04 -1.41082011e+00] [-9.82205179e-03 2.84790025e-04 9.99951722e-01 -2.30534984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.58, Y:-1.40, Z:-0.23 [[ 9.99018603e-01 4.31335357e-02 1.00661867e-02 5.05789470e+01] [-4.31287320e-02 9.99069282e-01 -6.93898669e-04 -1.40384679e+00] [-1.00867482e-02 2.59075813e-04 9.99949094e-01 -2.30596468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52589822699998 meters Centerline goodness [0,1] 0.9997440109222007 Centerline is valid? [True, True] Translation: X:50.61, Y:-1.40, Z:-0.23 [[ 9.98858747e-01 4.67071807e-02 9.98216797e-03 5.06087055e+01] [-4.67026364e-02 9.98908600e-01 -6.87987242e-04 -1.40116340e+00] [-1.00034074e-02 2.21008513e-04 9.99949940e-01 -2.32993761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55589822699999 meters Centerline goodness [0,1] 0.9999789500273649 Centerline is valid? [True, True] Translation: X:50.64, Y:-1.40, Z:-0.23 [[ 9.98712532e-01 4.97531362e-02 9.89466277e-03 5.06381278e+01] [-4.97488217e-02 9.98761528e-01 -6.81848604e-04 -1.39692461e+00] [-9.91633262e-03 1.88722932e-04 9.99950814e-01 -2.32076700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.67, Y:-1.39, Z:-0.23 [[ 9.98590242e-01 5.21480169e-02 9.90517417e-03 5.06683610e+01] [-5.21438133e-02 9.98639353e-01 -6.82339976e-04 -1.39313615e+00] [-9.92727940e-03 1.64884489e-04 9.99950710e-01 -2.33405832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.70, Y:-1.39, Z:-0.24 [[ 9.98509596e-01 5.38439781e-02 8.91136783e-03 5.06969645e+01] [-5.38406449e-02 9.98549352e-01 -6.13696207e-04 -1.39059958e+00] [-8.93148442e-03 1.32987762e-04 9.99960105e-01 -2.35552014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.73, Y:-1.39, Z:-0.24 [[ 9.98553546e-01 5.31542930e-02 8.08932032e-03 5.07268143e+01] [-5.31515251e-02 9.98586303e-01 -5.56919633e-04 -1.39182295e+00] [-8.10748714e-03 1.26154363e-04 9.99967126e-01 -2.36788468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.76, Y:-1.39, Z:-0.24 [[ 9.98643608e-01 5.15890705e-02 7.03642231e-03 5.07564371e+01] [-5.15869383e-02 9.98668390e-01 -4.84304876e-04 -1.39361006e+00] [-7.05203737e-03 1.20660485e-04 9.99975127e-01 -2.38620216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.78, Y:-1.40, Z:-0.24 [[ 9.98753489e-01 4.94984943e-02 6.43174109e-03 5.07849986e+01] [-4.94966700e-02 9.98774191e-01 -4.42604733e-04 -1.40158385e+00] [-6.44576527e-03 1.23703255e-04 9.99979218e-01 -2.40476390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.81, Y:-1.41, Z:-0.24 [[ 9.98998397e-01 4.43628540e-02 5.84288836e-03 5.08143420e+01] [-4.43612623e-02 9.99015474e-01 -4.01784764e-04 -1.41319993e+00] [-5.85496021e-03 1.42184431e-04 9.99982849e-01 -2.41437832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.765898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.84, Y:-1.42, Z:-0.24 [[ 9.99081918e-01 4.24544611e-02 5.73930886e-03 5.08431945e+01] [-4.24528936e-02 9.99098392e-01 -3.94718524e-04 -1.41893865e+00] [-5.75089181e-03 1.50705871e-04 9.99983452e-01 -2.41255193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.795898227 meters Centerline goodness [0,1] 0.9999786880354631 Centerline is valid? [True, True] Translation: X:50.87, Y:-1.42, Z:-0.24 [[ 9.99117583e-01 4.16341093e-02 5.53673833e-03 5.08729215e+01] [-4.16326393e-02 9.99132913e-01 -3.80536740e-04 -1.42432399e+00] [-5.54778080e-03 1.49691918e-04 9.99984600e-01 -2.40785798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.825898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.90, Y:-1.43, Z:-0.24 [[ 9.99095194e-01 4.21679333e-02 5.53699029e-03 5.09027166e+01] [-4.21664721e-02 9.99110526e-01 -3.80422221e-04 -1.42757113e+00] [-5.54810690e-03 1.46602666e-04 9.99984598e-01 -2.40588388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.93, Y:-1.43, Z:-0.24 [[ 9.99025829e-01 4.37446023e-02 5.81403541e-03 5.09327829e+01] [-4.37430191e-02 9.99042736e-01 -3.99245917e-04 -1.42933002e+00] [-5.82593470e-03 1.44533521e-04 9.99983019e-01 -2.40059151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.96, Y:-1.43, Z:-0.24 [[ 9.98656377e-01 5.14266635e-02 6.38268213e-03 5.09624805e+01] [-5.14249127e-02 9.98676768e-01 -4.38220389e-04 -1.42752423e+00] [-6.39677257e-03 1.09402715e-04 9.99979534e-01 -2.39641271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.99, Y:-1.42, Z:-0.24 [[ 9.98381434e-01 5.65362088e-02 6.17809462e-03 5.09930889e+01] [-5.65346669e-02 9.98400547e-01 -4.24070958e-04 -1.42354417e+00] [-6.19218841e-03 7.41080498e-05 9.99980825e-01 -2.39681153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.02, Y:-1.42, Z:-0.24 [[ 9.98063737e-01 6.18708231e-02 6.38577371e-03 5.10222345e+01] [-6.18692845e-02 9.98084165e-01 -4.38406124e-04 -1.41978593e+00] [-6.40066417e-03 4.24740038e-05 9.99979515e-01 -2.39964481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97589822699999 meters Centerline goodness [0,1] 0.9999368434348751 Centerline is valid? [True, True] Translation: X:51.05, Y:-1.42, Z:-0.24 [[ 9.97699406e-01 6.74541022e-02 6.77052740e-03 5.10510156e+01] [-6.74525034e-02 9.97722378e-01 -4.64469713e-04 -1.41571581e+00] [-6.78643708e-03 6.71213449e-06 9.99976972e-01 -2.41022595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.08, Y:-1.41, Z:-0.24 [[ 9.97300193e-01 7.31042644e-02 6.93484739e-03 5.10792687e+01] [-7.31027257e-02 9.97324303e-01 -4.75442236e-04 -1.41022451e+00] [-6.95104870e-03 -3.27976133e-05 9.99975841e-01 -2.40019139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.11, Y:-1.40, Z:-0.24 [[ 9.96884301e-01 7.85673750e-02 6.98989897e-03 5.11075162e+01] [-7.85659489e-02 9.96908803e-01 -4.78808082e-04 -1.40436605e+00] [-7.00591051e-03 -7.18517850e-05 9.99975456e-01 -2.40120838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.14, Y:-1.40, Z:-0.24 [[ 9.96345764e-01 8.51049288e-02 7.22980684e-03 5.11377759e+01] [-8.51035797e-02 9.96371987e-01 -4.94605048e-04 -1.40021379e+00] [-7.24567033e-03 -1.22484798e-04 9.99973742e-01 -2.40243165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.17, Y:-1.40, Z:-0.24 [[ 9.96271880e-01 8.59509069e-02 7.40151032e-03 5.11664662e+01] [-8.59495170e-02 9.96299365e-01 -5.06254345e-04 -1.40375767e+00] [-7.41763305e-03 -1.31789269e-04 9.99972480e-01 -2.40787978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.125898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.20, Y:-1.41, Z:-0.24 [[ 9.96289845e-01 8.57235135e-02 7.61733899e-03 5.11953838e+01] [-8.57220377e-02 9.96318956e-01 -5.20635752e-04 -1.40951028e+00] [-7.63392995e-03 -1.34269707e-04 9.99970852e-01 -2.40859205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.155898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.22, Y:-1.42, Z:-0.24 [[ 9.96359309e-01 8.48193718e-02 8.59072871e-03 5.12237663e+01] [-8.48174653e-02 9.96396333e-01 -5.86665894e-04 -1.41502209e+00] [-8.60953123e-03 -1.44113809e-04 9.99962927e-01 -2.40213090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.185898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.25, Y:-1.42, Z:-0.24 [[ 9.96431862e-01 8.38650744e-02 9.49708809e-03 5.12513156e+01] [-8.38627058e-02 9.96477108e-01 -6.48058482e-04 -1.41941714e+00] [-9.51798035e-03 -1.50705385e-04 9.99954692e-01 -2.38930888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.215898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.28, Y:-1.43, Z:-0.24 [[ 9.96507727e-01 8.28742211e-02 1.02085316e-02 5.12796173e+01] [-8.28714405e-02 9.96560003e-01 -6.95820447e-04 -1.42576723e+00] [-1.02310798e-02 -1.52605265e-04 9.99947649e-01 -2.37335590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24589822699998 meters Centerline goodness [0,1] 0.9999789743697567 Centerline is valid? [True, True] Translation: X:51.31, Y:-1.43, Z:-0.24 [[ 9.96516744e-01 8.27201735e-02 1.05712803e-02 5.13070822e+01] [-8.27171887e-02 9.96572801e-01 -7.20014221e-04 -1.43317144e+00] [-1.05946101e-02 -1.56920357e-04 9.99943863e-01 -2.35835347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.34, Y:-1.44, Z:-0.24 [[ 9.96430618e-01 8.38405949e-02 9.83763942e-03 5.13362007e+01] [-8.38380706e-02 9.96479167e-01 -6.69435747e-04 -1.43541484e+00] [-9.85912862e-03 -1.57722433e-04 9.99951385e-01 -2.37042390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.37, Y:-1.44, Z:-0.24 [[ 9.96304298e-01 8.54614450e-02 8.60740186e-03 5.13652166e+01] [-8.54595761e-02 9.96341467e-01 -5.85368942e-04 -1.43537339e+00] [-8.62593786e-03 -1.52379321e-04 9.99962784e-01 -2.38663544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33589822699999 meters Centerline goodness [0,1] 0.9999575758861337 Centerline is valid? [True, True] Translation: X:51.39, Y:-1.43, Z:-0.24 [[ 9.96081744e-01 8.80959962e-02 7.76235332e-03 5.13943095e+01] [-8.80945587e-02 9.96111977e-01 -5.27574265e-04 -1.43361600e+00] [-7.77865029e-03 -1.58313997e-04 9.99969733e-01 -2.40303981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.42, Y:-1.43, Z:-0.24 [[ 9.95793808e-01 9.13500180e-02 7.06153961e-03 5.14236347e+01] [-9.13489126e-02 9.95818832e-01 -4.79596518e-04 -1.42895291e+00] [-7.07582528e-03 -1.67484722e-04 9.99974952e-01 -2.42029712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39589822699999 meters Centerline goodness [0,1] 0.9999576836002793 Centerline is valid? [True, True] Translation: X:51.45, Y:-1.43, Z:-0.24 [[ 9.95512746e-01 9.44006244e-02 6.54936488e-03 5.14525658e+01] [-9.43997409e-02 9.95534274e-01 -4.44596669e-04 -1.42562612e+00] [-6.56208742e-03 -1.75656697e-04 9.99978454e-01 -2.42697380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42589822699999 meters Centerline goodness [0,1] 0.9998934946534316 Centerline is valid? [True, True] Translation: X:51.48, Y:-1.42, Z:-0.24 [[ 9.95031076e-01 9.93298512e-02 6.83648786e-03 5.14828535e+01] [-9.93290072e-02 9.95054538e-01 -4.63729742e-04 -1.42041481e+00] [-6.84874047e-03 -2.17636047e-04 9.99976523e-01 -2.42025757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45589822699999 meters Centerline goodness [0,1] 0.9998944969615124 Centerline is valid? [True, True] Translation: X:51.51, Y:-1.42, Z:-0.24 [[ 9.94861349e-01 1.00932047e-01 7.97610157e-03 5.15112610e+01] [-1.00930949e-01 9.94893286e-01 -5.41050418e-04 -1.41997543e+00] [-7.98997923e-03 -2.66765353e-04 9.99968044e-01 -2.40405295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48589822699999 meters Centerline goodness [0,1] 0.9995556025817374 Centerline is valid? [True, True] Translation: X:51.54, Y:-1.42, Z:-0.24 [[ 9.94759451e-01 1.01877605e-01 8.63643371e-03 5.15389665e+01] [-1.01876358e-01 9.94796896e-01 -5.85274696e-04 -1.41729345e+00] [-8.65112383e-03 -2.97640879e-04 9.99962534e-01 -2.39733452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.515898227 meters Centerline goodness [0,1] 0.9997869802317655 Centerline is valid? [True, True] Translation: X:51.57, Y:-1.42, Z:-0.24 [[ 9.94612823e-01 1.03394455e-01 7.41078244e-03 5.15686379e+01] [-1.03393583e-01 9.94640395e-01 -5.01750897e-04 -1.42166291e+00] [-7.42294183e-03 -2.67179469e-04 9.99972414e-01 -2.43395943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.545898227 meters Centerline goodness [0,1] 0.999596174282678 Centerline is valid? [True, True] Translation: X:51.60, Y:-1.42, Z:-0.24 [[ 9.94605325e-01 1.03493657e-01 7.02212323e-03 5.15962861e+01] [-1.03492877e-01 9.94630081e-01 -4.75416644e-04 -1.42104851e+00] [-7.03361760e-03 -2.53887808e-04 9.99975232e-01 -2.44937541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.575898227 meters Centerline goodness [0,1] 0.9996001094437312 Centerline is valid? [True, True] Translation: X:51.62, Y:-1.42, Z:-0.24 [[ 9.94634541e-01 1.03224659e-01 6.84103533e-03 5.16240359e+01] [-1.03223915e-01 9.94658036e-01 -4.62747840e-04 -1.41926725e+00] [-6.85225776e-03 -2.45893465e-04 9.99976493e-01 -2.43255747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60589822699998 meters Centerline goodness [0,1] 0.9998307057454238 Centerline is valid? [True, True] Translation: X:51.65, Y:-1.42, Z:-0.24 [[ 9.94629324e-01 1.03276484e-01 6.81723946e-03 5.16528951e+01] [-1.03275749e-01 9.94652657e-01 -4.60685833e-04 -1.42419811e+00] [-6.82836336e-03 -2.45843877e-04 9.99976656e-01 -2.42635277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63589822699998 meters Centerline goodness [0,1] 0.9996428421362242 Centerline is valid? [True, True] Translation: X:51.68, Y:-1.42, Z:-0.24 [[ 9.94591188e-01 1.03640999e-01 6.84918690e-03 5.16816845e+01] [-1.03640268e-01 9.94614740e-01 -4.62553084e-04 -1.41695100e+00] [-6.86024171e-03 -2.49800345e-04 9.99976437e-01 -2.43186518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66589822699999 meters Centerline goodness [0,1] 0.9996835175964216 Centerline is valid? [True, True] Translation: X:51.71, Y:-1.42, Z:-0.24 [[ 9.94516407e-01 1.04339149e-01 7.10336459e-03 5.17099016e+01] [-1.04338383e-01 9.94541740e-01 -4.79256706e-04 -1.42025664e+00] [-7.11459782e-03 -2.64524919e-04 9.99974656e-01 -2.42716269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69589822699999 meters Centerline goodness [0,1] 0.9998274337237645 Centerline is valid? [True, True] Translation: X:51.74, Y:-1.42, Z:-0.24 [[ 9.94123348e-01 1.08054959e-01 6.54936617e-03 5.17407801e+01] [-1.08054393e-01 9.94144886e-01 -4.41284688e-04 -1.41738260e+00] [-6.55870188e-03 -2.68996376e-04 9.99978455e-01 -2.43840779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72589822699999 meters Centerline goodness [0,1] 0.9993883921039312 Centerline is valid? [True, True] Translation: X:51.77, Y:-1.41, Z:-0.25 [[ 9.93835172e-01 1.10683134e-01 6.39491157e-03 5.17702214e+01] [-1.10682648e-01 9.93855707e-01 -4.30895821e-04 -1.41355103e+00] [-6.40331226e-03 -2.79566323e-04 9.99979460e-01 -2.45397216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75589822699999 meters Centerline goodness [0,1] 0.9989280507675157 Centerline is valid? [True, True] Translation: X:51.80, Y:-1.41, Z:-0.25 [[ 9.93617703e-01 1.12679901e-01 5.20582586e-03 5.18002656e+01] [-1.12679606e-01 9.93631311e-01 -3.50873907e-04 -1.41060317e+00] [-5.21220801e-03 -2.37955884e-04 9.99986388e-01 -2.47518395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78589822699999 meters Centerline goodness [0,1] 0.9991481568243287 Centerline is valid? [True, True] Translation: X:51.83, Y:-1.41, Z:-0.25 [[ 9.93525302e-01 1.13526598e-01 4.38015128e-03 5.18288457e+01] [-1.13526397e-01 9.93534937e-01 -2.95317980e-04 -1.41061582e+00] [-4.38535977e-03 -2.03856906e-04 9.99990363e-01 -2.51022893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81589822699999 meters Centerline goodness [0,1] 0.9988881286349641 Centerline is valid? [True, True] Translation: X:51.86, Y:-1.41, Z:-0.25 [[ 9.93558395e-01 1.13264130e-01 3.59904238e-03 5.18577902e+01] [-1.13263993e-01 9.93564899e-01 -2.42572970e-04 -1.41132789e+00] [-3.60335700e-03 -1.66631499e-04 9.99993494e-01 -2.50726294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84589822699999 meters Centerline goodness [0,1] 0.9988037766480112 Centerline is valid? [True, True] Translation: X:51.89, Y:-1.41, Z:-0.25 [[ 9.93728228e-01 1.11773191e-01 3.31103970e-03 5.18862118e+01] [-1.11773067e-01 9.93733733e-01 -2.23040318e-04 -1.41104552e+00] [-3.31522177e-03 -1.48443602e-04 9.99994494e-01 -2.51867414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.875898227 meters Centerline goodness [0,1] 0.9996812579685508 Centerline is valid? [True, True] Translation: X:51.92, Y:-1.42, Z:-0.25 [[ 9.94287463e-01 1.06628897e-01 4.76648615e-03 5.19157988e+01] [-1.06628585e-01 9.94298870e-01 -3.20359716e-04 -1.42041612e+00] [-4.77347140e-03 -1.89714023e-04 9.99988589e-01 -2.49874767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.905898227 meters Centerline goodness [0,1] 0.9996812579685508 Centerline is valid? [True, True] Translation: X:51.94, Y:-1.42, Z:-0.25 [[ 9.94295175e-01 1.06556958e-01 4.76646084e-03 5.19432482e+01] [-1.06556643e-01 9.94306582e-01 -3.20736587e-04 -1.42212578e+00] [-4.77350011e-03 -1.88991226e-04 9.99988589e-01 -2.50173171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.935898227 meters Centerline goodness [0,1] 0.999829953662373 Centerline is valid? [True, True] Translation: X:51.97, Y:-1.43, Z:-0.25 [[ 9.94550810e-01 1.04069718e-01 6.17897174e-03 5.19733260e+01] [-1.04069147e-01 9.94569978e-01 -4.14821581e-04 -1.42765738e+00] [-6.18859015e-03 -2.30479177e-04 9.99980824e-01 -2.47848807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.965898227 meters Centerline goodness [0,1] 0.9999573442532045 Centerline is valid? [True, True] Translation: X:52.00, Y:-1.43, Z:-0.25 [[ 9.94720532e-01 1.02395282e-01 6.80213042e-03 5.20015754e+01] [-1.02394550e-01 9.94743760e-01 -4.56711165e-04 -1.43257624e+00] [-6.81314186e-03 -2.42201112e-04 9.99976761e-01 -2.46617444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99589822699998 meters Centerline goodness [0,1] 0.9999144311812775 Centerline is valid? [True, True] Translation: X:52.03, Y:-1.44, Z:-0.25 [[ 9.94819895e-01 1.01428640e-01 6.75338997e-03 5.20307217e+01] [-1.01427899e-01 9.94842790e-01 -4.53057304e-04 -1.43502515e+00] [-6.76451430e-03 -2.34271735e-04 9.99977093e-01 -2.47003724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02589822699998 meters Centerline goodness [0,1] 0.9997852971487461 Centerline is valid? [True, True] Translation: X:52.06, Y:-1.44, Z:-0.25 [[ 9.94797108e-01 1.01721639e-01 5.60550211e-03 5.20596736e+01] [-1.01721133e-01 9.94812882e-01 -3.75981520e-04 -1.43901276e+00] [-5.61467117e-03 -1.96172697e-04 9.99984218e-01 -2.50127952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05589822699999 meters Centerline goodness [0,1] 0.9999362773210986 Centerline is valid? [True, True] Translation: X:52.09, Y:-1.44, Z:-0.25 [[ 9.94709525e-01 1.02598911e-01 5.14036564e-03 5.20870932e+01] [-1.02598498e-01 9.94722790e-01 -3.44709667e-04 -1.43759545e+00] [-5.14860569e-03 -1.84507804e-04 9.99986729e-01 -2.49639743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08589822699999 meters Centerline goodness [0,1] 0.9998723349929785 Centerline is valid? [True, True] Translation: X:52.11, Y:-1.44, Z:-0.25 [[ 9.94630369e-01 1.03320396e-01 5.94352375e-03 5.21149511e+01] [-1.03319860e-01 9.94648103e-01 -3.98060461e-04 -1.43784367e+00] [-5.95284239e-03 -2.18161018e-04 9.99982258e-01 -2.49092876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11589822699999 meters Centerline goodness [0,1] 0.9994701593760597 Centerline is valid? [True, True] Translation: X:52.14, Y:-1.43, Z:-0.25 [[ 9.94554501e-01 1.03991862e-01 6.85829769e-03 5.21425448e+01] [-1.03991169e-01 9.94578115e-01 -4.58595711e-04 -1.43374972e+00] [-6.86880301e-03 -2.57103966e-04 9.99976376e-01 -2.48389888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14589822699999 meters Centerline goodness [0,1] 0.9993217752532746 Centerline is valid? [True, True] Translation: X:52.17, Y:-1.43, Z:-0.25 [[ 9.94440506e-01 1.05001936e-01 7.91667956e-03 5.21712084e+01] [-1.05001053e-01 9.94471970e-01 -5.28221870e-04 -1.43447931e+00] [-7.92838024e-03 -3.05974469e-04 9.99968523e-01 -2.47000877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17589822699999 meters Centerline goodness [0,1] 0.999221937166169 Centerline is valid? [True, True] Translation: X:52.20, Y:-1.43, Z:-0.25 [[ 9.94315893e-01 1.06122302e-01 8.60011068e-03 5.22001876e+01] [-1.06121306e-01 9.94353026e-01 -5.73380548e-04 -1.43489116e+00] [-8.61239453e-03 -3.42533586e-04 9.99962854e-01 -2.46288369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20589822699999 meters Centerline goodness [0,1] 0.9991869222868881 Centerline is valid? [True, True] Translation: X:52.23, Y:-1.44, Z:-0.25 [[ 9.94064303e-01 1.08487376e-01 8.16396283e-03 5.22298787e+01] [-1.08486562e-01 9.94097767e-01 -5.43888327e-04 -1.43606485e+00] [-8.17478224e-03 -3.45020286e-04 9.99966526e-01 -2.49479076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23589822699999 meters Centerline goodness [0,1] 0.9989166224110462 Centerline is valid? [True, True] Translation: X:52.26, Y:-1.44, Z:-0.25 [[ 9.93944929e-01 1.09632054e-01 7.36824920e-03 5.22589824e+01] [-1.09631422e-01 9.93972188e-01 -4.90808637e-04 -1.43563323e+00] [-7.37764313e-03 -3.19954883e-04 9.99972734e-01 -2.49546770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.265898227 meters Centerline goodness [0,1] 0.9985028046054574 Centerline is valid? [True, True] Translation: X:52.29, Y:-1.44, Z:-0.25 [[ 9.93888066e-01 1.10185641e-01 6.75545180e-03 5.22865740e+01] [-1.10185123e-01 9.93910980e-01 -4.49879219e-04 -1.43549923e+00] [-6.76388795e-03 -2.97220701e-04 9.99977080e-01 -2.50829381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.295898227 meters Centerline goodness [0,1] 0.999126842150098 Centerline is valid? [True, True] Translation: X:52.32, Y:-1.44, Z:-0.25 [[ 9.93868970e-01 1.10355047e-01 6.79950138e-03 5.23154060e+01] [-1.10354532e-01 9.93892184e-01 -4.52034317e-04 -1.44073954e+00] [-6.80785554e-03 -3.01092913e-04 9.99976781e-01 -2.50965484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.325898227 meters Centerline goodness [0,1] 0.9992079970888542 Centerline is valid? [True, True] Translation: X:52.34, Y:-1.44, Z:-0.25 [[ 9.93913657e-01 1.09938888e-01 7.00595349e-03 5.23436659e+01] [-1.09938334e-01 9.93938301e-01 -4.65402787e-04 -1.44344209e+00] [-7.01465137e-03 -3.07652668e-04 9.99975350e-01 -2.51104189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35589822699998 meters Centerline goodness [0,1] 0.9993626513702996 Centerline is valid? [True, True] Translation: X:52.37, Y:-1.45, Z:-0.25 [[ 9.94128766e-01 1.07870278e-01 8.48527564e-03 5.23725600e+01] [-1.07869394e-01 9.94164914e-01 -5.63095871e-04 -1.45344047e+00] [-8.49650464e-03 -3.55511736e-04 9.99963841e-01 -2.51515642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38589822699998 meters Centerline goodness [0,1] 0.9996392955654573 Centerline is valid? [True, True] Translation: X:52.40, Y:-1.46, Z:-0.25 [[ 9.94277674e-01 1.06495883e-01 8.39843473e-03 5.24009162e+01] [-1.06494969e-01 9.94313085e-01 -5.57190136e-04 -1.45943493e+00] [-8.41001200e-03 -3.40389336e-04 9.99964577e-01 -2.51184743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41589822699999 meters Centerline goodness [0,1] 0.9997429526175992 Centerline is valid? [True, True] Translation: X:52.43, Y:-1.47, Z:-0.25 [[ 9.94474208e-01 1.04728071e-01 7.28571520e-03 5.24293829e+01] [-1.04727338e-01 9.94500855e-01 -4.83085364e-04 -1.46805131e+00] [-7.29624260e-03 -2.82597627e-04 9.99973342e-01 -2.53168272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44589822699999 meters Centerline goodness [0,1] 0.9997865892697084 Centerline is valid? [True, True] Translation: X:52.46, Y:-1.47, Z:-0.26 [[ 9.94715180e-01 1.02518461e-01 5.62811500e-03 5.24573192e+01] [-1.02517989e-01 9.94731081e-01 -3.73083555e-04 -1.46925739e+00] [-5.63670887e-03 -2.05871156e-04 9.99984092e-01 -2.57006592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47589822699999 meters Centerline goodness [0,1] 0.9998724977687109 Centerline is valid? [True, True] Translation: X:52.49, Y:-1.48, Z:-0.26 [[ 9.95014001e-01 9.96575802e-02 3.93769064e-03 5.24865473e+01] [-9.96573276e-02 9.95021783e-01 -2.60792268e-04 -1.48266105e+00] [-3.94407789e-03 -1.32927769e-04 9.99992213e-01 -2.58652671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50589822699999 meters Centerline goodness [0,1] 0.9999149786383829 Centerline is valid? [True, True] Translation: X:52.51, Y:-1.49, Z:-0.26 [[ 9.95017960e-01 9.96410663e-02 3.30417332e-03 5.25140888e+01] [-9.96408879e-02 9.95023440e-01 -2.18977006e-04 -1.48662040e+00] [-3.30954900e-03 -1.11344709e-04 9.99994517e-01 -2.58792292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53589822699999 meters Centerline goodness [0,1] 0.9998945970445011 Centerline is valid? [True, True] Translation: X:52.54, Y:-1.49, Z:-0.26 [[ 9.94934893e-01 1.00482090e-01 2.81231582e-03 5.25415097e+01] [-1.00481964e-01 9.94938863e-01 -1.86304031e-04 -1.48940355e+00] [-2.81680252e-03 -9.72266368e-05 9.99996028e-01 -2.59077196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56589822699999 meters Centerline goodness [0,1] 0.9997004194128221 Centerline is valid? [True, True] Translation: X:52.57, Y:-1.50, Z:-0.26 [[ 9.94790174e-01 1.01901620e-01 2.92743864e-03 5.25693130e+01] [-1.01901490e-01 9.94794476e-01 -1.93997644e-04 -1.49738753e+00] [-2.93196846e-03 -1.05323409e-04 9.99995696e-01 -2.58991937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59589822699999 meters Centerline goodness [0,1] 0.9996823783509085 Centerline is valid? [True, True] Translation: X:52.60, Y:-1.49, Z:-0.26 [[ 9.94524193e-01 1.04449289e-01 3.46045668e-03 5.25979859e+01] [-1.04449125e-01 9.94530205e-01 -2.28503383e-04 -1.49186055e+00] [-3.46539570e-03 -1.34189530e-04 9.99993986e-01 -2.57790105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.625898227 meters Centerline goodness [0,1] 0.9996607078482516 Centerline is valid? [True, True] Translation: X:52.63, Y:-1.50, Z:-0.26 [[ 9.94224606e-01 1.07221037e-01 4.59144547e-03 5.26270054e+01] [-1.07220781e-01 9.94235190e-01 -3.02710690e-04 -1.49724218e+00] [-4.59743361e-03 -1.91335952e-04 9.99989413e-01 -2.56120221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.655898227 meters Centerline goodness [0,1] 0.9991130820399113 Centerline is valid? [True, True] Translation: X:52.66, Y:-1.50, Z:-0.25 [[ 9.93705707e-01 1.11775403e-01 7.43154292e-03 5.26570665e+01] [-1.11774862e-01 9.93733435e-01 -4.89333738e-04 -1.49831251e+00] [-7.43966815e-03 -3.44405957e-04 9.99972266e-01 -2.52892849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.685898227 meters Centerline goodness [0,1] 0.9948846412933647 Centerline is valid? [True, True] Translation: X:52.69, Y:-1.50, Z:-0.25 [[ 9.93548231e-01 1.13075953e-01 8.70292699e-03 5.26853173e+01] [-1.13075261e-01 9.93586260e-01 -5.73107664e-04 -1.49663938e+00] [-8.71191338e-03 -4.14675639e-04 9.99961965e-01 -2.51258999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.715898227 meters Centerline goodness [0,1] 0.9964212678936605 Centerline is valid? [True, True] Translation: X:52.71, Y:-1.50, Z:-0.25 [[ 9.93459644e-01 1.13834458e-01 8.92481289e-03 5.27134432e+01] [-1.13833765e-01 9.93499637e-01 -5.87260595e-04 -1.50219614e+00] [-8.93364886e-03 -4.32525351e-04 9.99960001e-01 -2.50748612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74589822699998 meters Centerline goodness [0,1] 0.9911523156379646 Centerline is valid? [True, True] Translation: X:52.74, Y:-1.50, Z:-0.25 [[ 9.93416917e-01 1.14222763e-01 8.71718589e-03 5.27412603e+01] [-1.14222121e-01 9.93455071e-01 -5.73147521e-04 -1.50156624e+00] [-8.72559902e-03 -4.26321018e-04 9.99961840e-01 -2.51150572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77589822699998 meters Centerline goodness [0,1] 0.989549451241265 Centerline is valid? [True, True] Translation: X:52.77, Y:-1.50, Z:-0.25 [[ 9.93320276e-01 1.15071103e-01 8.57153836e-03 5.27700074e+01] [-1.15070521e-01 9.93357166e-01 -5.62734586e-04 -1.50415740e+00] [-8.57935354e-03 -4.27355707e-04 9.99963105e-01 -2.51568054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80589822699999 meters Centerline goodness [0,1] 0.9843636982512871 Centerline is valid? [True, True] Translation: X:52.80, Y:-1.51, Z:-0.25 [[ 9.93192824e-01 1.16194152e-01 8.18123761e-03 5.27994871e+01] [-1.16193663e-01 9.93226432e-01 -5.36690324e-04 -1.50556599e+00] [-8.18818171e-03 -4.17570990e-04 9.99966389e-01 -2.52322313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83589822699999 meters Centerline goodness [0,1] 0.9777592794177286 Centerline is valid? [True, True] Translation: X:52.83, Y:-1.51, Z:-0.25 [[ 9.93031925e-01 1.17636435e-01 7.01886705e-03 5.28284161e+01] [-1.17636112e-01 9.93056662e-01 -4.60354673e-04 -1.50548101e+00] [-7.02428717e-03 -3.68525341e-04 9.99975261e-01 -2.54711539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86589822699999 meters Centerline goodness [0,1] 0.9917800693094413 Centerline is valid? [True, True] Translation: X:52.86, Y:-1.51, Z:-0.26 [[ 9.93053529e-01 1.17487604e-01 6.43051377e-03 5.28568764e+01] [-1.17487331e-01 9.93074292e-01 -4.21630428e-04 -1.51160275e+00] [-6.43551426e-03 -3.36802313e-04 9.99979235e-01 -2.55584607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89589822699999 meters Centerline goodness [0,1] 0.990240479683613 Centerline is valid? [True, True] Translation: X:52.89, Y:-1.51, Z:-0.26 [[ 9.93103165e-01 1.17096032e-01 5.88417487e-03 5.28850058e+01] [-1.17095797e-01 9.93120549e-01 -3.85629055e-04 -1.50979621e+00] [-5.88885061e-03 -3.06042713e-04 9.99982614e-01 -2.58234123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92589822699999 meters Centerline goodness [0,1] 0.9731268455377817 Centerline is valid? [True, True] Translation: X:52.91, Y:-1.51, Z:-0.26 [[ 9.93135900e-01 1.16815233e-01 5.94016637e-03 5.29131817e+01] [-1.16814990e-01 9.93153617e-01 -3.88930666e-04 -1.50679643e+00] [-5.94493074e-03 -3.07639470e-04 9.99982281e-01 -2.56758942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95589822699999 meters Centerline goodness [0,1] 0.9767540331117416 Centerline is valid? [True, True] Translation: X:52.94, Y:-1.51, Z:-0.26 [[ 9.93200857e-01 1.16250257e-01 6.15923706e-03 5.29406067e+01] [-1.16249988e-01 9.93219904e-01 -4.02887837e-04 -1.50764622e+00] [-6.16431265e-03 -3.15862687e-04 9.99980951e-01 -2.57820746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98589822699999 meters Centerline goodness [0,1] 0.9900600671212672 Centerline is valid? [True, True] Translation: X:52.97, Y:-1.51, Z:-0.25 [[ 9.93354450e-01 1.14867104e-01 7.24470226e-03 5.29695613e+01] [-1.14866699e-01 9.93380802e-01 -4.73293311e-04 -1.51422088e+00] [-7.25111397e-03 -3.62027020e-04 9.99973645e-01 -2.53480457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.015898227 meters Centerline goodness [0,1] 0.9853320742839157 Centerline is valid? [True, True] Translation: X:53.00, Y:-1.51, Z:-0.25 [[ 9.93419976e-01 1.14251230e-01 7.96284714e-03 5.29973563e+01] [-1.14250724e-01 9.93451812e-01 -5.19960089e-04 -1.51283367e+00] [-7.97011100e-03 -3.93222309e-04 9.99968161e-01 -2.52892385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.045898227 meters Centerline goodness [0,1] 0.9878900791802515 Centerline is valid? [True, True] Translation: X:53.03, Y:-1.51, Z:-0.25 [[ 9.93523787e-01 1.13331377e-01 8.15371401e-03 5.30265670e+01] [-1.13330819e-01 9.93557166e-01 -5.31873213e-04 -1.51354042e+00] [-8.16145891e-03 -3.95638400e-04 9.99966616e-01 -2.52615438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.075898227 meters Centerline goodness [0,1] 0.9927902858588414 Centerline is valid? [True, True] Translation: X:53.06, Y:-1.51, Z:-0.26 [[ 9.93692883e-01 1.11949727e-01 6.45853760e-03 5.30550260e+01] [-1.11949348e-01 9.93713825e-01 -4.21199697e-04 -1.50996490e+00] [-6.46509129e-03 -3.04485933e-04 9.99979055e-01 -2.55543727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10589822699998 meters Centerline goodness [0,1] 0.9941206435454429 Centerline is valid? [True, True] Translation: X:53.08, Y:-1.51, Z:-0.26 [[ 9.93779549e-01 1.11275103e-01 4.47867971e-03 5.30833716e+01] [-1.11274914e-01 9.93789620e-01 -2.92098628e-04 -1.50820797e+00] [-4.48336871e-03 -2.08083056e-04 9.99989928e-01 -2.59284658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13589822699998 meters Centerline goodness [0,1] 0.9988252323312845 Centerline is valid? [True, True] Translation: X:53.11, Y:-1.51, Z:-0.26 [[ 9.93896529e-01 1.10272819e-01 3.09760487e-03 5.31120538e+01] [-1.10272724e-01 9.93901346e-01 -2.01962051e-04 -1.51420893e+00] [-3.10098457e-03 -1.40851946e-04 9.99995182e-01 -2.61208237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16589822699999 meters Centerline goodness [0,1] 0.9990481025510851 Centerline is valid? [True, True] Translation: X:53.14, Y:-1.51, Z:-0.26 [[ 9.94104477e-01 1.08400135e-01 2.38758448e-03 5.31401283e+01] [-1.08400073e-01 9.94107338e-01 -1.55767569e-04 -1.51444233e+00] [-2.39040048e-03 -1.03965093e-04 9.99997138e-01 -2.63197208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19589822699999 meters Centerline goodness [0,1] 0.999575587810882 Centerline is valid? [True, True] Translation: X:53.17, Y:-1.52, Z:-0.26 [[ 9.94383430e-01 1.05802113e-01 2.73975916e-03 5.31695294e+01] [-1.05802023e-01 9.94387198e-01 -1.78210531e-04 -1.51990024e+00] [-2.74323649e-03 -1.12662461e-04 9.99996231e-01 -2.62468447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22589822699999 meters Centerline goodness [0,1] 0.9998515848616559 Centerline is valid? [True, True] Translation: X:53.20, Y:-1.53, Z:-0.26 [[ 9.94697111e-01 1.02782777e-01 3.65477527e-03 5.31986653e+01] [-1.02782597e-01 9.94703816e-01 -2.37566937e-04 -1.52920593e+00] [-3.65983669e-03 -1.39340149e-04 9.99993293e-01 -2.60701031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25589822699999 meters Centerline goodness [0,1] 0.9997477931904162 Centerline is valid? [True, True] Translation: X:53.23, Y:-1.54, Z:-0.26 [[ 9.95230527e-01 9.74109980e-02 5.22451980e-03 5.32272679e+01] [-9.74105576e-02 9.95244225e-01 -3.39308179e-04 -1.53724128e+00] [-5.23272551e-03 -1.71233529e-04 9.99986295e-01 -2.60730279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28589822699999 meters Centerline goodness [0,1] 0.9998102746801021 Centerline is valid? [True, True] Translation: X:53.25, Y:-1.54, Z:-0.26 [[ 9.95406775e-01 9.56025556e-02 5.05013090e-03 5.32548678e+01] [-9.56021198e-02 9.95419573e-01 -3.28178357e-04 -1.53652735e+00] [-5.05837384e-03 -1.56132259e-04 9.99987194e-01 -2.60847493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31589822699999 meters Centerline goodness [0,1] 0.9998539110109358 Centerline is valid? [True, True] Translation: X:53.28, Y:-1.54, Z:-0.26 [[ 9.95555845e-01 9.40545625e-02 4.72222089e-03 5.32824982e+01] [-9.40541654e-02 9.95567034e-01 -3.06606608e-04 -1.53825107e+00] [-4.73012520e-03 -1.38900544e-04 9.99988803e-01 -2.62253873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34589822699999 meters Centerline goodness [0,1] 0.9999574395641811 Centerline is valid? [True, True] Translation: X:53.31, Y:-1.54, Z:-0.26 [[ 9.95702873e-01 9.25136795e-02 4.12401028e-03 5.33113713e+01] [-9.25133644e-02 9.95711407e-01 -2.67533103e-04 -1.54401958e+00] [-4.13107455e-03 -1.15142587e-04 9.99991460e-01 -2.62409567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.375898227 meters Centerline goodness [0,1] 0.9999573660761868 Centerline is valid? [True, True] Translation: X:53.34, Y:-1.55, Z:-0.26 [[ 9.95868530e-01 9.07294139e-02 3.74748865e-03 5.33396496e+01] [-9.07291414e-02 9.95875576e-01 -2.43000260e-04 -1.55206974e+00] [-3.75407969e-03 -9.80101156e-05 9.99992949e-01 -2.61268074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.405898227 meters Centerline goodness [0,1] 0.9998077087428425 Centerline is valid? [True, True] Translation: X:53.37, Y:-1.56, Z:-0.26 [[ 9.96018184e-01 8.90656367e-02 3.88444692e-03 5.33679038e+01] [-8.90653321e-02 9.96025754e-01 -2.51675402e-04 -1.55527216e+00] [-3.89142480e-03 -9.52962773e-05 9.99992424e-01 -2.62885357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.435898227 meters Centerline goodness [0,1] 0.9999576001695993 Centerline is valid? [True, True] Translation: X:53.40, Y:-1.56, Z:-0.26 [[ 9.96185945e-01 8.71256565e-02 4.76269232e-03 5.33959017e+01] [-8.71251781e-02 9.96197324e-01 -3.08234168e-04 -1.56023513e+00] [-4.77143645e-03 -1.07891871e-04 9.99988611e-01 -2.61451004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.465898227 meters Centerline goodness [0,1] 0.9999786803112675 Centerline is valid? [True, True] Translation: X:53.42, Y:-1.57, Z:-0.26 [[ 9.96247681e-01 8.63798276e-02 5.39282816e-03 5.34241640e+01] [-8.63792049e-02 9.96262270e-01 -3.48703173e-04 -1.56980691e+00] [-5.40279214e-03 -1.18433481e-04 9.99985398e-01 -2.59835530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.45, Y:-1.57, Z:-0.26 [[ 9.96264339e-01 8.61702399e-02 5.66182357e-03 5.34522984e+01] [-8.61695520e-02 9.96280420e-01 -3.65796236e-04 -1.57424411e+00] [-5.67228471e-03 -1.23447055e-04 9.99983905e-01 -2.59564421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52589822699998 meters Centerline goodness [0,1] 0.9999788485130505 Centerline is valid? [True, True] Translation: X:53.48, Y:-1.57, Z:-0.26 [[ 9.96256289e-01 8.62801880e-02 5.39773460e-03 5.34808660e+01] [-8.62795652e-02 9.96270904e-01 -3.48559949e-04 -1.57052188e+00] [-5.40767975e-03 -1.18459153e-04 9.99985371e-01 -2.62173208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55589822699999 meters Centerline goodness [0,1] 0.9999787685774947 Centerline is valid? [True, True] Translation: X:53.51, Y:-1.58, Z:-0.26 [[ 9.96168855e-01 8.73246382e-02 4.69252798e-03 5.35091984e+01] [-8.73241804e-02 9.96179901e-01 -3.02745310e-04 -1.57883652e+00] [-4.70103919e-03 -1.08185712e-04 9.99988944e-01 -2.60981878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58589822699999 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:53.54, Y:-1.58, Z:-0.26 [[ 9.96015689e-01 8.90616229e-02 4.55787127e-03 5.35380434e+01] [-8.90612102e-02 9.96026111e-01 -2.93849030e-04 -1.57925494e+00] [-4.56592947e-03 -1.13251288e-04 9.99989570e-01 -2.61614769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61589822699999 meters Centerline goodness [0,1] 0.9998295987049501 Centerline is valid? [True, True] Translation: X:53.57, Y:-1.57, Z:-0.26 [[ 9.95455546e-01 9.50670106e-02 5.52443196e-03 5.35680069e+01] [-9.50664997e-02 9.95470861e-01 -3.55586163e-04 -1.57463595e+00] [-5.53321555e-03 -1.71218191e-04 9.99984677e-01 -2.59471570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64589822699999 meters Centerline goodness [0,1] 0.9997663104671666 Centerline is valid? [True, True] Translation: X:53.60, Y:-1.57, Z:-0.26 [[ 9.95052532e-01 9.91802129e-02 5.80892273e-03 5.35986615e+01] [-9.91797183e-02 9.95069467e-01 -3.73855366e-04 -1.57149441e+00] [-5.81736070e-03 -2.04121592e-04 9.99983058e-01 -2.60626788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67589822699999 meters Centerline goodness [0,1] 0.9996424891169481 Centerline is valid? [True, True] Translation: X:53.63, Y:-1.57, Z:-0.26 [[ 9.94619754e-01 1.03408559e-01 6.18179919e-03 5.36287481e+01] [-1.03408081e-01 9.94638935e-01 -3.97730126e-04 -1.56740987e+00] [-6.18978686e-03 -2.43657750e-04 9.99980813e-01 -2.59457501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70589822699999 meters Centerline goodness [0,1] 0.9994461721978444 Centerline is valid? [True, True] Translation: X:53.66, Y:-1.57, Z:-0.26 [[ 9.94181481e-01 1.07553135e-01 5.95864465e-03 5.36589992e+01] [-1.07552766e-01 9.94199304e-01 -3.83267505e-04 -1.56515434e+00] [-5.96530198e-03 -2.59831257e-04 9.99982174e-01 -2.59995753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73589822699999 meters Centerline goodness [0,1] 0.9970161256189952 Centerline is valid? [True, True] Translation: X:53.69, Y:-1.56, Z:-0.26 [[ 9.93817538e-01 1.10859920e-01 6.06456746e-03 5.36880205e+01] [-1.10859598e-01 9.93836001e-01 -3.90155295e-04 -1.56221168e+00] [-6.07043806e-03 -2.84572338e-04 9.99981534e-01 -2.60657621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.765898227 meters Centerline goodness [0,1] 0.9922690131992458 Centerline is valid? [True, True] Translation: X:53.72, Y:-1.56, Z:-0.26 [[ 9.93572654e-01 1.13023950e-01 6.24236898e-03 5.37167076e+01] [-1.13023652e-01 9.93592217e-01 -4.01565658e-04 -1.56186097e+00] [-6.24775577e-03 -3.06550682e-04 9.99980436e-01 -2.61324650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.795898227 meters Centerline goodness [0,1] 0.9889519196039688 Centerline is valid? [True, True] Translation: X:53.75, Y:-1.57, Z:-0.26 [[ 9.93359794e-01 1.14918356e-01 5.48549997e-03 5.37456893e+01] [-1.14918157e-01 9.93374901e-01 -3.52580533e-04 -1.56526057e+00] [-5.48967596e-03 -2.80144218e-04 9.99984892e-01 -2.63854412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.825898227 meters Centerline goodness [0,1] 0.9889519196039688 Centerline is valid? [True, True] Translation: X:53.77, Y:-1.57, Z:-0.26 [[ 9.93367699e-01 1.14850002e-01 5.48550030e-03 5.37731601e+01] [-1.14849802e-01 9.93382806e-01 -3.52575577e-04 -1.56688976e+00] [-5.48969499e-03 -2.79771434e-04 9.99984892e-01 -2.64153038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85589822699998 meters Centerline goodness [0,1] 0.9969815940560621 Centerline is valid? [True, True] Translation: X:53.80, Y:-1.58, Z:-0.26 [[ 9.93371704e-01 1.14825478e-01 5.26946019e-03 5.38017745e+01] [-1.14825295e-01 9.93385644e-01 -3.38236673e-04 -1.57536745e+00] [-5.27344430e-03 -2.69072580e-04 9.99986059e-01 -2.64810328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88589822699998 meters Centerline goodness [0,1] 0.9916274534740769 Centerline is valid? [True, True] Translation: X:53.83, Y:-1.57, Z:-0.27 [[ 9.93447225e-01 1.14190290e-01 4.81545958e-03 5.38293515e+01] [-1.14190129e-01 9.93458866e-01 -3.09137650e-04 -1.57312199e+00] [-4.81926153e-03 -2.42766012e-04 9.99988358e-01 -2.66339695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91589822699999 meters Centerline goodness [0,1] 0.9977980563612882 Centerline is valid? [True, True] Translation: X:53.86, Y:-1.58, Z:-0.27 [[ 9.93549658e-01 1.13313384e-01 4.37660742e-03 5.38577779e+01] [-1.13313246e-01 9.93559273e-01 -2.80354074e-04 -1.58264999e+00] [-4.38018676e-03 -2.17381900e-04 9.99990383e-01 -2.65305921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94589822699999 meters Centerline goodness [0,1] 0.9967377349357018 Centerline is valid? [True, True] Translation: X:53.89, Y:-1.58, Z:-0.27 [[ 9.93682182e-01 1.12169515e-01 3.70419955e-03 5.38862295e+01] [-1.12169408e-01 9.93689070e-01 -2.37293424e-04 -1.58173502e+00] [-3.70743970e-03 -1.79703624e-04 9.99993111e-01 -2.68410196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97589822699999 meters Centerline goodness [0,1] 0.9949770921777142 Centerline is valid? [True, True] Translation: X:53.91, Y:-1.58, Z:-0.27 [[ 9.93847791e-01 1.10697253e-01 3.56171350e-03 5.39145681e+01] [-1.10697145e-01 9.93854159e-01 -2.27999556e-04 -1.58198603e+00] [-3.56506270e-03 -1.67674661e-04 9.99993631e-01 -2.69319624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00589822699999 meters Centerline goodness [0,1] 0.9997625933439807 Centerline is valid? [True, True] Translation: X:53.94, Y:-1.60, Z:-0.27 [[ 9.94142948e-01 1.08058682e-01 1.76628285e-03 5.39433868e+01] [-1.08058651e-01 9.94144514e-01 -1.13114298e-04 -1.60336899e+00] [-1.76816338e-03 -7.84103602e-05 9.99998434e-01 -2.69655142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03589822699999 meters Centerline goodness [0,1] 0.9987071340765546 Centerline is valid? [True, True] Translation: X:53.97, Y:-1.59, Z:-0.27 [[ 9.94248519e-01 1.07093095e-01 9.75479804e-04 5.39714569e+01] [-1.07093085e-01 9.94248997e-01 -6.28921185e-05 -1.59377930e+00] [-9.76605128e-04 -4.19367456e-05 9.99999522e-01 -2.73807140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06589822699999 meters Centerline goodness [0,1] 0.9994908350305499 Centerline is valid? [True, True] Translation: X:54.00, Y:-1.60, Z:-0.27 [[ 9.94318841e-01 1.06440138e-01 7.34344916e-04 5.39998836e+01] [-1.06440132e-01 9.94319112e-01 -4.73080895e-05 -1.60276000e+00] [-7.35208665e-04 -3.11244449e-05 9.99999729e-01 -2.72017731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09589822699999 meters Centerline goodness [0,1] 0.9995332654446707 Centerline is valid? [True, True] Translation: X:54.03, Y:-1.60, Z:-0.27 [[ 9.94293199e-01 1.06673723e-01 1.32355635e-03 5.40288415e+01] [-1.06673704e-01 9.94294078e-01 -8.47975576e-05 -1.60444883e+00] [-1.32504991e-03 -5.68750232e-05 9.99999121e-01 -2.70652606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.125898227 meters Centerline goodness [0,1] 0.9995742234900901 Centerline is valid? [True, True] Translation: X:54.06, Y:-1.61, Z:-0.27 [[ 9.94208285e-01 1.07453390e-01 1.91195616e-03 5.40576225e+01] [-1.07453354e-01 9.94210120e-01 -1.22204319e-04 -1.61242997e+00] [-1.91401743e-03 -8.39495552e-05 9.99998165e-01 -2.69236704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.155898227 meters Centerline goodness [0,1] 0.9947828273304419 Centerline is valid? [True, True] Translation: X:54.09, Y:-1.60, Z:-0.27 [[ 9.93924728e-01 1.10009911e-01 3.38455177e-03 5.40870575e+01] [-1.10009812e-01 9.93930478e-01 -2.15817400e-04 -1.59689674e+00] [-3.38775121e-03 -1.57827655e-04 9.99994249e-01 -2.67530767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.185898227 meters Centerline goodness [0,1] 0.9802560803256903 Centerline is valid? [True, True] Translation: X:54.12, Y:-1.59, Z:-0.27 [[ 9.93727878e-01 1.11759179e-01 3.84583829e-03 5.41157300e+01] [-1.11759066e-01 9.93735302e-01 -2.44818713e-04 -1.59239009e+00] [-3.84910602e-03 -1.86524116e-04 9.99992575e-01 -2.67460843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.215898227 meters Centerline goodness [0,1] 0.99411109007929 Centerline is valid? [True, True] Translation: X:54.14, Y:-1.60, Z:-0.26 [[ 9.93494096e-01 1.13784284e-01 4.75591334e-03 5.41443759e+01] [-1.13784137e-01 9.93505450e-01 -3.02367895e-04 -1.60135014e+00] [-4.75943054e-03 -2.40746777e-04 9.99988645e-01 -2.64846885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24589822699998 meters Centerline goodness [0,1] 0.9935262675951362 Centerline is valid? [True, True] Translation: X:54.17, Y:-1.60, Z:-0.26 [[ 9.93262937e-01 1.15773478e-01 5.02387294e-03 5.41735542e+01] [-1.15773341e-01 9.93275607e-01 -3.19211150e-04 -1.60386029e+00] [-5.02704663e-03 -2.64569950e-04 9.99987329e-01 -2.64230927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27589822699998 meters Centerline goodness [0,1] 0.8429894236078664 Centerline is valid? [True, False] Translation: X:54.17, Y:-1.60, Z:-0.26 [[ 9.93668652e-01 1.12253593e-01 4.66262275e-03 5.41734617e+01] [-1.12230927e-01 9.93670226e-01 -4.86840834e-03 -1.60027309e+00] [-5.17960574e-03 4.31429428e-03 9.99977279e-01 -2.64261838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30589822699999 meters Centerline goodness [0,1] 0.9945213072118357 Centerline is valid? [False, True] Translation: X:54.17, Y:-1.60, Z:-0.26 [[ 9.93661288e-01 1.12313688e-01 4.78334469e-03 5.41728777e+01] [-1.12290809e-01 9.93663744e-01 -4.81030450e-03 -1.60049983e+00] [-5.29329923e-03 4.24268772e-03 9.99976990e-01 -2.63958408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33589822699999 meters Centerline goodness [0,1] 0.9830905418761549 Centerline is valid? [True, True] Translation: X:54.20, Y:-1.60, Z:-0.26 [[ 9.93528192e-01 1.13429715e-01 5.95240703e-03 5.42023433e+01] [-1.13429735e-01 9.93545964e-01 -3.35382120e-04 -1.60195330e+00] [-5.95203228e-03 -3.41968359e-04 9.99982228e-01 -2.61826709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36589822699999 meters Centerline goodness [0,1] 0.9610381301714578 Centerline is valid? [True, True] Translation: X:54.23, Y:-1.60, Z:-0.26 [[ 9.93366960e-01 1.14771532e-01 7.04115382e-03 5.42308297e+01] [-1.14771594e-01 9.93391828e-01 -3.96592492e-04 -1.60066458e+00] [-7.04014219e-03 -4.14162571e-04 9.99975132e-01 -2.61787598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39589822699999 meters Centerline goodness [0,1] 0.925621049536969 Centerline is valid? [True, False] Translation: X:54.23, Y:-1.60, Z:-0.26 [[ 9.93361589e-01 1.14824708e-01 6.93101698e-03 5.42313918e+01] [-1.14824603e-01 9.93385695e-01 -4.14499856e-04 -1.60050096e+00] [-6.93276794e-03 -3.84103035e-04 9.99975894e-01 -2.62161550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42589822699999 meters Centerline goodness [0,1] 0.9078617610513237 Centerline is valid? [False, False] Translation: X:54.23, Y:-1.60, Z:-0.26 [[ 9.93807597e-01 1.10922135e-01 6.53754886e-03 5.42314593e+01] [-1.10888788e-01 9.93818896e-01 -5.26101803e-03 -1.59641174e+00] [-7.08070295e-03 4.50349882e-03 9.99964790e-01 -2.62369320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45589822699999 meters Centerline goodness [0,1] 0.8368807804383631 Centerline is valid? [False, False] Translation: X:54.23, Y:-1.60, Z:-0.26 [[ 9.93798568e-01 1.11004416e-01 6.51358487e-03 5.42315724e+01] [-1.10970232e-01 9.93809088e-01 -5.39478618e-03 -1.59543774e+00] [-7.07210492e-03 4.63851676e-03 9.99964234e-01 -2.62344534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48589822699999 meters Centerline goodness [0,1] 0.8175675675675675 Centerline is valid? [False, False] Translation: X:54.23, Y:-1.59, Z:-0.26 [[ 9.93805132e-01 1.10947791e-01 6.47661348e-03 5.42317493e+01] [-1.10911761e-01 9.93814022e-01 -5.68080987e-03 -1.59389300e+00] [-7.06682259e-03 4.92728539e-03 9.99962890e-01 -2.62341024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.515898227 meters Centerline goodness [0,1] 0.8619036507498781 Centerline is valid? [False, False] Translation: X:54.23, Y:-1.59, Z:-0.26 [[ 9.93818204e-01 1.10834875e-01 6.40377890e-03 5.42322207e+01] [-1.10795816e-01 9.93824079e-01 -6.16338371e-03 -1.59140427e+00] [-7.04734753e-03 5.41577102e-03 9.99960501e-01 -2.62638819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.545898227 meters Centerline goodness [0,1] 0.739389332319777 Centerline is valid? [False, False] Translation: X:54.23, Y:-1.59, Z:-0.26 [[ 9.93832156e-01 1.10720525e-01 6.21383262e-03 5.42331621e+01] [-1.10678565e-01 9.93833441e-01 -6.73394433e-03 -1.58847069e+00] [-6.92110051e-03 6.00467233e-03 9.99958020e-01 -2.63077888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.575898227 meters Centerline goodness [0,1] 0.7842826212780553 Centerline is valid? [False, False] Translation: X:54.19, Y:-1.59, Z:-0.26 [[ 9.94015495e-01 1.09048420e-01 6.45272579e-03 5.41917296e+01] [-1.09109893e-01 9.93978420e-01 1.00961143e-02 -1.58960201e+00] [-5.31290486e-03 -1.07397503e-02 9.99928213e-01 -2.64287347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60589822699998 meters Centerline goodness [0,1] 0.7420472440944882 Centerline is valid? [False, False] Translation: X:54.23, Y:-1.59, Z:-0.26 [[ 9.94280009e-01 1.06580192e-01 6.92293349e-03 5.42330893e+01] [-1.06618254e-01 9.94285460e-01 5.38262893e-03 -1.58576431e+00] [-6.30969048e-03 -6.08995142e-03 9.99961549e-01 -2.64228613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63589822699998 meters Centerline goodness [0,1] 0.8497667650960756 Centerline is valid? [False, False] Translation: X:54.17, Y:-1.58, Z:-0.26 [[ 9.94763256e-01 1.02000920e-01 6.47121835e-03 5.41690023e+01] [-1.02061033e-01 9.94730252e-01 9.76075499e-03 -1.58260197e+00] [-5.44151067e-03 -1.03700996e-02 9.99931423e-01 -2.63090856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66589822699999 meters Centerline goodness [0,1] 0.7602230089245967 Centerline is valid? [False, False] Translation: X:54.17, Y:-1.58, Z:-0.26 [[ 9.95502443e-01 9.45786655e-02 5.45549916e-03 5.41701748e+01] [-9.45857388e-02 9.95516162e-01 1.05286801e-03 -1.57663846e+00] [-5.33145874e-03 -1.56414510e-03 9.99984564e-01 -2.63324797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69589822699999 meters Centerline goodness [0,1] 0.8540958334213249 Centerline is valid? [False, False] Translation: X:54.17, Y:-1.57, Z:-0.26 [[ 9.95910431e-01 9.02096321e-02 4.96337980e-03 5.41706130e+01] [-9.01921386e-02 9.95917722e-01 -3.64261319e-03 -1.57461697e+00] [-5.27171670e-03 3.18005864e-03 9.99981048e-01 -2.63482749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72589822699999 meters Centerline goodness [0,1] 0.9289092490085046 Centerline is valid? [False, False] Translation: X:54.17, Y:-1.57, Z:-0.26 [[ 9.96294849e-01 8.58853412e-02 4.50360456e-03 5.41712821e+01] [-8.58465027e-02 9.96274585e-01 -8.20545900e-03 -1.57323482e+00] [-5.19155541e-03 7.78843783e-03 9.99956193e-01 -2.64115099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75589822699999 meters Centerline goodness [0,1] 0.9549887152408125 Centerline is valid? [False, True] Translation: X:54.17, Y:-1.58, Z:-0.26 [[ 9.96965613e-01 7.78406569e-02 -6.32123167e-04 5.41688406e+01] [-7.78396159e-02 9.96964718e-01 1.53155873e-03 -1.57741459e+00] [ 7.49422032e-04 -1.47770716e-03 9.99998627e-01 -2.61350661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78589822699999 meters Centerline goodness [0,1] 0.9872508947669371 Centerline is valid? [True, True] Translation: X:54.20, Y:-1.58, Z:-0.26 [[ 9.97031603e-01 7.69921301e-02 -4.41495705e-04 5.41971724e+01] [-7.69921335e-02 9.97031700e-01 9.48063815e-06 -1.58344029e+00] [ 4.40915148e-04 2.45392004e-05 9.99999902e-01 -2.59260658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81589822699999 meters Centerline goodness [0,1] 0.9959141112127854 Centerline is valid? [True, True] Translation: X:54.23, Y:-1.59, Z:-0.26 [[ 9.96993844e-01 7.74792420e-02 -4.92597046e-04 5.42261217e+01] [-7.74792462e-02 9.96993965e-01 1.05852560e-05 -1.59090591e+00] [ 4.91936419e-04 2.76126127e-05 9.99999879e-01 -2.57469286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84589822699999 meters Centerline goodness [0,1] 0.9186979910901908 Centerline is valid? [True, False] Translation: X:54.23, Y:-1.59, Z:-0.26 [[ 9.96992871e-01 7.74909469e-02 -6.07627663e-04 5.42266051e+01] [-7.74910453e-02 9.96993038e-01 -1.40064112e-04 -1.59000885e+00] [ 5.94946849e-04 1.86728624e-04 9.99999806e-01 -2.57657350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.875898227 meters Centerline goodness [0,1] 0.9540462304712443 Centerline is valid? [False, True] Translation: X:54.23, Y:-1.59, Z:-0.26 [[ 9.96994083e-01 7.74749013e-02 -6.62444016e-04 5.42269996e+01] [-7.74752729e-02 9.96994119e-01 -5.54865554e-04 -1.58765507e+00] [ 6.17464634e-04 6.04520705e-04 9.99999627e-01 -2.57926204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.905898227 meters Centerline goodness [0,1] 0.8579526009582478 Centerline is valid? [True, False] Translation: X:54.23, Y:-1.58, Z:-0.26 [[ 9.96944252e-01 7.81123914e-02 -7.82339443e-04 5.42282837e+01] [-7.81133712e-02 9.96943620e-01 -1.31172131e-03 -1.58104991e+00] [ 6.77486628e-04 1.36882420e-03 9.99998834e-01 -2.59075550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.935898227 meters Centerline goodness [0,1] 0.8237377463897966 Centerline is valid? [False, False] Translation: X:54.25, Y:-1.58, Z:-0.25 [[ 9.96815302e-01 7.96456212e-02 -3.97854526e-03 5.42480693e+01] [-7.96064980e-02 9.96784115e-01 9.17789731e-03 -1.58255519e+00] [ 4.69673005e-03 -8.83195042e-03 9.99949967e-01 -2.54214638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.965898227 meters Centerline goodness [0,1] 0.8009986189312652 Centerline is valid? [False, False] Translation: X:54.25, Y:-1.58, Z:-0.25 [[ 9.97097788e-01 7.60379581e-02 -3.77223606e-03 5.42464053e+01] [-7.60220625e-02 9.97097323e-01 4.19223398e-03 -1.57607652e+00] [ 4.08005538e-03 -3.89329406e-03 9.99984098e-01 -2.53752380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99589822699998 meters Centerline goodness [0,1] 0.8016818500350386 Centerline is valid? [False, False] Translation: X:54.24, Y:-1.57, Z:-0.25 [[ 9.97390898e-01 7.20979977e-02 -3.64364443e-03 5.42448180e+01] [-7.21020593e-02 9.97396762e-01 -9.95746799e-04 -1.56971560e+00] [ 3.56236781e-03 1.25586306e-03 9.99992866e-01 -2.53045856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02589822699998 meters Centerline goodness [0,1] 0.8153532754369036 Centerline is valid? [False, False] Translation: X:54.24, Y:-1.57, Z:-0.25 [[ 9.97406376e-01 7.18860945e-02 -3.59323141e-03 5.42443263e+01] [-7.18918952e-02 9.97411284e-01 -1.51195870e-03 -1.56720992e+00] [ 3.47524075e-03 1.76636146e-03 9.99992401e-01 -2.52400510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05589822699999 meters Centerline goodness [0,1] 0.8037733438385043 Centerline is valid? [False, False] Translation: X:54.24, Y:-1.56, Z:-0.25 [[ 9.97420985e-01 7.16800823e-02 -3.65311749e-03 5.42443339e+01] [-7.16877903e-02 9.97425066e-01 -2.02444397e-03 -1.56476771e+00] [ 3.49859865e-03 2.28110681e-03 9.99991278e-01 -2.52054430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08589822699999 meters Centerline goodness [0,1] 0.6534992289655464 Centerline is valid? [False, False] Translation: X:54.24, Y:-1.56, Z:-0.25 [[ 9.97434034e-01 7.14966175e-02 -3.68534990e-03 5.42443345e+01] [-7.15061840e-02 9.97436941e-01 -2.53275206e-03 -1.56225199e+00] [ 3.49482092e-03 2.78977841e-03 9.99990002e-01 -2.51818900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11589822699999 meters Centerline goodness [0,1] 0.6846132707633119 Centerline is valid? [False, False] Translation: X:54.24, Y:-1.56, Z:-0.25 [[ 9.97445616e-01 7.13363583e-02 -3.65607629e-03 5.42441052e+01] [-7.13476490e-02 9.97446825e-01 -3.05672666e-03 -1.55965049e+00] [ 3.42868594e-03 3.30977106e-03 9.99988645e-01 -2.51520868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14589822699999 meters Centerline goodness [0,1] 0.6657133910865254 Centerline is valid? [False, False] Translation: X:54.26, Y:-1.56, Z:-0.25 [[ 9.97254044e-01 7.36303241e-02 -7.93392258e-03 5.42607118e+01] [-7.35922756e-02 9.97275949e-01 4.98579614e-03 -1.55948410e+00] [ 8.27941595e-03 -4.38822995e-03 9.99956096e-01 -2.47262151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17589822699999 meters Centerline goodness [0,1] 0.6950993546738228 Centerline is valid? [False, False] Translation: X:54.22, Y:-1.56, Z:-0.25 [[ 9.97427380e-01 7.10950511e-02 -9.17148635e-03 5.42163756e+01] [-7.08975815e-02 9.97276841e-01 2.03084873e-02 -1.56042226e+00] [ 1.05903439e-02 -1.96060051e-02 9.99751694e-01 -2.46719694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20589822699999 meters Centerline goodness [0,1] 0.7176682183664833 Centerline is valid? [False, False] Translation: X:54.24, Y:-1.55, Z:-0.25 [[ 9.97550101e-01 6.96627319e-02 -6.39524500e-03 5.42357897e+01] [-6.96171288e-02 9.97548544e-01 7.09633711e-03 -1.55179604e+00] [ 6.87391756e-03 -6.63373321e-03 9.99954370e-01 -2.47522659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23589822699999 meters Centerline goodness [0,1] 0.7375770108081605 Centerline is valid? [False, False] Translation: X:54.24, Y:-1.54, Z:-0.25 [[ 9.97853033e-01 6.51600608e-02 -6.59481596e-03 5.42355303e+01] [-6.51514511e-02 9.97874241e-01 1.51228102e-03 -1.54485376e+00] [ 6.67933729e-03 -1.07937238e-03 9.99977110e-01 -2.47397832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.265898227 meters Centerline goodness [0,1] 0.7245186081565931 Centerline is valid? [False, False] Translation: X:54.24, Y:-1.54, Z:-0.25 [[ 9.98128157e-01 6.07726539e-02 -6.84596873e-03 5.42353929e+01] [-6.08002574e-02 9.98142339e-01 -3.89862868e-03 -1.53842699e+00] [ 6.59632123e-03 4.30756772e-03 9.99968966e-01 -2.47092231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.295898227 meters Centerline goodness [0,1] 0.6705542410854499 Centerline is valid? [False, False] Translation: X:54.26, Y:-1.54, Z:-0.25 [[ 9.98266193e-01 5.86444005e-02 -5.04397399e-03 5.42570587e+01] [-5.86216423e-02 9.98269915e-01 4.54741490e-03 -1.53502639e+00] [ 5.30192791e-03 -4.24384452e-03 9.99976939e-01 -2.48095265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.325898227 meters Centerline goodness [0,1] 0.7597289489336392 Centerline is valid? [False, False] Translation: X:54.26, Y:-1.53, Z:-0.25 [[ 9.98519251e-01 5.41393353e-02 -5.31388641e-03 5.42571209e+01] [-5.41444368e-02 9.98532777e-01 -8.20811277e-04 -1.52933526e+00] [ 5.26165158e-03 1.10731325e-03 9.99985544e-01 -2.47947266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35589822699998 meters Centerline goodness [0,1] 0.7206361371910328 Centerline is valid? [False, False] Translation: X:54.26, Y:-1.52, Z:-0.25 [[ 9.98751285e-01 4.96400314e-02 -5.63370367e-03 5.42572721e+01] [-4.96736572e-02 9.98747513e-01 -5.99447162e-03 -1.52475645e+00] [ 5.32908177e-03 6.26683289e-03 9.99966163e-01 -2.47567633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38589822699998 meters Centerline goodness [0,1] 0.8204689371897997 Centerline is valid? [False, False] Translation: X:54.24, Y:-1.53, Z:-0.25 [[ 9.98901991e-01 4.63687557e-02 -6.68959615e-03 5.42405510e+01] [-4.63575055e-02 9.98923242e-01 1.82720850e-03 -1.52591670e+00] [ 6.76711845e-03 -1.51508922e-03 9.99975955e-01 -2.51272705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41589822699999 meters Centerline goodness [0,1] 0.7276677933365524 Centerline is valid? [False, False] Translation: X:54.26, Y:-1.53, Z:-0.26 [[ 9.99040521e-01 4.36384655e-02 -3.70437129e-03 5.42638959e+01] [-4.36008610e-02 9.99002051e-01 9.68846876e-03 -1.52751638e+00] [ 4.12346443e-03 -9.51765909e-03 9.99946204e-01 -2.55247862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44589822699999 meters Centerline goodness [0,1] 0.8233871993892352 Centerline is valid? [False, False] Translation: X:54.26, Y:-1.52, Z:-0.25 [[ 9.99226499e-01 3.91452298e-02 -3.74882776e-03 5.42632921e+01] [-3.91277200e-02 9.99223466e-01 4.63543806e-03 -1.52370251e+00] [ 3.92737196e-03 -4.48516946e-03 9.99982229e-01 -2.54920371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47589822699999 meters Centerline goodness [0,1] 0.8783064293744565 Centerline is valid? [False, False] Translation: X:54.26, Y:-1.52, Z:-0.25 [[ 9.99390282e-01 3.47125891e-02 -3.75495504e-03 5.42627634e+01] [-3.47143478e-02 9.99397194e-01 -4.04197947e-04 -1.51977750e+00] [ 3.73866078e-03 5.34302316e-04 9.99992868e-01 -2.54772914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50589822699999 meters Centerline goodness [0,1] 0.9107458428258138 Centerline is valid? [False, False] Translation: X:54.26, Y:-1.52, Z:-0.26 [[ 9.99531520e-01 3.03530815e-02 -3.92824509e-03 5.42630886e+01] [-3.03739375e-02 9.99524217e-01 -5.36319261e-03 -1.51612030e+00] [ 3.76358668e-03 5.47999634e-03 9.99977902e-01 -2.55154979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53589822699999 meters Centerline goodness [0,1] 0.9244465933696315 Centerline is valid? [False, False] Translation: X:54.29, Y:-1.52, Z:-0.26 [[ 9.99605350e-01 2.78603100e-02 -3.59832466e-03 5.42860557e+01] [-2.78492041e-02 9.99607327e-01 3.10049368e-03 -1.51746271e+00] [ 3.68329241e-03 -2.99905959e-03 9.99988719e-01 -2.56607575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56589822699999 meters Centerline goodness [0,1] 0.9228510638297872 Centerline is valid? [False, False] Translation: X:54.29, Y:-1.52, Z:-0.26 [[ 9.99715076e-01 2.35786679e-02 -3.71648303e-03 5.42859216e+01] [-2.35833796e-02 9.99721118e-01 -1.22909058e-03 -1.51728730e+00] [ 3.68646625e-03 1.31638762e-03 9.99992339e-01 -2.56372484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59589822699999 meters Centerline goodness [0,1] 0.9677439904867069 Centerline is valid? [False, True] Translation: X:54.29, Y:-1.52, Z:-0.26 [[ 9.99710754e-01 2.37454458e-02 -3.81596891e-03 5.42861246e+01] [-2.37482618e-02 9.99717729e-01 -6.94314650e-04 -1.52002315e+00] [ 3.79840496e-03 7.84736451e-04 9.99992478e-01 -2.56180406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.625898227 meters Centerline goodness [0,1] 0.9405001256597135 Centerline is valid? [True, False] Translation: X:54.31, Y:-1.52, Z:-0.26 [[ 9.99769230e-01 2.14730188e-02 -6.28850417e-04 5.43087177e+01] [-2.14673874e-02 9.99738348e-01 7.89852237e-03 -1.52335560e+00] [ 7.98290997e-04 -7.88319986e-03 9.99968608e-01 -2.60048994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.655898227 meters Centerline goodness [0,1] 0.9824624270146076 Centerline is valid? [False, True] Translation: X:54.31, Y:-1.52, Z:-0.26 [[ 9.99850410e-01 1.72860980e-02 -5.90352932e-04 5.43082003e+01] [-1.72840965e-02 9.99845363e-01 3.24201055e-03 -1.52107261e+00] [ 6.46303354e-04 -3.23132186e-03 9.99994570e-01 -2.59796437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.685898227 meters Centerline goodness [0,1] 0.994293408566299 Centerline is valid? [True, True] Translation: X:54.34, Y:-1.52, Z:-0.26 [[ 9.99854152e-01 1.70696741e-02 -5.49011497e-04 5.43376193e+01] [-1.70696888e-02 9.99854302e-01 -2.20637282e-05 -1.52481092e+00] [ 5.48554886e-04 3.14319656e-05 9.99999849e-01 -2.58301234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.715898227 meters Centerline goodness [0,1] 0.994293408566299 Centerline is valid? [True, True] Translation: X:54.37, Y:-1.52, Z:-0.26 [[ 9.99854986e-01 1.70207229e-02 -5.49010398e-04 5.43659606e+01] [-1.70207376e-02 9.99855137e-01 -2.20913140e-05 -1.52360610e+00] [ 5.48554856e-04 3.14326724e-05 9.99999849e-01 -2.58529254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74589822699998 meters Centerline goodness [0,1] 0.9627724867724867 Centerline is valid? [True, True] Translation: X:54.39, Y:-1.51, Z:-0.26 [[ 9.99849978e-01 1.73211352e-02 -1.04421963e-05 5.43932397e+01] [-1.73211352e-02 9.99849978e-01 -9.02885359e-07 -1.51479698e+00] [ 1.04249908e-05 1.08362060e-06 1.00000000e+00 -2.59609455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77589822699998 meters Centerline goodness [0,1] 0.9527215189873418 Centerline is valid? [True, True] Translation: X:54.42, Y:-1.52, Z:-0.26 [[ 9.99775114e-01 2.11165254e-02 1.95298768e-03 5.44234198e+01] [-2.11167164e-02 9.99777014e-01 7.72288623e-05 -1.51684948e+00] [-1.95092139e-03 -1.18452182e-04 9.99998090e-01 -2.55875304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80589822699999 meters Centerline goodness [0,1] 0.8821112648304197 Centerline is valid? [True, False] Translation: X:54.42, Y:-1.52, Z:-0.26 [[ 9.99772096e-01 2.12539935e-02 2.00589654e-03 5.44230619e+01] [-2.12537321e-02 9.99774102e-01 -1.51535153e-04 -1.51520218e+00] [-2.00866414e-03 1.08867830e-04 9.99997977e-01 -2.55553754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83589822699999 meters Centerline goodness [0,1] 0.8001138591941299 Centerline is valid? [False, False] Translation: X:54.42, Y:-1.51, Z:-0.26 [[ 9.99770681e-01 2.13051257e-02 2.16266413e-03 5.44225961e+01] [-2.13038784e-02 9.99772868e-01 -5.98129051e-04 -1.51255541e+00] [-2.17491614e-03 5.51918755e-04 9.99997483e-01 -2.55592190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86589822699999 meters Centerline goodness [0,1] 0.7359408078140393 Centerline is valid? [False, False] Translation: X:54.42, Y:-1.51, Z:-0.26 [[ 9.99770082e-01 2.13390041e-02 2.10491198e-03 5.44229421e+01] [-2.13365082e-02 9.99771629e-01 -1.20117052e-03 -1.50900198e+00] [-2.13006306e-03 1.15598288e-03 9.99997063e-01 -2.55915268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89589822699999 meters Centerline goodness [0,1] 0.7095466196058657 Centerline is valid? [False, False] Translation: X:54.42, Y:-1.51, Z:-0.26 [[ 9.99772962e-01 2.12028420e-02 2.11264581e-03 5.44230646e+01] [-2.11987761e-02 9.99773420e-01 -1.92873960e-03 -1.50516536e+00] [-2.15306189e-03 1.88351619e-03 9.99995908e-01 -2.56199637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92589822699999 meters Centerline goodness [0,1] 0.705726517463547 Centerline is valid? [False, False] Translation: X:54.42, Y:-1.50, Z:-0.26 [[ 9.99776675e-01 2.10288293e-02 2.09507215e-03 5.44233327e+01] [-2.10234873e-02 9.99775756e-01 -2.53996231e-03 -1.50205722e+00] [-2.14801478e-03 2.49534934e-03 9.99994580e-01 -2.56610016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95589822699999 meters Centerline goodness [0,1] 0.7325735992402659 Centerline is valid? [False, False] Translation: X:54.42, Y:-1.50, Z:-0.26 [[ 9.99784036e-01 2.06811874e-02 2.04217711e-03 5.44233731e+01] [-2.06743665e-02 9.99780795e-01 -3.30647624e-03 -1.49849072e+00] [-2.11011131e-03 3.26354144e-03 9.99992448e-01 -2.56466905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98589822699999 meters Centerline goodness [0,1] 0.678535246939637 Centerline is valid? [False, False] Translation: X:54.42, Y:-1.50, Z:-0.26 [[ 9.99863475e-01 1.64319240e-02 1.73881796e-03 5.44243029e+01] [-1.64527034e-02 9.99783989e-01 1.26997971e-02 -1.50163557e+00] [-1.52976025e-03 -1.27266715e-02 9.99917842e-01 -2.57643995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.015898227 meters Centerline goodness [0,1] 0.7757928118393235 Centerline is valid? [False, False] Translation: X:54.42, Y:-1.49, Z:-0.26 [[ 9.99964167e-01 8.26045879e-03 1.85198386e-03 5.44231816e+01] [-8.26598106e-03 9.99961353e-01 2.99425568e-03 -1.49364914e+00] [-1.82717836e-03 -3.00945685e-03 9.99993802e-01 -2.56967912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.045898227 meters Centerline goodness [0,1] 0.7741983278653826 Centerline is valid? [False, False] Translation: X:54.42, Y:-1.49, Z:-0.26 [[ 9.99991135e-01 3.77483974e-03 1.86561031e-03 5.44229230e+01] [-3.77107204e-03 9.99990851e-01 -2.01895813e-03 -1.49004300e+00] [-1.87321449e-03 2.01190488e-03 9.99996222e-01 -2.56812386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.075898227 meters Centerline goodness [0,1] 0.778461668177315 Centerline is valid? [False, False] Translation: X:54.42, Y:-1.49, Z:-0.26 [[ 9.99991844e-01 3.66184047e-03 1.70390556e-03 5.44236131e+01] [-3.65861853e-03 9.99991521e-01 -1.89020733e-03 -1.49108616e+00] [-1.71081275e-03 1.88395797e-03 9.99996762e-01 -2.57118431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10589822699998 meters Centerline goodness [0,1] 0.9484573502722323 Centerline is valid? [False, False] Translation: X:54.41, Y:-1.49, Z:-0.26 [[ 9.99998409e-01 -1.56296684e-04 -1.77723043e-03 5.44057783e+01] [ 1.65464673e-04 9.99986675e-01 5.15960583e-03 -1.49208951e+00] [ 1.77640032e-03 -5.15989169e-03 9.99985110e-01 -2.57420712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13589822699998 meters Centerline goodness [0,1] 0.8572505812613895 Centerline is valid? [False, False] Translation: X:54.45, Y:-1.49, Z:-0.26 [[ 9.99998599e-01 -1.31720272e-03 -1.03314232e-03 5.44476487e+01] [ 1.32130975e-03 9.99991188e-01 3.98471798e-03 -1.48724810e+00] [ 1.02788454e-03 -3.98607750e-03 9.99991527e-01 -2.56975338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16589822699999 meters Centerline goodness [0,1] 0.9002411659851106 Centerline is valid? [False, False] Translation: X:54.45, Y:-1.49, Z:-0.26 [[ 9.99998290e-01 -1.42244306e-03 -1.18177333e-03 5.44479496e+01] [ 1.42698060e-03 9.99991580e-01 3.84767030e-03 -1.48675139e+00] [ 1.17629029e-03 -3.84935009e-03 9.99991899e-01 -2.56710956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19589822699999 meters Centerline goodness [0,1] 0.9333897229858321 Centerline is valid? [False, False] Translation: X:54.45, Y:-1.48, Z:-0.26 [[ 9.99983078e-01 -5.69907279e-03 -1.16806242e-03 5.44479001e+01] [ 5.69778837e-03 9.99983162e-01 -1.10000811e-03 -1.48294027e+00] [ 1.17431178e-03 1.09333413e-03 9.99998713e-01 -2.56711217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22589822699999 meters Centerline goodness [0,1] 0.9710608209666152 Centerline is valid? [False, True] Translation: X:54.45, Y:-1.48, Z:-0.26 [[ 9.99983687e-01 -5.56874122e-03 -1.27060988e-03 5.44484683e+01] [ 5.56771579e-03 9.99984173e-01 -8.09156283e-04 -1.48425520e+00] [ 1.27509575e-03 8.02068689e-04 9.99998865e-01 -2.57109248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25589822699999 meters Centerline goodness [0,1] 0.8721302497999073 Centerline is valid? [True, False] Translation: X:54.45, Y:-1.49, Z:-0.26 [[ 9.99984385e-01 -5.42569340e-03 -1.33847378e-03 5.44490271e+01] [ 5.42497571e-03 9.99985139e-01 -5.39253181e-04 -1.48542911e+00] [ 1.34137971e-03 5.31983573e-04 9.99998959e-01 -2.57656340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28589822699999 meters Centerline goodness [0,1] 0.8614796775277125 Centerline is valid? [False, False] Translation: X:54.45, Y:-1.49, Z:-0.26 [[ 9.99991232e-01 -3.66958721e-03 -2.01727339e-03 5.44540653e+01] [ 3.67202947e-03 9.99992528e-01 1.20830420e-03 -1.48746061e+00] [ 2.01282434e-03 -1.21570109e-03 9.99997235e-01 -2.61100625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31589822699999 meters Centerline goodness [0,1] 0.8766000042595787 Centerline is valid? [False, False] Translation: X:54.41, Y:-1.49, Z:-0.26 [[ 9.99991698e-01 -3.18293492e-03 -2.54425662e-03 5.44118302e+01] [ 3.18304558e-03 9.99994933e-01 3.94462976e-05 -1.48883911e+00] [ 2.54411817e-03 -4.75444549e-05 9.99996763e-01 -2.61845998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34589822699999 meters Centerline goodness [0,1] 0.8536543933409776 Centerline is valid? [False, False] Translation: X:54.41, Y:-1.49, Z:-0.26 [[ 9.99991519e-01 -3.09833955e-03 -2.71352452e-03 5.44125297e+01] [ 3.09795423e-03 9.99995191e-01 -1.46191166e-04 -1.48750855e+00] [ 2.71396442e-03 1.37783551e-04 9.99996308e-01 -2.62184887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.375898227 meters Centerline goodness [0,1] 0.8134673110084516 Centerline is valid? [False, False] Translation: X:54.41, Y:-1.49, Z:-0.26 [[ 9.99991729e-01 -2.98610242e-03 -2.76136396e-03 5.44129395e+01] [ 2.98518268e-03 9.99995488e-01 -3.37135919e-04 -1.48613535e+00] [ 2.76235822e-03 3.28889955e-04 9.99996131e-01 -2.62683844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.405898227 meters Centerline goodness [0,1] 0.7382152386599466 Centerline is valid? [False, False] Translation: X:54.42, Y:-1.49, Z:-0.27 [[ 9.99993204e-01 -1.07021798e-03 -3.52806071e-03 5.44183440e+01] [ 1.07519524e-03 9.99998429e-01 1.40916709e-03 -1.48695775e+00] [ 3.52654705e-03 -1.41295087e-03 9.99992783e-01 -2.66231501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.435898227 meters Centerline goodness [0,1] 0.6696292534281361 Centerline is valid? [False, False] Translation: X:54.42, Y:-1.49, Z:-0.27 [[ 9.99993844e-01 -9.22127165e-04 -3.38555661e-03 5.44178648e+01] [ 9.26718516e-04 9.99998653e-01 1.35484035e-03 -1.48628129e+00] [ 3.38430271e-03 -1.35796947e-03 9.99993351e-01 -2.66216504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.465898227 meters Centerline goodness [0,1] 0.6343839541547278 Centerline is valid? [False, False] Translation: X:54.42, Y:-1.49, Z:-0.27 [[ 9.99995328e-01 -4.86544428e-04 -3.01791248e-03 5.44163978e+01] [ 4.91249513e-04 9.99998665e-01 1.55850743e-03 -1.48634962e+00] [ 3.01715017e-03 -1.55998270e-03 9.99994232e-01 -2.65676380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49589822699998 meters Centerline goodness [0,1] 0.6151905122382033 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.48, Z:-0.26 [[ 9.99965847e-01 1.36856683e-03 -8.15063536e-03 5.44358146e+01] [-1.39817245e-03 9.99992442e-01 -3.62771845e-03 -1.48483136e+00] [ 8.14560898e-03 3.63899055e-03 9.99960203e-01 -2.60113697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52589822699998 meters Centerline goodness [0,1] 0.671610124541192 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.49, Z:-0.26 [[ 9.99965832e-01 1.45419313e-03 -8.13760816e-03 5.44358367e+01] [-1.48294060e-03 9.99992678e-01 -3.52774965e-03 -1.48518834e+00] [ 8.13241854e-03 3.53969670e-03 9.99960666e-01 -2.60227307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55589822699999 meters Centerline goodness [0,1] 0.6511110635840622 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.49, Z:-0.26 [[ 9.99965790e-01 1.55983057e-03 -8.12311876e-03 5.44356590e+01] [-1.58749531e-03 9.99992959e-01 -3.40034654e-03 -1.48565802e+00] [ 8.11775760e-03 3.41312563e-03 9.99961226e-01 -2.59977605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58589822699999 meters Centerline goodness [0,1] 0.6421816489305435 Centerline is valid? [False, False] Translation: X:54.46, Y:-1.49, Z:-0.26 [[ 9.99984551e-01 1.67520918e-03 -5.30021314e-03 5.44572689e+01] [-1.63435334e-03 9.99968994e-01 7.70330250e-03 -1.48797599e+00] [ 5.31295345e-03 -7.69452107e-03 9.99956282e-01 -2.63070089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61589822699999 meters Centerline goodness [0,1] 0.63222807166511 Centerline is valid? [False, False] Translation: X:54.46, Y:-1.49, Z:-0.26 [[ 9.99985214e-01 1.78899128e-03 -5.13525550e-03 5.44561683e+01] [-1.74843669e-03 9.99967337e-01 7.89094493e-03 -1.48878959e+00] [ 5.14920460e-03 -7.88184959e-03 9.99955680e-01 -2.62090224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64589822699999 meters Centerline goodness [0,1] 0.63222807166511 Centerline is valid? [False, False] Translation: X:54.46, Y:-1.49, Z:-0.26 [[ 9.99985637e-01 -2.13189210e-03 -4.91738457e-03 5.44553631e+01] [ 2.14816291e-03 9.99992228e-01 3.30592976e-03 -1.48561492e+00] [ 4.91029847e-03 -3.31644562e-03 9.99982445e-01 -2.61928619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67589822699999 meters Centerline goodness [0,1] 0.6261620609696428 Centerline is valid? [False, False] Translation: X:54.45, Y:-1.49, Z:-0.26 [[ 9.99987228e-01 -2.07021532e-03 -4.61071173e-03 5.44542084e+01] [ 2.08660836e-03 9.99991509e-01 3.55345691e-03 -1.48688607e+00] [ 4.60331616e-03 -3.56303227e-03 9.99983057e-01 -2.61553538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70589822699999 meters Centerline goodness [0,1] 0.6544015104378982 Centerline is valid? [False, False] Translation: X:54.45, Y:-1.49, Z:-0.26 [[ 9.99987561e-01 -2.06805418e-03 -4.53887179e-03 5.44539473e+01] [ 2.08463615e-03 9.99991160e-01 3.65163896e-03 -1.48744572e+00] [ 4.53127988e-03 -3.66105543e-03 9.99983032e-01 -2.61504104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73589822699999 meters Centerline goodness [0,1] 0.6632362555093949 Centerline is valid? [False, False] Translation: X:54.49, Y:-1.48, Z:-0.26 [[ 9.99990027e-01 -3.02682477e-03 -3.28390229e-03 5.44947966e+01] [ 3.03711228e-03 9.99990482e-01 3.13226022e-03 -1.48416918e+00] [ 3.27439023e-03 -3.14220256e-03 9.99989702e-01 -2.60657099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.765898227 meters Centerline goodness [0,1] 0.6697435024884086 Centerline is valid? [False, False] Translation: X:54.49, Y:-1.48, Z:-0.26 [[ 9.99983918e-01 -4.99373575e-03 -2.68821577e-03 5.44898958e+01] [ 4.99701418e-03 9.99986778e-01 1.21422146e-03 -1.48404771e+00] [ 2.68211672e-03 -1.22763499e-03 9.99995650e-01 -2.57209986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.795898227 meters Centerline goodness [0,1] 0.6502462008659479 Centerline is valid? [False, False] Translation: X:54.49, Y:-1.49, Z:-0.26 [[ 9.99983064e-01 -4.94224335e-03 -3.07353167e-03 5.44913365e+01] [ 4.94777181e-03 9.99986151e-01 1.79373818e-03 -1.48729849e+00] [ 3.06462401e-03 -1.80891493e-03 9.99993668e-01 -2.57566142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.825898227 meters Centerline goodness [0,1] 0.7089641349311271 Centerline is valid? [False, False] Translation: X:54.49, Y:-1.49, Z:-0.26 [[ 9.99983398e-01 -4.84225756e-03 -3.12343790e-03 5.44915388e+01] [ 4.84890268e-03 9.99985989e-01 2.12344973e-03 -1.48888768e+00] [ 3.11311185e-03 -2.13855973e-03 9.99992868e-01 -2.57570067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85589822699998 meters Centerline goodness [0,1] 0.6721642044489726 Centerline is valid? [False, False] Translation: X:54.49, Y:-1.49, Z:-0.26 [[ 9.99983470e-01 -4.77777274e-03 -3.19871173e-03 5.44918764e+01] [ 4.78528039e-03 9.99985804e-01 2.34356093e-03 -1.48998311e+00] [ 3.18746932e-03 -2.35882893e-03 9.99992138e-01 -2.57700410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88589822699998 meters Centerline goodness [0,1] 0.6820661366711773 Centerline is valid? [False, False] Translation: X:54.49, Y:-1.49, Z:-0.26 [[ 9.99983477e-01 -4.70434751e-03 -3.30376754e-03 5.44923241e+01] [ 4.71270262e-03 9.99985705e-01 2.52574665e-03 -1.49082182e+00] [ 3.29183833e-03 -2.54127459e-03 9.99991353e-01 -2.57868559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91589822699999 meters Centerline goodness [0,1] 0.7022749118872156 Centerline is valid? [False, False] Translation: X:54.49, Y:-1.49, Z:-0.26 [[ 9.99954704e-01 -8.97378373e-03 -3.17199136e-03 5.44918733e+01] [ 8.96635273e-03 9.99957042e-01 -2.34919885e-03 -1.48738699e+00] [ 3.19293630e-03 2.32065125e-03 9.99992210e-01 -2.57747745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94589822699999 meters Centerline goodness [0,1] 0.7203467444782858 Centerline is valid? [False, False] Translation: X:54.49, Y:-1.49, Z:-0.26 [[ 9.99980698e-01 -4.99613960e-03 -3.69343388e-03 5.44936154e+01] [ 5.00556475e-03 9.99984228e-01 2.54704265e-03 -1.49181882e+00] [ 3.68065025e-03 -2.56548121e-03 9.99989936e-01 -2.58012139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97589822699999 meters Centerline goodness [0,1] 0.6862472336389503 Centerline is valid? [False, False] Translation: X:54.50, Y:-1.49, Z:-0.26 [[ 9.99961273e-01 -7.49325143e-03 -4.61562284e-03 5.44997366e+01] [ 7.49259200e-03 9.99971917e-01 -1.60145429e-04 -1.49201936e+00] [ 4.61669323e-03 1.25556248e-04 9.99989335e-01 -2.61724883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00589822699999 meters Centerline goodness [0,1] 0.691288235663589 Centerline is valid? [False, False] Translation: X:54.50, Y:-1.49, Z:-0.26 [[ 9.99960635e-01 -7.44343637e-03 -4.82952727e-03 5.45007537e+01] [ 7.44355875e-03 9.99972296e-01 7.36619488e-06 -1.49283855e+00] [ 4.82933864e-03 -4.33147749e-05 9.99988338e-01 -2.62222100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03589822699999 meters Centerline goodness [0,1] 0.5972786524462502 Centerline is valid? [False, False] Translation: X:54.50, Y:-1.49, Z:-0.26 [[ 9.99922418e-01 -1.15318566e-02 -4.70895565e-03 5.45005973e+01] [ 1.15091444e-02 9.99922140e-01 -4.82213663e-03 -1.48917276e+00] [ 4.76419720e-03 4.76756647e-03 9.99977286e-01 -2.62425772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06589822699999 meters Centerline goodness [0,1] 0.6707678810160428 Centerline is valid? [False, False] Translation: X:54.50, Y:-1.49, Z:-0.26 [[ 9.99922118e-01 -1.14844670e-02 -4.88520229e-03 5.45014064e+01] [ 1.14607704e-02 9.99922555e-01 -4.85133281e-03 -1.48884867e+00] [ 4.94053892e-03 4.79496680e-03 9.99976299e-01 -2.62839654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09589822699999 meters Centerline goodness [0,1] 0.7587022786860784 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.49, Z:-0.26 [[ 9.99962986e-01 -7.56579005e-03 -4.09702395e-03 5.44376298e+01] [ 7.52187196e-03 9.99915199e-01 -1.06308692e-02 -1.49422981e+00] [ 4.17710744e-03 1.05996584e-02 9.99935097e-01 -2.62718985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.125898227 meters Centerline goodness [0,1] 0.6686075842932817 Centerline is valid? [False, False] Translation: X:54.48, Y:-1.50, Z:-0.26 [[ 9.99986486e-01 -3.05016610e-03 -4.21007887e-03 5.44802775e+01] [ 3.03406712e-03 9.99988082e-01 -3.82502060e-03 -1.49554715e+00] [ 4.22169564e-03 3.81219525e-03 9.99983822e-01 -2.62183278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.155898227 meters Centerline goodness [0,1] 0.6440086775277554 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.50, Z:-0.26 [[ 9.99994261e-01 -6.63560843e-05 -3.38720108e-03 5.44358790e+01] [ 5.98146078e-05 9.99998133e-01 -1.93129836e-03 -1.49720080e+00] [ 3.38732291e-03 1.93108467e-03 9.99992398e-01 -2.62797192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.185898227 meters Centerline goodness [0,1] 0.6613486042727638 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.50, Z:-0.27 [[ 9.99991227e-01 1.43546389e-03 -3.93517226e-03 5.44403330e+01] [-1.43778746e-03 9.99998794e-01 -5.87697368e-04 -1.49702733e+00] [ 3.93432390e-03 5.93350154e-04 9.99992084e-01 -2.65887824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.215898227 meters Centerline goodness [0,1] 0.6408287269505042 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.50, Z:-0.27 [[ 9.99991507e-01 1.38106516e-03 -3.88317107e-03 5.44401749e+01] [-1.38402447e-03 9.99998754e-01 -7.59502298e-04 -1.49611992e+00] [ 3.88211731e-03 7.64870251e-04 9.99992172e-01 -2.65927311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24589822699998 meters Centerline goodness [0,1] 0.6690446453142531 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.50, Z:-0.27 [[ 9.99991749e-01 1.37464923e-03 -3.82257299e-03 5.44397967e+01] [-1.37746776e-03 9.99998781e-01 -7.34803305e-04 -1.49628000e+00] [ 3.82155823e-03 7.40062714e-04 9.99992424e-01 -2.65627873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27589822699998 meters Centerline goodness [0,1] 0.6567318223944729 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.50, Z:-0.26 [[ 9.99991780e-01 1.37858555e-03 -3.81315366e-03 5.44393902e+01] [-1.38101919e-03 9.99998844e-01 -6.35663072e-04 -1.49682567e+00] [ 3.81227293e-03 6.40923885e-04 9.99992528e-01 -2.64975714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30589822699999 meters Centerline goodness [0,1] 0.6681735217963412 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.50, Z:-0.26 [[ 9.99991761e-01 1.39010448e-03 -3.81373636e-03 5.44389178e+01] [-1.39204195e-03 9.99998903e-01 -5.05416490e-04 -1.49752764e+00] [ 3.81302959e-03 5.10721207e-04 9.99992600e-01 -2.64160066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33589822699999 meters Centerline goodness [0,1] 0.6444570396960345 Centerline is valid? [False, False] Translation: X:54.46, Y:-1.50, Z:-0.27 [[ 9.99999629e-01 -4.14586535e-04 -7.54705876e-04 5.44609854e+01] [ 4.20922906e-04 9.99964504e-01 8.41510717e-03 -1.49783415e+00] [ 7.51190297e-04 -8.41542172e-03 9.99964308e-01 -2.67636570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36589822699999 meters Centerline goodness [0,1] 0.6532887638310025 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.50, Z:-0.27 [[ 9.99997647e-01 1.51247276e-03 1.55508869e-03 5.44372385e+01] [-1.51243713e-03 9.99998856e-01 -2.40850629e-05 -1.49761323e+00] [-1.55512334e-03 2.17330324e-05 9.99998791e-01 -2.68049622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39589822699999 meters Centerline goodness [0,1] 0.6790595837850477 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.50, Z:-0.27 [[ 9.99997596e-01 1.43765209e-03 1.65548010e-03 5.44369972e+01] [-1.43727044e-03 9.99998940e-01 -2.31699888e-04 -1.49663481e+00] [-1.65581145e-03 2.29319958e-04 9.99998603e-01 -2.68207525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42589822699999 meters Centerline goodness [0,1] 0.6453110492107706 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.50, Z:-0.27 [[ 9.99997980e-01 1.33550288e-03 1.50215186e-03 5.44375636e+01] [-1.33469094e-03 9.99998963e-01 -5.41392714e-04 -1.49507329e+00] [-1.50287333e-03 5.39386712e-04 9.99998725e-01 -2.68396431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45589822699999 meters Centerline goodness [0,1] 0.6521434188433828 Centerline is valid? [False, False] Translation: X:54.44, Y:-1.49, Z:-0.27 [[ 9.99998212e-01 1.22535978e-03 1.44046035e-03 5.44379501e+01] [-1.22415901e-03 9.99998903e-01 -8.34186547e-04 -1.49370849e+00] [-1.44148095e-03 8.32421703e-04 9.99998615e-01 -2.68774543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48589822699999 meters Centerline goodness [0,1] 0.6269390843738176 Centerline is valid? [False, False] Translation: X:54.48, Y:-1.49, Z:-0.27 [[ 9.99997594e-01 1.76226611e-03 1.30649946e-03 5.44806043e+01] [-1.76224179e-03 9.99998447e-01 -1.97659059e-05 -1.49037423e+00] [-1.30653226e-03 1.74634904e-05 9.99999146e-01 -2.67996406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.515898227 meters Centerline goodness [0,1] 0.6380180715225046 Centerline is valid? [False, False] Translation: X:54.48, Y:-1.49, Z:-0.27 [[ 9.99997327e-01 1.92383374e-03 1.28271228e-03 5.44805641e+01] [-1.92428142e-03 9.99998088e-01 3.47865115e-04 -1.49212762e+00] [-1.28204060e-03 -3.50332484e-04 9.99999117e-01 -2.67774891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.545898227 meters Centerline goodness [0,1] 0.6380180715225046 Centerline is valid? [False, False] Translation: X:54.48, Y:-1.49, Z:-0.27 [[ 9.99997327e-01 1.92383374e-03 1.28271228e-03 5.44805641e+01] [-1.92428142e-03 9.99998088e-01 3.47865115e-04 -1.49212762e+00] [-1.28204060e-03 -3.50332484e-04 9.99999117e-01 -2.67774891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.575898227 meters Centerline goodness [0,1] 0.6669134131381922 Centerline is valid? [False, False] Translation: X:54.48, Y:-1.50, Z:-0.27 [[ 9.99997311e-01 2.07461890e-03 1.03584933e-03 5.44814558e+01] [-2.07560352e-03 9.99997394e-01 9.50375099e-04 -1.49523416e+00] [-1.03387497e-03 -9.52522556e-04 9.99999012e-01 -2.67884185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60589822699998 meters Centerline goodness [0,1] 0.6346413787277182 Centerline is valid? [False, False] Translation: X:54.48, Y:-1.50, Z:-0.27 [[ 9.99997209e-01 2.16257029e-03 9.51277845e-04 5.44817231e+01] [-2.16371277e-03 9.99996937e-01 1.20161269e-03 -1.49647611e+00] [-9.48676360e-04 -1.20366763e-03 9.99998826e-01 -2.67857197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63589822699998 meters Centerline goodness [0,1] 0.6346413787277182 Centerline is valid? [False, False] Translation: X:54.48, Y:-1.50, Z:-0.27 [[ 9.99997209e-01 2.16257029e-03 9.51277845e-04 5.44817231e+01] [-2.16371277e-03 9.99996937e-01 1.20161269e-03 -1.49647611e+00] [-9.48676360e-04 -1.20366763e-03 9.99998826e-01 -2.67857197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66589822699999 meters Centerline goodness [0,1] 0.6840520075508516 Centerline is valid? [False, False] Translation: X:54.48, Y:-1.50, Z:-0.27 [[ 9.99996847e-01 2.26688789e-03 1.07993455e-03 5.44813147e+01] [-2.26841397e-03 9.99996427e-01 1.41400627e-03 -1.49745721e+00] [-1.07672530e-03 -1.41645155e-03 9.99998417e-01 -2.67872295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69589822699999 meters Centerline goodness [0,1] 0.6736354796431743 Centerline is valid? [False, False] Translation: X:54.48, Y:-1.50, Z:-0.27 [[ 9.99996574e-01 2.33882701e-03 1.17532327e-03 5.44809335e+01] [-2.34055523e-03 9.99996179e-01 1.47120373e-03 -1.49765323e+00] [-1.17187788e-03 -1.47394960e-03 9.99998227e-01 -2.67734289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72589822699999 meters Centerline goodness [0,1] 0.5798052409411961 Centerline is valid? [False, False] Translation: X:54.52, Y:-1.49, Z:-0.27 [[ 9.99993699e-01 3.02805465e-03 1.85254382e-03 5.45223805e+01] [-3.02935805e-03 9.99995166e-01 7.01170038e-04 -1.49256550e+00] [-1.85041168e-03 -7.06777639e-04 9.99998038e-01 -2.67678610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75589822699999 meters Centerline goodness [0,1] 0.5466857938483608 Centerline is valid? [False, False] Translation: X:54.52, Y:-1.50, Z:-0.27 [[ 9.99971426e-01 7.41022478e-03 1.49517170e-03 5.45239846e+01] [-7.41841448e-03 9.99957091e-01 5.54832403e-03 -1.49543286e+00] [-1.45399322e-03 -5.55925730e-03 9.99983490e-01 -2.68297256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78589822699999 meters Centerline goodness [0,1] 0.5834194705199873 Centerline is valid? [False, False] Translation: X:54.53, Y:-1.49, Z:-0.27 [[ 9.99993010e-01 3.51803444e-03 1.26640851e-03 5.45250714e+01] [-3.51878229e-03 9.99993636e-01 5.88787988e-04 -1.49062514e+00] [-1.26432907e-03 -5.93240088e-04 9.99999025e-01 -2.69233486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81589822699999 meters Centerline goodness [0,1] 0.5180604716619046 Centerline is valid? [False, False] Translation: X:54.51, Y:-1.50, Z:-0.27 [[ 9.99984823e-01 2.94869724e-03 -4.65384310e-03 5.45067366e+01] [-2.90170307e-03 9.99945060e-01 1.00725790e-02 -1.49612115e+00] [ 4.68328841e-03 -1.00589221e-02 9.99938441e-01 -2.67024971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84589822699999 meters Centerline goodness [0,1] 0.45033810115649553 Centerline is valid? [False, False] Translation: X:54.53, Y:-1.49, Z:-0.27 [[ 9.99987437e-01 4.03390883e-03 -2.97561830e-03 5.45268828e+01] [-4.03350605e-03 9.99991855e-01 1.41348645e-04 -1.49278553e+00] [ 2.97616425e-03 -1.29344694e-04 9.99995563e-01 -2.66849981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.875898227 meters Centerline goodness [0,1] 0.524205812774586 Centerline is valid? [False, False] Translation: X:54.53, Y:-1.49, Z:-0.27 [[ 9.99987286e-01 4.06809521e-03 -2.97964440e-03 5.45270538e+01] [-4.06728465e-03 9.99991690e-01 2.78042540e-04 -1.49351832e+00] [ 2.98075074e-03 -2.65919943e-04 9.99995522e-01 -2.67128347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.905898227 meters Centerline goodness [0,1] 0.6178628389154706 Centerline is valid? [False, False] Translation: X:54.53, Y:-1.49, Z:-0.27 [[ 9.99988344e-01 4.02799982e-03 -2.66213028e-03 5.45254441e+01] [-4.02713811e-03 9.99991837e-01 3.28972087e-04 -1.49392220e+00] [ 2.66343365e-03 -3.18247486e-04 9.99996402e-01 -2.66092286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.935898227 meters Centerline goodness [0,1] 0.5606060606060606 Centerline is valid? [False, False] Translation: X:54.53, Y:-1.49, Z:-0.27 [[ 9.99988577e-01 4.00090261e-03 -2.61493086e-03 5.45250049e+01] [-3.99996383e-03 9.99991934e-01 3.64141436e-04 -1.49422932e+00] [ 2.61636666e-03 -3.53677648e-04 9.99996515e-01 -2.65576018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.965898227 meters Centerline goodness [0,1] 0.5972454001985678 Centerline is valid? [False, False] Translation: X:54.53, Y:-1.50, Z:-0.27 [[ 9.99988329e-01 4.02276902e-03 -2.67582407e-03 5.45252398e+01] [-4.02139404e-03 9.99991779e-01 5.19034279e-04 -1.49512276e+00] [ 2.67789003e-03 -5.08267678e-04 9.99996285e-01 -2.65646584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99589822699998 meters Centerline goodness [0,1] 0.6319485699736909 Centerline is valid? [False, False] Translation: X:54.53, Y:-1.50, Z:-0.27 [[ 9.99988084e-01 3.97240556e-03 -2.83743491e-03 5.45261553e+01] [-3.97098286e-03 9.99991987e-01 5.06863555e-04 -1.49524230e+00] [ 2.83942564e-03 -4.95590110e-04 9.99995846e-01 -2.66321722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02589822699998 meters Centerline goodness [0,1] 0.6488250652741514 Centerline is valid? [False, False] Translation: X:54.53, Y:-1.49, Z:-0.27 [[ 9.99987693e-01 3.90772988e-03 -3.05678644e-03 5.45273440e+01] [-3.90647345e-03 9.99992283e-01 4.16892133e-04 -1.49493265e+00] [ 3.05839195e-03 -4.04945747e-04 9.99995241e-01 -2.67231442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05589822699999 meters Centerline goodness [0,1] 0.6245843635433541 Centerline is valid? [False, False] Translation: X:54.53, Y:-1.49, Z:-0.27 [[ 9.99987692e-01 3.60523696e-03 -3.40841984e-03 5.45286191e+01] [-3.60552031e-03 9.99993497e-01 -7.69893155e-05 -1.49288099e+00] [ 3.40812011e-03 8.92774949e-05 9.99994188e-01 -2.67604721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08589822699999 meters Centerline goodness [0,1] 0.6169535008017103 Centerline is valid? [False, False] Translation: X:54.53, Y:-1.49, Z:-0.27 [[ 9.99988010e-01 3.52395000e-03 -3.40027232e-03 5.45281393e+01] [-3.52460611e-03 9.99993771e-01 -1.86984557e-04 -1.49249433e+00] [ 3.39959221e-03 1.98966935e-04 9.99994202e-01 -2.66837419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11589822699999 meters Centerline goodness [0,1] 0.6446252822632184 Centerline is valid? [False, False] Translation: X:54.53, Y:-1.49, Z:-0.27 [[ 9.99988399e-01 3.47627410e-03 -3.33414974e-03 5.45274352e+01] [-3.47677484e-03 9.99993946e-01 -1.44402241e-04 -1.49290803e+00] [ 3.33362757e-03 1.55992654e-04 9.99994431e-01 -2.65967346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14589822699999 meters Centerline goodness [0,1] 0.6421535469688002 Centerline is valid? [False, False] Translation: X:54.55, Y:-1.49, Z:-0.27 [[ 9.99998634e-01 1.30859667e-03 -1.01019087e-03 5.45474374e+01] [-1.29955459e-03 9.99959548e-01 8.90021340e-03 -1.49400958e+00] [ 1.02179680e-03 -8.89888844e-03 9.99959882e-01 -2.66841454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17589822699999 meters Centerline goodness [0,1] 0.6731502588465881 Centerline is valid? [False, False] Translation: X:54.55, Y:-1.49, Z:-0.27 [[ 9.99995304e-01 -2.99135793e-03 -6.66652529e-04 5.45460038e+01] [ 2.99411793e-03 9.99986789e-01 4.17827776e-03 -1.49159354e+00] [ 6.54144997e-04 -4.18025417e-03 9.99991049e-01 -2.66263346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20589822699999 meters Centerline goodness [0,1] 0.6608586123648578 Centerline is valid? [False, False] Translation: X:54.59, Y:-1.49, Z:-0.26 [[ 9.99988910e-01 -4.63411813e-03 8.39760312e-04 5.45856848e+01] [ 4.63123549e-03 9.99983486e-01 3.40273130e-03 -1.48949080e+00] [-8.55515103e-04 -3.39880443e-03 9.99993858e-01 -2.64603365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23589822699999 meters Centerline goodness [0,1] 0.7143980615541574 Centerline is valid? [False, False] Translation: X:54.58, Y:-1.49, Z:-0.26 [[ 9.99911799e-01 -1.32370901e-02 1.08335316e-03 5.45847430e+01] [ 1.32428734e-02 9.99897086e-01 -5.51761618e-03 -1.48774712e+00] [-1.01020448e-03 5.53147623e-03 9.99984191e-01 -2.63940073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.265898227 meters Centerline goodness [0,1] 0.7356133266027258 Centerline is valid? [False, False] Translation: X:54.59, Y:-1.49, Z:-0.26 [[ 9.99912646e-01 -1.31950157e-02 7.69823940e-04 5.45856057e+01] [ 1.31984792e-02 9.99901933e-01 -4.68242995e-03 -1.49246416e+00] [-7.07963709e-04 4.69218142e-03 9.99988741e-01 -2.63648499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.295898227 meters Centerline goodness [0,1] 0.8676296921130324 Centerline is valid? [False, False] Translation: X:54.59, Y:-1.50, Z:-0.26 [[ 9.99913101e-01 -1.31653305e-02 6.81006312e-04 5.45858165e+01] [ 1.31677290e-02 9.99906654e-01 -3.64624856e-03 -1.49837759e+00] [-6.32938675e-04 3.65489901e-03 9.99993121e-01 -2.63350080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.325898227 meters Centerline goodness [0,1] 0.8466232882538063 Centerline is valid? [False, False] Translation: X:54.59, Y:-1.50, Z:-0.26 [[ 9.99913114e-01 -1.31710014e-02 5.37387908e-04 5.45862828e+01] [ 1.31723211e-02 9.99910038e-01 -2.53095544e-03 -1.50484512e+00] [-5.04004346e-04 2.53781418e-03 9.99996653e-01 -2.63184451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35589822699998 meters Centerline goodness [0,1] 0.8955364824879861 Centerline is valid? [False, False] Translation: X:54.59, Y:-1.51, Z:-0.26 [[ 9.99851902e-01 -1.72011941e-02 5.42132498e-04 5.45865573e+01] [ 1.72042442e-02 9.99832524e-01 -6.24006860e-03 -1.50756798e+00] [-4.34705073e-04 6.24847144e-03 9.99980384e-01 -2.63279086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38589822699998 meters Centerline goodness [0,1] 0.9894620313797288 Centerline is valid? [False, True] Translation: X:54.55, Y:-1.52, Z:-0.26 [[ 9.99859531e-01 -1.67348832e-02 -9.28426439e-04 5.45474221e+01] [ 1.67321814e-02 9.99855959e-01 -2.84529716e-03 -1.51922693e+00] [ 9.75908423e-04 2.82936288e-03 9.99995521e-01 -2.64258853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41589822699999 meters Centerline goodness [0,1] 0.9975532071969457 Centerline is valid? [True, True] Translation: X:54.58, Y:-1.53, Z:-0.26 [[ 9.99765909e-01 -2.16097800e-02 -1.06952977e-03 5.45782267e+01] [ 2.16097121e-02 9.99766480e-01 -7.49533491e-05 -1.53280300e+00] [ 1.07089974e-03 5.18235727e-05 9.99999425e-01 -2.64444872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44589822699999 meters Centerline goodness [0,1] 0.9991267305644302 Centerline is valid? [True, True] Translation: X:54.61, Y:-1.54, Z:-0.26 [[ 9.99744140e-01 -2.26194597e-02 -1.22346244e-04 5.46105348e+01] [ 2.26194588e-02 9.99744147e-01 -8.50545295e-06 -1.54120551e+00] [ 1.22507330e-04 5.73587092e-06 9.99999992e-01 -2.62358776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47589822699999 meters Centerline goodness [0,1] 0.9993409863945578 Centerline is valid? [True, True] Translation: X:54.64, Y:-1.55, Z:-0.26 [[ 9.99748237e-01 -2.24059111e-02 1.19926738e-03 5.46425447e+01] [ 2.24058263e-02 9.99748954e-01 8.40694113e-05 -1.54542317e+00] [-1.20084996e-03 -5.71776690e-05 9.99999277e-01 -2.59898388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50589822699999 meters Centerline goodness [0,1] 0.9950356549359474 Centerline is valid? [True, True] Translation: X:54.67, Y:-1.54, Z:-0.26 [[ 9.99753467e-01 -2.20874066e-02 2.26969455e-03 5.46728510e+01] [ 2.20871025e-02 9.99756038e-01 1.58984510e-04 -1.54002721e+00] [-2.27265238e-03 -1.08814339e-04 9.99997412e-01 -2.58404020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53589822699999 meters Centerline goodness [0,1] 0.9991849865951743 Centerline is valid? [True, True] Translation: X:54.70, Y:-1.55, Z:-0.26 [[ 9.99761002e-01 -2.17598358e-02 2.10898272e-03 5.47045980e+01] [ 2.17595725e-02 9.99763222e-01 1.47711742e-04 -1.55076429e+00] [-2.11169754e-03 -1.01785877e-04 9.99997765e-01 -2.56728237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56589822699999 meters Centerline goodness [0,1] 0.9996782358745548 Centerline is valid? [True, True] Translation: X:54.74, Y:-1.56, Z:-0.26 [[ 9.99721420e-01 -2.35815404e-02 -9.97052549e-04 5.47359256e+01] [ 2.35814826e-02 9.99721916e-01 -6.97076437e-05 -1.56001239e+00] [ 9.98419098e-04 4.61762473e-05 9.99999501e-01 -2.62583281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59589822699999 meters Centerline goodness [0,1] 0.9996798292422625 Centerline is valid? [True, True] Translation: X:54.77, Y:-1.56, Z:-0.26 [[ 9.99677582e-01 -2.52735925e-02 -2.44509253e-03 5.47656763e+01] [ 2.52732493e-02 9.99680566e-01 -1.71176559e-04 -1.56266950e+00] [ 2.44863773e-03 1.09325936e-04 9.99996996e-01 -2.63999243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.625898227 meters Centerline goodness [0,1] 0.9996410397178994 Centerline is valid? [True, True] Translation: X:54.80, Y:-1.56, Z:-0.27 [[ 9.99627718e-01 -2.71727000e-02 -2.46381381e-03 5.47951936e+01] [ 2.71723571e-02 9.99630748e-01 -1.72516410e-04 -1.56147924e+00] [ 2.46759178e-03 1.05504556e-04 9.99996950e-01 -2.65790794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.655898227 meters Centerline goodness [0,1] 0.9997468621453434 Centerline is valid? [True, True] Translation: X:54.82, Y:-1.56, Z:-0.26 [[ 9.99573518e-01 -2.91635089e-02 -1.50758333e-03 5.48247372e+01] [ 2.91633828e-02 9.99574653e-01 -1.05590117e-04 -1.56450531e+00] [ 1.51002146e-03 6.15788548e-05 9.99998858e-01 -2.64635619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.685898227 meters Centerline goodness [0,1] 0.9999785504386435 Centerline is valid? [True, True] Translation: X:54.86, Y:-1.58, Z:-0.26 [[ 9.99506067e-01 -3.14235339e-02 -4.28762291e-04 5.48559260e+01] [ 3.14235239e-02 9.99506159e-01 -3.00603498e-05 -1.57528163e+00] [ 4.29495153e-04 1.65722799e-05 9.99999908e-01 -2.62072785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.715898227 meters Centerline goodness [0,1] 0.9999369867041946 Centerline is valid? [True, True] Translation: X:54.89, Y:-1.58, Z:-0.26 [[ 9.99409231e-01 -3.43473757e-02 1.20276588e-03 5.48858903e+01] [ 3.43472991e-02 9.99409954e-01 8.42111887e-05 -1.57896321e+00] [-1.20494862e-03 -4.28496799e-05 9.99999273e-01 -2.59531865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74589822699998 meters Centerline goodness [0,1] 0.9999786934844676 Centerline is valid? [True, True] Translation: X:54.92, Y:-1.59, Z:-0.26 [[ 9.99298117e-01 -3.74110281e-02 1.92024825e-03 5.49174378e+01] [ 3.74108386e-02 9.99299961e-01 1.34509542e-04 -1.58617458e+00] [-1.92393615e-03 -6.25770346e-05 9.99998147e-01 -2.57243161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.95, Y:-1.60, Z:-0.25 [[ 9.99125793e-01 -4.17321559e-02 2.46510792e-03 5.49483369e+01] [ 4.17318569e-02 9.99128832e-01 1.72632886e-04 -1.59790455e+00] [-2.47016474e-03 -6.96084379e-05 9.99996947e-01 -2.54454483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80589822699999 meters Centerline goodness [0,1] 0.9998527524769137 Centerline is valid? [True, True] Translation: X:54.98, Y:-1.60, Z:-0.25 [[ 9.99052484e-01 -4.34529634e-02 2.44428870e-03 5.49778017e+01] [ 4.34526746e-02 9.99055472e-01 1.71167565e-04 -1.60049479e+00] [-2.44941774e-03 -6.47944996e-05 9.99996998e-01 -2.54404409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83589822699999 meters Centerline goodness [0,1] 0.9999790733687691 Centerline is valid? [True, True] Translation: X:55.01, Y:-1.61, Z:-0.25 [[ 9.99009973e-01 -4.44174313e-02 2.48290038e-03 5.50082447e+01] [ 4.44171361e-02 9.99013057e-01 1.73931205e-04 -1.60568416e+00] [-2.48817548e-03 -6.34756845e-05 9.99996902e-01 -2.52986108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86589822699999 meters Centerline goodness [0,1] 0.9999790070326441 Centerline is valid? [True, True] Translation: X:55.04, Y:-1.61, Z:-0.25 [[ 9.98958298e-01 -4.55832163e-02 2.11901997e-03 5.50370202e+01] [ 4.55830038e-02 9.98960544e-01 1.48473911e-04 -1.60651568e+00] [-2.12358526e-03 -5.17279497e-05 9.99997744e-01 -2.54747726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.07, Y:-1.62, Z:-0.26 [[ 9.98872902e-01 -4.74599882e-02 6.88802375e-04 5.50664762e+01] [ 4.74599664e-02 9.98873140e-01 4.79561716e-05 -1.61503970e+00] [-6.90302190e-04 -1.52115827e-05 9.99999762e-01 -2.57369537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.10, Y:-1.62, Z:-0.26 [[ 9.98781781e-01 -4.93386885e-02 -8.04299588e-04 5.50953843e+01] [ 4.93386585e-02 9.98782105e-01 -5.71117818e-05 -1.62106201e+00] [ 8.06137856e-04 1.73591445e-05 9.99999675e-01 -2.61602536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.12, Y:-1.63, Z:-0.26 [[ 9.98610930e-01 -5.26724576e-02 -1.35019691e-03 5.51243361e+01] [ 5.26723767e-02 9.98611842e-01 -9.54638430e-05 -1.63444146e+00] [ 1.35335094e-03 2.42131566e-05 9.99999084e-01 -2.64467397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.15, Y:-1.64, Z:-0.26 [[ 9.98534833e-01 -5.41079363e-02 -7.20130898e-04 5.51532543e+01] [ 5.41079133e-02 9.98535093e-01 -5.13629990e-05 -1.64029928e+00] [ 7.21855119e-04 1.23229634e-05 9.99999739e-01 -2.62797232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.015898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.18, Y:-1.65, Z:-0.26 [[ 9.98469620e-01 -5.53018215e-02 -3.54251745e-04 5.51817337e+01] [ 5.53018160e-02 9.98469683e-01 -2.53165066e-05 -1.64572906e+00] [ 3.55109677e-04 5.68699797e-06 9.99999937e-01 -2.60358269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.045898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.21, Y:-1.65, Z:-0.26 [[ 9.98411348e-01 -5.63436851e-02 -4.11421331e-04 5.52112183e+01] [ 5.63436777e-02 9.98411433e-01 -2.96406846e-05 -1.65028343e+00] [ 4.12437826e-04 6.41260496e-06 9.99999915e-01 -2.59050681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.075898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.24, Y:-1.65, Z:-0.26 [[ 9.98376244e-01 -5.69464741e-02 -1.40536311e-03 5.52383251e+01] [ 5.69463894e-02 9.98377233e-01 -1.00242868e-04 -1.65378624e+00] [ 1.40879101e-03 2.00497429e-05 9.99999007e-01 -2.59434487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.27, Y:-1.65, Z:-0.26 [[ 9.98375864e-01 -5.69198139e-02 -2.40200211e-03 5.52665402e+01] [ 5.69195671e-02 9.98378753e-01 -1.71020483e-04 -1.65390393e+00] [ 2.40784233e-03 3.40218022e-05 9.99997101e-01 -2.62071122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.30, Y:-1.66, Z:-0.26 [[ 9.98379487e-01 -5.68223198e-02 -3.10213734e-03 5.52954805e+01] [ 5.68219054e-02 9.98384306e-01 -2.21605625e-04 -1.66036536e+00] [ 3.10971738e-03 4.49771558e-05 9.99995164e-01 -2.64940123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.32, Y:-1.66, Z:-0.27 [[ 9.98345032e-01 -5.74333368e-02 -2.93409136e-03 5.53235377e+01] [ 5.74329668e-02 9.98349343e-01 -2.10276110e-04 -1.66333939e+00] [ 2.94132504e-03 4.14145385e-05 9.99995673e-01 -2.65474219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.35, Y:-1.67, Z:-0.26 [[ 9.98215794e-01 -5.97052532e-02 -7.15492546e-04 5.53513853e+01] [ 5.97052317e-02 9.98216050e-01 -5.13544657e-05 -1.66747830e+00] [ 7.17282275e-04 8.54419046e-06 9.99999743e-01 -2.62988638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.38, Y:-1.67, Z:-0.26 [[ 9.98091002e-01 -6.17599890e-02 2.34108262e-04 5.53803392e+01] [ 6.17599869e-02 9.98091030e-01 1.63358846e-05 -1.67048226e+00] [-2.34670261e-04 -1.84617622e-06 9.99999972e-01 -2.60593958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.41, Y:-1.67, Z:-0.26 [[ 9.97937385e-01 -6.41909734e-02 7.02730850e-04 5.54093668e+01] [ 6.41909541e-02 9.97937633e-01 5.00460611e-05 -1.67423924e+00] [-7.04494066e-04 -4.83387164e-06 9.99999752e-01 -2.59426994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.44, Y:-1.68, Z:-0.26 [[ 9.97766973e-01 -6.67891041e-02 5.31568964e-04 5.54371425e+01] [ 6.67890933e-02 9.97767115e-01 3.80751167e-05 -1.67713690e+00] [-5.32925034e-04 -2.48708483e-06 9.99999858e-01 -2.59937289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.47, Y:-1.68, Z:-0.26 [[ 9.97566313e-01 -6.97186824e-02 -8.70295918e-04 5.54655942e+01] [ 6.97186537e-02 9.97566692e-01 -6.32870295e-05 -1.68057850e+00] [ 8.72590509e-04 2.45714895e-06 9.99999619e-01 -2.61809401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.49, Y:-1.68, Z:-0.27 [[ 9.97343625e-01 -7.27834013e-02 -2.87595286e-03 5.54945721e+01] [ 7.27831031e-02 9.97347771e-01 -2.08359107e-04 -1.68374263e+00] [ 2.88349026e-03 -1.51514651e-06 9.99995843e-01 -2.65055182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.375898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.52, Y:-1.69, Z:-0.27 [[ 9.96989034e-01 -7.74734385e-02 -3.27609741e-03 5.55240473e+01] [ 7.74655512e-02 9.96991970e-01 -2.46972135e-03 -1.68976484e+00] [ 3.45758062e-03 2.20850041e-03 9.99991584e-01 -2.70154987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.405898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.55, Y:-1.70, Z:-0.27 [[ 9.96672868e-01 -8.13784632e-02 -4.55413627e-03 5.55520380e+01] [ 8.13878180e-02 9.96680683e-01 1.90764342e-03 -1.69553375e+00] [ 4.38377856e-03 -2.27194765e-03 9.99987810e-01 -2.70550612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.435898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.58, Y:-1.69, Z:-0.27 [[ 9.96509231e-01 -8.34572273e-02 -2.05993154e-03 5.55811005e+01] [ 8.34570955e-02 9.96511360e-01 -1.50011225e-04 -1.69498435e+00] [ 2.06526470e-03 -2.24283328e-05 9.99997867e-01 -2.67047339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.465898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.61, Y:-1.69, Z:-0.26 [[ 9.96345759e-01 -8.54114897e-02 8.00172209e-05 5.56098657e+01] [ 8.54114895e-02 9.96345762e-01 5.33790991e-06 -1.69216847e+00] [-8.01807378e-05 1.51598612e-06 9.99999997e-01 -2.62157925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.64, Y:-1.69, Z:-0.26 [[ 9.96218291e-01 -8.68703092e-02 1.63275200e-03 5.56378760e+01] [ 8.68702312e-02 9.96219629e-01 1.18770857e-04 -1.69470477e+00] [-1.63689725e-03 2.35158437e-05 9.99998660e-01 -2.60170199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.67, Y:-1.69, Z:-0.26 [[ 9.96202190e-01 -8.70547553e-02 1.63275457e-03 5.56652977e+01] [ 8.70546776e-02 9.96203528e-01 1.18735802e-04 -1.69250300e+00] [-1.63689238e-03 2.38540566e-05 9.99998660e-01 -2.60246071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.69, Y:-1.69, Z:-0.26 [[ 9.96066277e-01 -8.85939096e-02 1.75800586e-03 5.56945056e+01] [ 8.85938212e-02 9.96067828e-01 1.28234340e-04 -1.69237806e+00] [-1.76245386e-03 2.80185551e-05 9.99998446e-01 -2.59614955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.72, Y:-1.70, Z:-0.26 [[ 9.95821306e-01 -9.13180380e-02 9.71165896e-04 5.57223840e+01] [ 9.13180122e-02 9.95821779e-01 7.09638372e-05 -1.69875346e+00] [-9.73588429e-04 1.80176381e-05 9.99999526e-01 -2.60501685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.75, Y:-1.69, Z:-0.26 [[ 9.95717938e-01 -9.24357269e-02 1.19316408e-03 5.57504427e+01] [ 9.24356888e-02 9.95718653e-01 8.71504540e-05 -1.68985992e+00] [-1.19611154e-03 2.35136730e-05 9.99999284e-01 -2.59256351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.78, Y:-1.69, Z:-0.26 [[ 9.95706254e-01 -9.25631179e-02 1.06020014e-03 5.57774676e+01] [ 9.25630877e-02 9.95706819e-01 7.76337376e-05 -1.69433138e+00] [-1.06283453e-03 2.08350001e-05 9.99999435e-01 -2.59209829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67589822699999 meters Centerline goodness [0,1] 0.9999789380568251 Centerline is valid? [True, True] Translation: X:55.81, Y:-1.68, Z:-0.26 [[ 9.95784840e-01 -9.17161828e-02 8.33759084e-04 5.58058648e+01] [ 9.17161638e-02 9.95785188e-01 6.10388541e-05 -1.68497578e+00] [-8.35843198e-04 1.56876192e-05 9.99999651e-01 -2.58392496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.83, Y:-1.67, Z:-0.26 [[ 9.95965759e-01 -8.97267667e-02 1.14672145e-03 5.58342955e+01] [ 8.97267291e-02 9.95966419e-01 8.42767734e-05 -1.67412592e+00] [-1.14965794e-03 1.89547841e-05 9.99999339e-01 -2.57150699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.86, Y:-1.67, Z:-0.26 [[ 9.96172519e-01 -8.74039526e-02 9.28088520e-04 5.58625259e+01] [ 8.74039269e-02 9.96172951e-01 6.82755538e-05 -1.66599341e+00] [-9.30504233e-04 1.31043508e-05 9.99999567e-01 -2.56468911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.765898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.89, Y:-1.66, Z:-0.26 [[ 9.96485401e-01 -8.37662244e-02 2.54891347e-04 5.58896352e+01] [ 8.37662223e-02 9.96485434e-01 1.86586727e-05 -1.65627010e+00] [-2.55558481e-04 2.75819026e-06 9.99999967e-01 -2.58879868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.795898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.92, Y:-1.65, Z:-0.26 [[ 9.96480727e-01 -8.38093126e-02 -1.46986195e-03 5.59175515e+01] [ 8.38092424e-02 9.96481811e-01 -1.09350927e-04 -1.65321562e+00] [ 1.47385532e-03 -1.42219249e-05 9.99998914e-01 -2.63832641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.825898227 meters Centerline goodness [0,1] 0.9998730185604537 Centerline is valid? [True, True] Translation: X:55.95, Y:-1.65, Z:-0.27 [[ 9.96375541e-01 -8.50147863e-02 -2.87514549e-03 5.59460685e+01] [ 8.50145216e-02 9.96379689e-01 -2.14383389e-04 -1.64627439e+00] [ 2.88296233e-03 -3.08227529e-05 9.99995844e-01 -2.66537399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.97, Y:-1.64, Z:-0.27 [[ 9.96279944e-01 -8.61178546e-02 -3.16032910e-03 5.59748936e+01] [ 8.61175387e-02 9.96284956e-01 -2.36130307e-04 -1.64404296e+00] [ 3.16892338e-03 -3.69078752e-05 9.99994978e-01 -2.66483385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.00, Y:-1.64, Z:-0.26 [[ 9.95911297e-01 -9.03362865e-02 2.08946341e-04 5.60035891e+01] [ 9.03362853e-02 9.95911319e-01 1.51436973e-05 -1.64423709e+00] [-2.09460052e-04 3.79365711e-06 9.99999978e-01 -2.59541297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.03, Y:-1.64, Z:-0.26 [[ 9.95708697e-01 -9.25312426e-02 1.46982663e-03 5.60323798e+01] [ 9.25311816e-02 9.95709781e-01 1.09641930e-04 -1.64344299e+00] [-1.47366606e-03 2.68333718e-05 9.99998914e-01 -2.57153640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.06, Y:-1.64, Z:-0.26 [[ 9.95603823e-01 -9.36585889e-02 1.04753797e-03 5.60611362e+01] [ 9.36585585e-02 9.95604373e-01 7.81840569e-05 -1.64004452e+00] [-1.05025600e-03 2.02705506e-05 9.99999448e-01 -2.57450692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97589822699999 meters Centerline goodness [0,1] 0.9996851781891449 Centerline is valid? [True, True] Translation: X:56.09, Y:-1.64, Z:-0.26 [[ 9.95583435e-01 -9.38792174e-02 -5.62259345e-04 5.60888324e+01] [ 9.38792084e-02 9.95583594e-01 -4.25199733e-05 -1.63743053e+00] [ 5.63767921e-04 -1.04522811e-05 9.99999841e-01 -2.63094728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.12, Y:-1.63, Z:-0.27 [[ 9.95697187e-01 -9.26085113e-02 -3.28262427e-03 5.61158804e+01] [ 9.26081991e-02 9.95702596e-01 -2.47307056e-04 -1.63167599e+00] [ 3.29142024e-03 -5.77549822e-05 9.99994582e-01 -2.66447275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.14, Y:-1.62, Z:-0.27 [[ 9.95867179e-01 -9.06917562e-02 -4.85466948e-03 5.61442542e+01] [ 9.06910462e-02 9.95879009e-01 -3.66646823e-04 -1.62301198e+00] [ 4.86791527e-03 -7.51435171e-05 9.99988149e-01 -2.69311959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.17, Y:-1.61, Z:-0.27 [[ 9.96176694e-01 -8.73123939e-02 -2.92248359e-03 5.61717424e+01] [ 8.73121221e-02 9.96180980e-01 -2.20722264e-04 -1.60868151e+00] [ 2.93059435e-03 -3.52898683e-05 9.99995705e-01 -2.66430079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.20, Y:-1.60, Z:-0.26 [[ 9.96211700e-01 -8.69576186e-02 -7.88520189e-04 5.62002690e+01] [ 8.69575983e-02 9.96212012e-01 -6.01218588e-05 -1.60186458e+00] [ 7.90761338e-04 -8.67372267e-06 9.99999687e-01 -2.63543638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.125898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.23, Y:-1.60, Z:-0.26 [[ 9.96173066e-01 -8.74012747e-02 4.89932324e-04 5.62273836e+01] [ 8.74012671e-02 9.96173186e-01 3.68722347e-05 -1.59750204e+00] [-4.91280124e-04 6.08957882e-06 9.99999879e-01 -2.61546022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.155898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.26, Y:-1.59, Z:-0.26 [[ 9.96082300e-01 -8.84307029e-02 2.48273539e-04 5.62557414e+01] [ 8.84307010e-02 9.96082331e-01 1.83780901e-05 -1.59039132e+00] [-2.48926073e-04 3.64891291e-06 9.99999969e-01 -2.61335782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.185898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.28, Y:-1.59, Z:-0.26 [[ 9.95976222e-01 -8.96177395e-02 -1.59427969e-04 5.62847286e+01] [ 8.96177386e-02 9.95976235e-01 -1.25937369e-05 -1.58547034e+00] [ 1.59915090e-04 -1.74451151e-06 9.99999987e-01 -2.62892756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.215898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.31, Y:-1.58, Z:-0.26 [[ 9.95839385e-01 -9.11148636e-02 -1.41447494e-03 5.63124352e+01] [ 9.11148022e-02 9.95840389e-01 -1.07980200e-04 -1.58192897e+00] [ 1.41842987e-03 -2.13486677e-05 9.99998994e-01 -2.64880955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.34, Y:-1.57, Z:-0.26 [[ 9.95412008e-01 -9.56746639e-02 -1.13698595e-03 5.63418732e+01] [ 9.56746273e-02 9.95412657e-01 -8.66895389e-05 -1.57400739e+00] [ 1.14006419e-03 -2.24888986e-05 9.99999350e-01 -2.62830873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27589822699998 meters Centerline goodness [0,1] 0.9999787378805919 Centerline is valid? [True, True] Translation: X:56.37, Y:-1.57, Z:-0.26 [[ 9.95177703e-01 -9.80883723e-02 1.05186477e-04 5.63700360e+01] [ 9.80883721e-02 9.95177708e-01 7.57652828e-06 -1.56861718e+00] [-1.05422406e-04 2.77757828e-06 9.99999994e-01 -2.59218591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30589822699999 meters Centerline goodness [0,1] 0.99997901760423 Centerline is valid? [True, True] Translation: X:56.40, Y:-1.56, Z:-0.26 [[ 9.94974813e-01 -1.00103660e-01 2.09234602e-03 5.63982479e+01] [ 1.00103546e-01 9.94977012e-01 1.59645648e-04 -1.56188932e+00] [-2.09781731e-03 5.06078574e-05 9.99997798e-01 -2.55417515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33589822699999 meters Centerline goodness [0,1] 0.9999788556687952 Centerline is valid? [True, True] Translation: X:56.43, Y:-1.56, Z:-0.25 [[ 9.94776128e-01 -1.02033635e-01 3.09733379e-03 5.64264507e+01] [ 1.02033391e-01 9.94780946e-01 2.37074478e-04 -1.55670866e+00] [-3.10535821e-03 8.01954377e-05 9.99995175e-01 -2.53206092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36589822699999 meters Centerline goodness [0,1] 0.9999161144199312 Centerline is valid? [True, True] Translation: X:56.45, Y:-1.55, Z:-0.25 [[ 9.94588180e-01 -1.03843320e-01 3.30411692e-03 5.64538194e+01] [ 1.03843051e-01 9.94593664e-01 2.53443967e-04 -1.55445355e+00] [-3.31257222e-03 9.10372081e-05 9.99994509e-01 -2.53850971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39589822699999 meters Centerline goodness [0,1] 0.9999360572926658 Centerline is valid? [True, True] Translation: X:56.48, Y:-1.55, Z:-0.26 [[ 9.94193803e-01 -1.07603695e-01 3.56054264e-04 5.64832161e+01] [ 1.07603692e-01 9.94193867e-01 2.73040978e-05 -1.54625467e+00] [-3.56924988e-04 1.11671885e-05 9.99999936e-01 -2.57075296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42589822699999 meters Centerline goodness [0,1] 0.999979081248431 Centerline is valid? [True, True] Translation: X:56.51, Y:-1.54, Z:-0.26 [[ 9.94059491e-01 -1.08834407e-01 -8.95073314e-04 5.65106109e+01] [ 1.08834388e-01 9.94059893e-01 -6.90529695e-05 -1.54250190e+00] [ 8.97271822e-04 -2.87719970e-05 9.99999597e-01 -2.59313078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45589822699999 meters Centerline goodness [0,1] 0.9999787138934417 Centerline is valid? [True, True] Translation: X:56.54, Y:-1.53, Z:-0.26 [[ 9.93961865e-01 -1.09716143e-01 -1.47603403e-03 5.65391797e+01] [ 1.09716095e-01 9.93962960e-01 -1.14175730e-04 -1.53257786e+00] [ 1.47965007e-03 -4.84583676e-05 9.99998904e-01 -2.59820216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48589822699999 meters Centerline goodness [0,1] 0.9997665633886508 Centerline is valid? [True, True] Translation: X:56.57, Y:-1.53, Z:-0.26 [[ 9.93938232e-01 -1.09938825e-01 -4.94734817e-04 5.65657898e+01] [ 1.09938820e-01 9.93938355e-01 -3.83864365e-05 -1.52720041e+00] [ 4.95956071e-04 -1.62368150e-05 9.99999877e-01 -2.60829417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.515898227 meters Centerline goodness [0,1] 0.9999789792314807 Centerline is valid? [True, True] Translation: X:56.59, Y:-1.51, Z:-0.26 [[ 9.94053259e-01 -1.08894332e-01 3.76752933e-04 5.65940154e+01] [ 1.08894329e-01 9.94053331e-01 2.86874921e-05 -1.51252879e+00] [-3.77636413e-04 1.25093627e-05 9.99999929e-01 -2.56727430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.545898227 meters Centerline goodness [0,1] 0.9999367382227659 Centerline is valid? [True, True] Translation: X:56.62, Y:-1.51, Z:-0.26 [[ 9.94048036e-01 -1.08942659e-01 -1.54096507e-06 5.66216289e+01] [ 1.08942659e-01 9.94048036e-01 -6.43284997e-07 -1.50653397e+00] [ 1.60187448e-06 4.71579354e-07 1.00000000e+00 -2.56893234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.575898227 meters Centerline goodness [0,1] 0.9999151931476064 Centerline is valid? [True, True] Translation: X:56.65, Y:-1.51, Z:-0.26 [[ 9.93987392e-01 -1.09492469e-01 -6.80739937e-04 5.66498230e+01] [ 1.09492458e-01 9.93987625e-01 -5.33038337e-05 -1.50542397e+00] [ 6.82483442e-04 -2.15525507e-05 9.99999767e-01 -2.58629828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60589822699998 meters Centerline goodness [0,1] 0.9999157947919078 Centerline is valid? [True, True] Translation: X:56.68, Y:-1.50, Z:-0.26 [[ 9.93855822e-01 -1.10673544e-01 -1.40393190e-03 5.66784752e+01] [ 1.10673499e-01 9.93856813e-01 -1.09666694e-04 -1.50101039e+00] [ 1.40744449e-03 -4.63851733e-05 9.99999008e-01 -2.60202524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63589822699998 meters Centerline goodness [0,1] 0.9998733589429694 Centerline is valid? [True, True] Translation: X:56.71, Y:-1.50, Z:-0.26 [[ 9.93666426e-01 -1.12358784e-01 -1.59275453e-03 5.67072247e+01] [ 1.12358728e-01 9.93667701e-01 -1.24612439e-04 -1.49867756e+00] [ 1.59667003e-03 -5.51366765e-05 9.99998724e-01 -2.62067805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66589822699999 meters Centerline goodness [0,1] 0.9998936283374109 Centerline is valid? [True, True] Translation: X:56.74, Y:-1.49, Z:-0.26 [[ 9.93409461e-01 -1.14608109e-01 -1.61966617e-03 5.67362438e+01] [ 1.14608055e-01 9.93410780e-01 -1.26490734e-04 -1.49347613e+00] [ 1.62349069e-03 -5.99696972e-05 9.99998680e-01 -2.62756534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69589822699999 meters Centerline goodness [0,1] 0.9997870754817417 Centerline is valid? [True, True] Translation: X:56.77, Y:-1.49, Z:-0.27 [[ 9.92911869e-01 -1.18825819e-01 -2.53876989e-03 5.67661891e+01] [ 1.18825700e-01 9.92915109e-01 -1.98090395e-04 -1.49385046e+00] [ 2.54432124e-03 -1.04984806e-04 9.99996758e-01 -2.65770414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72589822699999 meters Centerline goodness [0,1] 0.999725900312052 Centerline is valid? [True, True] Translation: X:56.79, Y:-1.50, Z:-0.27 [[ 9.92776451e-01 -1.19939666e-01 -3.06499690e-03 5.67944459e+01] [ 1.19939497e-01 9.92781174e-01 -2.39471641e-04 -1.49601398e+00] [ 3.07159337e-03 -1.29872382e-04 9.99995274e-01 -2.68082477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75589822699999 meters Centerline goodness [0,1] 0.9996424665601077 Centerline is valid? [True, True] Translation: X:56.82, Y:-1.49, Z:-0.27 [[ 9.92701501e-01 -1.20529805e-01 -4.03689332e-03 5.68231102e+01] [ 1.20529513e-01 9.92709694e-01 -3.16296803e-04 -1.49272320e+00] [ 4.04558632e-03 -1.72576476e-04 9.99991802e-01 -2.70592855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78589822699999 meters Centerline goodness [0,1] 0.999872267047027 Centerline is valid? [True, True] Translation: X:56.85, Y:-1.49, Z:-0.27 [[ 9.92627930e-01 -1.21066104e-01 -5.72629354e-03 5.68515129e+01] [ 1.21065522e-01 9.92644416e-01 -4.49456741e-04 -1.48736482e+00] [ 5.73858728e-03 -2.47113403e-04 9.99983504e-01 -2.70854163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81589822699999 meters Centerline goodness [0,1] 0.9997870573454569 Centerline is valid? [True, True] Translation: X:56.88, Y:-1.49, Z:-0.27 [[ 9.92532728e-01 -1.21831910e-01 -5.98070416e-03 5.68803485e+01] [ 1.21831283e-01 9.92550713e-01 -4.70422694e-04 -1.48577073e+00] [ 5.99346467e-03 -2.61726942e-04 9.99982005e-01 -2.71390670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84589822699999 meters Centerline goodness [0,1] 0.9998284917997642 Centerline is valid? [True, True] Translation: X:56.91, Y:-1.48, Z:-0.27 [[ 9.92429572e-01 -1.22687168e-01 -5.60389712e-03 5.69095573e+01] [ 1.22686626e-01 9.92445362e-01 -4.41768794e-04 -1.48471987e+00] [ 5.61576107e-03 -2.49098815e-04 9.99984200e-01 -2.70347455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.875898227 meters Centerline goodness [0,1] 0.999558145896017 Centerline is valid? [True, True] Translation: X:56.94, Y:-1.49, Z:-0.27 [[ 9.92354616e-01 -1.23336900e-01 -4.50832816e-03 5.69375150e+01] [ 1.23336555e-01 9.92364836e-01 -3.55463037e-04 -1.48928206e+00] [ 4.51774804e-03 -2.03296280e-04 9.99989774e-01 -2.69545997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.905898227 meters Centerline goodness [0,1] 0.9996369305683105 Centerline is valid? [True, True] Translation: X:56.97, Y:-1.48, Z:-0.27 [[ 9.92254414e-01 -1.24166724e-01 -3.71525609e-03 5.69661435e+01] [ 1.24166493e-01 9.92261355e-01 -2.93877047e-04 -1.48331285e+00] [ 3.72299479e-03 -1.69709521e-04 9.99993055e-01 -2.66436198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.935898227 meters Centerline goodness [0,1] 0.9997890962775493 Centerline is valid? [True, True] Translation: X:56.99, Y:-1.48, Z:-0.26 [[ 9.92175971e-01 -1.24813764e-01 -2.89239951e-03 5.69948987e+01] [ 1.24813624e-01 9.92180178e-01 -2.29373895e-04 -1.48159884e+00] [ 2.89841048e-03 -1.33431598e-04 9.99995791e-01 -2.64093159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.965898227 meters Centerline goodness [0,1] 0.9993903720832458 Centerline is valid? [True, True] Translation: X:57.02, Y:-1.48, Z:-0.26 [[ 9.92063769e-01 -1.25673442e-01 -3.95777914e-03 5.70228479e+01] [ 1.25673189e-01 9.92071646e-01 -3.13629606e-04 -1.48350663e+00] [ 3.96581538e-03 -1.86246157e-04 9.99992119e-01 -2.64453734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99589822699998 meters Centerline goodness [0,1] 0.9995578761210998 Centerline is valid? [True, True] Translation: X:57.05, Y:-1.48, Z:-0.27 [[ 9.91987000e-01 -1.26249287e-01 -4.78639564e-03 5.70515825e+01] [ 1.26248918e-01 9.91998521e-01 -3.80345556e-04 -1.47875110e+00] [ 4.79611576e-03 -2.26979424e-04 9.99988473e-01 -2.65886208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02589822699998 meters Centerline goodness [0,1] 0.9994474668480109 Centerline is valid? [True, True] Translation: X:57.08, Y:-1.48, Z:-0.27 [[ 9.91884294e-01 -1.27020779e-01 -5.59186892e-03 5.70804828e+01] [ 1.27020283e-01 9.91900020e-01 -4.45203540e-04 -1.47680776e+00] [ 5.60312499e-03 -2.68690375e-04 9.99984266e-01 -2.68047197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05589822699999 meters Centerline goodness [0,1] 0.9864704133214391 Centerline is valid? [True, True] Translation: X:57.11, Y:-1.49, Z:-0.27 [[ 9.91739066e-01 -1.28116858e-01 -6.30049970e-03 5.71095258e+01] [ 1.28116251e-01 9.91759031e-01 -5.01535012e-04 -1.48651048e+00] [ 6.31283256e-03 -3.09804533e-04 9.99980026e-01 -2.72084185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08589822699999 meters Centerline goodness [0,1] 0.9983051206542234 Centerline is valid? [True, True] Translation: X:57.14, Y:-1.48, Z:-0.27 [[ 9.91567370e-01 -1.29447684e-01 -6.11944797e-03 5.71375317e+01] [ 1.29447128e-01 9.91586205e-01 -4.88438812e-04 -1.47704535e+00] [ 6.13118746e-03 -3.07824978e-04 9.99981157e-01 -2.71814362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11589822699999 meters Centerline goodness [0,1] 0.9925563008600206 Centerline is valid? [True, True] Translation: X:57.17, Y:-1.48, Z:-0.27 [[ 9.91116214e-01 -1.32881323e-01 -5.58600730e-03 5.71670948e+01] [ 1.32880916e-01 9.91131910e-01 -4.45581492e-04 -1.48295457e+00] [ 5.59567954e-03 -3.00650727e-04 9.99984299e-01 -2.72271958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14589822699999 meters Centerline goodness [0,1] 0.9876519716671953 Centerline is valid? [True, True] Translation: X:57.20, Y:-1.48, Z:-0.27 [[ 9.90857607e-01 -1.34750831e-01 -6.58911735e-03 5.71977378e+01] [ 1.34750306e-01 9.90879447e-01 -5.25546922e-04 -1.48401273e+00] [ 6.59983884e-03 -3.67143414e-04 9.99978153e-01 -2.73428329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17589822699999 meters Centerline goodness [0,1] 0.9760365157854698 Centerline is valid? [True, True] Translation: X:57.23, Y:-1.49, Z:-0.28 [[ 9.90656267e-01 -1.36170298e-01 -7.60333669e-03 5.72269292e+01] [ 1.36169638e-01 9.90685349e-01 -6.06796344e-04 -1.48509805e+00] [ 7.61514191e-03 -4.34217005e-04 9.99970910e-01 -2.75275783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20589822699999 meters Centerline goodness [0,1] 0.9667620329855268 Centerline is valid? [True, True] Translation: X:57.25, Y:-1.48, Z:-0.28 [[ 9.90581025e-01 -1.36654523e-01 -8.64721140e-03 5.72542692e+01] [ 1.36653679e-01 9.90618642e-01 -6.91136044e-04 -1.48496362e+00] [ 8.66053568e-03 -4.97047001e-04 9.99962373e-01 -2.77128880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23589822699999 meters Centerline goodness [0,1] 0.9802984697636238 Centerline is valid? [True, True] Translation: X:57.28, Y:-1.48, Z:-0.27 [[ 9.90907365e-01 -1.34342487e-01 -7.39522087e-03 5.72843041e+01] [ 1.34341807e-01 9.90934877e-01 -5.90945081e-04 -1.48007745e+00] [ 7.40757131e-03 -4.07915502e-04 9.99972480e-01 -2.74416115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.265898227 meters Centerline goodness [0,1] 0.9906668641933504 Centerline is valid? [True, True] Translation: X:57.31, Y:-1.47, Z:-0.27 [[ 9.91183062e-01 -1.32408708e-01 -4.90627854e-03 5.73143347e+01] [ 1.32408384e-01 9.91195171e-01 -3.92123635e-04 -1.47358976e+00] [ 4.91500018e-03 -2.60966108e-04 9.99987887e-01 -2.72424083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.295898227 meters Centerline goodness [0,1] 0.9993417560250557 Centerline is valid? [True, True] Translation: X:57.34, Y:-1.46, Z:-0.27 [[ 9.91505690e-01 -1.30032577e-01 -2.82756077e-03 5.73433798e+01] [ 1.30032460e-01 9.91509712e-01 -2.26034911e-04 -1.46071705e+00] [ 2.83294587e-03 -1.43559782e-04 9.99995977e-01 -2.65819714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.325898227 meters Centerline goodness [0,1] 0.997700072405128 Centerline is valid? [True, True] Translation: X:57.37, Y:-1.46, Z:-0.26 [[ 9.91767594e-01 -1.28048899e-01 -7.20133546e-04 5.73721728e+01] [ 1.28048891e-01 9.91767855e-01 -5.76396937e-05 -1.46015542e+00] [ 7.21586002e-04 -3.50471214e-05 9.99999739e-01 -2.62782829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35589822699998 meters Centerline goodness [0,1] 0.9990923674434313 Centerline is valid? [True, True] Translation: X:57.40, Y:-1.45, Z:-0.26 [[ 9.92040591e-01 -1.25915904e-01 8.06402127e-04 5.74015371e+01] [ 1.25915893e-01 9.92040918e-01 6.44506507e-05 -1.45064771e+00] [-8.08099269e-04 3.76011823e-05 9.99999673e-01 -2.60544291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38589822699998 meters Centerline goodness [0,1] 0.9995525727069351 Centerline is valid? [True, True] Translation: X:57.43, Y:-1.44, Z:-0.26 [[ 9.92253162e-01 -1.24231681e-01 3.89600005e-04 5.74308690e+01] [ 1.24231679e-01 9.92253238e-01 3.10991902e-05 -1.44288417e+00] [-3.90445371e-04 1.75423927e-05 9.99999924e-01 -2.59925405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41589822699999 meters Centerline goodness [0,1] 0.9996391424326045 Centerline is valid? [True, True] Translation: X:57.46, Y:-1.43, Z:-0.26 [[ 9.92456415e-01 -1.22595765e-01 -7.36431595e-04 5.74580563e+01] [ 1.22595755e-01 9.92456688e-01 -5.91040805e-05 -1.43337657e+00] [ 7.38122372e-04 -3.16251632e-05 9.99999727e-01 -2.61523522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44589822699999 meters Centerline goodness [0,1] 0.9996391424326045 Centerline is valid? [True, True] Translation: X:57.49, Y:-1.43, Z:-0.26 [[ 9.92433981e-01 -1.22777238e-01 -7.36393037e-04 5.74854649e+01] [ 1.22777227e-01 9.92434254e-01 -5.95850575e-05 -1.43099977e+00] [ 7.38137364e-04 -3.12780597e-05 9.99999727e-01 -2.61599419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47589822699999 meters Centerline goodness [0,1] 0.9996836510882403 Centerline is valid? [True, True] Translation: X:57.51, Y:-1.43, Z:-0.26 [[ 9.92377595e-01 -1.23231816e-01 -7.93211815e-04 5.75134312e+01] [ 1.23231804e-01 9.92377911e-01 -6.38398589e-05 -1.42676605e+00] [ 7.95032986e-04 -3.43956776e-05 9.99999683e-01 -2.61631912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50589822699999 meters Centerline goodness [0,1] 0.9995510038271579 Centerline is valid? [True, True] Translation: X:57.54, Y:-1.42, Z:-0.26 [[ 9.92266701e-01 -1.24118212e-01 -1.20987367e-03 5.75423622e+01] [ 1.24118185e-01 9.92267437e-01 -9.77618451e-05 -1.42247288e+00] [ 1.21265227e-03 -5.31615005e-05 9.99999263e-01 -2.61839803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53589822699999 meters Centerline goodness [0,1] 0.9992343846366517 Centerline is valid? [True, True] Translation: X:57.57, Y:-1.42, Z:-0.27 [[ 9.92174231e-01 -1.24848259e-01 -1.79118611e-03 5.75702197e+01] [ 1.24848202e-01 9.92175844e-01 -1.44345266e-04 -1.41850938e+00] [ 1.79519285e-03 -8.04107127e-05 9.99998385e-01 -2.65778288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56589822699999 meters Centerline goodness [0,1] 0.999124343257443 Centerline is valid? [True, True] Translation: X:57.60, Y:-1.41, Z:-0.26 [[ 9.92046389e-01 -1.25842797e-01 -2.74826626e-03 5.75985142e+01] [ 1.25842663e-01 9.92050188e-01 -2.22098676e-04 -1.41324466e+00] [ 2.75436758e-03 -1.25516956e-04 9.99996199e-01 -2.64801277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59589822699999 meters Centerline goodness [0,1] 0.9986661867761946 Centerline is valid? [True, True] Translation: X:57.63, Y:-1.41, Z:-0.27 [[ 9.91881730e-01 -1.27110116e-01 -3.69479248e-03 5.76279807e+01] [ 1.27109886e-01 9.91888597e-01 -2.98154438e-04 -1.40796147e+00] [ 3.70272098e-03 -1.73910711e-04 9.99993130e-01 -2.66601452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.625898227 meters Centerline goodness [0,1] 0.9874949490653112 Centerline is valid? [True, True] Translation: X:57.66, Y:-1.40, Z:-0.27 [[ 9.91346263e-01 -1.31156781e-01 -5.52141512e-03 5.76574907e+01] [ 1.31156328e-01 9.91361599e-01 -4.45486772e-04 -1.40454172e+00] [ 5.53214753e-03 -2.82536887e-04 9.99984658e-01 -2.70356335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.655898227 meters Centerline goodness [0,1] 0.9740635231089757 Centerline is valid? [True, True] Translation: X:57.69, Y:-1.40, Z:-0.27 [[ 9.91013535e-01 -1.33606672e-01 -6.43671087e-03 5.76876986e+01] [ 1.33606108e-01 9.91034378e-01 -5.19428092e-04 -1.40227798e+00] [ 6.44840081e-03 -3.45223617e-04 9.99979149e-01 -2.72334256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.685898227 meters Centerline goodness [0,1] 0.9527955810423343 Centerline is valid? [True, True] Translation: X:57.72, Y:-1.40, Z:-0.27 [[ 9.90696694e-01 -1.35912359e-01 -6.92040076e-03 5.77178533e+01] [ 1.35911762e-01 9.90720789e-01 -5.58568671e-04 -1.40088968e+00] [ 6.93210129e-03 -3.87191729e-04 9.99975898e-01 -2.73496089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.715898227 meters Centerline goodness [0,1] 0.9965005302226936 Centerline is valid? [True, True] Translation: X:57.75, Y:-1.38, Z:-0.27 [[ 9.90447629e-01 -1.37729175e-01 -6.64600489e-03 5.77456357e+01] [ 1.37728664e-01 9.90469852e-01 -5.36721107e-04 -1.38270191e+00] [ 6.65658963e-03 -3.83751228e-04 9.99977771e-01 -2.70786239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74589822699998 meters Centerline goodness [0,1] 0.9846362499735107 Centerline is valid? [True, True] Translation: X:57.77, Y:-1.38, Z:-0.27 [[ 9.90325540e-01 -1.38651464e-01 -5.57647869e-03 5.77734297e+01] [ 1.38651117e-01 9.90341186e-01 -4.50762618e-04 -1.38343815e+00] [ 5.58511542e-03 -3.26783265e-04 9.99984350e-01 -2.72091401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77589822699998 meters Centerline goodness [0,1] 0.9774376011943563 Centerline is valid? [True, True] Translation: X:57.80, Y:-1.38, Z:-0.27 [[ 9.90292596e-01 -1.38968611e-01 -2.88076105e-03 5.78014753e+01] [ 1.38968519e-01 9.90296772e-01 -2.33102133e-04 -1.37898566e+00] [ 2.88520225e-03 -1.69495780e-04 9.99995823e-01 -2.67273639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80589822699999 meters Centerline goodness [0,1] 0.9961345680061168 Centerline is valid? [True, True] Translation: X:57.83, Y:-1.37, Z:-0.27 [[ 9.90351746e-01 -1.38555632e-01 -2.39906788e-03 5.78298821e+01] [ 1.38555566e-01 9.90354642e-01 -1.94438602e-04 -1.36573316e+00] [ 2.40286858e-03 -1.39841599e-04 9.99997103e-01 -2.65380598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83589822699999 meters Centerline goodness [0,1] 0.9944166345783596 Centerline is valid? [True, True] Translation: X:57.86, Y:-1.36, Z:-0.27 [[ 9.90477867e-01 -1.37643848e-01 -2.78682009e-03 5.78575313e+01] [ 1.37643755e-01 9.90481775e-01 -2.26040059e-04 -1.36153689e+00] [ 2.79140754e-03 -1.59700706e-04 9.99996091e-01 -2.65629530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86589822699999 meters Centerline goodness [0,1] 0.9910714285714286 Centerline is valid? [True, True] Translation: X:57.89, Y:-1.36, Z:-0.27 [[ 9.90551582e-01 -1.37079924e-01 -4.08150767e-03 5.78854149e+01] [ 1.37079720e-01 9.90559963e-01 -3.31122046e-04 -1.35634335e+00] [ 4.08836828e-03 -2.31498462e-04 9.99991616e-01 -2.68328493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89589822699999 meters Centerline goodness [0,1] 0.9955682447692504 Centerline is valid? [True, True] Translation: X:57.91, Y:-1.34, Z:-0.27 [[ 9.90583906e-01 -1.36800932e-01 -5.38799450e-03 5.79136963e+01] [ 1.36800566e-01 9.90598513e-01 -4.38238884e-04 -1.34452998e+00] [ 5.39729082e-03 -3.02968309e-04 9.99985389e-01 -2.68327397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92589822699999 meters Centerline goodness [0,1] 0.9923006958986399 Centerline is valid? [True, True] Translation: X:57.94, Y:-1.34, Z:-0.27 [[ 9.90457367e-01 -1.37754157e-01 -4.24227377e-03 5.79417480e+01] [ 1.37753938e-01 9.90466422e-01 -3.45102339e-04 -1.34328114e+00] [ 4.24936900e-03 -2.42580764e-04 9.99990942e-01 -2.66862503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95589822699999 meters Centerline goodness [0,1] 0.9570612484044445 Centerline is valid? [True, True] Translation: X:57.97, Y:-1.35, Z:-0.26 [[ 9.90163577e-01 -1.39890243e-01 -2.60955675e-03 5.79714902e+01] [ 1.39890168e-01 9.90167004e-01 -2.12219612e-04 -1.34695359e+00] [ 2.61358444e-03 -1.54919201e-04 9.99996573e-01 -2.64923130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98589822699999 meters Centerline goodness [0,1] 0.9474255319148936 Centerline is valid? [True, False] Translation: X:57.93, Y:-1.35, Z:-0.27 [[ 9.90060869e-01 -1.40627391e-01 -1.84758983e-03 5.79268493e+01] [ 1.40625357e-01 9.90062168e-01 -1.18869440e-03 -1.35083046e+00] [ 1.99639178e-03 9.17061835e-04 9.99997587e-01 -2.65123411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.015898227 meters Centerline goodness [0,1] 0.8634361233480177 Centerline is valid? [False, False] Translation: X:57.93, Y:-1.35, Z:-0.27 [[ 9.90041611e-01 -1.40760727e-01 -2.00662283e-03 5.79277757e+01] [ 1.40759372e-01 9.90043512e-01 -8.01646799e-04 -1.35328477e+00] [ 2.09948431e-03 5.11212717e-04 9.99997665e-01 -2.65660442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.045898227 meters Centerline goodness [0,1] 0.7265613371042168 Centerline is valid? [False, False] Translation: X:57.93, Y:-1.36, Z:-0.27 [[ 9.89370440e-01 -1.45401675e-01 -2.11807099e-03 5.79315186e+01] [ 1.45391361e-01 9.89364419e-01 -4.40446995e-03 -1.35803654e+00] [ 2.73596138e-03 4.04970315e-03 9.99988057e-01 -2.67771315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.075898227 meters Centerline goodness [0,1] 0.626621029805689 Centerline is valid? [False, False] Translation: X:57.93, Y:-1.36, Z:-0.27 [[ 9.89365049e-01 -1.45436572e-01 -2.23692210e-03 5.79326644e+01] [ 1.45428377e-01 9.89362692e-01 -3.47156062e-03 -1.36337090e+00] [ 2.71801915e-03 3.10932880e-03 9.99991472e-01 -2.68624317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10589822699998 meters Centerline goodness [0,1] 0.7009717881758637 Centerline is valid? [False, False] Translation: X:57.93, Y:-1.37, Z:-0.27 [[ 9.89362219e-01 -1.45457619e-01 -2.11696884e-03 5.79325000e+01] [ 1.45451827e-01 9.89361725e-01 -2.67272815e-03 -1.36794115e+00] [ 2.48321662e-03 2.33637926e-03 9.99994187e-01 -2.68525038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13589822699998 meters Centerline goodness [0,1] 0.5886591478696741 Centerline is valid? [False, False] Translation: X:57.95, Y:-1.37, Z:-0.27 [[ 9.89100981e-01 -1.47226343e-01 1.91144280e-03 5.79543223e+01] [ 1.47209828e-01 9.89080655e-01 6.98026493e-03 -1.37343547e+00] [-2.91824998e-03 -6.62280372e-03 9.99973811e-01 -2.72965826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16589822699999 meters Centerline goodness [0,1] 0.6219856799881021 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.38, Z:-0.27 [[ 9.89216404e-01 -1.46424400e-01 3.28660585e-03 5.78878670e+01] [ 1.46435177e-01 9.89214698e-01 -3.31955064e-03 -1.37768449e+00] [-2.76509560e-03 3.76502865e-03 9.99989089e-01 -2.70167472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19589822699999 meters Centerline goodness [0,1] 0.594268284933596 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.38, Z:-0.27 [[ 9.89294313e-01 -1.45900548e-01 3.12940304e-03 5.78889725e+01] [ 1.45906753e-01 9.89296609e-01 -1.85454606e-03 -1.38479720e+00] [-2.82532853e-03 2.29129290e-03 9.99993384e-01 -2.70838810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22589822699999 meters Centerline goodness [0,1] 0.5650716694772344 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.39, Z:-0.27 [[ 9.89915494e-01 -1.41631668e-01 2.79017417e-03 5.78887918e+01] [ 1.41620925e-01 9.89913928e-01 3.73217277e-03 -1.39240955e+00] [-3.29062613e-03 -3.29938860e-03 9.99989143e-01 -2.71345977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25589822699999 meters Centerline goodness [0,1] 0.6008732694355697 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.40, Z:-0.27 [[ 9.89969254e-01 -1.41256550e-01 2.73185485e-03 5.78891099e+01] [ 1.41243337e-01 9.89964491e-01 4.54163052e-03 -1.39617405e+00] [-3.34597436e-03 -4.11021828e-03 9.99985955e-01 -2.71337934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28589822699999 meters Centerline goodness [0,1] 0.5761346230512601 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.40, Z:-0.27 [[ 9.90020659e-01 -1.40898798e-01 2.57343152e-03 5.78896220e+01] [ 1.40883804e-01 9.90011986e-01 5.29341939e-03 -1.39968596e+00] [-3.29356448e-03 -4.87803974e-03 9.99982678e-01 -2.71171445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31589822699999 meters Centerline goodness [0,1] 0.6085353003161222 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.40, Z:-0.27 [[ 9.90070107e-01 -1.40553747e-01 2.41383098e-03 5.78903301e+01] [ 1.40537107e-01 9.90056891e-01 6.05586636e-03 -1.40322566e+00] [-3.24100470e-03 -5.65649943e-03 9.99978750e-01 -2.71297423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34589822699999 meters Centerline goodness [0,1] 0.571419483438653 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.41, Z:-0.27 [[ 9.90124739e-01 -1.40173052e-01 2.12515928e-03 5.78916664e+01] [ 1.40155318e-01 9.90105045e-01 6.96324936e-03 -1.40752017e+00] [-3.08019083e-03 -6.59663308e-03 9.99973498e-01 -2.71775573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.375898227 meters Centerline goodness [0,1] 0.5446647266941612 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.42, Z:-0.27 [[ 9.90248895e-01 -1.39301130e-01 1.52325190e-03 5.78946422e+01] [ 1.39281642e-01 9.90210479e-01 9.15591334e-03 -1.41769783e+00] [-2.78376907e-03 -8.85447205e-03 9.99956924e-01 -2.72879477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.405898227 meters Centerline goodness [0,1] 0.5559306299843876 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.42, Z:-0.27 [[ 9.90012677e-01 -1.40959504e-01 2.30594038e-03 5.78897864e+01] [ 1.40938621e-01 9.89989537e-01 7.55132980e-03 -1.42029411e+00] [-3.34728855e-03 -7.15091618e-03 9.99968830e-01 -2.68803127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.435898227 meters Centerline goodness [0,1] 0.558101369690084 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.42, Z:-0.27 [[ 9.90068157e-01 -1.40568940e-01 2.32747529e-03 5.78895227e+01] [ 1.40544643e-01 9.90037824e-01 8.50354631e-03 -1.42488202e+00] [-3.49962307e-03 -8.09197624e-03 9.99961136e-01 -2.68199909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.465898227 meters Centerline goodness [0,1] 0.5800453324378778 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.43, Z:-0.27 [[ 9.90125029e-01 -1.40167622e-01 2.33756849e-03 5.78892635e+01] [ 1.40139714e-01 9.90086222e-01 9.49391392e-03 -1.42963683e+00] [-3.64513369e-03 -9.07257562e-03 9.99952200e-01 -2.67541411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49589822699998 meters Centerline goodness [0,1] 0.5354825247782995 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.44, Z:-0.27 [[ 9.90182662e-01 -1.39759325e-01 2.37205242e-03 5.78890777e+01] [ 1.39726937e-01 9.90133245e-01 1.06084589e-02 -1.43504058e+00] [-3.83127902e-03 -1.01728725e-02 9.99940915e-01 -2.67113704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52589822699998 meters Centerline goodness [0,1] 0.5612140240711669 Centerline is valid? [False, False] Translation: X:57.89, Y:-1.44, Z:-0.27 [[ 9.89677187e-01 -1.43287481e-01 2.78617772e-03 5.78896773e+01] [ 1.43262754e-01 9.89655129e-01 7.64913674e-03 -1.44092472e+00] [-3.85338061e-03 -7.17102064e-03 9.99966863e-01 -2.66782579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55589822699999 meters Centerline goodness [0,1] 0.5717283924445105 Centerline is valid? [False, False] Translation: X:57.85, Y:-1.44, Z:-0.27 [[ 9.90112560e-01 -1.40193298e-01 4.79152276e-03 5.78511819e+01] [ 1.40227703e-01 9.90088436e-01 -7.81532101e-03 -1.44400481e+00] [-3.64837565e-03 8.40995172e-03 9.99957980e-01 -2.70222757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58589822699999 meters Centerline goodness [0,1] 0.5771967460334317 Centerline is valid? [False, False] Translation: X:57.85, Y:-1.45, Z:-0.27 [[ 9.90720784e-01 -1.35844739e-01 4.30526989e-03 5.78515480e+01] [ 1.35855089e-01 9.90726256e-01 -2.20914457e-03 -1.45127232e+00] [-3.96524326e-03 2.77353826e-03 9.99988292e-01 -2.70944314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61589822699999 meters Centerline goodness [0,1] 0.6295916185589052 Centerline is valid? [False, False] Translation: X:57.85, Y:-1.46, Z:-0.27 [[ 9.91307496e-01 -1.31509848e-01 3.82216703e-03 5.78518066e+01] [ 1.31497577e-01 9.91310990e-01 3.30266171e-03 -1.45807731e+00] [-4.22328872e-03 -2.77134760e-03 9.99987242e-01 -2.71381751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64589822699999 meters Centerline goodness [0,1] 0.5593567679471362 Centerline is valid? [False, False] Translation: X:57.86, Y:-1.46, Z:-0.27 [[ 9.91055652e-01 -1.33413173e-01 3.10174137e-03 5.78576686e+01] [ 1.33410040e-01 9.91060204e-01 1.19689216e-03 -1.46119223e+00] [-3.23369362e-03 -7.72383302e-04 9.99994473e-01 -2.74009546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67589822699999 meters Centerline goodness [0,1] 0.5702762057606217 Centerline is valid? [False, False] Translation: X:57.86, Y:-1.46, Z:-0.27 [[ 9.91090818e-01 -1.33155616e-01 2.92800767e-03 5.78582799e+01] [ 1.33151102e-01 9.91094314e-01 1.68681501e-03 -1.46343831e+00] [-3.12654064e-03 -1.28191942e-03 9.99994291e-01 -2.73970963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70589822699999 meters Centerline goodness [0,1] 0.5237486107324847 Centerline is valid? [False, False] Translation: X:57.86, Y:-1.47, Z:-0.27 [[ 9.91672925e-01 -1.28760635e-01 2.34688957e-03 5.78586270e+01] [ 1.28741380e-01 9.91653138e-01 7.05057635e-03 -1.46939735e+00] [-3.23513709e-03 -6.68972387e-03 9.99972390e-01 -2.74023718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73589822699999 meters Centerline goodness [0,1] 0.5713448824169387 Centerline is valid? [False, False] Translation: X:57.86, Y:-1.47, Z:-0.27 [[ 9.91707761e-01 -1.28496459e-01 2.09218519e-03 5.78594480e+01] [ 1.28477820e-01 9.91684656e-01 7.41576332e-03 -1.47089928e+00] [-3.02768728e-03 -7.08547065e-03 9.99970314e-01 -2.73970937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.765898227 meters Centerline goodness [0,1] 0.6049335622099308 Centerline is valid? [False, False] Translation: X:57.82, Y:-1.47, Z:-0.28 [[ 9.92339024e-01 -1.23504044e-01 3.16435025e-03 5.78192216e+01] [ 1.23522083e-01 9.92321585e-01 -6.33768986e-03 -1.47230912e+00] [-2.35732273e-03 6.68000410e-03 9.99974910e-01 -2.75855053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.795898227 meters Centerline goodness [0,1] 0.6186551709564262 Centerline is valid? [False, False] Translation: X:57.82, Y:-1.48, Z:-0.28 [[ 9.92889060e-01 -1.19011839e-01 2.73803620e-03 5.78191107e+01] [ 1.19015239e-01 9.92891803e-01 -1.11385324e-03 -1.47708519e+00] [-2.58601197e-03 1.43180073e-03 9.99995631e-01 -2.75925803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.825898227 meters Centerline goodness [0,1] 0.7913348946135832 Centerline is valid? [False, False] Translation: X:57.82, Y:-1.48, Z:-0.27 [[ 9.93435553e-01 -1.14366496e-01 2.47106915e-03 5.78177193e+01] [ 1.14356726e-01 9.93432530e-01 3.78784249e-03 -1.47970186e+00] [-2.88804275e-03 -3.48039402e-03 9.99989773e-01 -2.74740295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85589822699998 meters Centerline goodness [0,1] 0.6554260803956911 Centerline is valid? [False, False] Translation: X:57.84, Y:-1.48, Z:-0.27 [[ 9.93984762e-01 -1.09509009e-01 1.43876774e-03 5.78364121e+01] [ 1.09511497e-01 9.93983932e-01 -1.78199285e-03 -1.47732864e+00] [-1.23496774e-03 1.92883534e-03 9.99997377e-01 -2.70617147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88589822699998 meters Centerline goodness [0,1] 0.8263041537349602 Centerline is valid? [False, False] Translation: X:57.82, Y:-1.48, Z:-0.27 [[ 9.94537119e-01 -1.04381390e-01 -6.66087637e-04 5.78171333e+01] [ 1.04371945e-01 9.94501643e-01 -8.54278290e-03 -1.47532386e+00] [ 1.55413280e-03 8.42659384e-03 9.99963288e-01 -2.70601809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91589822699999 meters Centerline goodness [0,1] 0.9627130154283653 Centerline is valid? [False, True] Translation: X:57.82, Y:-1.48, Z:-0.27 [[ 9.95388067e-01 -9.59194383e-02 -1.43445647e-03 5.78172159e+01] [ 9.59202721e-02 9.95388882e-01 5.24058790e-04 -1.47834950e+00] [ 1.37757460e-03 -6.59235321e-04 9.99998834e-01 -2.71025821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94589822699999 meters Centerline goodness [0,1] 0.986355187563366 Centerline is valid? [True, True] Translation: X:57.85, Y:-1.47, Z:-0.27 [[ 9.95795406e-01 -9.15904174e-02 -1.64439415e-03 5.78467312e+01] [ 9.15904518e-02 9.95796759e-01 -5.45066711e-05 -1.46905869e+00] [ 1.64247465e-03 -9.63333102e-05 9.99998646e-01 -2.72063966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97589822699999 meters Centerline goodness [0,1] 0.9979602994364538 Centerline is valid? [True, True] Translation: X:57.88, Y:-1.45, Z:-0.27 [[ 9.96406297e-01 -8.46814717e-02 -1.88134147e-03 5.78767899e+01] [ 8.46815047e-02 9.96408068e-01 -6.22597197e-05 -1.45425496e+00] [ 1.87985606e-03 -9.72788495e-05 9.99998228e-01 -2.74052393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00589822699999 meters Centerline goodness [0,1] 0.9981914893617021 Centerline is valid? [True, True] Translation: X:57.91, Y:-1.45, Z:-0.27 [[ 9.96505157e-01 -8.35091004e-02 -1.92417676e-03 5.79057215e+01] [ 8.35091321e-02 9.96507010e-01 -6.40037135e-05 -1.45065833e+00] [ 1.92280052e-03 -9.69063005e-05 9.99998147e-01 -2.74676434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03589822699999 meters Centerline goodness [0,1] 0.9924943602285425 Centerline is valid? [True, True] Translation: X:57.93, Y:-1.45, Z:-0.28 [[ 9.96463834e-01 -8.40034750e-02 -1.80094021e-03 5.79336633e+01] [ 8.40035032e-02 9.96465457e-01 -6.00880894e-05 -1.45372535e+00] [ 1.79962232e-03 -9.14096788e-05 9.99998377e-01 -2.75814853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06589822699999 meters Centerline goodness [0,1] 0.990575029122101 Centerline is valid? [True, True] Translation: X:57.96, Y:-1.45, Z:-0.27 [[ 9.96337867e-01 -8.54928712e-02 -1.35040668e-03 5.79635682e+01] [ 8.54928886e-02 9.96338780e-01 -4.49744498e-05 -1.45195894e+00] [ 1.34930754e-03 -7.06404208e-05 9.99999087e-01 -2.74446742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09589822699999 meters Centerline goodness [0,1] 0.978315683308119 Centerline is valid? [True, True] Translation: X:57.99, Y:-1.45, Z:-0.27 [[ 9.96153019e-01 -8.76223697e-02 -1.21772278e-03 5.79930353e+01] [ 8.76223855e-02 9.96153761e-01 -4.05322407e-05 -1.45318224e+00] [ 1.21659066e-03 -6.63234610e-05 9.99999258e-01 -2.74237423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.125898227 meters Centerline goodness [0,1] 0.939205745669624 Centerline is valid? [True, False] Translation: X:57.99, Y:-1.45, Z:-0.27 [[ 9.96087617e-01 -8.83671738e-02 -8.37446137e-04 5.79920305e+01] [ 8.83666683e-02 9.96087820e-01 -6.22566503e-04 -1.45159935e+00] [ 8.89184339e-04 5.46128460e-04 9.99999456e-01 -2.74423544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.155898227 meters Centerline goodness [0,1] 0.8996028660881259 Centerline is valid? [False, False] Translation: X:57.99, Y:-1.45, Z:-0.27 [[ 9.96385929e-01 -8.49349614e-02 -1.06413957e-03 5.79920401e+01] [ 8.49383297e-02 9.96379447e-01 3.67120136e-03 -1.45371342e+00] [ 7.48473448e-04 -3.74831962e-03 9.99992695e-01 -2.74925774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.185898227 meters Centerline goodness [0,1] 0.9742418745598498 Centerline is valid? [False, True] Translation: X:57.99, Y:-1.45, Z:-0.28 [[ 9.95982920e-01 -8.95400788e-02 -7.73319178e-04 5.79923941e+01] [ 8.95386235e-02 9.95981819e-01 -1.74692363e-03 -1.44799249e+00] [ 9.26631521e-04 1.67066416e-03 9.99998175e-01 -2.75311534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21589822699998 meters Centerline goodness [0,1] 0.9131360896329904 Centerline is valid? [True, False] Translation: X:57.99, Y:-1.45, Z:-0.28 [[ 9.96316311e-01 -8.57484031e-02 -1.00993888e-03 5.79925361e+01] [ 8.57509383e-02 9.96312633e-01 2.81332877e-03 -1.45069674e+00] [ 7.64976410e-04 -2.88956855e-03 9.99995533e-01 -2.76044328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24589822699998 meters Centerline goodness [0,1] 0.8930292799966028 Centerline is valid? [False, False] Translation: X:57.99, Y:-1.45, Z:-0.28 [[ 9.96630528e-01 -8.20110306e-02 -1.33495338e-03 5.79927640e+01] [ 8.20186930e-02 9.96603427e-01 7.38532025e-03 -1.45382529e+00] [ 7.24741392e-04 -7.46992675e-03 9.99971837e-01 -2.76438373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27589822699998 meters Centerline goodness [0,1] 0.7059521539211324 Centerline is valid? [False, False] Translation: X:57.99, Y:-1.45, Z:-0.28 [[ 9.96607791e-01 -8.22881288e-02 -1.25485373e-03 5.79922984e+01] [ 8.22949844e-02 9.96582877e-01 7.07848879e-03 -1.45279443e+00] [ 6.68090141e-04 -7.15774525e-03 9.99974160e-01 -2.76075155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30589822699999 meters Centerline goodness [0,1] 0.7081900824703128 Centerline is valid? [False, False] Translation: X:57.99, Y:-1.45, Z:-0.28 [[ 9.96593224e-01 -8.24646026e-02 -1.23923387e-03 5.79921318e+01] [ 8.24711925e-02 9.96569891e-01 6.85232011e-03 -1.45195601e+00] [ 6.69909309e-04 -6.93117688e-03 9.99975755e-01 -2.75944234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33589822699999 meters Centerline goodness [0,1] 0.7081900824703128 Centerline is valid? [False, False] Translation: X:57.99, Y:-1.45, Z:-0.28 [[ 9.96593224e-01 -8.24646026e-02 -1.23923387e-03 5.79921318e+01] [ 8.24711925e-02 9.96569891e-01 6.85232011e-03 -1.45195601e+00] [ 6.69909309e-04 -6.93117688e-03 9.99975755e-01 -2.75944234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36589822699999 meters Centerline goodness [0,1] 0.6893179003117926 Centerline is valid? [False, False] Translation: X:57.99, Y:-1.45, Z:-0.28 [[ 9.96210729e-01 -8.69673843e-02 -9.26023764e-04 5.79921200e+01] [ 8.69688171e-02 9.96209685e-01 1.63945645e-03 -1.44724004e+00] [ 7.79934604e-04 -1.71377929e-03 9.99998227e-01 -2.75846339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39589822699999 meters Centerline goodness [0,1] 0.5717975315959947 Centerline is valid? [False, False] Translation: X:57.99, Y:-1.45, Z:-0.28 [[ 9.96185869e-01 -8.72515259e-02 -9.41203179e-04 5.79926907e+01] [ 8.72532586e-02 9.96184172e-01 1.99126737e-03 -1.44987475e+00] [ 7.63870593e-04 -2.06579546e-03 9.99997574e-01 -2.76612492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42589822699999 meters Centerline goodness [0,1] 0.6260516636367479 Centerline is valid? [False, False] Translation: X:57.99, Y:-1.45, Z:-0.28 [[ 9.96191219e-01 -8.71898840e-02 -9.89853094e-04 5.79931681e+01] [ 8.71920857e-02 9.96188490e-01 2.45608285e-03 -1.45238331e+00] [ 7.71934680e-04 -2.53303552e-03 9.99996494e-01 -2.77073610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45589822699999 meters Centerline goodness [0,1] 0.6070404451102076 Centerline is valid? [False, False] Translation: X:57.99, Y:-1.45, Z:-0.28 [[ 9.96197730e-01 -8.71155179e-02 -9.84132367e-04 5.79933810e+01] [ 8.71180135e-02 9.96193870e-01 2.86785530e-03 -1.45456810e+00] [ 7.30551932e-04 -2.94268660e-03 9.99995403e-01 -2.77355968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48589822699999 meters Centerline goodness [0,1] 0.5843826072357928 Centerline is valid? [False, False] Translation: X:58.01, Y:-1.45, Z:-0.28 [[ 9.96234622e-01 -8.66964074e-02 5.56900497e-04 5.80136436e+01] [ 8.66981550e-02 9.96207351e-01 -7.37185449e-03 -1.45288700e+00] [ 8.43249314e-05 7.39237892e-03 9.99972672e-01 -2.76582426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.515898227 meters Centerline goodness [0,1] 0.6468242969532866 Centerline is valid? [False, False] Translation: X:58.01, Y:-1.45, Z:-0.28 [[ 9.96234403e-01 -8.66980737e-02 6.76657126e-04 5.80132247e+01] [ 8.67007058e-02 9.96207393e-01 -7.33609545e-03 -1.45302499e+00] [-3.80654876e-05 7.36713733e-03 9.99972862e-01 -2.76509980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.545898227 meters Centerline goodness [0,1] 0.5042004421518054 Centerline is valid? [False, False] Translation: X:58.03, Y:-1.45, Z:-0.28 [[ 9.96333006e-01 -8.54771544e-02 3.76779249e-03 5.80340867e+01] [ 8.55284256e-02 9.96196535e-01 -1.66538891e-02 -1.45011288e+00] [-2.32993477e-03 1.69150728e-02 9.99854215e-01 -2.77806463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.575898227 meters Centerline goodness [0,1] 0.6773554774832322 Centerline is valid? [False, False] Translation: X:58.03, Y:-1.45, Z:-0.28 [[ 9.96694033e-01 -8.11726390e-02 3.46521024e-03 5.80337935e+01] [ 8.12082765e-02 9.96627077e-01 -1.18188154e-02 -1.45311920e+00] [-2.49415792e-03 1.20611465e-02 9.99924151e-01 -2.77524644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60589822699998 meters Centerline goodness [0,1] 0.7344511475128277 Centerline is valid? [False, False] Translation: X:58.03, Y:-1.46, Z:-0.28 [[ 9.97348584e-01 -7.27128858e-02 2.93901145e-03 5.80335876e+01] [ 7.27199141e-02 9.97349611e-01 -2.35963464e-03 -1.45846542e+00] [-2.75964609e-03 2.56710293e-03 9.99992897e-01 -2.77650988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63589822699998 meters Centerline goodness [0,1] 0.6769662921348314 Centerline is valid? [False, False] Translation: X:58.06, Y:-1.46, Z:-0.28 [[ 9.97481030e-01 -7.07920042e-02 4.48178749e-03 5.80559825e+01] [ 7.08393693e-02 9.97421682e-01 -1.14791599e-02 -1.45531229e+00] [-3.65759929e-03 1.17677312e-02 9.99924068e-01 -2.78387863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66589822699999 meters Centerline goodness [0,1] 0.6879506099752627 Centerline is valid? [False, False] Translation: X:58.06, Y:-1.46, Z:-0.28 [[ 9.97773986e-01 -6.65383588e-02 4.44066389e-03 5.80552008e+01] [ 6.65680873e-02 9.97757881e-01 -6.92101095e-03 -1.45676259e+00] [-3.97019468e-03 7.20121119e-03 9.99966189e-01 -2.78408755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69589822699999 meters Centerline goodness [0,1] 0.6806807863673796 Centerline is valid? [False, False] Translation: X:58.05, Y:-1.46, Z:-0.28 [[ 9.98225393e-01 -5.93189397e-02 5.22760392e-03 5.80501636e+01] [ 5.93154851e-02 9.98238955e-01 8.13539552e-04 -1.45658569e+00] [-5.26665618e-03 -5.02017977e-04 9.99986005e-01 -2.76958983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72589822699999 meters Centerline goodness [0,1] 0.8852974950027644 Centerline is valid? [False, False] Translation: X:58.05, Y:-1.46, Z:-0.28 [[ 9.98467073e-01 -5.51227890e-02 4.99815307e-03 5.80503878e+01] [ 5.50966139e-02 9.98467322e-01 5.23166909e-03 -1.45741874e+00] [-5.27887670e-03 -4.94826801e-03 9.99973824e-01 -2.77394745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75589822699999 meters Centerline goodness [0,1] 0.711563648654358 Centerline is valid? [False, False] Translation: X:58.05, Y:-1.45, Z:-0.28 [[ 9.98460534e-01 -5.52724074e-02 4.63918865e-03 5.80516793e+01] [ 5.52510982e-02 9.98461885e-01 4.60231208e-03 -1.45411496e+00] [-4.88643391e-03 -4.33890671e-03 9.99978648e-01 -2.77786343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78589822699999 meters Centerline goodness [0,1] 0.8327405167089093 Centerline is valid? [False, False] Translation: X:58.05, Y:-1.45, Z:-0.28 [[ 9.98453281e-01 -5.54238125e-02 4.38717607e-03 5.80526466e+01] [ 5.54059597e-02 9.98455527e-01 4.09141864e-03 -1.45148193e+00] [-4.60716222e-03 -3.84201466e-03 9.99982006e-01 -2.78190656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81589822699999 meters Centerline goodness [0,1] 0.7974499166156509 Centerline is valid? [False, False] Translation: X:58.05, Y:-1.45, Z:-0.28 [[ 9.98441997e-01 -5.56374578e-02 4.24883519e-03 5.80529511e+01] [ 5.56224596e-02 9.98445490e-01 3.57019405e-03 -1.44897079e+00] [-4.44086685e-03 -3.32830101e-03 9.99984600e-01 -2.78032332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84589822699999 meters Centerline goodness [0,1] 0.89541605341183 Centerline is valid? [False, False] Translation: X:58.05, Y:-1.45, Z:-0.28 [[ 9.98410798e-01 -5.61562253e-02 4.72827406e-03 5.80503864e+01] [ 5.61442324e-02 9.98419199e-01 2.63216110e-03 -1.44502205e+00] [-4.86861183e-03 -2.36251274e-03 9.99985357e-01 -2.76257836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.875898227 meters Centerline goodness [0,1] 0.8697576441049428 Centerline is valid? [False, False] Translation: X:58.05, Y:-1.44, Z:-0.28 [[ 9.98398795e-01 -5.63534142e-02 4.91311174e-03 5.80494191e+01] [ 5.63432430e-02 9.98409067e-01 2.18472535e-03 -1.44292928e+00] [-5.02841204e-03 -1.90440651e-03 9.99985544e-01 -2.75610729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.905898227 meters Centerline goodness [0,1] 0.8543069000149582 Centerline is valid? [False, False] Translation: X:58.05, Y:-1.44, Z:-0.28 [[ 9.98616252e-01 -5.23549037e-02 4.95437021e-03 5.80486811e+01] [ 5.23218587e-02 9.98608597e-01 6.57975103e-03 -1.44416188e+00] [-5.29195892e-03 -6.31142445e-03 9.99966080e-01 -2.75715279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.935898227 meters Centerline goodness [0,1] 0.8641446181918483 Centerline is valid? [False, False] Translation: X:58.05, Y:-1.44, Z:-0.28 [[ 9.98560250e-01 -5.34478673e-02 4.55543448e-03 5.80515705e+01] [ 5.34253109e-02 9.98559642e-01 4.93729457e-03 -1.43922795e+00] [-4.81276089e-03 -4.68681060e-03 9.99977435e-01 -2.77545096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96589822699998 meters Centerline goodness [0,1] 0.867754500473734 Centerline is valid? [False, False] Translation: X:58.05, Y:-1.44, Z:-0.28 [[ 9.98553653e-01 -5.35970595e-02 4.23769864e-03 5.80527158e+01] [ 5.35790401e-02 9.98554537e-01 4.25719992e-03 -1.43563997e+00] [-4.45974660e-03 -4.02399070e-03 9.99981959e-01 -2.77911579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99589822699998 meters Centerline goodness [0,1] 0.9402038313528143 Centerline is valid? [False, False] Translation: X:58.05, Y:-1.43, Z:-0.28 [[ 9.98547742e-01 -5.37273078e-02 3.97291040e-03 5.80535845e+01] [ 5.37133004e-02 9.98550080e-01 3.55225000e-03 -1.43189817e+00] [-4.15800283e-03 -3.33369308e-03 9.99985799e-01 -2.78057539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02589822699998 meters Centerline goodness [0,1] 0.9417054458558671 Centerline is valid? [False, False] Translation: X:58.07, Y:-1.42, Z:-0.28 [[ 9.98794278e-01 -4.87887708e-02 5.44476583e-03 5.80717009e+01] [ 4.88049677e-02 9.98804168e-01 -2.88255314e-03 -1.42475924e+00] [-5.29761858e-03 3.14480920e-03 9.99981023e-01 -2.76135759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05589822699999 meters Centerline goodness [0,1] 0.965710080941869 Centerline is valid? [False, True] Translation: X:58.07, Y:-1.42, Z:-0.28 [[ 9.98986704e-01 -4.46692542e-02 5.49752870e-03 5.80708781e+01] [ 4.46623857e-02 9.99001204e-01 1.36593384e-03 -1.42481500e+00] [-5.55305304e-03 -1.11901700e-03 9.99983956e-01 -2.76117941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08589822699999 meters Centerline goodness [0,1] 0.9701206544397886 Centerline is valid? [True, True] Translation: X:58.10, Y:-1.42, Z:-0.27 [[ 9.99043948e-01 -4.32234263e-02 6.55181053e-03 5.81009954e+01] [ 4.32249534e-02 9.99065361e-01 -9.15977794e-05 -1.42004511e+00] [-6.54172778e-03 3.74711912e-04 9.99978532e-01 -2.73025585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11589822699999 meters Centerline goodness [0,1] 0.9860071660270953 Centerline is valid? [True, True] Translation: X:58.13, Y:-1.41, Z:-0.27 [[ 9.99080115e-01 -4.22669195e-02 7.24091827e-03 5.81318331e+01] [ 4.22687589e-02 9.99106272e-01 -1.01108930e-04 -1.41313556e+00] [-7.23017330e-03 4.07080550e-04 9.99973779e-01 -2.72283159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14589822699999 meters Centerline goodness [0,1] 0.988394584139265 Centerline is valid? [True, True] Translation: X:58.16, Y:-1.41, Z:-0.27 [[ 9.99175483e-01 -4.01824741e-02 5.80707084e-03 5.81614453e+01] [ 4.01836223e-02 9.99192309e-01 -8.11340330e-05 -1.40638925e+00] [-5.79912035e-03 3.14416278e-04 9.99983136e-01 -2.74880898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17589822699999 meters Centerline goodness [0,1] 0.9942521475492673 Centerline is valid? [True, True] Translation: X:58.19, Y:-1.40, Z:-0.28 [[ 9.99223812e-01 -3.90988026e-02 4.80181177e-03 5.81924690e+01] [ 3.90995741e-02 9.99235317e-01 -6.68803340e-05 -1.40141454e+00] [-4.79552497e-03 2.54577218e-04 9.99988469e-01 -2.77151294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20589822699999 meters Centerline goodness [0,1] 0.9995759387655577 Centerline is valid? [True, True] Translation: X:58.22, Y:-1.39, Z:-0.28 [[ 9.99264685e-01 -3.80563820e-02 4.66907345e-03 5.82242892e+01] [ 3.80571006e-02 9.99275564e-01 -6.51229868e-05 -1.38852481e+00] [-4.66321266e-03 2.42766499e-04 9.99989098e-01 -2.76591526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23589822699999 meters Centerline goodness [0,1] 0.9930430409454759 Centerline is valid? [True, True] Translation: X:58.25, Y:-1.40, Z:-0.28 [[ 9.99309958e-01 -3.67748229e-02 5.21730603e-03 5.82543363e+01] [ 3.67757039e-02 9.99323542e-01 -7.29799533e-05 -1.39725540e+00] [-5.21109292e-03 2.64799696e-04 9.99986387e-01 -2.77065087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.265898227 meters Centerline goodness [0,1] 0.9987333755541482 Centerline is valid? [True, True] Translation: X:58.29, Y:-1.39, Z:-0.28 [[ 9.99333124e-01 -3.60454960e-02 5.83341091e-03 5.82863177e+01] [ 3.60465848e-02 9.99350107e-01 -8.15903751e-05 -1.38827504e+00] [-5.82667885e-03 2.91810506e-04 9.99982982e-01 -2.75594921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.295898227 meters Centerline goodness [0,1] 0.9974191653202963 Centerline is valid? [True, True] Translation: X:58.32, Y:-1.39, Z:-0.28 [[ 9.99353424e-01 -3.54033222e-02 6.27210569e-03 5.83171016e+01] [ 3.54045701e-02 9.99373058e-01 -8.80082734e-05 -1.38790856e+00] [-6.26505766e-03 3.10012575e-04 9.99980326e-01 -2.75820389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.325898227 meters Centerline goodness [0,1] 0.9987183796957727 Centerline is valid? [True, True] Translation: X:58.35, Y:-1.38, Z:-0.28 [[ 9.99374364e-01 -3.49615073e-02 5.34538063e-03 5.83490150e+01] [ 3.49624076e-02 9.99388625e-01 -7.50391676e-05 -1.38405354e+00] [-5.33948911e-03 2.61879597e-04 9.99985711e-01 -2.77143859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35589822699998 meters Centerline goodness [0,1] 0.9987464220796858 Centerline is valid? [True, True] Translation: X:58.38, Y:-1.38, Z:-0.28 [[ 9.99398953e-01 -3.43872698e-02 4.38721908e-03 5.83807169e+01] [ 3.43878714e-02 9.99408560e-01 -6.17398538e-05 -1.38287635e+00] [-4.38250124e-03 2.12569871e-04 9.99990374e-01 -2.78902412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38589822699998 meters Centerline goodness [0,1] 0.999007538484279 Centerline is valid? [True, True] Translation: X:58.41, Y:-1.38, Z:-0.28 [[ 9.99444093e-01 -3.31708683e-02 3.34638467e-03 5.84120724e+01] [ 3.31712116e-02 9.99449683e-01 -4.71151223e-05 -1.38102485e+00] [-3.34298024e-03 1.58092564e-04 9.99994400e-01 -2.80999245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41589822699999 meters Centerline goodness [0,1] 0.9998315221969506 Centerline is valid? [True, True] Translation: X:58.44, Y:-1.37, Z:-0.28 [[ 9.99576970e-01 -2.89289258e-02 2.99983145e-03 5.84429152e+01] [ 2.89291832e-02 9.99581463e-01 -4.24304717e-05 -1.37075452e+00] [-2.99734844e-03 1.29195196e-04 9.99995500e-01 -2.81713611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44589822699999 meters Centerline goodness [0,1] 0.9997476659096644 Centerline is valid? [True, True] Translation: X:58.47, Y:-1.37, Z:-0.28 [[ 9.99643065e-01 -2.64367410e-02 3.85235926e-03 5.84726340e+01] [ 2.64371470e-02 9.99650476e-01 -5.45030054e-05 -1.37067538e+00] [-3.84957189e-03 1.56328940e-04 9.99992578e-01 -2.81184451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47589822699999 meters Centerline goodness [0,1] 0.9998733776511555 Centerline is valid? [True, True] Translation: X:58.50, Y:-1.37, Z:-0.28 [[ 9.99707146e-01 -2.37864628e-02 4.45263825e-03 5.85034563e+01] [ 2.37869789e-02 9.99717048e-01 -6.29731958e-05 -1.36809551e+00] [-4.44988045e-03 1.68869566e-04 9.99990085e-01 -2.80126999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50589822699999 meters Centerline goodness [0,1] 0.9999579035992423 Centerline is valid? [True, True] Translation: X:58.53, Y:-1.37, Z:-0.28 [[ 9.99776721e-01 -2.06107431e-02 4.65881872e-03 5.85330020e+01] [ 2.06112741e-02 9.99787563e-01 -6.59924393e-05 -1.36679287e+00] [-4.65646886e-03 1.62001894e-04 9.99989145e-01 -2.79791479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53589822699999 meters Centerline goodness [0,1] 0.9997442237189871 Centerline is valid? [True, True] Translation: X:58.56, Y:-1.36, Z:-0.28 [[ 9.99831601e-01 -1.78651316e-02 4.19604187e-03 5.85643032e+01] [ 1.78655372e-02 9.99840397e-01 -5.91973289e-05 -1.36043870e+00] [-4.19431460e-03 1.34151902e-04 9.99991195e-01 -2.81833221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.59, Y:-1.36, Z:-0.28 [[ 9.99884780e-01 -1.46983546e-02 3.79273725e-03 5.85944278e+01] [ 1.46986637e-02 9.99891967e-01 -5.36489054e-05 -1.35870395e+00] [-3.79153896e-03 1.09390894e-04 9.99992806e-01 -2.80852772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59589822699999 meters Centerline goodness [0,1] 0.9999787870431259 Centerline is valid? [True, True] Translation: X:58.63, Y:-1.35, Z:-0.28 [[ 9.99949122e-01 -9.01245141e-03 4.53088725e-03 5.86256801e+01] [ 9.01283463e-03 9.99959382e-01 -6.41677773e-05 -1.35275409e+00] [-4.53012490e-03 1.05000650e-04 9.99989733e-01 -2.79779878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-1.35, Z:-0.28 [[ 9.99963753e-01 -6.13982552e-03 5.89882086e-03 5.86563423e+01] [ 6.14042472e-03 9.99981144e-01 -8.34738350e-05 -1.35126807e+00] [-5.89819712e-03 1.19692075e-04 9.99982598e-01 -2.77981386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.655898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-1.35, Z:-0.28 [[ 9.99969950e-01 -3.22093063e-03 7.05161141e-03 5.86879795e+01] [ 3.22171848e-03 9.99994805e-01 -1.00368945e-04 -1.34814885e+00] [-7.05125150e-03 1.23084235e-04 9.99975132e-01 -2.77194298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.685898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-1.35, Z:-0.28 [[ 9.99973534e-01 -2.37325288e-04 7.27150808e-03 5.87187703e+01] [ 2.38084184e-04 9.99999966e-01 -1.03500248e-04 -1.34820273e+00] [-7.27148327e-03 1.05228740e-04 9.99973557e-01 -2.77711063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.75, Y:-1.35, Z:-0.28 [[ 9.99976317e-01 2.17547372e-03 6.52943556e-03 5.87513371e+01] [-2.17490887e-03 9.99997631e-01 -9.36087449e-05 -1.34754923e+00] [-6.52962374e-03 7.94056006e-05 9.99978679e-01 -2.79723557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.78, Y:-1.35, Z:-0.28 [[ 9.99973292e-01 4.39495816e-03 5.83942840e-03 5.87821205e+01] [-4.39454260e-03 9.99990340e-01 -8.39933650e-05 -1.35022754e+00] [-5.83974114e-03 5.83295049e-05 9.99982947e-01 -2.82425826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.81, Y:-1.35, Z:-0.28 [[ 9.99962940e-01 7.14808763e-03 4.79828166e-03 5.88144177e+01] [-7.14783856e-03 9.99974451e-01 -6.90565265e-05 -1.35048862e+00] [-4.79865269e-03 3.47566247e-05 9.99988486e-01 -2.82790055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.85, Y:-1.35, Z:-0.28 [[ 9.99952868e-01 8.41296222e-03 4.84611338e-03 5.88455692e+01] [-8.41272453e-03 9.99964610e-01 -6.94314138e-05 -1.35226549e+00] [-4.84652600e-03 2.86591245e-05 9.99988255e-01 -2.83514146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.88, Y:-1.35, Z:-0.28 [[ 9.99937915e-01 1.00807841e-02 4.74804098e-03 5.88763801e+01] [-1.00805711e-02 9.99949187e-01 -6.87769105e-05 -1.35293557e+00] [-4.74849304e-03 2.09096757e-05 9.99988726e-01 -2.83676292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86589822699999 meters Centerline goodness [0,1] 0.9999157131719241 Centerline is valid? [True, True] Translation: X:58.91, Y:-1.35, Z:-0.28 [[ 9.99912285e-01 1.21428422e-02 5.28905229e-03 5.89078694e+01] [-1.21425984e-02 9.99926273e-01 -7.81903896e-05 -1.35267687e+00] [-5.28961180e-03 1.39606930e-05 9.99986010e-01 -2.84467040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.94, Y:-1.35, Z:-0.28 [[ 9.99795445e-01 1.88841395e-02 7.24275210e-03 5.89390843e+01] [-1.88838575e-02 9.99821678e-01 -1.07329944e-04 -1.34850189e+00] [-7.24348740e-03 -2.94631095e-05 9.99973765e-01 -2.80249708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.97, Y:-1.35, Z:-0.28 [[ 9.99725807e-01 2.19181849e-02 8.24041288e-03 5.89702886e+01] [-2.19179210e-02 9.99759766e-01 -1.22346035e-04 -1.34742305e+00] [-8.24111485e-03 -5.83002301e-05 9.99966040e-01 -2.79457950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.00, Y:-1.34, Z:-0.28 [[ 9.99665530e-01 2.42168788e-02 9.07580988e-03 5.90003037e+01] [-2.42166510e-02 9.99706725e-01 -1.35010375e-04 -1.34494512e+00] [-9.07641770e-03 -8.48205018e-05 9.99958805e-01 -2.79533456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.03, Y:-1.34, Z:-0.28 [[ 9.99623375e-01 2.58300414e-02 9.26916492e-03 5.90305517e+01] [-2.58298721e-02 9.99666344e-01 -1.38004198e-04 -1.34441813e+00] [-9.26963686e-03 -1.01469122e-04 9.99957031e-01 -2.79793758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.015898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.06, Y:-1.35, Z:-0.28 [[ 9.99594685e-01 2.69301385e-02 9.23214319e-03 5.90614868e+01] [-2.69300165e-02 9.99637312e-01 -1.37551435e-04 -1.34597825e+00] [-9.23249908e-03 -1.11126085e-04 9.99957373e-01 -2.80592621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.045898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.09, Y:-1.35, Z:-0.28 [[ 9.99568717e-01 2.86901349e-02 6.26553983e-03 5.90918067e+01] [-2.86901128e-02 9.99588350e-01 -9.34257693e-05 -1.34629715e+00] [-6.26564102e-03 -8.63735682e-05 9.99980367e-01 -2.84940414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.075898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.12, Y:-1.35, Z:-0.29 [[ 9.99552894e-01 2.95209928e-02 4.74594871e-03 5.91218555e+01] [-2.95209886e-02 9.99564158e-01 -7.09467201e-05 -1.34824816e+00] [-4.74597465e-03 -6.91900985e-05 9.99988735e-01 -2.87742884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.15, Y:-1.35, Z:-0.29 [[ 9.99527163e-01 3.04961122e-02 3.92913005e-03 5.91515062e+01] [-3.04961163e-02 9.99534884e-01 -5.88821831e-05 -1.34942206e+00] [-3.92909823e-03 -6.09688657e-05 9.99992279e-01 -2.88901470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.18, Y:-1.35, Z:-0.29 [[ 9.99475279e-01 3.21263593e-02 4.13092661e-03 5.91804628e+01] [-3.21263779e-02 9.99483813e-01 -6.18627938e-05 -1.34637758e+00] [-4.13078171e-03 -7.08813762e-05 9.99991466e-01 -2.90002079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.21, Y:-1.35, Z:-0.29 [[ 9.99414236e-01 3.38638008e-02 4.94249213e-03 5.92095882e+01] [-3.38638501e-02 9.99426453e-01 -7.37299121e-05 -1.34807144e+00] [-4.94215415e-03 -9.36850888e-05 9.99987783e-01 -2.89214505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.24, Y:-1.34, Z:-0.29 [[ 9.99351032e-01 3.55417251e-02 5.85674661e-03 5.92379421e+01] [-3.55418244e-02 9.99368186e-01 -8.71451154e-05 -1.34412912e+00] [-5.85614352e-03 -1.21070899e-04 9.99982845e-01 -2.88990211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.27, Y:-1.34, Z:-0.29 [[ 9.99216568e-01 3.89703583e-02 6.89650081e-03 5.92675773e+01] [-3.89705795e-02 9.99240353e-01 -1.02346402e-04 -1.34247954e+00] [-6.89525038e-03 -1.66494413e-04 9.99976214e-01 -2.88024862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.30, Y:-1.34, Z:-0.29 [[ 9.99217510e-01 3.89461918e-02 6.89650329e-03 5.92967439e+01] [-3.89464136e-02 9.99241295e-01 -1.02178944e-04 -1.34286686e+00] [-6.89525036e-03 -1.66495080e-04 9.99976214e-01 -2.88314405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.33, Y:-1.34, Z:-0.29 [[ 9.99181917e-01 3.98814552e-02 6.70575785e-03 5.93250441e+01] [-3.98816868e-02 9.99204404e-01 -9.92355943e-05 -1.33953425e+00] [-6.70438043e-03 -1.68282523e-04 9.99977511e-01 -2.88799605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31589822699999 meters Centerline goodness [0,1] 0.9999786939384255 Centerline is valid? [True, True] Translation: X:59.35, Y:-1.35, Z:-0.29 [[ 9.99185477e-01 3.98106337e-02 6.59521080e-03 5.93542526e+01] [-3.98108580e-02 9.99207229e-01 -9.73295032e-05 -1.34543395e+00] [-6.59385706e-03 -1.65310775e-04 9.99978247e-01 -2.89129100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.38, Y:-1.35, Z:-0.29 [[ 9.99247266e-01 3.81915149e-02 6.80504584e-03 5.93830851e+01] [-3.81917170e-02 9.99270425e-01 -1.00288100e-04 -1.34780864e+00] [-6.80391120e-03 -1.59683775e-04 9.99976840e-01 -2.89853917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.375898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.41, Y:-1.36, Z:-0.29 [[ 9.99415137e-01 3.33033768e-02 7.76328149e-03 5.94123975e+01] [-3.33034955e-02 9.99445278e-01 -1.14019571e-04 -1.35843317e+00] [-7.76277227e-03 -1.44591525e-04 9.99969859e-01 -2.88735423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.405898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.44, Y:-1.36, Z:-0.29 [[ 9.99473732e-01 3.13297567e-02 8.40864872e-03 5.94424233e+01] [-3.13298272e-02 9.99509093e-01 -1.23368757e-04 -1.36322785e+00] [-8.40838597e-03 -1.40137679e-04 9.99964639e-01 -2.87594202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.435898227 meters Centerline goodness [0,1] 0.9998939779474131 Centerline is valid? [True, True] Translation: X:59.47, Y:-1.37, Z:-0.29 [[ 9.99511747e-01 2.98751595e-02 9.15113541e-03 5.94736689e+01] [-2.98751823e-02 9.99553628e-01 -1.34243458e-04 -1.37254948e+00] [-9.15106115e-03 -1.39213925e-04 9.99958118e-01 -2.88528266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.50, Y:-1.37, Z:-0.29 [[ 9.99530227e-01 2.91443915e-02 9.48312188e-03 5.95043658e+01] [-2.91443808e-02 9.99575203e-01 -1.39358511e-04 -1.37386659e+00] [-9.48315499e-03 -1.37086671e-04 9.99955024e-01 -2.85369629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.54, Y:-1.38, Z:-0.29 [[ 9.99535171e-01 2.90618448e-02 9.21143070e-03 5.95360105e+01] [-2.90618302e-02 9.99577607e-01 -1.35465380e-04 -1.37860253e+00] [-9.21147673e-03 -1.32298624e-04 9.99957565e-01 -2.86027387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52589822699998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.57, Y:-1.39, Z:-0.29 [[ 9.99520797e-01 3.00529470e-02 7.41601602e-03 5.95676002e+01] [-3.00529639e-02 9.99548302e-01 -1.09187270e-04 -1.38527495e+00] [-7.41594762e-03 -1.13738315e-04 9.99972495e-01 -2.88669400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.60, Y:-1.39, Z:-0.29 [[ 9.99495518e-01 3.09759646e-02 7.01418330e-03 5.95975397e+01] [-3.09760010e-02 9.99520123e-01 -1.03463764e-04 -1.38817133e+00] [-7.01402225e-03 -1.13859781e-04 9.99975395e-01 -2.89821575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.63, Y:-1.39, Z:-0.29 [[ 9.99450676e-01 3.22142374e-02 7.78388723e-03 5.96275204e+01] [-3.22143190e-02 9.99480978e-01 -1.14924846e-04 -1.38931718e+00] [-7.78354943e-03 -1.35890911e-04 9.99969698e-01 -2.89293635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.66, Y:-1.39, Z:-0.29 [[ 9.99385909e-01 3.39684488e-02 8.59932542e-03 5.96583557e+01] [-3.39686123e-02 9.99422892e-01 -1.27079378e-04 -1.39493628e+00] [-8.59867937e-03 -1.65105811e-04 9.99963017e-01 -2.87079872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.69, Y:-1.40, Z:-0.29 [[ 9.99292415e-01 3.65419250e-02 8.90825531e-03 5.96892538e+01] [-3.65422017e-02 9.99332102e-01 -1.31758304e-04 -1.39574918e+00] [-8.90712021e-03 -1.93862188e-04 9.99960312e-01 -2.85903111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.72, Y:-1.39, Z:-0.29 [[ 9.99007284e-01 4.38332713e-02 7.94291367e-03 5.97187657e+01] [-4.38337205e-02 9.99038834e-01 -1.17607581e-04 -1.39149956e+00] [-7.94043433e-03 -2.30676628e-04 9.99968448e-01 -2.88199484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70589822699999 meters Centerline goodness [0,1] 0.9998298270617515 Centerline is valid? [True, True] Translation: X:59.75, Y:-1.39, Z:-0.29 [[ 9.98816756e-01 4.81477649e-02 6.84694140e-03 5.97482946e+01] [-4.81482003e-02 9.98840198e-01 -1.01331598e-04 -1.38691095e+00] [-6.84387919e-03 -2.28456208e-04 9.99976554e-01 -2.93284743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73589822699999 meters Centerline goodness [0,1] 0.9998509560107312 Centerline is valid? [True, True] Translation: X:59.78, Y:-1.38, Z:-0.29 [[ 9.98602894e-01 5.25354127e-02 5.68252403e-03 5.97786582e+01] [-5.25357838e-02 9.98619039e-01 -8.40480286e-05 -1.38110177e+00] [-5.67909218e-03 -2.14605249e-04 9.99983851e-01 -2.93686355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.765898227 meters Centerline goodness [0,1] 0.9974172241510713 Centerline is valid? [True, True] Translation: X:59.81, Y:-1.37, Z:-0.30 [[ 9.98342880e-01 5.73169259e-02 5.12490727e-03 5.98081803e+01] [-5.73172911e-02 9.98356010e-01 -7.56967549e-05 -1.36812852e+00] [-5.12082068e-03 -2.18174486e-04 9.99986865e-01 -2.96216647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.795898227 meters Centerline goodness [0,1] 0.9991017195654034 Centerline is valid? [True, True] Translation: X:59.84, Y:-1.37, Z:-0.30 [[ 9.98086022e-01 6.16857979e-02 4.37655934e-03 5.98386017e+01] [-6.16861060e-02 9.98095597e-01 -6.46687727e-05 -1.37125813e+00] [-4.37221375e-03 -2.05427906e-04 9.99990421e-01 -2.98691233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.825898227 meters Centerline goodness [0,1] 0.9855496228493941 Centerline is valid? [True, True] Translation: X:59.87, Y:-1.36, Z:-0.30 [[ 9.97686343e-01 6.78484798e-02 4.30630396e-03 5.98677362e+01] [-6.78488350e-02 9.97695611e-01 -6.37266812e-05 -1.36000415e+00] [-4.30070432e-03 -2.28598468e-04 9.99990726e-01 -2.97592947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85589822699998 meters Centerline goodness [0,1] 0.9849472312155741 Centerline is valid? [True, True] Translation: X:59.90, Y:-1.36, Z:-0.30 [[ 9.97600461e-01 6.90950797e-02 4.38068307e-03 5.98970731e+01] [-6.90954591e-02 9.97610051e-01 -6.48461253e-05 -1.35952543e+00] [-4.37469401e-03 -2.37994783e-04 9.99990403e-01 -2.97516371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88589822699998 meters Centerline goodness [0,1] 0.9817410666949422 Centerline is valid? [True, True] Translation: X:59.92, Y:-1.36, Z:-0.30 [[ 9.97625340e-01 6.87466635e-02 4.19255388e-03 5.99247191e+01] [-6.87470082e-02 9.97634124e-01 -6.19921302e-05 -1.35808047e+00] [-4.18689657e-03 -2.26380616e-04 9.99991209e-01 -2.97783375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91589822699999 meters Centerline goodness [0,1] 0.9960745204549313 Centerline is valid? [True, True] Translation: X:59.95, Y:-1.36, Z:-0.30 [[ 9.97866108e-01 6.52040561e-02 3.41493001e-03 5.99549335e+01] [-6.52042657e-02 9.97871936e-01 -5.00285895e-05 -1.36343250e+00] [-3.41092489e-03 -1.72746170e-04 9.99994168e-01 -3.00663252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94589822699999 meters Centerline goodness [0,1] 0.9995526013038476 Centerline is valid? [True, True] Translation: X:59.98, Y:-1.37, Z:-0.30 [[ 9.98028770e-01 6.26733667e-02 3.25929278e-03 5.99847964e+01] [-6.26735437e-02 9.98034080e-01 -4.78899434e-05 -1.37222352e+00] [-3.25588669e-03 -1.56475887e-04 9.99994687e-01 -3.00455044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97589822699999 meters Centerline goodness [0,1] 0.9997871706465756 Centerline is valid? [True, True] Translation: X:60.02, Y:-1.38, Z:-0.30 [[ 9.98188615e-01 6.00287919e-02 4.00413678e-03 6.00151952e+01] [-6.00290389e-02 9.98196629e-01 -5.85809029e-05 -1.37646174e+00] [-4.00043238e-03 -1.81889692e-04 9.99991982e-01 -3.00301808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00589822699999 meters Centerline goodness [0,1] 0.9997448816888832 Centerline is valid? [True, True] Translation: X:60.04, Y:-1.38, Z:-0.30 [[ 9.98326639e-01 5.76316073e-02 4.74553810e-03 6.00437825e+01] [-5.76319269e-02 9.98337897e-01 -6.94727773e-05 -1.37703772e+00] [-4.74165435e-03 -2.04137981e-04 9.99988737e-01 -3.00109880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03589822699999 meters Centerline goodness [0,1] 0.9997242432598689 Centerline is valid? [True, True] Translation: X:60.07, Y:-1.38, Z:-0.30 [[ 9.98390766e-01 5.64331022e-02 5.58420371e-03 6.00729825e+01] [-5.64335280e-02 9.98406355e-01 -8.14303415e-05 -1.37918578e+00] [-5.57989984e-03 -2.33837015e-04 9.99984405e-01 -2.98121584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06589822699999 meters Centerline goodness [0,1] 0.9997271945103141 Centerline is valid? [True, True] Translation: X:60.10, Y:-1.38, Z:-0.30 [[ 9.98418606e-01 5.59422751e-02 5.54522721e-03 6.01024322e+01] [-5.59426881e-02 9.98433978e-01 -8.07333294e-05 -1.38162183e+00] [-5.54105967e-03 -2.29609258e-04 9.99984622e-01 -2.99812320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09589822699999 meters Centerline goodness [0,1] 0.9997240852364377 Centerline is valid? [True, True] Translation: X:60.13, Y:-1.38, Z:-0.30 [[ 9.98226496e-01 5.92082165e-02 6.18466744e-03 6.01327811e+01] [-5.92087940e-02 9.98245616e-01 -8.98373978e-05 -1.38017600e+00] [-6.17913627e-03 -2.76508629e-04 9.99980871e-01 -2.96274576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.125898227 meters Centerline goodness [0,1] 0.9935790120578949 Centerline is valid? [True, True] Translation: X:60.16, Y:-1.37, Z:-0.30 [[ 9.98051788e-01 6.20019934e-02 6.95566176e-03 6.01621381e+01] [-6.20027922e-02 9.98075971e-01 -1.00952092e-04 -1.36828168e+00] [-6.94853809e-03 -3.30515035e-04 9.99975804e-01 -2.96440476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.155898227 meters Centerline goodness [0,1] 0.9944506104328524 Centerline is valid? [True, True] Translation: X:60.19, Y:-1.37, Z:-0.30 [[ 9.97851969e-01 6.50586896e-02 7.66908292e-03 6.01922029e+01] [-6.50597524e-02 9.97881364e-01 -1.11073679e-04 -1.37023382e+00] [-7.66006123e-03 -3.88113547e-04 9.99970586e-01 -2.95602851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.185898227 meters Centerline goodness [0,1] 0.9882908444143305 Centerline is valid? [True, True] Translation: X:60.22, Y:-1.37, Z:-0.29 [[ 9.97667852e-01 6.77387699e-02 8.38547796e-03 6.02225004e+01] [-6.77401359e-02 9.97702992e-01 -1.21339801e-04 -1.36915298e+00] [-8.37443586e-03 -4.46976599e-04 9.99964834e-01 -2.94287984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21589822699998 meters Centerline goodness [0,1] 0.9058200388283953 Centerline is valid? [True, False] Translation: X:60.22, Y:-1.36, Z:-0.29 [[ 9.97885269e-01 6.44581631e-02 8.37471104e-03 6.02215651e+01] [-6.44205650e-02 9.97911843e-01 -4.68451490e-03 -1.36450243e+00] [-8.65917855e-03 4.13510479e-03 9.99953959e-01 -2.93750853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24589822699998 meters Centerline goodness [0,1] 0.9782145643967354 Centerline is valid? [False, True] Translation: X:60.22, Y:-1.36, Z:-0.29 [[ 9.97885681e-01 6.44567073e-02 8.33672400e-03 6.02217291e+01] [-6.44188671e-02 9.97911734e-01 -4.73081962e-03 -1.36431942e+00] [-8.62424776e-03 4.18377485e-03 9.99954058e-01 -2.93817208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27589822699998 meters Centerline goodness [0,1] 0.9788666182315484 Centerline is valid? [True, True] Translation: X:60.25, Y:-1.37, Z:-0.29 [[ 9.97888959e-01 6.44362285e-02 8.09920128e-03 6.02505664e+01] [-6.44378691e-02 9.97921719e-01 -5.84983224e-05 -1.36683402e+00] [-8.08613828e-03 -4.63520442e-04 9.99967199e-01 -2.94721560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30589822699999 meters Centerline goodness [0,1] 0.9824829282775587 Centerline is valid? [True, True] Translation: X:60.28, Y:-1.37, Z:-0.30 [[ 9.97884872e-01 6.44589784e-02 8.41561060e-03 6.02785960e+01] [-6.44607539e-02 9.97920241e-01 -6.03710136e-05 -1.36556481e+00] [-8.40199962e-03 -4.82233283e-04 9.99964586e-01 -2.96018781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33589822699999 meters Centerline goodness [0,1] 0.8728465955701394 Centerline is valid? [True, False] Translation: X:60.28, Y:-1.36, Z:-0.30 [[ 9.97887446e-01 6.44148119e-02 8.44848341e-03 6.02783607e+01] [-6.44147608e-02 9.97923174e-01 -2.78439961e-04 -1.36441087e+00] [-8.44887304e-03 -2.66355297e-04 9.99964272e-01 -2.95756494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36589822699999 meters Centerline goodness [0,1] 0.8817349764315457 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.36, Z:-0.30 [[ 9.97884852e-01 6.44414074e-02 8.55149804e-03 6.02780418e+01] [-6.44360193e-02 9.97921431e-01 -9.04389771e-04 -1.36078249e+00] [-8.59200331e-03 3.51452359e-04 9.99963026e-01 -2.95583500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39589822699999 meters Centerline goodness [0,1] 0.7984972533832846 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.36, Z:-0.30 [[ 9.97888878e-01 6.43869522e-02 8.49163916e-03 6.02783445e+01] [-6.43770472e-02 9.97924615e-01 -1.43495794e-03 -1.35789881e+00] [-8.56640831e-03 8.85261915e-04 9.99962916e-01 -2.95685944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42589822699999 meters Centerline goodness [0,1] 0.833498848437467 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.35, Z:-0.30 [[ 9.97898408e-01 6.42540374e-02 8.37771587e-03 6.02790334e+01] [-6.42379382e-02 9.97932236e-01 -2.17708611e-03 -1.35400212e+00] [-8.50027931e-03 1.63434357e-03 9.99962536e-01 -2.96168286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45589822699999 meters Centerline goodness [0,1] 0.7405684210526315 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.35, Z:-0.30 [[ 9.97909207e-01 6.41197230e-02 8.11632636e-03 6.02802905e+01] [-6.40979755e-02 9.97939362e-01 -2.91209574e-03 -1.35016597e+00] [-8.28632432e-03 2.38576707e-03 9.99962822e-01 -2.96873339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48589822699999 meters Centerline goodness [0,1] 0.7207360672975816 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.35, Z:-0.30 [[ 9.97924179e-01 6.39202512e-02 7.84434826e-03 6.02816886e+01] [-6.38932217e-02 9.97950067e-01 -3.64953265e-03 -1.34647421e+00] [-8.06154692e-03 3.14075620e-03 9.99962573e-01 -2.97743795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.515898227 meters Centerline goodness [0,1] 0.7710346878518173 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.34, Z:-0.30 [[ 9.97943672e-01 6.36331938e-02 7.69697339e-03 6.02825187e+01] [-6.35986268e-02 9.97964699e-01 -4.65558104e-03 -1.34137276e+00] [-7.97755722e-03 4.15649071e-03 9.99959540e-01 -2.98315334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.545898227 meters Centerline goodness [0,1] 0.7211461026575678 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.34, Z:-0.30 [[ 9.97954105e-01 6.34660714e-02 7.72415219e-03 6.02823307e+01] [-6.34282555e-02 9.97973643e-01 -5.04631004e-03 -1.33954534e+00] [-8.02876977e-03 4.54605632e-03 9.99957435e-01 -2.98121926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.575898227 meters Centerline goodness [0,1] 0.774161485429091 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.34, Z:-0.30 [[ 9.97964748e-01 6.32941225e-02 7.75992396e-03 6.02822036e+01] [-6.32534141e-02 9.97982975e-01 -5.38398244e-03 -1.33799201e+00] [-8.08504645e-03 4.88218299e-03 9.99955397e-01 -2.98055158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60589822699998 meters Centerline goodness [0,1] 0.7727686221413611 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.34, Z:-0.30 [[ 9.97974708e-01 6.31405286e-02 7.73012600e-03 6.02823549e+01] [-6.30979823e-02 9.97991459e-01 -5.62963011e-03 -1.33700442e+00] [-8.07005754e-03 5.13047312e-03 9.99954275e-01 -2.98184738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63589822699998 meters Centerline goodness [0,1] 0.7462227315168491 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.34, Z:-0.30 [[ 9.97983792e-01 6.30057370e-02 7.65691647e-03 6.02827745e+01] [-6.29619057e-02 9.97998862e-01 -5.83687976e-03 -1.33616602e+00] [-8.00935083e-03 5.34301734e-03 9.99953650e-01 -2.98504845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66589822699999 meters Centerline goodness [0,1] 0.7921015155057708 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.30 [[ 9.97996798e-01 6.27988776e-02 7.66107744e-03 6.02828030e+01] [-6.27523604e-02 9.98010066e-01 -6.16848047e-03 -1.33485024e+00] [-8.03320605e-03 5.67537306e-03 9.99951628e-01 -2.98594915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69589822699999 meters Centerline goodness [0,1] 0.9049346571622539 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.30 [[ 9.98002593e-01 6.26952616e-02 7.75424382e-03 6.02823964e+01] [-6.26467885e-02 9.98015599e-01 -6.34384470e-03 -1.33412462e+00] [-8.13658529e-03 5.84539499e-03 9.99949812e-01 -2.98386235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72589822699999 meters Centerline goodness [0,1] 0.7685473123056419 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.34, Z:-0.30 [[ 9.98173444e-01 5.91356942e-02 1.23590538e-02 6.02834781e+01] [-5.92424555e-02 9.98207789e-01 8.45819352e-03 -1.33727458e+00] [-1.18367226e-02 -9.17492484e-03 9.99887850e-01 -3.01997915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75589822699999 meters Centerline goodness [0,1] 0.7663995625381201 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.30 [[ 9.98414435e-01 5.49927232e-02 1.20173556e-02 6.02840316e+01] [-5.50371687e-02 9.98478520e-01 3.39931801e-03 -1.33272345e+00] [-1.18121337e-02 -4.05532940e-03 9.99922011e-01 -3.02383964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78589822699999 meters Centerline goodness [0,1] 0.7687904009463855 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.30 [[ 9.98630752e-01 5.09835335e-02 1.17175590e-02 6.02847492e+01] [-5.09690048e-02 9.98699055e-01 -1.53539880e-03 -1.32850228e+00] [-1.17805952e-02 9.36064138e-04 9.99930168e-01 -3.03105613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81589822699999 meters Centerline goodness [0,1] 0.7416212577054975 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.30 [[ 9.98630577e-01 5.09895285e-02 1.17063796e-02 6.02848418e+01] [-5.09740548e-02 9.98698669e-01 -1.61660003e-03 -1.32807837e+00] [-1.17735754e-02 1.01766459e-03 9.99930171e-01 -3.03200766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84589822699999 meters Centerline goodness [0,1] 0.72434011476265 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.30 [[ 9.98630874e-01 5.09657382e-02 1.17843571e-02 6.02842868e+01] [-5.09483318e-02 9.98699717e-01 -1.77278657e-03 -1.32722104e+00] [-1.18593854e-02 1.16996607e-03 9.99928991e-01 -3.02682683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.875898227 meters Centerline goodness [0,1] 0.7143668848250173 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.30 [[ 9.98630215e-01 5.09407910e-02 1.19469299e-02 6.02833993e+01] [-5.09212457e-02 9.98700798e-01 -1.93472775e-03 -1.32634219e+00] [-1.20299650e-02 1.32372504e-03 9.99926761e-01 -3.02021292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.905898227 meters Centerline goodness [0,1] 0.7175878757004585 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.30 [[ 9.98631002e-01 5.09166972e-02 1.19838162e-02 6.02830875e+01] [-5.08956963e-02 9.98701868e-01 -2.05113517e-03 -1.32575635e+00] [-1.20726967e-02 1.43840250e-03 9.99926088e-01 -3.01701543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.935898227 meters Centerline goodness [0,1] 0.6873639274279616 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.30 [[ 9.98628735e-01 5.10222089e-02 1.17210606e-02 6.02846836e+01] [-5.10030118e-02 9.98696632e-01 -1.93114706e-03 -1.32619069e+00] [-1.18043152e-02 1.33068955e-03 9.99929441e-01 -3.03153651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96589822699998 meters Centerline goodness [0,1] 0.7780338266384779 Centerline is valid? [False, False] Translation: X:60.29, Y:-1.33, Z:-0.30 [[ 9.98627458e-01 5.10634915e-02 1.16499253e-02 6.02850188e+01] [-5.10462910e-02 9.98694721e-01 -1.76924399e-03 -1.32707288e+00] [-1.17250627e-02 1.17213016e-03 9.99930572e-01 -3.03417626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99589822699998 meters Centerline goodness [0,1] 0.7539921216485239 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.30 [[ 9.98622192e-01 5.11305055e-02 1.18063075e-02 6.02842365e+01] [-5.11164423e-02 9.98691589e-01 -1.49006052e-03 -1.32853615e+00] [-1.18670475e-02 8.84511067e-04 9.99929193e-01 -3.02944627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02589822699998 meters Centerline goodness [0,1] 0.7316809659993645 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.31 [[ 9.98837557e-01 4.43584887e-02 1.88642209e-02 6.02840099e+01] [-4.45404836e-02 9.98963925e-01 9.33925796e-03 -1.33324543e+00] [-1.84304008e-02 -1.01686231e-02 9.99778435e-01 -3.06424386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05589822699999 meters Centerline goodness [0,1] 0.780908165861104 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.31 [[ 9.99155943e-01 3.64932539e-02 1.88585143e-02 6.02828317e+01] [-3.65054454e-02 9.99333408e-01 3.02515948e-04 -1.32906692e+00] [-1.88349036e-02 -9.90699071e-04 9.99822117e-01 -3.06034884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08589822699999 meters Centerline goodness [0,1] 0.7635909491625037 Centerline is valid? [False, False] Translation: X:60.28, Y:-1.33, Z:-0.31 [[ 9.99162106e-01 3.64774643e-02 1.85601642e-02 6.02837327e+01] [-3.65018045e-02 9.99333112e-01 9.74235906e-04 -1.33289038e+00] [-1.85122490e-02 -1.65089908e-03 9.99827271e-01 -3.06050913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11589822699999 meters Centerline goodness [0,1] 0.9054413234387293 Centerline is valid? [False, False] Translation: X:60.26, Y:-1.34, Z:-0.30 [[ 9.99346951e-01 3.31180818e-02 1.44521322e-02 6.02639643e+01] [-3.32492828e-02 9.99407155e-01 8.93441908e-03 -1.33825571e+00] [-1.41476735e-02 -9.40910750e-03 9.99855646e-01 -3.03460658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14589822699999 meters Centerline goodness [0,1] 0.9054413234387293 Centerline is valid? [False, False] Translation: X:60.26, Y:-1.33, Z:-0.30 [[ 9.99470316e-01 2.91618389e-02 1.44455770e-02 6.02635900e+01] [-2.92258662e-02 9.99563835e-01 4.24117379e-03 -1.33489933e+00] [-1.43155959e-02 -4.66111181e-03 9.99886662e-01 -3.03449990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17589822699999 meters Centerline goodness [0,1] 0.9812030874566756 Centerline is valid? [False, True] Translation: X:60.26, Y:-1.34, Z:-0.30 [[ 9.99582757e-01 2.50275300e-02 1.44199058e-02 6.02633358e+01] [-2.50301723e-02 9.99686696e-01 2.76569916e-06 -1.33506600e+00] [-1.44153188e-02 -3.63697272e-04 9.99896028e-01 -3.03524119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20589822699999 meters Centerline goodness [0,1] 0.9919194934225956 Centerline is valid? [True, True] Translation: X:60.29, Y:-1.34, Z:-0.30 [[ 9.99628925e-01 2.29301518e-02 1.47044117e-02 6.02941787e+01] [-2.29394591e-02 9.99736748e-01 4.64583463e-04 -1.34074399e+00] [-1.46898877e-02 -8.01722318e-04 9.99891776e-01 -3.03289352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23589822699999 meters Centerline goodness [0,1] 0.9706671738625077 Centerline is valid? [True, True] Translation: X:60.32, Y:-1.34, Z:-0.30 [[ 9.99663573e-01 2.12309722e-02 1.48991965e-02 6.03241282e+01] [-2.12403366e-02 9.99774288e-01 4.70539330e-04 -1.33674646e+00] [-1.48858436e-02 -7.86844978e-04 9.99888890e-01 -3.03835637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.265898227 meters Centerline goodness [0,1] 0.9951756973118733 Centerline is valid? [True, True] Translation: X:60.36, Y:-1.35, Z:-0.31 [[ 9.99721241e-01 1.88372267e-02 1.42337680e-02 6.03557448e+01] [-1.88455289e-02 9.99822306e-01 4.49359586e-04 -1.34905320e+00] [-1.42227741e-02 -7.17477208e-04 9.99898594e-01 -3.05768185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.295898227 meters Centerline goodness [0,1] 0.9988879146260613 Centerline is valid? [True, True] Translation: X:60.39, Y:-1.36, Z:-0.31 [[ 9.99729491e-01 1.89412383e-02 1.34971698e-02 6.03892418e+01] [-1.89487187e-02 9.99820366e-01 4.26535566e-04 -1.35753445e+00] [-1.34866661e-02 -6.82174257e-04 9.99908818e-01 -3.07386103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.325898227 meters Centerline goodness [0,1] 0.9925995807127883 Centerline is valid? [True, True] Translation: X:60.42, Y:-1.35, Z:-0.31 [[ 9.99722717e-01 1.98076177e-02 1.27336782e-02 6.04198176e+01] [-1.98143142e-02 9.99803597e-01 3.99934246e-04 -1.35054950e+00] [-1.27232555e-02 -6.52132451e-04 9.99918843e-01 -3.09971767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35589822699998 meters Centerline goodness [0,1] 0.9946949036986534 Centerline is valid? [True, True] Translation: X:60.45, Y:-1.35, Z:-0.31 [[ 9.99706922e-01 2.09416364e-02 1.21457205e-02 6.04516604e+01] [-2.09477862e-02 9.99780499e-01 3.79326658e-04 -1.35477098e+00] [-1.21351108e-02 -6.33641442e-04 9.99926166e-01 -3.11264062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38589822699998 meters Centerline goodness [0,1] 0.9745124621962665 Centerline is valid? [True, True] Translation: X:60.48, Y:-1.35, Z:-0.31 [[ 9.99624308e-01 2.40587438e-02 1.31308573e-02 6.04808336e+01] [-2.40661796e-02 9.99710284e-01 4.08545597e-04 -1.35429377e+00] [-1.31172240e-02 -7.24401681e-04 9.99913703e-01 -3.09678252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41589822699999 meters Centerline goodness [0,1] 0.9656098184607518 Centerline is valid? [True, True] Translation: X:60.51, Y:-1.36, Z:-0.31 [[ 9.99582822e-01 2.51992228e-02 1.41131587e-02 6.05127533e+01] [-2.52079339e-02 9.99682133e-01 4.39652891e-04 -1.35579401e+00] [-1.40975937e-02 -7.95233050e-04 9.99900308e-01 -3.08813205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44589822699999 meters Centerline goodness [0,1] 0.9438989305147288 Centerline is valid? [True, False] Translation: X:60.55, Y:-1.36, Z:-0.31 [[ 9.99545989e-01 2.60753600e-02 1.50960749e-02 6.05541216e+01] [-2.61066512e-02 9.99657397e-01 1.87943162e-03 -1.35816481e+00] [-1.50418961e-02 -2.27268630e-03 9.99884281e-01 -3.08336086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47589822699999 meters Centerline goodness [0,1] 0.9342398385944265 Centerline is valid? [False, False] Translation: X:60.55, Y:-1.36, Z:-0.31 [[ 9.99538520e-01 2.63473447e-02 1.51183688e-02 6.05540010e+01] [-2.63887407e-02 9.99648516e-01 2.54516122e-03 -1.36137907e+00] [-1.50459967e-02 -2.94294139e-03 9.99882472e-01 -3.08227181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50589822699999 meters Centerline goodness [0,1] 0.9591190288909203 Centerline is valid? [False, True] Translation: X:60.53, Y:-1.37, Z:-0.31 [[ 9.99628789e-01 2.48333442e-02 1.12066286e-02 6.05334906e+01] [-2.49728660e-02 9.99610144e-01 1.24866301e-02 -1.36829997e+00] [-1.08921748e-02 -1.27618565e-02 9.99859238e-01 -3.05116750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53589822699999 meters Centerline goodness [0,1] 0.9554874828351114 Centerline is valid? [True, True] Translation: X:60.56, Y:-1.37, Z:-0.31 [[ 9.99641133e-01 2.42616279e-02 1.13568936e-02 6.05643547e+01] [-2.42672663e-02 9.99705442e-01 3.58907490e-04 -1.36632567e+00] [-1.13448407e-02 -6.34379451e-04 9.99935444e-01 -3.05195615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56589822699999 meters Centerline goodness [0,1] 0.9815599249752376 Centerline is valid? [True, True] Translation: X:60.60, Y:-1.38, Z:-0.31 [[ 9.99694318e-01 2.25140921e-02 1.02169922e-02 6.05962441e+01] [-2.25185541e-02 9.99746373e-01 3.21876564e-04 -1.37614668e+00] [-1.02071542e-02 -5.51850064e-04 9.99947753e-01 -3.06858251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59589822699999 meters Centerline goodness [0,1] 0.9969149498151083 Centerline is valid? [True, True] Translation: X:60.63, Y:-1.39, Z:-0.31 [[ 9.99713764e-01 2.19717831e-02 9.46732699e-03 6.06284349e+01] [-2.19755925e-02 9.99758463e-01 2.98525752e-04 -1.38552128e+00] [-9.45848114e-03 -5.06490424e-04 9.99955139e-01 -3.07928444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.625898227 meters Centerline goodness [0,1] 0.99691475423693 Centerline is valid? [True, True] Translation: X:60.66, Y:-1.39, Z:-0.31 [[ 9.99718588e-01 2.17332532e-02 9.50843502e-03 6.06593299e+01] [-2.17370671e-02 9.99763678e-01 2.97937347e-04 -1.38784266e+00] [-9.49971281e-03 -5.04538994e-04 9.99954749e-01 -3.08847110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.655898227 meters Centerline goodness [0,1] 0.9979776907356949 Centerline is valid? [True, True] Translation: X:60.69, Y:-1.39, Z:-0.31 [[ 9.99697486e-01 2.24444932e-02 1.00589142e-02 6.06913474e+01] [-2.24487898e-02 9.99747945e-01 3.14426874e-04 -1.39255312e+00] [-1.00493217e-02 -5.40142207e-04 9.99949358e-01 -3.07737989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.685898227 meters Centerline goodness [0,1] 0.997625861155273 Centerline is valid? [True, True] Translation: X:60.72, Y:-1.39, Z:-0.31 [[ 9.99651581e-01 2.40540162e-02 1.08683352e-02 6.07220783e+01] [-2.40591010e-02 9.99710481e-01 3.37330902e-04 -1.39275579e+00] [-1.08570745e-02 -5.98695744e-04 9.99940881e-01 -3.06889797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71589822699998 meters Centerline goodness [0,1] 0.8347692372506478 Centerline is valid? [True, False] Translation: X:60.72, Y:-1.39, Z:-0.31 [[ 9.99642225e-01 2.44292210e-02 1.08919914e-02 6.07219382e+01] [-2.44350300e-02 9.99701340e-01 4.00549837e-04 -1.39215542e+00] [-1.08789533e-02 -6.66552667e-04 9.99940600e-01 -3.06771800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74589822699998 meters Centerline goodness [0,1] 0.8347692372506478 Centerline is valid? [False, False] Translation: X:60.72, Y:-1.39, Z:-0.31 [[ 9.99642225e-01 2.44292210e-02 1.08919914e-02 6.07219382e+01] [-2.44350300e-02 9.99701340e-01 4.00549837e-04 -1.39215542e+00] [-1.08789533e-02 -6.66552667e-04 9.99940600e-01 -3.06771800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77589822699998 meters Centerline goodness [0,1] 0.9506912539961467 Centerline is valid? [False, True] Translation: X:60.72, Y:-1.39, Z:-0.31 [[ 9.99636549e-01 2.46250427e-02 1.09716710e-02 6.07217994e+01] [-2.46254868e-02 9.99696742e-01 -9.46362542e-05 -1.38888222e+00] [-1.09706742e-02 -1.75580882e-04 9.99939805e-01 -3.06954732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80589822699999 meters Centerline goodness [0,1] 0.7031982762262876 Centerline is valid? [True, False] Translation: X:60.72, Y:-1.39, Z:-0.31 [[ 9.99636276e-01 2.45733326e-02 1.11115308e-02 6.07214492e+01] [-2.45697064e-02 9.99698012e-01 -4.62761352e-04 -1.38694556e+00] [-1.11195469e-02 1.89585985e-04 9.99938158e-01 -3.07107832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83589822699999 meters Centerline goodness [0,1] 0.9079955722070845 Centerline is valid? [False, False] Translation: X:60.72, Y:-1.39, Z:-0.31 [[ 9.99637166e-01 2.44606197e-02 1.12789640e-02 6.07209325e+01] [-2.44525483e-02 9.99700628e-01 -8.52983759e-04 -1.38502029e+00] [-1.12964519e-02 5.76874856e-04 9.99936027e-01 -3.07107225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86589822699999 meters Centerline goodness [0,1] 0.7892340766344897 Centerline is valid? [False, False] Translation: X:60.72, Y:-1.38, Z:-0.31 [[ 9.99638309e-01 2.43875745e-02 1.13356741e-02 6.07208437e+01] [-2.43764815e-02 9.99702227e-01 -1.11575443e-03 -1.38370300e+00] [-1.13595092e-02 8.39027024e-04 9.99935127e-01 -3.07260645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89589822699999 meters Centerline goodness [0,1] 0.7080359392056428 Centerline is valid? [False, False] Translation: X:60.72, Y:-1.38, Z:-0.31 [[ 9.99641014e-01 2.43010476e-02 1.12828489e-02 6.07211186e+01] [-2.42873618e-02 9.99704109e-01 -1.34843813e-03 -1.38256282e+00] [-1.13122789e-02 1.07392343e-03 9.99935437e-01 -3.07462435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92589822699999 meters Centerline goodness [0,1] 0.919932763096302 Centerline is valid? [False, False] Translation: X:60.70, Y:-1.39, Z:-0.30 [[ 9.99709091e-01 2.31371305e-02 6.81225604e-03 6.07010391e+01] [-2.31940569e-02 9.99695695e-01 8.39953324e-03 -1.38519445e+00] [-6.61584195e-03 -8.55509359e-03 9.99941519e-01 -3.04136759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95589822699999 meters Centerline goodness [0,1] 0.8116841837599593 Centerline is valid? [False, False] Translation: X:60.70, Y:-1.38, Z:-0.31 [[ 9.99801678e-01 1.88331396e-02 6.47432676e-03 6.07022532e+01] [-1.88515455e-02 9.99818391e-01 2.79373420e-03 -1.37773732e+00] [-6.42053617e-03 -2.91523121e-03 9.99975139e-01 -3.05081964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98589822699999 meters Centerline goodness [0,1] 0.6221153440492765 Centerline is valid? [False, False] Translation: X:60.70, Y:-1.37, Z:-0.31 [[ 9.99871342e-01 1.47383265e-02 6.33104825e-03 6.07025268e+01] [-1.47232530e-02 9.99888676e-01 -2.42094197e-03 -1.37195523e+00] [-6.36602409e-03 2.32741687e-03 9.99977028e-01 -3.05241542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.015898227 meters Centerline goodness [0,1] 0.8709462937542897 Centerline is valid? [False, False] Translation: X:60.68, Y:-1.38, Z:-0.30 [[ 9.99893083e-01 1.45070204e-02 1.83522050e-03 6.06814149e+01] [-1.45214238e-02 9.99861791e-01 8.09485701e-03 -1.37505046e+00] [-1.71753460e-03 -8.12064155e-03 9.99965552e-01 -3.01008006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.045898227 meters Centerline goodness [0,1] 0.5791517135721631 Centerline is valid? [False, False] Translation: X:60.72, Y:-1.37, Z:-0.30 [[ 9.99913398e-01 1.29081785e-02 2.56415483e-03 6.07222500e+01] [-1.29167269e-02 9.99910978e-01 3.34570658e-03 -1.36684820e+00] [-2.52073959e-03 -3.37853733e-03 9.99991116e-01 -3.01069225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.075898227 meters Centerline goodness [0,1] 0.7466678022399182 Centerline is valid? [False, False] Translation: X:60.70, Y:-1.37, Z:-0.30 [[ 9.99891374e-01 1.45820411e-02 -2.14587030e-03 6.07029046e+01] [-1.45458794e-02 9.99766192e-01 1.59993138e-02 -1.37084530e+00] [ 2.37867123e-03 -1.59663623e-02 9.99869700e-01 -2.98102145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10589822699998 meters Centerline goodness [0,1] 0.8009720070459899 Centerline is valid? [False, False] Translation: X:60.70, Y:-1.36, Z:-0.30 [[ 9.99941686e-01 1.05688618e-02 -2.21879089e-03 6.07033052e+01] [-1.05454905e-02 9.99891415e-01 1.02932653e-02 -1.36106849e+00] [ 2.32733806e-03 -1.02692668e-02 9.99944561e-01 -2.98978750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13589822699998 meters Centerline goodness [0,1] 0.7933172507194853 Centerline is valid? [False, False] Translation: X:60.70, Y:-1.36, Z:-0.30 [[ 9.99978004e-01 6.25143781e-03 -2.21613953e-03 6.07030782e+01] [-6.24031836e-03 9.99968082e-01 4.98938758e-03 -1.35542672e+00] [ 2.24725964e-03 -4.97544841e-03 9.99985097e-01 -2.98989992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16589822699999 meters Centerline goodness [0,1] 0.7207688200747464 Centerline is valid? [False, False] Translation: X:60.70, Y:-1.36, Z:-0.30 [[ 9.99978317e-01 6.19450455e-03 -2.23481055e-03 6.07029189e+01] [-6.18335144e-03 9.99968564e-01 4.96348680e-03 -1.35543614e+00] [ 2.26548664e-03 -4.94956055e-03 9.99985185e-01 -2.98655829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19589822699999 meters Centerline goodness [0,1] 0.7253037169421928 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.30 [[ 9.99987585e-01 4.03786595e-03 -2.91986260e-03 6.07080265e+01] [-4.03014107e-03 9.99988376e-01 2.64669498e-03 -1.35462493e+00] [ 2.93051566e-03 -2.63489466e-03 9.99992235e-01 -3.02063770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22589822699999 meters Centerline goodness [0,1] 0.9416184600934958 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.36, Z:-0.30 [[ 9.99996392e-01 -1.90227550e-04 -2.67933245e-03 6.07067322e+01] [ 1.86479117e-04 9.99999004e-01 -1.39919790e-03 -1.35590261e+00] [ 2.67959595e-03 1.39869321e-03 9.99995432e-01 -3.01182382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25589822699999 meters Centerline goodness [0,1] 0.8693090292496821 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.36, Z:-0.30 [[ 9.99996509e-01 -9.26523836e-05 -2.64055801e-03 6.07062728e+01] [ 9.01448159e-05 9.99999545e-01 -9.49738733e-04 -1.35821945e+00] [ 2.64064480e-03 9.49497386e-04 9.99996063e-01 -3.00542852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28589822699999 meters Centerline goodness [0,1] 0.8324492254369465 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.36, Z:-0.30 [[ 9.99996487e-01 -5.58920650e-05 -2.64990332e-03 6.07060733e+01] [ 5.38417580e-05 9.99999699e-01 -7.73794018e-04 -1.35918247e+00] [ 2.64994577e-03 7.73648625e-04 9.99996190e-01 -3.00154654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31589822699999 meters Centerline goodness [0,1] 0.9209459316025219 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.36, Z:-0.30 [[ 9.99996595e-01 -2.05235449e-05 -2.60935067e-03 6.07058741e+01] [ 1.86631149e-05 9.99999746e-01 -7.13008159e-04 -1.35939855e+00] [ 2.60936464e-03 7.12957033e-04 9.99996341e-01 -3.00055491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34589822699999 meters Centerline goodness [0,1] 0.7458207957204948 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.36, Z:-0.30 [[ 9.99997973e-01 8.98937718e-04 -1.80181415e-03 6.07476373e+01] [-8.99374278e-04 9.99999566e-01 -2.41493676e-04 -1.35705460e+00] [ 1.80159628e-03 2.43113692e-04 9.99998348e-01 -2.99738591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.375898227 meters Centerline goodness [0,1] 0.843723512459739 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.36, Z:-0.30 [[ 9.99997571e-01 6.40234344e-04 -2.10887615e-03 6.07051255e+01] [-6.42819773e-04 9.99999042e-01 -1.22552535e-03 -1.35759326e+00] [ 2.10808951e-03 1.22687800e-03 9.99997025e-01 -3.00992733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.405898227 meters Centerline goodness [0,1] 0.807961532733346 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.30 [[ 9.99996831e-01 9.97056919e-04 -2.31175371e-03 6.07062210e+01] [-1.00106996e-03 9.99997993e-01 -1.73542397e-03 -1.35372860e+00] [ 2.31001876e-03 1.73773270e-03 9.99995822e-01 -3.01866468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.435898227 meters Centerline goodness [0,1] 0.7651327620861103 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99989708e-01 3.26787934e-03 -3.14705390e-03 6.07121410e+01] [-3.26686638e-03 9.99994610e-01 3.26962518e-04 -1.35279278e+00] [ 3.14810541e-03 -3.16678149e-04 9.99994995e-01 -3.05707241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46589822699998 meters Centerline goodness [0,1] 0.7219307894068872 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99989679e-01 3.25347272e-03 -3.17112117e-03 6.07121885e+01] [-3.25363352e-03 9.99994706e-01 -4.55516145e-05 -1.35070425e+00] [ 3.17095618e-03 5.58688105e-05 9.99994971e-01 -3.05717837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49589822699998 meters Centerline goodness [0,1] 0.6390047675804529 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99990050e-01 3.21425140e-03 -3.09337526e-03 6.07118742e+01] [-3.21528951e-03 9.99994776e-01 -3.30676802e-04 -1.34919500e+00] [ 3.09229622e-03 3.40619608e-04 9.99995161e-01 -3.05665030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52589822699998 meters Centerline goodness [0,1] 0.6838147001200784 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99967145e-01 7.40255884e-03 -3.30307497e-03 6.07124328e+01] [-7.38780377e-03 9.99962776e-01 4.45713358e-03 -1.35229747e+00] [ 3.33594622e-03 -4.43258467e-03 9.99984612e-01 -3.05333317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55589822699999 meters Centerline goodness [0,1] 0.6139531002253191 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99967470e-01 7.37287306e-03 -3.27092053e-03 6.07123725e+01] [-7.35848092e-03 9.99963288e-01 4.39045787e-03 -1.35195246e+00] [ 3.30317073e-03 -4.36624604e-03 9.99985012e-01 -3.05436954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58589822699999 meters Centerline goodness [0,1] 0.6637679332871216 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99967558e-01 7.32567716e-03 -3.34928347e-03 6.07128125e+01] [-7.31035036e-03 9.99962856e-01 4.56570894e-03 -1.35314157e+00] [ 3.38260597e-03 -4.54107638e-03 9.99983968e-01 -3.05745456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61589822699999 meters Centerline goodness [0,1] 0.6774261293235608 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99990355e-01 2.93566956e-03 -3.26675276e-03 6.07126799e+01] [-2.93681123e-03 9.99995628e-01 -3.44740230e-04 -1.34986936e+00] [ 3.26572643e-03 3.54330742e-04 9.99994605e-01 -3.06108106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64589822699999 meters Centerline goodness [0,1] 0.6916322749094584 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99989967e-01 2.95666684e-03 -3.36502247e-03 6.07129389e+01] [-2.95730993e-03 9.99995610e-01 -1.86149240e-04 -1.35078420e+00] [ 3.36445731e-03 1.96098786e-04 9.99994321e-01 -3.06013014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67589822699999 meters Centerline goodness [0,1] 0.6999894880689583 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99989747e-01 2.88347525e-03 -3.49155334e-03 6.07135080e+01] [-2.88440190e-03 9.99995806e-01 -2.60392670e-04 -1.35056400e+00] [ 3.49078786e-03 2.70461043e-04 9.99993871e-01 -3.06249483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70589822699999 meters Centerline goodness [0,1] 0.6870425446645152 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99989553e-01 2.78502265e-03 -3.62465757e-03 6.07141000e+01] [-2.78666231e-03 9.99996017e-01 -4.47391130e-04 -1.34976650e+00] [ 3.62339714e-03 4.57487153e-04 9.99993331e-01 -3.06531501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73589822699999 meters Centerline goodness [0,1] 0.7267842467918326 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99989006e-01 2.72210167e-03 -3.81813445e-03 6.07148673e+01] [-2.72431586e-03 9.99996124e-01 -5.74832406e-04 -1.34921163e+00] [ 3.81655490e-03 5.85227890e-04 9.99992546e-01 -3.06745460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.765898227 meters Centerline goodness [0,1] 0.7935169211764956 Centerline is valid? [False, False] Translation: X:60.72, Y:-1.35, Z:-0.31 [[ 9.99966872e-01 7.04988555e-03 -4.06863849e-03 6.07160089e+01] [-7.03186105e-03 9.99965474e-01 4.42753702e-03 -1.35324738e+00] [ 4.09971165e-03 -4.39878024e-03 9.99981921e-01 -3.07184804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.795898227 meters Centerline goodness [0,1] 0.6505262717361736 Centerline is valid? [False, False] Translation: X:60.76, Y:-1.35, Z:-0.31 [[ 9.99981426e-01 5.31269665e-03 -2.98704933e-03 6.07564550e+01] [-5.31114823e-03 9.99985757e-01 5.26071049e-04 -1.34729168e+00] [ 2.98980164e-03 -5.10196616e-04 9.99995400e-01 -3.06628182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.825898227 meters Centerline goodness [0,1] 0.6529302873490681 Centerline is valid? [False, False] Translation: X:60.76, Y:-1.35, Z:-0.31 [[ 9.99981625e-01 5.31751408e-03 -2.91081609e-03 6.07558728e+01] [-5.31613245e-03 9.99985753e-01 4.82183889e-04 -1.34703911e+00] [ 2.91333864e-03 -4.66700745e-04 9.99995647e-01 -3.06058294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85589822699998 meters Centerline goodness [0,1] 0.7803816109617109 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99990268e-01 4.23148040e-03 -1.24875685e-03 6.07099166e+01] [-4.23272734e-03 9.99990544e-01 -9.97600323e-04 -1.34870596e+00] [ 1.24452372e-03 1.00287626e-03 9.99998723e-01 -3.05984782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88589822699998 meters Centerline goodness [0,1] 0.7269830551393783 Centerline is valid? [False, False] Translation: X:60.73, Y:-1.35, Z:-0.30 [[ 9.99994408e-01 3.30009729e-03 -5.41364486e-04 6.07296988e+01] [-3.29508612e-03 9.99953980e-01 9.01003945e-03 -1.35006849e+00] [ 5.71073579e-04 -9.00820522e-03 9.99959262e-01 -3.04777175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91589822699999 meters Centerline goodness [0,1] 0.7120316420703441 Centerline is valid? [False, False] Translation: X:60.73, Y:-1.35, Z:-0.30 [[ 9.99999699e-01 -7.09698697e-04 -3.14724115e-04 6.07290512e+01] [ 7.11020474e-04 9.99990844e-01 4.21976167e-03 -1.34655964e+00] [ 3.11726474e-04 -4.21998417e-03 9.99991047e-01 -3.04994885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94589822699999 meters Centerline goodness [0,1] 0.6428270841223751 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.34, Z:-0.31 [[ 9.99989851e-01 1.18888262e-03 4.34560202e-03 6.07495029e+01] [-1.16913878e-03 9.99988996e-01 -4.54312747e-03 -1.34186170e+00] [-4.35095545e-03 4.53800075e-03 9.99980238e-01 -3.08502366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97589822699999 meters Centerline goodness [0,1] 0.6274310410575823 Centerline is valid? [False, False] Translation: X:60.74, Y:-1.34, Z:-0.30 [[ 9.99981156e-01 3.48905583e-03 5.05105319e-03 6.07441782e+01] [-3.47890654e-03 9.99991915e-01 -2.01673406e-03 -1.34238017e+00] [-5.05804885e-03 1.99912392e-03 9.99985210e-01 -3.04815538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00589822699999 meters Centerline goodness [0,1] 0.6862991522174413 Centerline is valid? [False, False] Translation: X:60.74, Y:-1.34, Z:-0.30 [[ 9.99980983e-01 3.35063739e-03 5.17744467e-03 6.07437269e+01] [-3.33754940e-03 9.99991219e-01 -2.53446327e-03 -1.33977321e+00] [-5.18589127e-03 2.51713510e-03 9.99983385e-01 -3.04789230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03589822699999 meters Centerline goodness [0,1] 0.6739882685572014 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.34, Z:-0.31 [[ 9.99975037e-01 5.59825078e-03 4.31102216e-03 6.07492962e+01] [-5.59723889e-03 9.99984305e-01 -2.46750783e-04 -1.33814870e+00] [-4.31233587e-03 2.22614803e-04 9.99990677e-01 -3.08103472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06589822699999 meters Centerline goodness [0,1] 0.6739882685572014 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.34, Z:-0.31 [[ 9.99975037e-01 5.59825078e-03 4.31102216e-03 6.07492962e+01] [-5.59723889e-03 9.99984305e-01 -2.46750783e-04 -1.33814870e+00] [-4.31233587e-03 2.22614803e-04 9.99990677e-01 -3.08103472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09589822699999 meters Centerline goodness [0,1] 0.5356624529373409 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.33, Z:-0.31 [[ 9.99977408e-01 5.29165935e-03 4.14519729e-03 6.07500695e+01] [-5.28773245e-03 9.99985561e-01 -9.57724388e-04 -1.33485827e+00] [-4.15020539e-03 9.35784056e-04 9.99990950e-01 -3.08583881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.125898227 meters Centerline goodness [0,1] 0.6584230989865512 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.33, Z:-0.31 [[ 9.99961156e-01 7.43135129e-03 4.73938156e-03 6.07461585e+01] [-7.43762861e-03 9.99971485e-01 1.30825360e-03 -1.33143694e+00] [-4.72952432e-03 -1.34345254e-03 9.99987913e-01 -3.06070613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.155898227 meters Centerline goodness [0,1] 0.6711181385013141 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.33, Z:-0.31 [[ 9.99962297e-01 7.23438474e-03 4.80293811e-03 6.07455574e+01] [-7.23856324e-03 9.99973437e-01 8.53174838e-04 -1.32930794e+00] [-4.79663833e-03 -8.87909042e-04 9.99988102e-01 -3.05400000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.185898227 meters Centerline goodness [0,1] 0.6348814124902321 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.33, Z:-0.31 [[ 9.99927802e-01 1.10837040e-02 4.64135151e-03 6.07459718e+01] [-1.11084321e-02 9.99924060e-01 5.33632630e-03 -1.33141422e+00] [-4.58185278e-03 -5.38749917e-03 9.99974990e-01 -3.05002335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21589822699998 meters Centerline goodness [0,1] 0.6632049678909777 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.32, Z:-0.31 [[ 9.99967003e-01 6.54563589e-03 4.81119097e-03 6.07452469e+01] [-6.54465329e-03 9.99978559e-01 -2.19948899e-04 -1.32499167e+00] [-4.81252752e-03 1.88454064e-04 9.99988402e-01 -3.05043514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24589822699998 meters Centerline goodness [0,1] 0.676281782327767 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.32, Z:-0.31 [[ 9.99969628e-01 6.25674018e-03 4.64716459e-03 6.07459549e+01] [-6.25358240e-03 9.99980206e-01 -6.93727507e-04 -1.32290160e+00] [-4.65141308e-03 6.64645010e-04 9.99988961e-01 -3.05432975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27589822699998 meters Centerline goodness [0,1] 0.6757978213136072 Centerline is valid? [False, False] Translation: X:60.73, Y:-1.32, Z:-0.30 [[ 9.99991197e-01 4.18659014e-03 -2.78981506e-04 6.07263358e+01] [-4.18428136e-03 9.99960686e-01 7.81780232e-03 -1.32497253e+00] [ 3.11700473e-04 -7.81656616e-03 9.99969402e-01 -3.02377672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30589822699999 meters Centerline goodness [0,1] 0.6970472524218452 Centerline is valid? [False, False] Translation: X:60.73, Y:-1.32, Z:-0.31 [[ 9.99997082e-01 2.09251400e-03 -1.20761922e-03 6.07320030e+01] [-2.08585969e-03 9.99982779e-01 5.48547040e-03 -1.32145250e+00] [ 1.21907685e-03 -5.48293547e-03 9.99984226e-01 -3.05680221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33589822699999 meters Centerline goodness [0,1] 0.7677934823637965 Centerline is valid? [False, False] Translation: X:60.73, Y:-1.32, Z:-0.31 [[ 9.99995607e-01 -2.59817008e-03 -1.42665754e-03 6.07323035e+01] [ 2.59894087e-03 9.99996478e-01 5.38688002e-04 -1.31875326e+00] [ 1.42525291e-03 -5.42393434e-04 9.99998837e-01 -3.05056153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36589822699999 meters Centerline goodness [0,1] 0.78661306869334 Centerline is valid? [False, False] Translation: X:60.73, Y:-1.32, Z:-0.30 [[ 9.99995350e-01 -2.64013935e-03 -1.52639843e-03 6.07322339e+01] [ 2.64136057e-03 9.99996193e-01 7.98603571e-04 -1.32029980e+00] [ 1.52428420e-03 -8.02631626e-04 9.99998516e-01 -3.04378444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39589822699999 meters Centerline goodness [0,1] 0.8882322931723493 Centerline is valid? [False, False] Translation: X:60.69, Y:-1.32, Z:-0.30 [[ 9.99993064e-01 -3.52820658e-03 -1.19336217e-03 6.06884474e+01] [ 3.52955860e-03 9.99993130e-01 1.13274807e-03 -1.32474518e+00] [ 1.18935740e-03 -1.13695226e-03 9.99998646e-01 -3.04587976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42589822699999 meters Centerline goodness [0,1] 0.8406161584407419 Centerline is valid? [False, False] Translation: X:60.73, Y:-1.32, Z:-0.30 [[ 9.99992986e-01 -3.51706797e-03 -1.28798736e-03 6.07310179e+01] [ 3.52000231e-03 9.99991198e-01 2.28310379e-03 -1.32477352e+00] [ 1.27994619e-03 -2.28762150e-03 9.99996564e-01 -3.03973683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45589822699999 meters Centerline goodness [0,1] 0.9066089208755281 Centerline is valid? [False, False] Translation: X:60.69, Y:-1.33, Z:-0.31 [[ 9.99983857e-01 -4.80614969e-03 -3.03091779e-03 6.06911327e+01] [ 4.81015157e-03 9.99987567e-01 1.31444634e-03 -1.32802293e+00] [ 3.02456268e-03 -1.32900429e-03 9.99994543e-01 -3.05756015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48589822699999 meters Centerline goodness [0,1] 0.9852359273284261 Centerline is valid? [False, True] Translation: X:60.69, Y:-1.33, Z:-0.31 [[ 9.99983849e-01 -4.75338304e-03 -3.11576717e-03 6.06916326e+01] [ 4.75818208e-03 9.99987502e-01 1.53464395e-03 -1.32916077e+00] [ 3.10843348e-03 -1.54944455e-03 9.99993968e-01 -3.06117864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.515898227 meters Centerline goodness [0,1] 0.9357293149986186 Centerline is valid? [True, False] Translation: X:60.69, Y:-1.33, Z:-0.31 [[ 9.99984396e-01 -4.52821870e-03 -3.27160511e-03 6.06920481e+01] [ 4.53501186e-03 9.99987570e-01 2.07197329e-03 -1.33167995e+00] [ 3.26218210e-03 -2.08677772e-03 9.99992502e-01 -3.05935897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.545898227 meters Centerline goodness [0,1] 0.9806469508812359 Centerline is valid? [False, True] Translation: X:60.69, Y:-1.33, Z:-0.31 [[ 9.99985110e-01 -4.32723672e-03 -3.32486096e-03 6.06921488e+01] [ 4.33546386e-03 9.99987548e-01 2.47122130e-03 -1.33344651e+00] [ 3.31412600e-03 -2.48559932e-03 9.99991419e-01 -3.05780915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.575898227 meters Centerline goodness [0,1] 0.9073532197966444 Centerline is valid? [True, False] Translation: X:60.71, Y:-1.33, Z:-0.31 [[ 9.99996299e-01 -2.69953087e-03 -3.39133353e-04 6.07123254e+01] [ 2.69718998e-03 9.99973762e-01 -6.72315391e-03 -1.33176368e+00] [ 3.57273817e-04 6.72221432e-03 9.99977342e-01 -3.07083723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60589822699998 meters Centerline goodness [0,1] 0.9590798306751614 Centerline is valid? [False, True] Translation: X:60.67, Y:-1.34, Z:-0.31 [[ 9.99999521e-01 1.60699593e-04 -9.65503324e-04 6.06707486e+01] [-1.62749713e-04 9.99997732e-01 -2.12366521e-03 -1.34000006e+00] [ 9.65159862e-04 2.12382132e-03 9.99997279e-01 -3.08296759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63589822699998 meters Centerline goodness [0,1] 0.8476839294350176 Centerline is valid? [True, False] Translation: X:60.71, Y:-1.34, Z:-0.31 [[ 9.99999416e-01 1.06739070e-03 -1.66886458e-04 6.07123802e+01] [-1.06750375e-03 9.99999200e-01 -6.78794501e-04 -1.34047530e+00] [ 1.66161785e-04 6.78972257e-04 9.99999756e-01 -3.07536521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66589822699999 meters Centerline goodness [0,1] 0.9200391506021532 Centerline is valid? [False, False] Translation: X:60.67, Y:-1.35, Z:-0.31 [[ 9.99998855e-01 8.11611273e-04 1.27722358e-03 6.06671223e+01] [-8.11488003e-04 9.99999666e-01 -9.70299769e-05 -1.34561185e+00] [-1.27730191e-03 9.59934142e-05 9.99999180e-01 -3.07540914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69589822699999 meters Centerline goodness [0,1] 0.8325788061703554 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99997271e-01 1.03918570e-03 2.09226591e-03 6.07082767e+01] [-1.04051999e-03 9.99999256e-01 6.36737870e-04 -1.34644819e+00] [-2.09160267e-03 -6.38913177e-04 9.99997608e-01 -3.06530065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72589822699999 meters Centerline goodness [0,1] 0.9145532744337803 Centerline is valid? [False, False] Translation: X:60.67, Y:-1.35, Z:-0.31 [[ 9.99998622e-01 7.05901492e-04 1.50275584e-03 6.06664463e+01] [-7.07768875e-04 9.99998978e-01 1.24247031e-03 -1.35168154e+00] [-1.50187724e-03 -1.24353220e-03 9.99998099e-01 -3.07437889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75589822699999 meters Centerline goodness [0,1] 0.8841733913557819 Centerline is valid? [False, False] Translation: X:60.67, Y:-1.35, Z:-0.31 [[ 9.99998722e-01 8.54633937e-04 1.35088039e-03 6.06672170e+01] [-8.56872858e-04 9.99998259e-01 1.65767051e-03 -1.35372898e+00] [-1.34946134e-03 -1.65882593e-03 9.99997714e-01 -3.07895536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78589822699999 meters Centerline goodness [0,1] 0.8985928547354229 Centerline is valid? [False, False] Translation: X:60.67, Y:-1.35, Z:-0.31 [[ 9.99999074e-01 9.24928605e-04 9.98497687e-04 6.06693163e+01] [-9.26745357e-04 9.99997913e-01 1.82055937e-03 -1.35458721e+00] [-9.96811716e-04 -1.82148304e-03 9.99997844e-01 -3.09520800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81589822699999 meters Centerline goodness [0,1] 0.8216126774008783 Centerline is valid? [False, False] Translation: X:60.67, Y:-1.35, Z:-0.31 [[ 9.99999174e-01 8.59505217e-04 9.55315116e-04 6.06697321e+01] [-8.61033747e-04 9.99998348e-01 1.60076910e-03 -1.35351946e+00] [-9.53937668e-04 -1.60159034e-03 9.99998262e-01 -3.10020746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84589822699999 meters Centerline goodness [0,1] 0.8627743358185446 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99996644e-01 6.57112434e-04 2.50612648e-03 6.07089205e+01] [-6.56613759e-04 9.99999764e-01 -1.99800136e-04 -1.34807519e+00] [-2.50625719e-03 1.98153908e-04 9.99996840e-01 -3.08610086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.875898227 meters Centerline goodness [0,1] 0.8309313921440744 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99996022e-01 6.14555739e-04 2.75284712e-03 6.07075953e+01] [-6.13370088e-04 9.99999719e-01 -4.31523629e-04 -1.34681628e+00] [-2.75311154e-03 4.29833398e-04 9.99996118e-01 -3.07766887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.905898227 meters Centerline goodness [0,1] 0.8290689485926463 Centerline is valid? [False, False] Translation: X:60.66, Y:-1.35, Z:-0.31 [[ 9.99989542e-01 5.82049095e-04 4.53616699e-03 6.06612903e+01] [-5.81023739e-04 9.99999805e-01 -2.27354703e-04 -1.34913850e+00] [-4.53629844e-03 2.24716705e-04 9.99989686e-01 -3.06834836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.935898227 meters Centerline goodness [0,1] 0.87818660774983 Centerline is valid? [False, False] Translation: X:60.66, Y:-1.35, Z:-0.31 [[ 9.99989444e-01 5.91616444e-04 4.55659033e-03 6.06610171e+01] [-5.90339076e-04 9.99999786e-01 -2.81674142e-04 -1.34876855e+00] [-4.55675600e-03 2.78981235e-04 9.99989579e-01 -3.06459532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96589822699998 meters Centerline goodness [0,1] 0.7057924595448931 Centerline is valid? [False, False] Translation: X:60.71, Y:-1.35, Z:-0.31 [[ 9.99997982e-01 1.30239817e-03 1.52950998e-03 6.07068533e+01] [-1.30231575e-03 9.99999150e-01 -5.48839666e-05 -1.34737966e+00] [-1.52958016e-03 5.28919509e-05 9.99998829e-01 -3.05927758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99589822699998 meters Centerline goodness [0,1] 0.895748987854251 Centerline is valid? [False, False] Translation: X:60.63, Y:-1.35, Z:-0.31 [[ 9.99997126e-01 6.60360314e-04 2.30474156e-03 6.06277534e+01] [-6.59608376e-04 9.99999729e-01 -3.27001659e-04 -1.35203702e+00] [-2.30495688e-03 3.25480493e-04 9.99997291e-01 -3.09393917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02589822699998 meters Centerline goodness [0,1] 0.7931858936043037 Centerline is valid? [False, False] Translation: X:60.63, Y:-1.35, Z:-0.31 [[ 9.99997137e-01 6.61862142e-04 2.29968165e-03 6.06278873e+01] [-6.61107738e-04 9.99999727e-01 -3.28791934e-04 -1.35198654e+00] [-2.29989864e-03 3.27270655e-04 9.99997302e-01 -3.09606637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05589822699999 meters Centerline goodness [0,1] 0.7997615194617154 Centerline is valid? [False, False] Translation: X:60.63, Y:-1.35, Z:-0.31 [[ 9.99997121e-01 6.29108141e-04 2.31556860e-03 6.06277816e+01] [-6.28172419e-04 9.99999721e-01 -4.04805331e-04 -1.35163730e+00] [-2.31582262e-03 4.03349590e-04 9.99997237e-01 -3.09517685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08589822699999 meters Centerline goodness [0,1] 0.8567817849709018 Centerline is valid? [False, False] Translation: X:60.63, Y:-1.35, Z:-0.31 [[ 9.99997028e-01 6.44926593e-04 2.35132594e-03 6.06276890e+01] [-6.43891578e-04 9.99999695e-01 -4.40914134e-04 -1.35140028e+00] [-2.35160958e-03 4.39398824e-04 9.99997138e-01 -3.09558149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11589822699999 meters Centerline goodness [0,1] 0.8634947727757627 Centerline is valid? [False, False] Translation: X:60.63, Y:-1.35, Z:-0.31 [[ 9.99997055e-01 6.54138890e-04 2.33710288e-03 6.06277125e+01] [-6.52899979e-04 9.99999646e-01 -5.30829085e-04 -1.35085546e+00] [-2.33744929e-03 5.29301627e-04 9.99997128e-01 -3.09545716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14589822699999 meters Centerline goodness [0,1] 0.7115514191863893 Centerline is valid? [False, False] Translation: X:60.67, Y:-1.35, Z:-0.31 [[ 9.99997687e-01 1.63083744e-03 1.40227868e-03 6.06711850e+01] [-1.62981248e-03 9.99998404e-01 -7.31755906e-04 -1.34726385e+00] [-1.40346982e-03 7.29468762e-04 9.99998749e-01 -3.09203349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17589822699999 meters Centerline goodness [0,1] 0.7690978149539092 Centerline is valid? [False, False] Translation: X:60.63, Y:-1.35, Z:-0.31 [[ 9.99992666e-01 3.72910788e-03 -8.72577160e-04 6.06339279e+01] [-3.72883451e-03 9.99992998e-01 3.14703670e-04 -1.34546643e+00] [ 8.73744615e-04 -3.11447666e-04 9.99999570e-01 -3.12885674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20589822699999 meters Centerline goodness [0,1] 0.6221668847338877 Centerline is valid? [False, False] Translation: X:60.63, Y:-1.35, Z:-0.31 [[ 9.99968326e-01 7.87913055e-03 -1.12486368e-03 6.06348811e+01] [-7.87384839e-03 9.99958303e-01 4.62546913e-03 -1.34586393e+00] [ 1.16126145e-03 -4.61646561e-03 9.99988670e-01 -3.13028763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23589822699999 meters Centerline goodness [0,1] 0.6318349832179122 Centerline is valid? [False, False] Translation: X:60.63, Y:-1.34, Z:-0.31 [[ 9.99970194e-01 7.63685354e-03 -1.13587877e-03 6.06348248e+01] [-7.63237120e-03 9.99963270e-01 3.89946961e-03 -1.34230063e+00] [ 1.16561673e-03 -3.89068394e-03 9.99991752e-01 -3.12976801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.265898227 meters Centerline goodness [0,1] 0.7411754589621222 Centerline is valid? [False, False] Translation: X:60.63, Y:-1.34, Z:-0.31 [[ 9.99971784e-01 7.42256328e-03 -1.15586460e-03 6.06348395e+01] [-7.41864875e-03 9.99966854e-01 3.35490940e-03 -1.33972705e+00] [ 1.18072831e-03 -3.34623979e-03 9.99993704e-01 -3.12949077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.295898227 meters Centerline goodness [0,1] 0.7216166538428657 Centerline is valid? [False, False] Translation: X:60.63, Y:-1.34, Z:-0.31 [[ 9.99973079e-01 7.24434669e-03 -1.16642314e-03 6.06348918e+01] [-7.24084341e-03 9.99969344e-01 2.98015602e-03 -1.33808113e+00] [ 1.18797667e-03 -2.97162990e-03 9.99994879e-01 -3.13003282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.325898227 meters Centerline goodness [0,1] 0.6143175417209634 Centerline is valid? [False, False] Translation: X:60.68, Y:-1.33, Z:-0.31 [[ 9.99986769e-01 5.14403550e-03 -1.82587822e-05 6.06756264e+01] [-5.14404932e-03 9.99986398e-01 -8.61175054e-04 -1.33088326e+00] [ 1.38286188e-05 8.61257584e-04 9.99999629e-01 -3.12584036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35589822699998 meters Centerline goodness [0,1] 0.7028527989526363 Centerline is valid? [False, False] Translation: X:60.67, Y:-1.33, Z:-0.31 [[ 9.99988316e-01 4.83167223e-03 1.49827058e-04 6.06747393e+01] [-4.83146263e-03 9.99987391e-01 -1.36908380e-03 -1.32876147e+00] [-1.56440133e-04 1.36834392e-03 9.99999052e-01 -3.12020798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38589822699998 meters Centerline goodness [0,1] 0.6868199828095847 Centerline is valid? [False, False] Translation: X:60.67, Y:-1.33, Z:-0.31 [[ 9.99989130e-01 4.65985546e-03 1.58529976e-04 6.06745808e+01] [-4.65957649e-03 9.99987670e-01 -1.71677609e-03 -1.32716466e+00] [-1.66527950e-04 1.71601875e-03 9.99998514e-01 -3.11836751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41589822699999 meters Centerline goodness [0,1] 0.6749936863372338 Centerline is valid? [False, False] Translation: X:60.67, Y:-1.33, Z:-0.31 [[ 9.99989971e-01 4.47712765e-03 1.13855956e-04 6.06746171e+01] [-4.47688610e-03 9.99987898e-01 -2.03999591e-03 -1.32573446e+00] [-1.22987900e-04 2.03946573e-03 9.99997913e-01 -3.11693416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44589822699999 meters Centerline goodness [0,1] 0.7417357562392655 Centerline is valid? [False, False] Translation: X:60.67, Y:-1.32, Z:-0.31 [[ 9.99990644e-01 4.32562364e-03 2.03268033e-06 6.06749983e+01] [-4.32560806e-03 9.99988101e-01 -2.25532838e-03 -1.32486713e+00] [-1.17883579e-05 2.25529849e-03 9.99997457e-01 -3.11756075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47589822699999 meters Centerline goodness [0,1] 0.7178980141366543 Centerline is valid? [False, False] Translation: X:60.68, Y:-1.33, Z:-0.31 [[ 9.99990889e-01 4.26522919e-03 -1.72504873e-04 6.06757127e+01] [-4.26560645e-03 9.99988373e-01 -2.24915072e-03 -1.32503796e+00] [ 1.62909724e-04 2.24986607e-03 9.99997456e-01 -3.11995152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50589822699999 meters Centerline goodness [0,1] 0.7887627502027229 Centerline is valid? [False, False] Translation: X:60.65, Y:-1.33, Z:-0.31 [[ 9.99985795e-01 2.73438354e-03 -4.57519436e-03 6.06545278e+01] [-2.70208547e-03 9.99971492e-01 7.05073912e-03 -1.33037107e+00] [ 4.59434336e-03 -7.03827640e-03 9.99964677e-01 -3.08332440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53589822699999 meters Centerline goodness [0,1] 0.7924980386336168 Centerline is valid? [False, False] Translation: X:60.65, Y:-1.33, Z:-0.31 [[ 9.99988671e-01 -1.46132155e-03 -4.53006932e-03 6.06539873e+01] [ 1.47428486e-03 9.99994825e-01 2.85959666e-03 -1.33071821e+00] [ 4.52586709e-03 -2.86624288e-03 9.99985650e-01 -3.07650324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56589822699999 meters Centerline goodness [0,1] 0.8166888592987128 Centerline is valid? [False, False] Translation: X:60.65, Y:-1.33, Z:-0.31 [[ 9.99988512e-01 -1.37698410e-03 -4.59127486e-03 6.06541516e+01] [ 1.39257054e-03 9.99993273e-01 3.39332849e-03 -1.33363439e+00] [ 4.58657141e-03 -3.39968318e-03 9.99983703e-01 -3.07543433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59589822699999 meters Centerline goodness [0,1] 0.8255093002657219 Centerline is valid? [False, False] Translation: X:60.65, Y:-1.34, Z:-0.31 [[ 9.99988590e-01 -1.25329081e-03 -4.60973119e-03 6.06542380e+01] [ 1.27139109e-03 9.99991486e-01 3.92570465e-03 -1.33644233e+00] [ 4.60477189e-03 -3.93152063e-03 9.99981669e-01 -3.07542327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.625898227 meters Centerline goodness [0,1] 0.910190756625272 Centerline is valid? [False, False] Translation: X:60.65, Y:-1.33, Z:-0.31 [[ 9.99975548e-01 -5.49509378e-03 -4.32521649e-03 6.06534013e+01] [ 5.49213422e-03 9.99984676e-01 -6.95837105e-04 -1.33443105e+00] [ 4.32897390e-03 6.72065421e-04 9.99990404e-01 -3.07564473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.655898227 meters Centerline goodness [0,1] 0.9296454506621102 Centerline is valid? [False, False] Translation: X:60.65, Y:-1.34, Z:-0.31 [[ 9.99976322e-01 -5.38989447e-03 -4.27839336e-03 6.06533874e+01] [ 5.38793729e-03 9.99985375e-01 -4.68851938e-04 -1.33547461e+00] [ 4.28085785e-03 4.45789122e-04 9.99990738e-01 -3.07788111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.685898227 meters Centerline goodness [0,1] 0.7553327332482049 Centerline is valid? [False, False] Translation: X:60.70, Y:-1.33, Z:-0.31 [[ 9.99983052e-01 -3.69603188e-03 -4.49832337e-03 6.06972335e+01] [ 3.70234651e-03 9.99992172e-01 1.39625891e-03 -1.33450109e+00] [ 4.49312754e-03 -1.41288960e-03 9.99988908e-01 -3.07936097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71589822699998 meters Centerline goodness [0,1] 0.7862083420666527 Centerline is valid? [False, False] Translation: X:60.70, Y:-1.33, Z:-0.31 [[ 9.99983033e-01 -3.59821033e-03 -4.58107938e-03 6.06977350e+01] [ 3.60458394e-03 9.99992546e-01 1.38379484e-03 -1.33419560e+00] [ 4.57606605e-03 -1.40028424e-03 9.99988549e-01 -3.08333862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74589822699998 meters Centerline goodness [0,1] 0.8133519010845255 Centerline is valid? [False, False] Translation: X:60.70, Y:-1.33, Z:-0.31 [[ 9.99983542e-01 -3.50409176e-03 -4.54287516e-03 6.06976047e+01] [ 3.51043361e-03 9.99992874e-01 1.38877580e-03 -1.33395588e+00] [ 4.53797639e-03 -1.40470040e-03 9.99988717e-01 -3.08302475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77589822699998 meters Centerline goodness [0,1] 0.8623863051312854 Centerline is valid? [False, False] Translation: X:60.65, Y:-1.34, Z:-0.31 [[ 9.99990537e-01 -3.31999478e-03 -2.81127738e-03 6.06507250e+01] [ 3.32533651e-03 9.99992671e-01 1.89756836e-03 -1.33847419e+00] [ 2.80495686e-03 -1.90689885e-03 9.99994248e-01 -3.07282217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80589822699999 meters Centerline goodness [0,1] 0.781021591195497 Centerline is valid? [False, False] Translation: X:60.69, Y:-1.34, Z:-0.31 [[ 9.99992337e-01 -2.95511740e-03 -2.56778598e-03 6.06935441e+01] [ 2.96265264e-03 9.99991302e-01 2.93569674e-03 -1.33826703e+00] [ 2.55908832e-03 -2.94328170e-03 9.99992394e-01 -3.07013529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83589822699999 meters Centerline goodness [0,1] 0.8075579549063194 Centerline is valid? [False, False] Translation: X:60.69, Y:-1.34, Z:-0.31 [[ 9.99970988e-01 -7.18312381e-03 -2.53502663e-03 6.06936599e+01] [ 7.17923629e-03 9.99973044e-01 -1.53930462e-03 -1.33710939e+00] [ 2.54601531e-03 1.52106041e-03 9.99995602e-01 -3.07316943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86589822699999 meters Centerline goodness [0,1] 0.7376528939514942 Centerline is valid? [False, False] Translation: X:60.69, Y:-1.34, Z:-0.31 [[ 9.99971600e-01 -7.01349165e-03 -2.75853889e-03 6.06945096e+01] [ 7.01116821e-03 9.99975059e-01 -8.51044098e-04 -1.34067405e+00] [ 2.76443888e-03 8.31679348e-04 9.99995833e-01 -3.07502694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89589822699999 meters Centerline goodness [0,1] 0.7507023667631534 Centerline is valid? [False, False] Translation: X:60.69, Y:-1.34, Z:-0.31 [[ 9.99932921e-01 -1.12867844e-02 -2.60056398e-03 6.06941616e+01] [ 1.12726777e-02 9.99922006e-01 -5.37675782e-03 -1.33930932e+00] [ 2.66104746e-03 5.34708183e-03 9.99982164e-01 -3.07544247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92589822699999 meters Centerline goodness [0,1] 0.8835827788156763 Centerline is valid? [False, False] Translation: X:60.74, Y:-1.34, Z:-0.31 [[ 9.99946217e-01 -1.01224488e-02 -2.25827751e-03 6.07354901e+01] [ 1.01174267e-02 9.99946344e-01 -2.22434199e-03 -1.34176324e+00] [ 2.28067212e-03 2.20137440e-03 9.99994976e-01 -3.06237365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95589822699999 meters Centerline goodness [0,1] 0.8835827788156763 Centerline is valid? [False, False] Translation: X:60.74, Y:-1.35, Z:-0.31 [[ 9.99978104e-01 -6.22348014e-03 -2.24950553e-03 6.07354168e+01] [ 6.22886865e-03 9.99977729e-01 2.39640572e-03 -1.34504071e+00] [ 2.23454145e-03 -2.41036512e-03 9.99994598e-01 -3.06132714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98589822699999 meters Centerline goodness [0,1] 0.8551237493417588 Centerline is valid? [False, False] Translation: X:60.74, Y:-1.35, Z:-0.31 [[ 9.99978625e-01 -6.14232153e-03 -2.24104897e-03 6.07350407e+01] [ 6.15019695e-03 9.99974877e-01 3.52436622e-03 -1.35140616e+00] [ 2.21934488e-03 -3.53807378e-03 9.99991278e-01 -3.05350495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.015898227 meters Centerline goodness [0,1] 0.9795617361989043 Centerline is valid? [False, True] Translation: X:60.74, Y:-1.35, Z:-0.31 [[ 9.99979462e-01 -5.95033338e-03 -2.38103739e-03 6.07354513e+01] [ 5.96005919e-03 9.99973839e-01 4.09866344e-03 -1.35425794e+00] [ 2.35658669e-03 -4.11277038e-03 9.99988766e-01 -3.05212139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.045898227 meters Centerline goodness [0,1] 0.9389552777365059 Centerline is valid? [True, False] Translation: X:60.73, Y:-1.35, Z:-0.30 [[ 9.99962770e-01 -8.49485534e-03 -1.51544270e-03 6.07308649e+01] [ 8.49675088e-03 9.99963122e-01 1.24879821e-03 -1.35486071e+00] [ 1.50477845e-03 -1.26162806e-03 9.99998072e-01 -3.02949536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.075898227 meters Centerline goodness [0,1] 0.973200387058774 Centerline is valid? [False, True] Translation: X:60.73, Y:-1.36, Z:-0.30 [[ 9.99963859e-01 -8.32578257e-03 -1.72080277e-03 6.07317456e+01] [ 8.32850080e-03 9.99964071e-01 1.57854592e-03 -1.35637072e+00] [ 1.70759831e-03 -1.59282058e-03 9.99997274e-01 -3.03305555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10589822699998 meters Centerline goodness [0,1] 0.9053290354989953 Centerline is valid? [True, False] Translation: X:60.73, Y:-1.36, Z:-0.30 [[ 9.99966994e-01 -7.94181651e-03 -1.71425559e-03 6.07320401e+01] [ 7.94587515e-03 9.99965613e-01 2.37390019e-03 -1.36006745e+00] [ 1.69534356e-03 -2.38744309e-03 9.99995713e-01 -3.03750590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13589822699998 meters Centerline goodness [0,1] 0.9053290354989953 Centerline is valid? [False, False] Translation: X:60.73, Y:-1.36, Z:-0.30 [[ 9.99966994e-01 -7.94181651e-03 -1.71425559e-03 6.07320401e+01] [ 7.94587515e-03 9.99965613e-01 2.37390019e-03 -1.36006745e+00] [ 1.69534356e-03 -2.38744309e-03 9.99995713e-01 -3.03750590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16589822699999 meters Centerline goodness [0,1] 0.9494427663785022 Centerline is valid? [False, False] Translation: X:60.73, Y:-1.36, Z:-0.30 [[ 9.99969687e-01 -7.63417411e-03 -1.53113033e-03 6.07308564e+01] [ 7.63897212e-03 9.99965853e-01 3.15266524e-03 -1.36380170e+00] [ 1.50701005e-03 -3.16426593e-03 9.99993858e-01 -3.02737967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19589822699999 meters Centerline goodness [0,1] 0.9561325733586659 Centerline is valid? [False, True] Translation: X:60.73, Y:-1.37, Z:-0.30 [[ 9.99971244e-01 -7.43742682e-03 -1.48200783e-03 6.07304144e+01] [ 7.44274706e-03 9.99965760e-01 3.61730329e-03 -1.36602253e+00] [ 1.45505366e-03 -3.62822948e-03 9.99992359e-01 -3.02217717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22589822699999 meters Centerline goodness [0,1] 0.956080652660946 Centerline is valid? [True, True] Translation: X:60.76, Y:-1.36, Z:-0.30 [[ 9.99975959e-01 -6.81574859e-03 -1.27521565e-03 6.07606584e+01] [ 6.81564382e-03 9.99976769e-01 -8.64862135e-05 -1.36499463e+00] [ 1.27577549e-03 7.77927186e-05 9.99999183e-01 -3.01512925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25589822699999 meters Centerline goodness [0,1] 0.9159476408939771 Centerline is valid? [True, False] Translation: X:60.76, Y:-1.37, Z:-0.30 [[ 9.99977304e-01 -6.58387774e-03 -1.42975407e-03 6.07614147e+01] [ 6.58428503e-03 9.99978284e-01 2.80351021e-04 -1.36658501e+00] [ 1.42787723e-03 -2.89758567e-04 9.99998939e-01 -3.01926855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28589822699999 meters Centerline goodness [0,1] 0.9658855887934159 Centerline is valid? [False, True] Translation: X:60.74, Y:-1.37, Z:-0.30 [[ 9.99991032e-01 -3.03040893e-03 -2.95859966e-03 6.07421315e+01] [ 3.00954349e-03 9.99970749e-01 -7.03163213e-03 -1.36859472e+00] [ 2.97982184e-03 7.02266503e-03 9.99970901e-01 -3.02940412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31589822699999 meters Centerline goodness [0,1] 0.8548339264531435 Centerline is valid? [True, False] Translation: X:60.75, Y:-1.37, Z:-0.31 [[ 9.99992890e-01 -2.96296098e-04 -3.75931940e-03 6.07477426e+01] [ 2.80670653e-04 9.99991323e-01 -4.15630270e-03 -1.36950278e+00] [ 3.76051827e-03 4.15521801e-03 9.99984296e-01 -3.06567497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34589822699999 meters Centerline goodness [0,1] 0.7555606994802297 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.37, Z:-0.31 [[ 9.99983826e-01 4.18060981e-03 -3.85609874e-03 6.07483447e+01] [-4.17889201e-03 9.99991166e-01 4.53424753e-04 -1.37090084e+00] [ 3.85796026e-03 -4.37303199e-04 9.99992462e-01 -3.06968454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.375898227 meters Centerline goodness [0,1] 0.7788861883123745 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.37, Z:-0.31 [[ 9.99983858e-01 4.22476323e-03 -3.79923234e-03 6.07482112e+01] [-4.22311496e-03 9.99990985e-01 4.41761389e-04 -1.37079962e+00] [ 3.80106443e-03 -4.25709663e-04 9.99992685e-01 -3.07075624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.405898227 meters Centerline goodness [0,1] 0.8487039621125629 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.37, Z:-0.31 [[ 9.99983352e-01 4.30319083e-03 -3.84429730e-03 6.07482902e+01] [-4.30061667e-03 9.99990523e-01 6.77621892e-04 -1.37198432e+00] [ 3.84717681e-03 -6.61077761e-04 9.99992381e-01 -3.06966887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.435898227 meters Centerline goodness [0,1] 0.6954254961318533 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.37, Z:-0.31 [[ 9.99983042e-01 4.33248279e-03 -3.89166966e-03 6.07484085e+01] [-4.32827128e-03 9.99990039e-01 1.08995653e-03 -1.37437806e+00] [ 3.89635311e-03 -1.07309384e-03 9.99991833e-01 -3.06902676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46589822699998 meters Centerline goodness [0,1] 0.8685042544613492 Centerline is valid? [False, False] Translation: X:60.75, Y:-1.38, Z:-0.31 [[ 9.99982277e-01 4.43990336e-03 -3.96649327e-03 6.07484433e+01] [-4.43330285e-03 9.99988776e-01 1.67131194e-03 -1.37749039e+00] [ 3.97386921e-03 -1.65369766e-03 9.99990737e-01 -3.06513557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49589822699998 meters Centerline goodness [0,1] 0.9030152968084437 Centerline is valid? [False, False] Translation: X:60.77, Y:-1.38, Z:-0.31 [[ 9.99998746e-01 -1.30707034e-03 -8.93904977e-04 6.07702370e+01] [ 1.31287456e-03 9.99977859e-01 6.52363472e-03 -1.37909849e+00] [ 8.85358335e-04 -6.52480013e-03 9.99978321e-01 -3.09152986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52589822699998 meters Centerline goodness [0,1] 0.8225881163936497 Centerline is valid? [False, False] Translation: X:60.77, Y:-1.38, Z:-0.31 [[ 9.99998698e-01 -1.29325962e-03 -9.65201718e-04 6.07702420e+01] [ 1.29972374e-03 9.99976530e-01 6.72686004e-03 -1.38026709e+00] [ 9.56479488e-04 -6.72810578e-03 9.99976909e-01 -3.08773556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55589822699999 meters Centerline goodness [0,1] 0.9172341098345104 Centerline is valid? [False, False] Translation: X:60.77, Y:-1.38, Z:-0.31 [[ 9.99998601e-01 -1.33492121e-03 -1.00806203e-03 6.07701678e+01] [ 1.34163071e-03 9.99976757e-01 6.68475732e-03 -1.38011292e+00] [ 9.99114973e-04 -6.68610042e-03 9.99977149e-01 -3.08417132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58589822699999 meters Centerline goodness [0,1] 0.918531818941039 Centerline is valid? [False, False] Translation: X:60.79, Y:-1.38, Z:-0.31 [[ 9.99997062e-01 2.12095727e-05 2.42410317e-03 6.07900362e+01] [-1.37582920e-05 9.99995276e-01 -3.07380520e-03 -1.37542836e+00] [-2.42415691e-03 3.07376282e-03 9.99992338e-01 -3.09944937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61589822699999 meters Centerline goodness [0,1] 0.9103519407257725 Centerline is valid? [False, False] Translation: X:60.79, Y:-1.37, Z:-0.31 [[ 9.99996925e-01 -1.74650494e-05 2.47992805e-03 6.07897984e+01] [ 2.54534567e-05 9.99994811e-01 -3.22123042e-03 -1.37454722e+00] [-2.47985893e-03 3.22128363e-03 9.99991737e-01 -3.09874417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64589822699999 meters Centerline goodness [0,1] 0.8289337637948133 Centerline is valid? [False, False] Translation: X:60.79, Y:-1.37, Z:-0.31 [[ 9.99996793e-01 -6.86529471e-05 2.53172264e-03 6.07896821e+01] [ 7.70417082e-05 9.99994507e-01 -3.31351112e-03 -1.37408124e+00] [-2.53148125e-03 3.31369554e-03 9.99991305e-01 -3.09971076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67589822699999 meters Centerline goodness [0,1] 0.9559593665215471 Centerline is valid? [False, True] Translation: X:60.79, Y:-1.38, Z:-0.31 [[ 9.99997288e-01 -2.24632248e-04 2.31787271e-03 6.07907726e+01] [ 2.31629496e-04 9.99995416e-01 -3.01899669e-03 -1.37621581e+00] [-2.31718392e-03 3.01952539e-03 9.99992757e-01 -3.10687820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70589822699999 meters Centerline goodness [0,1] 0.9818019473617076 Centerline is valid? [True, True] Translation: X:60.82, Y:-1.38, Z:-0.31 [[ 9.99992496e-01 -3.45977421e-03 1.74279076e-03 6.08214348e+01] [ 3.45960251e-03 9.99994010e-01 1.01529988e-04 -1.38092738e+00] [-1.74313160e-03 -9.54998631e-05 9.99998476e-01 -3.11629574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73589822699999 meters Centerline goodness [0,1] 0.9991716227697536 Centerline is valid? [True, True] Translation: X:60.85, Y:-1.39, Z:-0.31 [[ 9.99971866e-01 -7.20654252e-03 2.08142135e-03 6.08523996e+01] [ 7.20630570e-03 9.99974027e-01 1.21253064e-04 -1.39175901e+00] [-2.08224111e-03 -1.06250295e-04 9.99997826e-01 -3.11940000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.765898227 meters Centerline goodness [0,1] 0.9990845025442313 Centerline is valid? [True, True] Translation: X:60.88, Y:-1.39, Z:-0.31 [[ 9.99944336e-01 -1.02056666e-02 2.67766329e-03 6.08826394e+01] [ 1.02052854e-02 9.99947913e-01 1.55981487e-04 -1.39184188e+00] [-2.67911572e-03 -1.28646486e-04 9.99996403e-01 -3.09796453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.795898227 meters Centerline goodness [0,1] 0.9994553833263511 Centerline is valid? [True, True] Translation: X:60.91, Y:-1.40, Z:-0.31 [[ 9.99866304e-01 -1.56847797e-02 4.62197257e-03 6.09130185e+01] [ 1.56837024e-02 9.99876967e-01 2.69242890e-04 -1.39751089e+00] [-4.62562693e-03 -1.96717251e-04 9.99989282e-01 -3.05949708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.825898227 meters Centerline goodness [0,1] 0.9996417658834685 Centerline is valid? [True, True] Translation: X:60.95, Y:-1.40, Z:-0.31 [[ 9.99835949e-01 -1.74210372e-02 4.95799576e-03 6.09452701e+01] [ 1.74198188e-02 9.99848222e-01 2.88815261e-04 -1.40277209e+00] [-4.96227471e-03 -2.02400493e-04 9.99987667e-01 -3.05099098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85589822699998 meters Centerline goodness [0,1] 0.9991450496288264 Centerline is valid? [True, True] Translation: X:60.98, Y:-1.40, Z:-0.31 [[ 9.99828500e-01 -1.79901323e-02 4.39608231e-03 6.09750707e+01] [ 1.79891805e-02 9.99838149e-01 2.55950840e-04 -1.39808877e+00] [-4.39997539e-03 -1.76825026e-04 9.99990304e-01 -3.06351127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88589822699998 meters Centerline goodness [0,1] 0.999574667177066 Centerline is valid? [True, True] Translation: X:61.01, Y:-1.41, Z:-0.31 [[ 9.99837773e-01 -1.76407111e-02 3.63781285e-03 6.10067364e+01] [ 1.76400576e-02 9.99844380e-01 2.11657063e-04 -1.40916108e+00] [-3.64098052e-03 -1.47451498e-04 9.99993361e-01 -3.07733611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91589822699999 meters Centerline goodness [0,1] 0.9993832280567431 Centerline is valid? [True, True] Translation: X:61.04, Y:-1.41, Z:-0.31 [[ 9.99855480e-01 -1.66523789e-02 3.42316414e-03 6.10371210e+01] [ 1.66517948e-02 9.99861329e-01 1.99076036e-04 -1.40538940e+00] [-3.42600454e-03 -1.42045439e-04 9.99994121e-01 -3.09098559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94589822699999 meters Centerline goodness [0,1] 0.9989982522699177 Centerline is valid? [True, True] Translation: X:61.07, Y:-1.41, Z:-0.31 [[ 9.99909891e-01 -1.31214605e-02 2.83486256e-03 6.10679693e+01] [ 1.31210459e-02 9.99913902e-01 1.64823443e-04 -1.40798863e+00] [-2.83678120e-03 -1.27612229e-04 9.99995968e-01 -3.10041209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97589822699999 meters Centerline goodness [0,1] 0.9977813592314293 Centerline is valid? [True, True] Translation: X:61.10, Y:-1.40, Z:-0.31 [[ 9.99945692e-01 -1.01796541e-02 2.23334288e-03 6.10977978e+01] [ 1.01793894e-02 9.99948180e-01 1.29856424e-04 -1.40108389e+00] [-2.23454904e-03 -1.07115304e-04 9.99997498e-01 -3.11941164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00589822699999 meters Centerline goodness [0,1] 0.982532751091703 Centerline is valid? [True, True] Translation: X:61.13, Y:-1.39, Z:-0.31 [[ 9.99974937e-01 -6.92677153e-03 1.46478867e-03 6.11265444e+01] [ 6.92665416e-03 9.99976007e-01 8.51882686e-05 -1.38956586e+00] [-1.46534361e-03 -7.50400490e-05 9.99998924e-01 -3.13963426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03589822699999 meters Centerline goodness [0,1] 0.9964035666404205 Centerline is valid? [True, True] Translation: X:61.16, Y:-1.40, Z:-0.31 [[ 9.99992229e-01 -3.85460708e-03 8.27282940e-04 6.11578500e+01] [ 3.85456860e-03 9.99992570e-01 4.81007414e-05 -1.39813718e+00] [-8.27462203e-04 -4.49115488e-05 9.99999657e-01 -3.14770808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06589822699999 meters Centerline goodness [0,1] 0.9735315141067149 Centerline is valid? [True, True] Translation: X:61.19, Y:-1.39, Z:-0.32 [[ 9.99999094e-01 -1.12143696e-03 7.44102133e-04 6.11869390e+01] [ 1.12140512e-03 9.99999370e-01 4.32097221e-05 -1.38829215e+00] [-7.44150121e-04 -4.23752430e-05 9.99999722e-01 -3.15691466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09589822699999 meters Centerline goodness [0,1] 0.9861909509365123 Centerline is valid? [True, True] Translation: X:61.22, Y:-1.39, Z:-0.31 [[ 9.99998596e-01 8.53277797e-04 1.44221422e-03 6.12180123e+01] [-8.53399611e-04 9.99999632e-01 8.38503821e-05 -1.39340322e+00] [-1.44214214e-03 -8.50810495e-05 9.99998956e-01 -3.14675631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.125898227 meters Centerline goodness [0,1] 0.9470704189908988 Centerline is valid? [True, False] Translation: X:61.26, Y:-1.40, Z:-0.31 [[ 9.99994981e-01 1.58385020e-03 2.74382241e-03 6.12584034e+01] [-1.58534176e-03 9.99998597e-01 5.41517182e-04 -1.39666276e+00] [-2.74296088e-03 -5.45864361e-04 9.99996089e-01 -3.13419846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.155898227 meters Centerline goodness [0,1] 0.9616605306588802 Centerline is valid? [False, True] Translation: X:61.26, Y:-1.40, Z:-0.31 [[ 9.99994559e-01 1.81582761e-03 2.75405012e-03 6.12582923e+01] [-1.81891726e-03 9.99997719e-01 1.11976613e-03 -1.39949048e+00] [-2.75201053e-03 -1.12476943e-03 9.99995581e-01 -3.13257320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.185898227 meters Centerline goodness [0,1] 0.9546827156583254 Centerline is valid? [True, True] Translation: X:61.29, Y:-1.40, Z:-0.31 [[ 9.99993389e-01 1.60374996e-03 3.26333145e-03 6.12893781e+01] [-1.60439039e-03 9.99998694e-01 1.93641263e-04 -1.39942915e+00] [-3.26301663e-03 -1.98875641e-04 9.99994657e-01 -3.13194617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21589822699998 meters Centerline goodness [0,1] 0.976957151375756 Centerline is valid? [True, True] Translation: X:61.32, Y:-1.40, Z:-0.31 [[ 9.99993471e-01 1.13562210e-03 3.43054273e-03 6.13213668e+01] [-1.13632458e-03 9.99999334e-01 2.02828907e-04 -1.40453283e+00] [-3.43031011e-03 -2.06725793e-04 9.99994095e-01 -3.13164527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24589822699998 meters Centerline goodness [0,1] 0.9653803466234099 Centerline is valid? [True, True] Translation: X:61.35, Y:-1.40, Z:-0.31 [[ 9.99994137e-01 1.53967228e-03 3.05878221e-03 6.13523859e+01] [-1.54023252e-03 9.99998797e-01 1.80810730e-04 -1.40223342e+00] [-3.05850014e-03 -1.85520906e-04 9.99995306e-01 -3.13713217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27589822699998 meters Centerline goodness [0,1] 0.9536224511424817 Centerline is valid? [True, True] Translation: X:61.38, Y:-1.40, Z:-0.31 [[ 9.99993111e-01 2.92666142e-03 2.28311833e-03 6.13828425e+01] [-2.92697693e-03 9.99995707e-01 1.34861739e-04 -1.39980033e+00] [-2.28271384e-03 -1.41543445e-04 9.99997385e-01 -3.14654707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30589822699999 meters Centerline goodness [0,1] 0.9112723449001051 Centerline is valid? [True, False] Translation: X:61.39, Y:-1.40, Z:-0.32 [[ 9.99980037e-01 6.11776736e-03 1.58091048e-03 6.13882980e+01] [-6.12305165e-03 9.99975610e-01 3.35961795e-03 -1.39997184e+00] [-1.56031856e-03 -3.36923088e-03 9.99993107e-01 -3.18494793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33589822699999 meters Centerline goodness [0,1] 0.8660652470366097 Centerline is valid? [False, False] Translation: X:61.39, Y:-1.40, Z:-0.32 [[ 9.99980654e-01 6.03496849e-03 1.50699330e-03 6.13887334e+01] [-6.03942552e-03 9.99977350e-01 2.97073914e-03 -1.39798333e+00] [-1.48903085e-03 -2.97978304e-03 9.99994452e-01 -3.18842108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36589822699999 meters Centerline goodness [0,1] 0.7674233206058826 Centerline is valid? [False, False] Translation: X:61.39, Y:-1.39, Z:-0.32 [[ 9.99995235e-01 2.44477808e-03 1.88516059e-03 6.13875208e+01] [-2.44139962e-03 9.99995414e-01 -1.79235324e-03 -1.39292045e+00] [-1.88953385e-03 1.78774226e-03 9.99996617e-01 -3.19043702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39589822699999 meters Centerline goodness [0,1] 0.746549905043258 Centerline is valid? [False, False] Translation: X:61.39, Y:-1.39, Z:-0.32 [[ 9.99994985e-01 2.40387248e-03 2.06179372e-03 6.13866916e+01] [-2.39954962e-03 9.99994923e-01 -2.09656506e-03 -1.39125006e+00] [-2.06682313e-03 2.09160717e-03 9.99995677e-01 -3.18612977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42589822699999 meters Centerline goodness [0,1] 0.8125397027061365 Centerline is valid? [False, False] Translation: X:61.39, Y:-1.39, Z:-0.32 [[ 9.99994723e-01 2.35494586e-03 2.23785990e-03 6.13858567e+01] [-2.34955442e-03 9.99994339e-01 -2.40878011e-03 -1.38953451e+00] [-2.24351978e-03 2.40350943e-03 9.99994595e-01 -3.18192781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45589822699999 meters Centerline goodness [0,1] 0.8619486828307903 Centerline is valid? [False, False] Translation: X:61.39, Y:-1.39, Z:-0.32 [[ 9.99975791e-01 6.60092892e-03 2.20110069e-03 6.13858881e+01] [-6.60569371e-03 9.99975840e-01 2.16453189e-03 -1.39118493e+00] [-2.18675959e-03 -2.17901929e-03 9.99995235e-01 -3.17893839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48589822699999 meters Centerline goodness [0,1] 0.7310870676435508 Centerline is valid? [False, False] Translation: X:61.39, Y:-1.39, Z:-0.32 [[ 9.99977208e-01 6.39582350e-03 2.16275000e-03 6.13862033e+01] [-6.39899584e-03 9.99978456e-01 1.46308442e-03 -1.38769850e+00] [-2.15334578e-03 -1.47689050e-03 9.99996591e-01 -3.18271994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.515898227 meters Centerline goodness [0,1] 0.765442865651323 Centerline is valid? [False, False] Translation: X:61.39, Y:-1.38, Z:-0.32 [[ 9.99978821e-01 6.15508102e-03 2.11486942e-03 6.13866964e+01] [-6.15658452e-03 9.99980799e-01 7.05141173e-04 -1.38399111e+00] [-2.11048861e-03 -7.18146611e-04 9.99997515e-01 -3.18917986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.545898227 meters Centerline goodness [0,1] 0.6552105487026797 Centerline is valid? [False, False] Translation: X:61.39, Y:-1.38, Z:-0.32 [[ 9.99982570e-01 5.57479756e-03 1.94479287e-03 6.13878784e+01] [-5.57281229e-03 9.99983947e-01 -1.02474053e-03 -1.37557852e+00] [-1.95047437e-03 1.01388471e-03 9.99997584e-01 -3.20179603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.575898227 meters Centerline goodness [0,1] 0.668311552535285 Centerline is valid? [False, False] Translation: X:61.43, Y:-1.37, Z:-0.32 [[ 9.99984832e-01 5.35600884e-03 1.28449606e-03 6.14316291e+01] [-5.35165636e-03 9.99980007e-01 -3.36830789e-03 -1.36836262e+00] [-1.30251106e-03 3.36138262e-03 9.99993502e-01 -3.20474937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60589822699998 meters Centerline goodness [0,1] 0.6567785859269283 Centerline is valid? [False, False] Translation: X:61.41, Y:-1.37, Z:-0.32 [[ 9.99990908e-01 3.33895839e-03 -2.65242706e-03 6.14126490e+01] [-3.32351972e-03 9.99977635e-01 5.80382085e-03 -1.36948431e+00] [ 2.67174645e-03 -5.79495268e-03 9.99979640e-01 -3.18613822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63589822699998 meters Centerline goodness [0,1] 0.6933736724072272 Centerline is valid? [False, False] Translation: X:61.41, Y:-1.36, Z:-0.32 [[ 9.99996134e-01 -1.19999169e-03 -2.50840288e-03 6.14121678e+01] [ 1.20150561e-03 9.99999097e-01 6.02122071e-04 -1.36479355e+00] [ 2.50767808e-03 -6.05133604e-04 9.99996673e-01 -3.18725914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66589822699999 meters Centerline goodness [0,1] 0.8300497806277422 Centerline is valid? [False, False] Translation: X:61.41, Y:-1.37, Z:-0.32 [[ 9.99995330e-01 -1.45583887e-03 -2.68698994e-03 6.14123718e+01] [ 1.45768704e-03 9.99998702e-01 6.85994469e-04 -1.36592356e+00] [ 2.68598776e-03 -6.89908056e-04 9.99996155e-01 -3.18125033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69589822699999 meters Centerline goodness [0,1] 0.9069575870226427 Centerline is valid? [False, False] Translation: X:61.41, Y:-1.37, Z:-0.32 [[ 9.99994507e-01 -1.73972726e-03 -2.82132658e-03 6.14123498e+01] [ 1.74239342e-03 9.99998038e-01 9.42820753e-04 -1.36805612e+00] [ 2.81968079e-03 -9.47731435e-04 9.99995576e-01 -3.17347581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72589822699999 meters Centerline goodness [0,1] 0.9785750400269655 Centerline is valid? [False, True] Translation: X:61.41, Y:-1.37, Z:-0.32 [[ 9.99990397e-01 -2.91215908e-03 -3.27497352e-03 6.14138466e+01] [ 2.91547925e-03 9.99995240e-01 1.00948329e-03 -1.37191223e+00] [ 3.27201816e-03 -1.01902172e-03 9.99994128e-01 -3.17226247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75589822699999 meters Centerline goodness [0,1] 0.9744809137616237 Centerline is valid? [True, True] Translation: X:61.44, Y:-1.37, Z:-0.32 [[ 9.99976121e-01 -5.69884346e-03 -3.90906432e-03 6.14427870e+01] [ 5.69796916e-03 9.99983739e-01 -2.34759979e-04 -1.36719588e+00] [ 3.91033862e-03 2.12480645e-04 9.99992332e-01 -3.19537453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78589822699999 meters Centerline goodness [0,1] 0.9963957851887972 Centerline is valid? [True, True] Translation: X:61.47, Y:-1.37, Z:-0.32 [[ 9.99967770e-01 -6.74969702e-03 -4.34749283e-03 6.14719149e+01] [ 6.74862172e-03 9.99977193e-01 -2.61959991e-04 -1.37499435e+00] [ 4.34916183e-03 2.32611963e-04 9.99990515e-01 -3.19135265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81589822699999 meters Centerline goodness [0,1] 0.9967133344715725 Centerline is valid? [True, True] Translation: X:61.50, Y:-1.37, Z:-0.32 [[ 9.99965387e-01 -7.16265439e-03 -4.23331335e-03 6.15007368e+01] [ 7.16163557e-03 9.99974322e-01 -2.55778823e-04 -1.37271794e+00] [ 4.23503670e-03 2.25452523e-04 9.99991007e-01 -3.19485384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84589822699999 meters Centerline goodness [0,1] 0.9976752122168664 Centerline is valid? [True, True] Translation: X:61.53, Y:-1.37, Z:-0.32 [[ 9.99967369e-01 -7.28578658e-03 -3.48969098e-03 6.15295372e+01] [ 7.28509285e-03 9.99973441e-01 -2.11465485e-04 -1.37362306e+00] [ 3.49113899e-03 1.86035862e-04 9.99993889e-01 -3.17377946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.875898227 meters Centerline goodness [0,1] 0.9976752122168664 Centerline is valid? [True, True] Translation: X:61.56, Y:-1.37, Z:-0.32 [[ 9.99967195e-01 -7.30966098e-03 -3.48969422e-03 6.15586873e+01] [ 7.30896758e-03 9.99973267e-01 -2.11411864e-04 -1.37181586e+00] [ 3.49114628e-03 1.85898866e-04 9.99993889e-01 -3.17405900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.905898227 meters Centerline goodness [0,1] 0.9928753073705892 Centerline is valid? [True, True] Translation: X:61.59, Y:-1.36, Z:-0.32 [[ 9.99972887e-01 -6.87131073e-03 -2.64759011e-03 6.15870636e+01] [ 6.87090978e-03 9.99976382e-01 -1.60507177e-04 -1.36352434e+00] [ 2.64863047e-03 1.42311472e-04 9.99996482e-01 -3.16273904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.935898227 meters Centerline goodness [0,1] 0.993423000465254 Centerline is valid? [True, True] Translation: X:61.62, Y:-1.36, Z:-0.31 [[ 9.99977102e-01 -6.33739330e-03 -2.37337675e-03 6.16171669e+01] [ 6.33706949e-03 9.99979910e-01 -1.43930475e-04 -1.36428468e+00] [ 2.37424122e-03 1.28886926e-04 9.99997173e-01 -3.14953813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96589822699998 meters Centerline goodness [0,1] 0.9873934471307401 Centerline is valid? [True, True] Translation: X:61.65, Y:-1.36, Z:-0.31 [[ 9.99982841e-01 -5.31386898e-03 -2.46576503e-03 6.16464640e+01] [ 5.31351635e-03 9.99985872e-01 -1.49536278e-04 -1.36093583e+00] [ 2.46652481e-03 1.36431829e-04 9.99996949e-01 -3.14031720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99589822699998 meters Centerline goodness [0,1] 0.9937066113021475 Centerline is valid? [True, True] Translation: X:61.68, Y:-1.37, Z:-0.31 [[ 9.99995277e-01 -2.25261462e-03 -2.09100119e-03 6.16769330e+01] [ 2.25235435e-03 9.99997455e-01 -1.26817006e-04 -1.36555867e+00] [ 2.09128153e-03 1.22106731e-04 9.99997806e-01 -3.12792576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02589822699998 meters Centerline goodness [0,1] 0.9571982786033792 Centerline is valid? [True, True] Translation: X:61.71, Y:-1.36, Z:-0.31 [[ 9.99998986e-01 -5.26406365e-04 -1.32317151e-03 6.17060437e+01] [ 5.26300608e-04 9.99999858e-01 -8.02734857e-05 -1.35520804e+00] [ 1.32321358e-03 7.95770184e-05 9.99999121e-01 -3.12090179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05589822699999 meters Centerline goodness [0,1] 0.9228904078092013 Centerline is valid? [True, False] Translation: X:61.75, Y:-1.35, Z:-0.31 [[ 9.99999934e-01 3.58462638e-04 6.67882869e-05 6.17456034e+01] [-3.58427467e-04 9.99999797e-01 -5.25881329e-04 -1.35273282e+00] [-6.69767822e-05 5.25857355e-04 9.99999859e-01 -3.10643122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08589822699999 meters Centerline goodness [0,1] 0.9590221335653503 Centerline is valid? [False, True] Translation: X:61.70, Y:-1.35, Z:-0.31 [[ 9.99999461e-01 3.66514097e-04 9.71404393e-04 6.17013319e+01] [-3.66315460e-04 9.99999912e-01 -2.04654491e-04 -1.35472611e+00] [-9.71479316e-04 2.04298540e-04 9.99999507e-01 -3.11406251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11589822699999 meters Centerline goodness [0,1] 0.9554690691723826 Centerline is valid? [True, True] Translation: X:61.73, Y:-1.35, Z:-0.31 [[ 9.99997465e-01 2.20687332e-03 4.46550652e-04 6.17324360e+01] [-2.20688621e-03 9.99997564e-01 2.83570465e-05 -1.35283354e+00] [-4.46486984e-04 -2.93424611e-05 9.99999900e-01 -3.11600584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14589822699999 meters Centerline goodness [0,1] 0.7159524156753265 Centerline is valid? [True, False] Translation: X:61.81, Y:-1.35, Z:-0.31 [[ 9.99991746e-01 3.63835272e-03 -1.80845351e-03 6.18129101e+01] [-3.63993507e-03 9.99992995e-01 -8.72453703e-04 -1.34806565e+00] [ 1.80526655e-03 8.79029155e-04 9.99997984e-01 -3.09715700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17589822699999 meters Centerline goodness [0,1] 0.9058444330601093 Centerline is valid? [False, False] Translation: X:61.75, Y:-1.36, Z:-0.31 [[ 9.99987132e-01 3.08414762e-03 -4.02777600e-03 6.17514534e+01] [-3.04870586e-03 9.99956842e-01 8.77602845e-03 -1.35522971e+00] [ 4.05466874e-03 -8.76363602e-03 9.99953378e-01 -3.10010840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20589822699999 meters Centerline goodness [0,1] 0.8582970128627618 Centerline is valid? [False, False] Translation: X:61.75, Y:-1.35, Z:-0.31 [[ 9.99992469e-01 -8.19142127e-04 -3.79345121e-03 6.17506806e+01] [ 8.34462933e-04 9.99991495e-01 4.03893103e-03 -1.35161387e+00] [ 3.79011049e-03 -4.04206610e-03 9.99984648e-01 -3.10106741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23589822699999 meters Centerline goodness [0,1] 0.7286545042302606 Centerline is valid? [False, False] Translation: X:61.77, Y:-1.35, Z:-0.31 [[ 9.99998962e-01 5.95392573e-04 1.31170209e-03 6.17706460e+01] [-5.88812599e-04 9.99987271e-01 -5.01105061e-03 -1.34757420e+00] [-1.31466893e-03 5.01027306e-03 9.99986584e-01 -3.13566248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.265898227 meters Centerline goodness [0,1] 0.7654341855060216 Centerline is valid? [False, False] Translation: X:61.77, Y:-1.35, Z:-0.31 [[ 9.99998610e-01 6.76970705e-04 1.52366174e-03 6.17696289e+01] [-6.69402198e-04 9.99987463e-01 -4.96235497e-03 -1.34755593e+00] [-1.52700201e-03 4.96132813e-03 9.99986527e-01 -3.12974939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.295898227 meters Centerline goodness [0,1] 0.796145057549086 Centerline is valid? [False, False] Translation: X:61.77, Y:-1.35, Z:-0.31 [[ 9.99998357e-01 7.72377739e-04 1.63965134e-03 6.17691536e+01] [-7.64383315e-04 9.99987846e-01 -4.87072593e-03 -1.34775549e+00] [-1.64339345e-03 4.86946461e-03 9.99986794e-01 -3.12793387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.325898227 meters Centerline goodness [0,1] 0.8381759483454398 Centerline is valid? [False, False] Translation: X:61.77, Y:-1.35, Z:-0.31 [[ 9.99998295e-01 8.47399758e-04 1.64056157e-03 6.17694087e+01] [-8.39561000e-04 9.99988257e-01 -4.77290112e-03 -1.34810241e+00] [-1.64458686e-03 4.77151564e-03 9.99987264e-01 -3.13260310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35589822699998 meters Centerline goodness [0,1] 0.7127920758550627 Centerline is valid? [False, False] Translation: X:61.78, Y:-1.35, Z:-0.32 [[ 9.99996893e-01 2.39285741e-03 6.98547368e-04 6.17759598e+01] [-2.39072003e-03 9.99992507e-01 -3.04470786e-03 -1.35016190e+00] [-7.05827685e-04 3.04302837e-03 9.99995121e-01 -3.17806077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38589822699998 meters Centerline goodness [0,1] 0.7127920758550627 Centerline is valid? [False, False] Translation: X:61.78, Y:-1.35, Z:-0.32 [[ 9.99996893e-01 2.39285741e-03 6.98547368e-04 6.17759598e+01] [-2.39072003e-03 9.99992507e-01 -3.04470786e-03 -1.35016190e+00] [-7.05827685e-04 3.04302837e-03 9.99995121e-01 -3.17806077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41589822699999 meters Centerline goodness [0,1] 0.7450548066019906 Centerline is valid? [False, False] Translation: X:61.78, Y:-1.35, Z:-0.32 [[ 9.99996862e-01 2.47720911e-03 3.74216142e-04 6.17771349e+01] [-2.47619453e-03 9.99993322e-01 -2.68777312e-03 -1.35205203e+00] [-3.80871819e-04 2.68683805e-03 9.99996318e-01 -3.18025780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44589822699999 meters Centerline goodness [0,1] 0.8613607460788469 Centerline is valid? [False, False] Translation: X:61.78, Y:-1.35, Z:-0.32 [[ 9.99996550e-01 2.59786903e-03 3.89280868e-04 6.17767393e+01] [-2.59698895e-03 9.99994109e-01 -2.24448317e-03 -1.35432535e+00] [-3.95109448e-04 2.24346446e-03 9.99997405e-01 -3.17389391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47589822699999 meters Centerline goodness [0,1] 0.7799319442110569 Centerline is valid? [False, False] Translation: X:61.79, Y:-1.36, Z:-0.31 [[ 9.99994074e-01 6.60449730e-04 -3.37865029e-03 6.17945421e+01] [-6.45297019e-04 9.99989739e-01 4.48396747e-03 -1.35742985e+00] [ 3.38157706e-03 -4.48176067e-03 9.99984239e-01 -3.10611460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50589822699999 meters Centerline goodness [0,1] 0.8130076168833902 Centerline is valid? [False, False] Translation: X:61.80, Y:-1.36, Z:-0.31 [[ 9.99993477e-01 8.04182490e-04 -3.52136055e-03 6.17951216e+01] [-7.86352728e-04 9.99986880e-01 5.06177653e-03 -1.36045331e+00] [ 3.52538495e-03 -5.05897448e-03 9.99980989e-01 -3.10777759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53589822699999 meters Centerline goodness [0,1] 0.8560922578444747 Centerline is valid? [False, False] Translation: X:61.75, Y:-1.36, Z:-0.31 [[ 9.99986659e-01 -1.29788612e-03 -4.99981277e-03 6.17548572e+01] [ 1.31744747e-03 9.99991484e-01 3.91111120e-03 -1.36423836e+00] [ 4.99469401e-03 -3.91764601e-03 9.99979852e-01 -3.12743233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56589822699999 meters Centerline goodness [0,1] 0.8442779893534201 Centerline is valid? [False, False] Translation: X:61.78, Y:-1.36, Z:-0.32 [[ 9.99998126e-01 -5.19232846e-04 -1.86525928e-03 6.17768563e+01] [ 5.07687317e-04 9.99980744e-01 -6.18492165e-03 -1.36226334e+00] [ 1.86843478e-03 6.18396309e-03 9.99979134e-01 -3.16262748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59589822699999 meters Centerline goodness [0,1] 0.8674660643036585 Centerline is valid? [False, False] Translation: X:61.78, Y:-1.37, Z:-0.32 [[ 9.99997799e-01 -7.50682621e-05 -2.09665151e-03 6.17775746e+01] [ 6.43326674e-05 9.99986891e-01 -5.11995064e-03 -1.36736510e+00] [ 2.09700837e-03 5.11980449e-03 9.99984695e-01 -3.16200271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.625898227 meters Centerline goodness [0,1] 0.8772618641174462 Centerline is valid? [False, False] Translation: X:61.76, Y:-1.37, Z:-0.31 [[ 9.99984778e-01 -1.63708772e-03 -5.26916413e-03 6.17564528e+01] [ 1.66322445e-03 9.99986317e-01 4.95976431e-03 -1.37382492e+00] [ 5.26097247e-03 -4.96845261e-03 9.99973818e-01 -3.13236610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.655898227 meters Centerline goodness [0,1] 0.8743353458320093 Centerline is valid? [False, False] Translation: X:61.77, Y:-1.37, Z:-0.31 [[ 9.99998753e-01 -3.12496460e-04 -1.54808016e-03 6.17749465e+01] [ 3.05164696e-04 9.99988748e-01 -4.73401049e-03 -1.37299403e+00] [ 1.54954210e-03 4.73353217e-03 9.99987596e-01 -3.14163206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.685898227 meters Centerline goodness [0,1] 0.8504729871767921 Centerline is valid? [False, False] Translation: X:61.78, Y:-1.38, Z:-0.31 [[ 9.99990771e-01 3.88710315e-03 -1.82963360e-03 6.17754913e+01] [-3.88606840e-03 9.99992287e-01 5.68762814e-04 -1.37921948e+00] [ 1.83183033e-03 -5.61647484e-04 9.99998164e-01 -3.13460945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71589822699998 meters Centerline goodness [0,1] 0.7772678917836507 Centerline is valid? [False, False] Translation: X:61.78, Y:-1.38, Z:-0.31 [[ 9.99989826e-01 4.13607760e-03 -1.80032581e-03 6.17755043e+01] [-4.13415735e-03 9.99990883e-01 1.06903011e-03 -1.38147648e+00] [ 1.80473098e-03 -1.06157641e-03 9.99997808e-01 -3.13608539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74589822699998 meters Centerline goodness [0,1] 0.9497076772073572 Centerline is valid? [False, False] Translation: X:61.73, Y:-1.39, Z:-0.32 [[ 9.99992032e-01 3.00348856e-03 -2.62949388e-03 6.17337201e+01] [-3.00151120e-03 9.99995210e-01 7.55614377e-04 -1.38510658e+00] [ 2.63175076e-03 -7.47715902e-04 9.99996257e-01 -3.15070323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77589822699998 meters Centerline goodness [0,1] 0.7649477146230392 Centerline is valid? [False, False] Translation: X:61.73, Y:-1.39, Z:-0.32 [[ 9.99991205e-01 3.16777081e-03 -2.74864668e-03 6.17344940e+01] [-3.16484957e-03 9.99994423e-01 1.06649211e-03 -1.38656739e+00] [ 2.75200975e-03 -1.05778368e-03 9.99995654e-01 -3.15724786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80589822699999 meters Centerline goodness [0,1] 0.9346297328587968 Centerline is valid? [False, False] Translation: X:61.69, Y:-1.39, Z:-0.32 [[ 9.99990725e-01 1.93945540e-03 -3.84565841e-03 6.16932998e+01] [-1.93601575e-03 9.99997723e-01 8.97947115e-04 -1.38993891e+00] [ 3.84739118e-03 -8.90493531e-04 9.99992202e-01 -3.17159622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83589822699999 meters Centerline goodness [0,1] 0.9633477695048323 Centerline is valid? [False, True] Translation: X:61.69, Y:-1.39, Z:-0.32 [[ 9.99989267e-01 2.05425207e-03 -4.15293930e-03 6.16941523e+01] [-2.04827672e-03 9.99996862e-01 1.44256578e-03 -1.39289034e+00] [ 4.15588966e-03 -1.43404393e-03 9.99990336e-01 -3.16908648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86589822699999 meters Centerline goodness [0,1] 0.7261501109297166 Centerline is valid? [True, False] Translation: X:61.74, Y:-1.39, Z:-0.32 [[ 9.99993553e-01 1.43162336e-03 -3.29319802e-03 6.17354765e+01] [-1.43209331e-03 9.99998965e-01 -1.40349834e-04 -1.39203042e+00] [ 3.29299368e-03 1.45065096e-04 9.99994568e-01 -3.16006815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89589822699999 meters Centerline goodness [0,1] 0.9419186009403655 Centerline is valid? [False, False] Translation: X:61.69, Y:-1.40, Z:-0.32 [[ 9.99996334e-01 3.26512950e-04 -2.68793666e-03 6.16911077e+01] [-3.23567954e-04 9.99999347e-01 1.09599639e-03 -1.39817557e+00] [ 2.68829276e-03 -1.09512264e-03 9.99995787e-01 -3.15657886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92589822699999 meters Centerline goodness [0,1] 0.9779868858043089 Centerline is valid? [False, True] Translation: X:61.69, Y:-1.40, Z:-0.32 [[ 9.99996208e-01 5.50838188e-04 -2.69823204e-03 6.16910039e+01] [-5.46000881e-04 9.99998243e-01 1.79317776e-03 -1.40170887e+00] [ 2.69921505e-03 -1.79169772e-03 9.99994752e-01 -3.15414866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95589822699999 meters Centerline goodness [0,1] 0.9731609280959571 Centerline is valid? [True, True] Translation: X:61.72, Y:-1.40, Z:-0.31 [[ 9.99997721e-01 -1.02236046e-03 -1.87428474e-03 6.17200451e+01] [ 1.02212917e-03 9.99999470e-01 -1.24352821e-04 -1.40115263e+00] [ 1.87441088e-03 1.22436777e-04 9.99998236e-01 -3.14025424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98589822699999 meters Centerline goodness [0,1] 0.9892876045305388 Centerline is valid? [True, True] Translation: X:61.75, Y:-1.41, Z:-0.31 [[ 9.99995819e-01 -2.84396530e-03 -5.23866155e-04 6.17506914e+01] [ 2.84394747e-03 9.99995955e-01 -3.47766868e-05 -1.40676185e+00] [ 5.23962940e-04 3.32866935e-05 9.99999862e-01 -3.12042895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.015898227 meters Centerline goodness [0,1] 0.9825015926948397 Centerline is valid? [True, True] Translation: X:61.78, Y:-1.41, Z:-0.31 [[ 9.99989020e-01 -4.51557609e-03 1.25298610e-03 6.17803476e+01] [ 4.51547549e-03 9.99989802e-01 8.31062104e-05 -1.40505270e+00] [-1.25334860e-03 -7.74474698e-05 9.99999212e-01 -3.09414535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.045898227 meters Centerline goodness [0,1] 0.9924372782699212 Centerline is valid? [True, True] Translation: X:61.81, Y:-1.41, Z:-0.31 [[ 9.99979187e-01 -5.86590532e-03 2.68650428e-03 6.18117600e+01] [ 5.86544771e-03 9.99982782e-01 1.78184625e-04 -1.41070099e+00] [-2.68750324e-03 -1.62423366e-04 9.99996375e-01 -3.06998503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.075898227 meters Centerline goodness [0,1] 0.9676751894939087 Centerline is valid? [True, True] Translation: X:61.84, Y:-1.40, Z:-0.31 [[ 9.99972099e-01 -6.73566575e-03 3.22985821e-03 6.18421142e+01] [ 6.73500901e-03 9.99977297e-01 2.14169229e-04 -1.40372942e+00] [-3.23122746e-03 -1.92410129e-04 9.99994761e-01 -3.06677445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10589822699998 meters Centerline goodness [0,1] 0.9946944556004143 Centerline is valid? [True, True] Translation: X:61.87, Y:-1.41, Z:-0.31 [[ 9.99978260e-01 -6.58673204e-03 -3.08201006e-04 6.18734980e+01] [ 6.58672608e-03 9.99978307e-01 -2.03628653e-05 -1.41022340e+00] [ 3.08328445e-04 1.83323870e-05 9.99999952e-01 -3.12706674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13589822699998 meters Centerline goodness [0,1] 0.9879546128117194 Centerline is valid? [True, True] Translation: X:61.90, Y:-1.40, Z:-0.32 [[ 9.99981354e-01 -5.24450705e-03 -3.12841731e-03 6.19023650e+01] [ 5.24388364e-03 9.99986229e-01 -2.07443489e-04 -1.40354456e+00] [ 3.12946217e-03 1.91034565e-04 9.99995085e-01 -3.17447217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16589822699999 meters Centerline goodness [0,1] 0.88917277486911 Centerline is valid? [True, False] Translation: X:61.90, Y:-1.40, Z:-0.32 [[ 9.99980666e-01 -5.15735282e-03 -3.47410204e-03 6.19040357e+01] [ 5.15654095e-03 9.99986676e-01 -2.42609089e-04 -1.40319166e+00] [ 3.47530697e-03 2.24690049e-04 9.99993936e-01 -3.18390797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19589822699999 meters Centerline goodness [0,1] 0.9896640273913974 Centerline is valid? [False, True] Translation: X:61.84, Y:-1.41, Z:-0.32 [[ 9.99996949e-01 -7.66724166e-04 -2.34800575e-03 6.18434528e+01] [ 7.59464074e-04 9.99994933e-01 -3.09135701e-03 -1.40831868e+00] [ 2.35036407e-03 3.08956435e-03 9.99992465e-01 -3.21573886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22589822699999 meters Centerline goodness [0,1] 0.8744341747899868 Centerline is valid? [True, False] Translation: X:61.89, Y:-1.41, Z:-0.32 [[ 9.99997398e-01 1.58331608e-03 -1.64204229e-03 6.18851535e+01] [-1.58736968e-03 9.99995689e-01 -2.47027783e-03 -1.40537941e+00] [ 1.63812398e-03 2.47287794e-03 9.99995601e-01 -3.20893372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25589822699999 meters Centerline goodness [0,1] 0.8939579981370142 Centerline is valid? [False, False] Translation: X:61.88, Y:-1.41, Z:-0.32 [[ 9.99994257e-01 3.29179744e-03 -8.06196186e-04 6.18795826e+01] [-3.29254530e-03 9.99994149e-01 -9.28071292e-04 -1.40523733e+00] [ 8.03136446e-04 9.30720400e-04 9.99999244e-01 -3.17398304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28589822699999 meters Centerline goodness [0,1] 0.800394055628917 Centerline is valid? [False, False] Translation: X:61.88, Y:-1.41, Z:-0.32 [[ 9.99971089e-01 7.56216886e-03 -7.97007666e-04 6.18792924e+01] [-7.55931991e-03 9.99965236e-01 3.51893673e-03 -1.40610832e+00] [ 8.23590752e-04 -3.51281015e-03 9.99993491e-01 -3.16848488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31589822699999 meters Centerline goodness [0,1] 0.6803600375394592 Centerline is valid? [False, False] Translation: X:61.84, Y:-1.40, Z:-0.32 [[ 9.99970996e-01 7.60980364e-03 -3.11997716e-04 6.18358237e+01] [-7.60922950e-03 9.99969426e-01 1.80185991e-03 -1.39995968e+00] [ 3.25699977e-04 -1.79943359e-03 9.99998328e-01 -3.18319395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34589822699999 meters Centerline goodness [0,1] 0.5520375380453162 Centerline is valid? [False, False] Translation: X:61.84, Y:-1.40, Z:-0.32 [[ 9.99972951e-01 7.34460084e-03 -3.93431981e-04 6.18365501e+01] [-7.34423335e-03 9.99972601e-01 9.27493489e-04 -1.39561099e+00] [ 4.00233271e-04 -9.24578945e-04 9.99999492e-01 -3.19253943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.375898227 meters Centerline goodness [0,1] 0.5580116296156349 Centerline is valid? [False, False] Translation: X:61.84, Y:-1.39, Z:-0.32 [[ 9.99975728e-01 6.95058803e-03 -4.83406040e-04 6.18372084e+01] [-6.95061367e-03 9.99975843e-01 -5.13661255e-05 -1.39096799e+00] [ 4.83037338e-04 5.47248474e-05 9.99999882e-01 -3.19942122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.405898227 meters Centerline goodness [0,1] 0.6091973600170322 Centerline is valid? [False, False] Translation: X:61.82, Y:-1.39, Z:-0.32 [[ 9.99973542e-01 5.41522188e-03 -4.85704164e-03 6.18172067e+01] [-5.37004680e-03 9.99942648e-01 9.26625613e-03 -1.39089492e+00] [ 4.90694191e-03 -9.23992842e-03 9.99945271e-01 -3.16668985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.435898227 meters Centerline goodness [0,1] 0.5263730288200108 Centerline is valid? [False, False] Translation: X:61.86, Y:-1.38, Z:-0.32 [[ 9.99990167e-01 2.11247096e-03 -3.89903982e-03 6.18579566e+01] [-2.10483755e-03 9.99995862e-01 1.96083332e-03 -1.37924850e+00] [ 3.90316589e-03 -1.95260719e-03 9.99990476e-01 -3.17109701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46589822699998 meters Centerline goodness [0,1] 0.6056426595120314 Centerline is valid? [False, False] Translation: X:61.86, Y:-1.38, Z:-0.32 [[ 9.99989956e-01 1.78146100e-03 -4.11274559e-03 6.18584196e+01] [-1.77536948e-03 9.99997322e-01 1.48430888e-03 -1.37724759e+00] [ 4.11537881e-03 -1.47699232e-03 9.99990441e-01 -3.16779993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49589822699998 meters Centerline goodness [0,1] 0.8702275520149159 Centerline is valid? [False, False] Translation: X:61.82, Y:-1.38, Z:-0.32 [[ 9.99990469e-01 -6.72255299e-04 -4.31401693e-03 6.18153794e+01] [ 6.73434085e-04 9.99999736e-01 2.71798817e-04 -1.37765195e+00] [ 4.31383307e-03 -2.74701432e-04 9.99990658e-01 -3.17236663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52589822699998 meters Centerline goodness [0,1] 0.8572423692320682 Centerline is valid? [False, False] Translation: X:61.82, Y:-1.38, Z:-0.32 [[ 9.99988831e-01 -1.04974523e-03 -4.60831197e-03 6.18160817e+01] [ 1.05051718e-03 9.99999435e-01 1.65096336e-04 -1.37796784e+00] [ 4.60813605e-03 -1.69935603e-04 9.99989368e-01 -3.16870688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55589822699999 meters Centerline goodness [0,1] 0.9653493760761889 Centerline is valid? [False, True] Translation: X:61.82, Y:-1.38, Z:-0.32 [[ 9.99973890e-01 -5.64501607e-03 -4.51134701e-03 6.18155342e+01] [ 5.62366205e-03 9.99972990e-01 -4.73215351e-03 -1.37518514e+00] [ 4.53793824e-03 4.70665967e-03 9.99978627e-01 -3.16433440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58589822699999 meters Centerline goodness [0,1] 0.9912119567486327 Centerline is valid? [True, True] Translation: X:61.85, Y:-1.38, Z:-0.31 [[ 9.99875039e-01 -1.56735253e-02 -2.06101988e-03 6.18458080e+01] [ 1.56732680e-02 9.99877157e-01 -1.40914274e-04 -1.38050285e+00] [ 2.06297532e-03 1.08593749e-04 9.99997866e-01 -3.12473924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61589822699999 meters Centerline goodness [0,1] 0.9994445512615096 Centerline is valid? [True, True] Translation: X:61.88, Y:-1.40, Z:-0.31 [[ 9.99797075e-01 -2.00901370e-02 -1.48172262e-03 6.18774424e+01] [ 2.00900089e-02 9.99798170e-01 -1.01260639e-04 -1.39586818e+00] [ 1.48345791e-03 7.14722697e-05 9.99998897e-01 -3.09917170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64589822699999 meters Centerline goodness [0,1] 0.9994101537813356 Centerline is valid? [True, True] Translation: X:61.91, Y:-1.40, Z:-0.31 [[ 9.99732006e-01 -2.31305483e-02 -9.45608528e-04 6.19069629e+01] [ 2.31304974e-02 9.99732452e-01 -6.47453919e-05 -1.39564836e+00] [ 9.46853129e-04 4.28556449e-05 9.99999551e-01 -3.10047530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67589822699999 meters Centerline goodness [0,1] 0.9993891007141202 Centerline is valid? [True, True] Translation: X:61.94, Y:-1.39, Z:-0.31 [[ 9.99699952e-01 -2.44785607e-02 -8.97757777e-04 6.19351389e+01] [ 2.44785152e-02 9.99700354e-01 -6.15911511e-05 -1.39214473e+00] [ 8.98996430e-04 3.95968934e-05 9.99999595e-01 -3.10095880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70589822699999 meters Centerline goodness [0,1] 0.9992359445635334 Centerline is valid? [True, True] Translation: X:61.96, Y:-1.39, Z:-0.31 [[ 9.99701477e-01 -2.44320943e-02 -1.72200234e-04 6.19638539e+01] [ 2.44320925e-02 9.99701492e-01 -1.23395959e-05 -1.38933453e+00] [ 1.72450313e-04 8.12870020e-06 9.99999985e-01 -3.09212800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73589822699999 meters Centerline goodness [0,1] 0.9994914500031784 Centerline is valid? [True, True] Translation: X:61.99, Y:-1.39, Z:-0.31 [[ 9.99730008e-01 -2.32286496e-02 5.83594153e-04 6.19932043e+01] [ 2.32286304e-02 9.99730178e-01 3.95732609e-05 -1.39222322e+00] [-5.84355920e-04 -2.60064836e-05 9.99999829e-01 -3.08086004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.765898227 meters Centerline goodness [0,1] 0.9994914500031784 Centerline is valid? [True, True] Translation: X:62.02, Y:-1.39, Z:-0.31 [[ 9.99729451e-01 -2.32526223e-02 5.83560597e-04 6.20223284e+01] [ 2.32526028e-02 9.99729621e-01 4.00612734e-05 -1.39017895e+00] [-5.84334344e-04 -2.64811321e-05 9.99999829e-01 -3.08182466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.795898227 meters Centerline goodness [0,1] 0.9978165480464404 Centerline is valid? [True, True] Translation: X:62.05, Y:-1.38, Z:-0.31 [[ 9.99825457e-01 -1.86233636e-02 1.49223482e-03 6.20514218e+01] [ 1.86232311e-02 9.99826567e-01 1.02623225e-04 -1.37739598e+00] [-1.49388721e-03 -7.48150783e-05 9.99998881e-01 -3.07633436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.825898227 meters Centerline goodness [0,1] 0.9944518279433792 Centerline is valid? [True, True] Translation: X:62.08, Y:-1.37, Z:-0.31 [[ 9.99879022e-01 -1.54562017e-02 1.74576857e-03 6.20820084e+01] [ 1.54560155e-02 9.99880541e-01 1.20114878e-04 -1.37341153e+00] [-1.74741654e-03 -9.31177211e-05 9.99998469e-01 -3.07365062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85589822699998 meters Centerline goodness [0,1] 0.9986627326951243 Centerline is valid? [True, True] Translation: X:62.11, Y:-1.38, Z:-0.31 [[ 9.99928484e-01 -1.17751782e-02 2.09105189e-03 6.21124660e+01] [ 1.17749031e-02 9.99930663e-01 1.43841211e-04 -1.37869509e+00] [-2.09260066e-03 -1.19208991e-04 9.99997803e-01 -3.06930797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88589822699998 meters Centerline goodness [0,1] 0.9246936673742617 Centerline is valid? [True, False] Translation: X:62.12, Y:-1.38, Z:-0.31 [[ 9.99949531e-01 -9.96453207e-03 1.28204054e-03 6.21169248e+01] [ 9.96251177e-03 9.99949136e-01 1.57270485e-03 -1.37936366e+00] [-1.29764660e-03 -1.55985313e-03 9.99997941e-01 -3.09324752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91589822699999 meters Centerline goodness [0,1] 0.8527920934868826 Centerline is valid? [False, False] Translation: X:62.12, Y:-1.38, Z:-0.31 [[ 9.99951737e-01 -9.73585466e-03 1.31794941e-03 6.21169485e+01] [ 9.73393331e-03 9.99951563e-01 1.45647737e-03 -1.37807504e+00] [-1.33206562e-03 -1.44357825e-03 9.99998071e-01 -3.09579389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94589822699999 meters Centerline goodness [0,1] 0.8068079018786948 Centerline is valid? [False, False] Translation: X:62.14, Y:-1.38, Z:-0.30 [[ 9.99991957e-01 -1.76289384e-03 -3.60243792e-03 6.21383363e+01] [ 1.76627632e-03 9.99998002e-01 9.35978312e-04 -1.37923939e+00] [ 3.60078069e-03 -9.42333685e-04 9.99993073e-01 -3.04988131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97589822699999 meters Centerline goodness [0,1] 0.7623914809904632 Centerline is valid? [False, False] Translation: X:62.09, Y:-1.38, Z:-0.31 [[ 9.99991292e-01 -1.84333411e-03 -3.74409470e-03 6.20948544e+01] [ 1.84841628e-03 9.99997375e-01 1.35437704e-03 -1.38133711e+00] [ 3.74158830e-03 -1.36128589e-03 9.99992074e-01 -3.05572090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00589822699999 meters Centerline goodness [0,1] 0.765270227054685 Centerline is valid? [False, False] Translation: X:62.09, Y:-1.38, Z:-0.31 [[ 9.99991623e-01 -1.79433646e-03 -3.67896259e-03 6.20948277e+01] [ 1.79928017e-03 9.99997482e-01 1.34090996e-03 -1.38110986e+00] [ 3.67654728e-03 -1.34751821e-03 9.99992334e-01 -3.05890104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03589822699999 meters Centerline goodness [0,1] 0.7276958388234793 Centerline is valid? [False, False] Translation: X:62.10, Y:-1.38, Z:-0.31 [[ 9.99991457e-01 -1.76308319e-03 -3.73864702e-03 6.20951119e+01] [ 1.76859402e-03 9.99997354e-01 1.47122154e-03 -1.38185247e+00] [ 3.73604324e-03 -1.47782112e-03 9.99991929e-01 -3.06075205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06589822699999 meters Centerline goodness [0,1] 0.7565836750221921 Centerline is valid? [False, False] Translation: X:62.10, Y:-1.38, Z:-0.31 [[ 9.99990968e-01 -1.74381510e-03 -3.87583923e-03 6.20957439e+01] [ 1.75041823e-03 9.99997021e-01 1.70092649e-03 -1.38315844e+00] [ 3.87286158e-03 -1.70769547e-03 9.99991042e-01 -3.06394901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09589822699999 meters Centerline goodness [0,1] 0.6776013372335981 Centerline is valid? [False, False] Translation: X:62.14, Y:-1.38, Z:-0.31 [[ 9.99979823e-01 -2.78794882e-03 -5.70792833e-03 6.21399694e+01] [ 2.78715806e-03 9.99996105e-01 -1.46485773e-04 -1.38083836e+00] [ 5.70831450e-03 1.30573919e-04 9.99983699e-01 -3.05202792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.125898227 meters Centerline goodness [0,1] 0.9543831477529633 Centerline is valid? [False, True] Translation: X:62.10, Y:-1.39, Z:-0.31 [[ 9.99954920e-01 -5.98330627e-03 -7.37278134e-03 6.21009906e+01] [ 5.98666966e-03 9.99981985e-01 4.34205245e-04 -1.38952349e+00] [ 7.37005054e-03 -4.78324077e-04 9.99972726e-01 -3.05919315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.155898227 meters Centerline goodness [0,1] 0.9933559062160608 Centerline is valid? [True, True] Translation: X:62.13, Y:-1.40, Z:-0.30 [[ 9.99935647e-01 -9.09091108e-03 -6.78659461e-03 6.21323783e+01] [ 9.08782570e-03 9.99958587e-01 -4.85330050e-04 -1.39889517e+00] [ 6.79072565e-03 4.23623428e-04 9.99976853e-01 -3.04138019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.185898227 meters Centerline goodness [0,1] 0.9960722366904324 Centerline is valid? [True, True] Translation: X:62.16, Y:-1.40, Z:-0.30 [[ 9.99917675e-01 -1.13605557e-02 -5.96502615e-03 6.21616717e+01] [ 1.13582118e-02 9.99935402e-01 -4.26668686e-04 -1.40141557e+00] [ 5.96948802e-03 3.58881530e-04 9.99982118e-01 -3.02720443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21589822699998 meters Centerline goodness [0,1] 0.9850676818950931 Centerline is valid? [True, True] Translation: X:62.19, Y:-1.40, Z:-0.30 [[ 9.99905544e-01 -1.29231969e-02 -4.67908230e-03 6.21904730e+01] [ 1.29217712e-02 9.99916454e-01 -3.34787163e-04 -1.39728112e+00] [ 4.68301790e-03 2.74293509e-04 9.99988997e-01 -3.01177171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24589822699998 meters Centerline goodness [0,1] 0.9971336971060957 Centerline is valid? [True, True] Translation: X:62.22, Y:-1.41, Z:-0.30 [[ 9.99886511e-01 -1.44433049e-02 -4.28450234e-03 6.22206735e+01] [ 1.44421220e-02 9.99895660e-01 -3.06909637e-04 -1.40641311e+00] [ 4.28848808e-03 2.44997501e-04 9.99990774e-01 -2.99616041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27589822699998 meters Centerline goodness [0,1] 0.9956952943659 Centerline is valid? [True, True] Translation: X:62.25, Y:-1.40, Z:-0.30 [[ 9.99874248e-01 -1.52347787e-02 -4.40336298e-03 6.22488958e+01] [ 1.52335337e-02 9.99883913e-01 -3.16146179e-04 -1.40478150e+00] [ 4.40766822e-03 2.49027645e-04 9.99990255e-01 -2.99147572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30589822699999 meters Centerline goodness [0,1] 0.9840921094327665 Centerline is valid? [True, True] Translation: X:62.28, Y:-1.40, Z:-0.30 [[ 9.99871387e-01 -1.49133070e-02 -5.89934800e-03 6.22761327e+01] [ 1.49110624e-02 9.99888734e-01 -4.24288520e-04 -1.40078172e+00] [ 5.90501915e-03 3.36268405e-04 9.99982509e-01 -3.01979385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33589822699999 meters Centerline goodness [0,1] 0.9919507676582696 Centerline is valid? [True, True] Translation: X:62.31, Y:-1.41, Z:-0.30 [[ 9.99889686e-01 -1.32657868e-02 -6.68097887e-03 6.23056320e+01] [ 1.32628693e-02 9.99911929e-01 -4.80812107e-04 -1.40528851e+00] [ 6.68676882e-03 3.92150117e-04 9.99977566e-01 -3.02601246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36589822699999 meters Centerline goodness [0,1] 0.9886264958170073 Centerline is valid? [True, True] Translation: X:62.34, Y:-1.40, Z:-0.30 [[ 9.99918637e-01 -1.08933901e-02 -6.63733277e-03 6.23362084e+01] [ 1.08904580e-02 9.99940583e-01 -4.77752523e-04 -1.40470646e+00] [ 6.64214275e-03 4.05430058e-04 9.99977859e-01 -3.02553935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39589822699999 meters Centerline goodness [0,1] 0.964508736149366 Centerline is valid? [True, True] Translation: X:62.37, Y:-1.40, Z:-0.30 [[ 9.99949993e-01 -7.70804527e-03 -6.37157489e-03 6.23656489e+01] [ 7.70527849e-03 9.99970209e-01 -4.58672313e-04 -1.40027493e+00] [ 6.37492054e-03 4.09554617e-04 9.99979596e-01 -3.01483533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42589822699999 meters Centerline goodness [0,1] 0.9546431688057383 Centerline is valid? [True, True] Translation: X:62.40, Y:-1.40, Z:-0.30 [[ 9.99970644e-01 -4.59480908e-03 -6.13180106e-03 6.23956036e+01] [ 4.59218791e-03 9.99989358e-01 -4.41483833e-04 -1.39892288e+00] [ 6.13376434e-03 4.13312490e-04 9.99981103e-01 -3.00509069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45589822699999 meters Centerline goodness [0,1] 0.7938608603292618 Centerline is valid? [True, False] Translation: X:62.40, Y:-1.40, Z:-0.30 [[ 9.99974180e-01 -3.92337686e-03 -6.02044205e-03 6.23952449e+01] [ 3.92456427e-03 9.99992282e-01 1.85429110e-04 -1.40080120e+00] [ 6.01966808e-03 -2.09051934e-04 9.99981860e-01 -3.00511286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48589822699999 meters Centerline goodness [0,1] 0.7938608603292618 Centerline is valid? [False, False] Translation: X:62.40, Y:-1.40, Z:-0.30 [[ 9.99974180e-01 -3.92337686e-03 -6.02044205e-03 6.23952449e+01] [ 3.92456427e-03 9.99992282e-01 1.85429110e-04 -1.40080120e+00] [ 6.01966808e-03 -2.09051934e-04 9.99981860e-01 -3.00511286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.515898227 meters Centerline goodness [0,1] 0.8474748759699784 Centerline is valid? [False, False] Translation: X:62.40, Y:-1.40, Z:-0.30 [[ 9.99975458e-01 -3.63219738e-03 -5.99078881e-03 6.23951568e+01] [ 3.63671026e-03 9.99993111e-01 7.42581506e-04 -1.40332776e+00] [ 5.98805034e-03 -7.64350045e-04 9.99981779e-01 -3.00496205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.545898227 meters Centerline goodness [0,1] 0.6465647572652444 Centerline is valid? [False, False] Translation: X:62.42, Y:-1.40, Z:-0.30 [[ 9.99994943e-01 -2.63067363e-03 -1.78695590e-03 6.24162579e+01] [ 2.61442567e-03 9.99955767e-01 -9.03481421e-03 -1.40160013e+00] [ 1.81064450e-03 9.03009666e-03 9.99957589e-01 -3.04418249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.575898227 meters Centerline goodness [0,1] 0.8648596979416701 Centerline is valid? [False, False] Translation: X:62.39, Y:-1.41, Z:-0.30 [[ 9.99968914e-01 -5.10867508e-03 -6.00605857e-03 6.23908062e+01] [ 5.10786154e-03 9.99986943e-01 -1.50785602e-04 -1.41356530e+00] [ 6.00675047e-03 1.20102799e-04 9.99981952e-01 -2.98004611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60589822699998 meters Centerline goodness [0,1] 0.9327713337981449 Centerline is valid? [False, False] Translation: X:62.39, Y:-1.42, Z:-0.30 [[ 9.99967445e-01 -5.01452144e-03 -6.32170354e-03 6.23917846e+01] [ 5.01964192e-03 9.99987086e-01 7.94378939e-04 -1.41888002e+00] [ 6.31763847e-03 -8.26085766e-04 9.99979702e-01 -2.97946797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63589822699998 meters Centerline goodness [0,1] 0.9868851757557605 Centerline is valid? [False, True] Translation: X:62.39, Y:-1.42, Z:-0.30 [[ 9.99938229e-01 -9.15581834e-03 -6.30158241e-03 6.23921566e+01] [ 9.13649266e-03 9.99953491e-01 -3.08878411e-03 -1.42089664e+00] [ 6.32956968e-03 3.03101895e-03 9.99975374e-01 -2.98517535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66589822699999 meters Centerline goodness [0,1] 0.8779613693663659 Centerline is valid? [True, False] Translation: X:62.43, Y:-1.42, Z:-0.30 [[ 9.99924796e-01 -1.05540149e-02 -6.24624797e-03 6.24348973e+01] [ 1.05286931e-02 9.99936277e-01 -4.07302795e-03 -1.42372989e+00] [ 6.28883674e-03 4.00695681e-03 9.99972197e-01 -2.97939205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69589822699999 meters Centerline goodness [0,1] 0.9981376830208065 Centerline is valid? [False, True] Translation: X:62.37, Y:-1.43, Z:-0.30 [[ 9.99914491e-01 -1.07482081e-02 -7.44890184e-03 6.23749128e+01] [ 1.06732142e-02 9.99892680e-01 -1.00354433e-02 -1.43177186e+00] [ 7.55596546e-03 9.95508141e-03 9.99921899e-01 -2.99903351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72589822699999 meters Centerline goodness [0,1] 0.9993824531516184 Centerline is valid? [True, True] Translation: X:62.41, Y:-1.45, Z:-0.30 [[ 9.99838613e-01 -1.47900622e-02 -1.01981479e-02 6.24065253e+01] [ 1.47841034e-02 9.99890492e-01 -6.59440367e-04 -1.44746810e+00] [ 1.02067843e-02 5.08563468e-04 9.99947780e-01 -3.00287875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75589822699999 meters Centerline goodness [0,1] 0.9993190185354642 Centerline is valid? [True, True] Translation: X:62.44, Y:-1.45, Z:-0.30 [[ 9.99822060e-01 -1.56503151e-02 -1.05316641e-02 6.24353149e+01] [ 1.56439990e-02 9.99877393e-01 -6.81846902e-04 -1.44956131e+00] [ 1.05410440e-02 5.16968231e-04 9.99944308e-01 -3.00006719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78589822699999 meters Centerline goodness [0,1] 0.9986244259623728 Centerline is valid? [True, True] Translation: X:62.46, Y:-1.45, Z:-0.30 [[ 9.99821989e-01 -1.54794222e-02 -1.07878301e-02 6.24635188e+01] [ 1.54727703e-02 9.99880045e-01 -6.99806710e-04 -1.45119352e+00] [ 1.07973687e-02 5.32764519e-04 9.99941565e-01 -2.99019509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81589822699999 meters Centerline goodness [0,1] 0.9964907088345348 Centerline is valid? [True, True] Translation: X:62.49, Y:-1.45, Z:-0.30 [[ 9.99844945e-01 -1.42647758e-02 -1.03247869e-02 6.24918982e+01] [ 1.42586123e-02 9.99898116e-01 -6.70338042e-04 -1.44646946e+00] [ 1.03332972e-02 5.23016971e-04 9.99946473e-01 -2.98046509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84589822699999 meters Centerline goodness [0,1] 0.9990404298874105 Centerline is valid? [True, True] Translation: X:62.52, Y:-1.45, Z:-0.30 [[ 9.99877899e-01 -1.21668216e-02 -9.80591905e-03 6.25218065e+01] [ 1.21611579e-02 9.99925847e-01 -6.37001944e-04 -1.45466519e+00] [ 9.81294220e-03 5.17672835e-04 9.99951718e-01 -2.95760015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.875898227 meters Centerline goodness [0,1] 0.9973965498994602 Centerline is valid? [True, True] Translation: X:62.55, Y:-1.45, Z:-0.30 [[ 9.99916339e-01 -8.83449036e-03 -9.44814207e-03 6.25504202e+01] [ 8.82908095e-03 9.99960834e-01 -6.14093969e-04 -1.44800019e+00] [ 9.45319724e-03 5.30624181e-04 9.99955177e-01 -2.95540823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.905898227 meters Centerline goodness [0,1] 0.9842382899391988 Centerline is valid? [True, True] Translation: X:62.58, Y:-1.44, Z:-0.30 [[ 9.99944311e-01 -7.13689809e-04 -1.05292743e-02 6.25801839e+01] [ 7.06521542e-04 9.99999516e-01 -6.84498063e-04 -1.44008523e+00] [ 1.05297577e-02 6.77020785e-04 9.99944331e-01 -2.97634726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.935898227 meters Centerline goodness [0,1] 0.8541388239224859 Centerline is valid? [True, False] Translation: X:62.60, Y:-1.44, Z:-0.30 [[ 9.99966886e-01 3.57470220e-03 -7.31085294e-03 6.26042350e+01] [-3.62966461e-03 9.99965148e-01 -7.51852170e-03 -1.43685216e+00] [ 7.28372167e-03 7.54480868e-03 9.99945010e-01 -3.02949683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96589822699998 meters Centerline goodness [0,1] 0.79326095731798 Centerline is valid? [False, False] Translation: X:62.56, Y:-1.44, Z:-0.30 [[ 9.99951098e-01 5.35464523e-03 -8.31440729e-03 6.25624839e+01] [-5.38451546e-03 9.99979115e-01 -3.57436746e-03 -1.44025980e+00] [ 8.29509418e-03 3.61896172e-03 9.99959046e-01 -3.03609423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99589822699998 meters Centerline goodness [0,1] 0.83374371277648 Centerline is valid? [False, False] Translation: X:62.56, Y:-1.44, Z:-0.30 [[ 9.99917088e-01 9.55692773e-03 -8.63029788e-03 6.25631935e+01] [-9.54708975e-03 9.99953729e-01 1.18041534e-03 -1.44328279e+00] [ 8.64117969e-03 -1.09792324e-03 9.99962062e-01 -3.02945636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.025898227 meters Centerline goodness [0,1] 0.9039570616712271 Centerline is valid? [False, False] Translation: X:62.56, Y:-1.44, Z:-0.30 [[ 9.99950896e-01 5.29497529e-03 -8.37664633e-03 6.25622227e+01] [-5.32628807e-03 9.99978895e-01 -3.72022293e-03 -1.43955931e+00] [ 8.35677105e-03 3.76465669e-03 9.99957995e-01 -3.02958068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.055898227 meters Centerline goodness [0,1] 0.9757253814734079 Centerline is valid? [False, True] Translation: X:62.56, Y:-1.44, Z:-0.30 [[ 9.99966791e-01 9.16370620e-04 -8.09798942e-03 6.25604954e+01] [-9.81087791e-04 9.99967587e-01 -7.99140245e-03 -1.43974054e+00] [ 8.09040385e-03 7.99908190e-03 9.99935278e-01 -3.01714413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.085898227 meters Centerline goodness [0,1] 0.9695051663068766 Centerline is valid? [True, True] Translation: X:62.59, Y:-1.44, Z:-0.30 [[ 9.99971955e-01 -2.87966651e-03 -6.91346585e-03 6.25895162e+01] [ 2.87668975e-03 9.99995765e-01 -4.40479507e-04 -1.44053344e+00] [ 6.91470501e-03 4.20579258e-04 9.99976005e-01 -2.98522910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.115898227 meters Centerline goodness [0,1] 0.9955426601068079 Centerline is valid? [True, True] Translation: X:62.62, Y:-1.45, Z:-0.30 [[ 9.99963259e-01 -6.79639639e-03 -5.22390098e-03 6.26203866e+01] [ 6.79474944e-03 9.99976860e-01 -3.32955669e-04 -1.44985259e+00] [ 5.22604300e-03 2.97448337e-04 9.99986300e-01 -2.97599699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.145898227 meters Centerline goodness [0,1] 0.9982545392622235 Centerline is valid? [True, True] Translation: X:62.65, Y:-1.46, Z:-0.30 [[ 9.99935474e-01 -1.01787551e-02 -5.04389723e-03 6.26517718e+01] [ 1.01772624e-02 9.99948159e-01 -3.21520047e-04 -1.45601358e+00] [ 5.04690842e-03 2.70166236e-04 9.99987228e-01 -2.95792123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.175898227 meters Centerline goodness [0,1] 0.998729728585341 Centerline is valid? [True, True] Translation: X:62.68, Y:-1.46, Z:-0.30 [[ 9.99903973e-01 -1.26326624e-02 -5.69745197e-03 6.26822787e+01] [ 1.26307979e-02 9.99920162e-01 -3.63121059e-04 -1.45940820e+00] [ 5.70158428e-03 2.91122826e-04 9.99983703e-01 -2.96766202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.205898227 meters Centerline goodness [0,1] 0.999195171026157 Centerline is valid? [True, True] Translation: X:62.71, Y:-1.46, Z:-0.30 [[ 9.99873612e-01 -1.41527212e-02 -7.24292732e-03 6.27118848e+01] [ 1.41497453e-02 9.99899781e-01 -4.61949800e-04 -1.46194048e+00] [ 7.24873928e-03 3.59405838e-04 9.99973663e-01 -2.98725971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.235898227 meters Centerline goodness [0,1] 0.9991045157988998 Centerline is valid? [True, True] Translation: X:62.74, Y:-1.47, Z:-0.30 [[ 9.99846472e-01 -1.45650957e-02 -9.74119439e-03 6.27400366e+01] [ 1.45597136e-02 9.99893808e-01 -6.23199381e-04 -1.46595740e+00] [ 9.74923691e-03 4.81274701e-04 9.99952359e-01 -3.01628473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.265898227 meters Centerline goodness [0,1] 0.9988391971465356 Centerline is valid? [True, True] Translation: X:62.77, Y:-1.47, Z:-0.30 [[ 9.99854975e-01 -1.36980987e-02 -1.01188871e-02 6.27682658e+01] [ 1.36922332e-02 9.99906047e-01 -6.48709824e-04 -1.46525605e+00] [ 1.01268224e-02 5.10065583e-04 9.99948592e-01 -3.02125490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.295898227 meters Centerline goodness [0,1] 0.9938004884463648 Centerline is valid? [True, True] Translation: X:62.80, Y:-1.46, Z:-0.30 [[ 9.99872484e-01 -1.25560545e-02 -9.86713567e-03 6.27968783e+01] [ 1.25504172e-02 9.99921040e-01 -6.33032842e-04 -1.45798354e+00] [ 9.87430495e-03 5.09115451e-04 9.99951118e-01 -3.01805243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.325898227 meters Centerline goodness [0,1] 0.9976966802611837 Centerline is valid? [True, True] Translation: X:62.83, Y:-1.47, Z:-0.30 [[ 9.99898304e-01 -1.13568485e-02 -8.62579142e-03 6.28267422e+01] [ 1.13524936e-02 9.99935405e-01 -5.53667781e-04 -1.46506409e+00] [ 8.63152216e-03 4.55687233e-04 9.99962644e-01 -3.00217889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.355898227 meters Centerline goodness [0,1] 0.9932446563767934 Centerline is valid? [True, True] Translation: X:62.86, Y:-1.46, Z:-0.30 [[ 9.99930519e-01 -8.97060942e-03 -7.64752254e-03 6.28558764e+01] [ 8.96711523e-03 9.99959674e-01 -4.91072476e-04 -1.45849084e+00] [ 7.65161937e-03 4.22462140e-04 9.99970637e-01 -2.97236088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.385898227 meters Centerline goodness [0,1] 0.9979372674109516 Centerline is valid? [True, True] Translation: X:62.89, Y:-1.46, Z:-0.30 [[ 9.99952663e-01 -6.69607516e-03 -7.05934506e-03 6.28860776e+01] [ 6.69304075e-03 9.99977499e-01 -4.53380597e-04 -1.46401104e+00] [ 7.06222209e-03 4.06110651e-04 9.99974980e-01 -2.97433467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.415898227 meters Centerline goodness [0,1] 0.9680585522697466 Centerline is valid? [True, True] Translation: X:62.91, Y:-1.45, Z:-0.30 [[ 9.99973711e-01 -9.63488451e-04 -7.18666220e-03 6.29143474e+01] [ 9.60195617e-04 9.99999432e-01 -4.61623055e-04 -1.45108183e+00] [ 7.18710289e-03 4.54710318e-04 9.99974069e-01 -2.97211081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44589822700001 meters Centerline goodness [0,1] 0.919065690981905 Centerline is valid? [True, False] Translation: X:62.92, Y:-1.45, Z:-0.30 [[ 9.99967487e-01 1.46341242e-03 -7.92985909e-03 6.29197799e+01] [-1.44809869e-03 9.99997076e-01 1.93654640e-03 -1.45220662e+00] [ 7.93266987e-03 -1.92500022e-03 9.99966683e-01 -3.00635089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47589822700002 meters Centerline goodness [0,1] 0.84380980734062 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.30 [[ 9.99963609e-01 6.88772908e-04 -8.50334600e-03 6.28777615e+01] [-6.69879642e-04 9.99997301e-01 2.22451077e-03 -1.45325285e+00] [ 8.50485523e-03 -2.21873360e-03 9.99961372e-01 -3.02072279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.50589822700002 meters Centerline goodness [0,1] 0.9380592900462276 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.30 [[ 9.99963391e-01 6.57292809e-04 -8.53142208e-03 6.28782182e+01] [-6.40257320e-04 9.99997796e-01 1.99937116e-03 -1.45210441e+00] [ 8.53271745e-03 -1.99383565e-03 9.99961608e-01 -3.02689119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.535898227 meters Centerline goodness [0,1] 0.8032828712366049 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.30 [[ 9.99962756e-01 6.28021322e-04 -8.60767848e-03 6.28787792e+01] [-6.12134284e-04 9.99998105e-01 1.84819248e-03 -1.45133379e+00] [ 8.60882287e-03 -1.84285459e-03 9.99961245e-01 -3.03248970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.565898227 meters Centerline goodness [0,1] 0.9028906860364451 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.30 [[ 9.99960956e-01 5.95517363e-04 -8.81657582e-03 6.28797994e+01] [-5.79754618e-04 9.99998229e-01 1.79030120e-03 -1.45118241e+00] [ 8.81762636e-03 -1.78511985e-03 9.99959531e-01 -3.03823299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.595898227 meters Centerline goodness [0,1] 0.8801999149298171 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.30 [[ 9.99957967e-01 5.75822257e-04 -9.15051423e-03 6.28814955e+01] [-5.58055184e-04 9.99997955e-01 1.94408214e-03 -1.45234347e+00] [ 9.15161495e-03 -1.93889393e-03 9.99956243e-01 -3.04887098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.625898227 meters Centerline goodness [0,1] 0.8869693031974948 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.31 [[ 9.99957270e-01 5.85361415e-04 -9.22582599e-03 6.28819242e+01] [-5.66532072e-04 9.99997752e-01 2.04341974e-03 -1.45302271e+00] [ 9.22700139e-03 -2.03810569e-03 9.99955353e-01 -3.05153621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.655898227 meters Centerline goodness [0,1] 0.750288671256896 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.31 [[ 9.99956887e-01 6.04107214e-04 -9.26600191e-03 6.28819796e+01] [-5.85201227e-04 9.99997742e-01 2.04293637e-03 -1.45297886e+00] [ 9.26721514e-03 -2.03742582e-03 9.99954983e-01 -3.05037439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.685898227 meters Centerline goodness [0,1] 0.750288671256896 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.31 [[ 9.99956887e-01 6.04107214e-04 -9.26600191e-03 6.28819796e+01] [-5.85201227e-04 9.99997742e-01 2.04293637e-03 -1.45297886e+00] [ 9.26721514e-03 -2.03742582e-03 9.99954983e-01 -3.05037439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.715898227 meters Centerline goodness [0,1] 0.8596323451280417 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.31 [[ 9.99957086e-01 5.20882654e-04 -9.24958160e-03 6.28820416e+01] [-5.04693021e-04 9.99998337e-01 1.75255764e-03 -1.45153712e+00] [ 9.25047909e-03 -1.74781423e-03 9.99955686e-01 -3.05239766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.745898227 meters Centerline goodness [0,1] 0.9362672006134708 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.31 [[ 9.99958067e-01 4.43786402e-04 -9.14697349e-03 6.28816976e+01] [-4.30830353e-04 9.99998901e-01 1.41835191e-03 -1.44976173e+00] [ 9.14759288e-03 -1.41435164e-03 9.99957160e-01 -3.05221995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.775898227 meters Centerline goodness [0,1] 0.8694195245063732 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.31 [[ 9.99959011e-01 3.71967866e-04 -9.04647138e-03 6.28815053e+01] [-3.64059000e-04 9.99999550e-01 8.75879751e-04 -1.44682278e+00] [ 9.04679311e-03 -8.72550400e-04 9.99958696e-01 -3.05467724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.805898227 meters Centerline goodness [0,1] 0.8620410597154783 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.31 [[ 9.99959793e-01 3.30071554e-04 -8.96118880e-03 6.28811299e+01] [-3.23737025e-04 9.99999697e-01 7.08326230e-04 -1.44591078e+00] [ 8.96141988e-03 -7.05396682e-04 9.99959597e-01 -3.05323022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.835898227 meters Centerline goodness [0,1] 0.8638978861234231 Centerline is valid? [False, False] Translation: X:62.88, Y:-1.45, Z:-0.31 [[ 9.99960214e-01 2.47935105e-04 -8.91677817e-03 6.28809428e+01] [-2.43164760e-04 9.99999827e-01 5.36065430e-04 -1.44506311e+00] [ 8.91690953e-03 -5.33875856e-04 9.99960101e-01 -3.05264197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.865898227 meters Centerline goodness [0,1] 0.8972647586862393 Centerline is valid? [False, False] Translation: X:62.89, Y:-1.45, Z:-0.31 [[ 9.99940497e-01 3.30894274e-03 -1.03948361e-02 6.28856599e+01] [-3.26374272e-03 9.99985159e-01 4.36227294e-03 -1.44661288e+00] [ 1.04091164e-02 -4.32808731e-03 9.99936457e-01 -3.05333118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.895898227 meters Centerline goodness [0,1] 0.9089459585866746 Centerline is valid? [False, False] Translation: X:62.89, Y:-1.45, Z:-0.31 [[ 9.99940030e-01 3.13480935e-03 -1.04933391e-02 6.28858515e+01] [-3.09107694e-03 9.99986481e-01 4.18126200e-03 -1.44600240e+00] [ 1.05063047e-02 -4.14857553e-03 9.99936201e-01 -3.05169847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.925898227 meters Centerline goodness [0,1] 0.9117915807815721 Centerline is valid? [False, False] Translation: X:62.89, Y:-1.45, Z:-0.30 [[ 9.99939081e-01 2.97359510e-03 -1.06298028e-02 6.28860831e+01] [-2.92898877e-03 9.99986851e-01 4.20945394e-03 -1.44658173e+00] [ 1.06421803e-02 -4.17806293e-03 9.99934642e-01 -3.04863362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.955898227 meters Centerline goodness [0,1] 0.962048142246079 Centerline is valid? [False, True] Translation: X:62.91, Y:-1.45, Z:-0.31 [[ 9.99966723e-01 -2.49462920e-03 -7.76720758e-03 6.29070452e+01] [ 2.56376980e-03 9.99957068e-01 8.90440763e-03 -1.44788241e+00] [ 7.74466092e-03 -8.92402466e-03 9.99930189e-01 -3.05806493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.985898227 meters Centerline goodness [0,1] 0.979816281813585 Centerline is valid? [True, True] Translation: X:62.94, Y:-1.45, Z:-0.31 [[ 9.99961833e-01 -5.83072338e-03 -6.50653312e-03 6.29374937e+01] [ 5.82799078e-03 9.99982921e-01 -4.38859608e-04 -1.44781096e+00] [ 6.50898086e-03 4.00922843e-04 9.99978736e-01 -3.05351709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.015898227 meters Centerline goodness [0,1] 0.9922699124492846 Centerline is valid? [True, True] Translation: X:62.97, Y:-1.45, Z:-0.30 [[ 9.99934023e-01 -1.00270850e-02 -5.60424668e-03 6.29673970e+01] [ 1.00251232e-02 9.99949676e-01 -3.78042846e-04 -1.45254322e+00] [ 5.60775532e-03 3.21834640e-04 9.99984225e-01 -3.04076814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.045898227 meters Centerline goodness [0,1] 0.9972274355911961 Centerline is valid? [True, True] Translation: X:63.00, Y:-1.46, Z:-0.30 [[ 9.99889453e-01 -1.42782170e-02 -4.14903931e-03 6.29970327e+01] [ 1.42771779e-02 9.99898037e-01 -2.79942287e-04 -1.45713056e+00] [ 4.15261333e-03 2.20674768e-04 9.99991354e-01 -3.02140165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.075898227 meters Centerline goodness [0,1] 0.9986290101453249 Centerline is valid? [True, True] Translation: X:63.03, Y:-1.46, Z:-0.30 [[ 9.99830111e-01 -1.82430697e-02 -2.63427948e-03 6.30265014e+01] [ 1.82426645e-02 9.99833573e-01 -1.77772887e-04 -1.46272212e+00] [ 2.63708419e-03 1.29686408e-04 9.99996514e-01 -2.99432140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.105898227 meters Centerline goodness [0,1] 0.9991140735740803 Centerline is valid? [True, True] Translation: X:63.06, Y:-1.47, Z:-0.30 [[ 9.99771849e-01 -2.13271887e-02 -1.18326038e-03 6.30564983e+01] [ 2.13271091e-02 9.99772548e-01 -7.98248125e-05 -1.46723172e+00] [ 1.18469368e-03 5.45710772e-05 9.99999297e-01 -2.97007652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.135898227 meters Centerline goodness [0,1] 0.9993406219424001 Centerline is valid? [True, True] Translation: X:63.09, Y:-1.47, Z:-0.30 [[ 9.99719920e-01 -2.36579684e-02 -6.17752090e-04 6.30854977e+01] [ 2.36579472e-02 9.99720111e-01 -4.16226782e-05 -1.46981210e+00] [ 6.18563895e-04 2.69962742e-05 9.99999808e-01 -2.96062258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.165898227 meters Centerline goodness [0,1] 0.999473318305349 Centerline is valid? [True, True] Translation: X:63.12, Y:-1.47, Z:-0.30 [[ 9.99685299e-01 -2.50292421e-02 -1.68535456e-03 6.31150866e+01] [ 2.50290861e-02 9.99686717e-01 -1.13622471e-04 -1.47222167e+00] [ 1.68767045e-03 7.14038296e-05 9.99998573e-01 -2.97301215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19589822700001 meters Centerline goodness [0,1] 0.999537251272559 Centerline is valid? [True, True] Translation: X:63.14, Y:-1.47, Z:-0.30 [[ 9.99657629e-01 -2.58875141e-02 -3.80277731e-03 6.31434820e+01] [ 2.58867217e-02 9.99664850e-01 -2.57478557e-04 -1.47446636e+00] [ 3.80816829e-03 1.58948966e-04 9.99992736e-01 -3.01120131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.22589822700002 meters Centerline goodness [0,1] 0.9993339161566962 Centerline is valid? [True, True] Translation: X:63.17, Y:-1.47, Z:-0.30 [[ 9.99651989e-01 -2.60856962e-02 -3.92908763e-03 6.31708858e+01] [ 2.60848508e-02 9.99659697e-01 -2.66253092e-04 -1.47347225e+00] [ 3.93469594e-03 1.63670769e-04 9.99992246e-01 -3.00934229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25589822700002 meters Centerline goodness [0,1] 0.999556672085119 Centerline is valid? [True, True] Translation: X:63.20, Y:-1.48, Z:-0.30 [[ 9.99623876e-01 -2.72504689e-02 -3.08533642e-03 6.32002112e+01] [ 2.72499528e-02 9.99628629e-01 -2.09185176e-04 -1.47603752e+00] [ 3.08989101e-03 1.25031225e-04 9.99995218e-01 -2.99142121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.285898227 meters Centerline goodness [0,1] 0.9993834640814678 Centerline is valid? [True, True] Translation: X:63.23, Y:-1.48, Z:-0.30 [[ 9.99576695e-01 -2.90373555e-02 -1.80625024e-03 6.32287357e+01] [ 2.90371812e-02 9.99578325e-01 -1.22695091e-04 -1.47863348e+00] [ 1.80905133e-03 7.01947386e-05 9.99998361e-01 -2.97459268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.315898227 meters Centerline goodness [0,1] 0.9997867121680708 Centerline is valid? [True, True] Translation: X:63.26, Y:-1.49, Z:-0.29 [[ 9.99527746e-01 -3.07241318e-02 -5.58683807e-04 6.32579145e+01] [ 3.07241155e-02 9.99527902e-01 -3.78709369e-05 -1.48662314e+00] [ 5.59583605e-04 2.06879864e-05 9.99999843e-01 -2.94196007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.345898227 meters Centerline goodness [0,1] 0.9997062279670975 Centerline is valid? [True, True] Translation: X:63.29, Y:-1.48, Z:-0.29 [[ 9.99484557e-01 -3.21028836e-02 -1.60762901e-04 6.32856862e+01] [ 3.21028823e-02 9.99484570e-01 -1.06875462e-05 -1.48389788e+00] [ 1.61023140e-04 5.52108489e-06 9.99999987e-01 -2.92635188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.375898227 meters Centerline goodness [0,1] 0.9996603981831302 Centerline is valid? [True, True] Translation: X:63.31, Y:-1.48, Z:-0.29 [[ 9.99463691e-01 -3.27383569e-02 -7.27955565e-04 6.33140339e+01] [ 3.27383296e-02 9.99463956e-01 -4.94011847e-05 -1.48431072e+00] [ 7.29182663e-04 2.55426412e-05 9.99999734e-01 -2.94439817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.405898227 meters Centerline goodness [0,1] 0.999682848443843 Centerline is valid? [True, True] Translation: X:63.34, Y:-1.48, Z:-0.30 [[ 9.99482903e-01 -3.21112072e-02 -1.67212116e-03 6.33413481e+01] [ 3.21110614e-02 9.99484300e-01 -1.13968645e-04 -1.48044498e+00] [ 1.67491852e-03 6.02161270e-05 9.99998596e-01 -2.96192712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.435898227 meters Centerline goodness [0,1] 0.999533591977782 Centerline is valid? [True, True] Translation: X:63.37, Y:-1.48, Z:-0.30 [[ 9.99516186e-01 -3.09575924e-02 -3.00366935e-03 6.33702202e+01] [ 3.09571160e-02 9.99520693e-01 -2.04994969e-04 -1.47605057e+00] [ 3.00857582e-03 1.11910849e-04 9.99995468e-01 -2.99018624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.465898227 meters Centerline goodness [0,1] 0.9993428722840487 Centerline is valid? [True, True] Translation: X:63.40, Y:-1.47, Z:-0.30 [[ 9.99548443e-01 -2.96469542e-02 -4.89579267e-03 6.33990158e+01] [ 2.96456684e-02 9.99560414e-01 -3.34999324e-04 -1.47069389e+00] [ 4.90357226e-03 1.89709006e-04 9.99987959e-01 -3.02619301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.495898227 meters Centerline goodness [0,1] 0.9988949102114547 Centerline is valid? [True, True] Translation: X:63.43, Y:-1.47, Z:-0.31 [[ 9.99567335e-01 -2.87217854e-02 -6.34054731e-03 6.34277081e+01] [ 2.87196062e-02 9.99587413e-01 -4.34495324e-04 -1.46590060e+00] [ 6.35041076e-03 2.52209311e-04 9.99979804e-01 -3.05494037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.525898227 meters Centerline goodness [0,1] 0.9995370857443451 Centerline is valid? [True, True] Translation: X:63.46, Y:-1.47, Z:-0.31 [[ 9.99582859e-01 -2.80702186e-02 -6.79493386e-03 6.34570331e+01] [ 2.80676935e-02 9.99605916e-01 -4.66703942e-04 -1.46914956e+00] [ 6.80535656e-03 2.75791140e-04 9.99976805e-01 -3.05652138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.555898227 meters Centerline goodness [0,1] 0.9964790972914501 Centerline is valid? [True, True] Translation: X:63.48, Y:-1.46, Z:-0.31 [[ 9.99595555e-01 -2.75762661e-02 -6.94807955e-03 6.34838232e+01] [ 2.75736089e-02 9.99619661e-01 -4.77955930e-04 -1.45530602e+00] [ 6.95861716e-03 2.86178995e-04 9.99975748e-01 -3.06212107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.585898227 meters Centerline goodness [0,1] 0.9998291510945008 Centerline is valid? [True, True] Translation: X:63.51, Y:-1.47, Z:-0.31 [[ 9.99579228e-01 -2.80396490e-02 -7.42600884e-03 6.35138804e+01] [ 2.80366200e-02 9.99606766e-01 -5.11699644e-04 -1.46602486e+00] [ 7.43743656e-03 3.03284147e-04 9.99972296e-01 -3.05405569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.615898227 meters Centerline goodness [0,1] 0.9949291760958847 Centerline is valid? [True, True] Translation: X:63.54, Y:-1.45, Z:-0.31 [[ 9.99555761e-01 -2.87298517e-02 -7.92944890e-03 6.35402387e+01] [ 2.87264130e-02 9.99587162e-01 -5.47230209e-04 -1.44961153e+00] [ 7.94189716e-03 3.19202484e-04 9.99968412e-01 -3.08236118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.645898227 meters Centerline goodness [0,1] 0.9951990186540333 Centerline is valid? [True, True] Translation: X:63.57, Y:-1.45, Z:-0.31 [[ 9.99510460e-01 -3.00249710e-02 -8.79444488e-03 6.35693941e+01] [ 3.00207830e-02 9.99549090e-01 -6.07871335e-04 -1.44799098e+00] [ 8.80873069e-03 3.43557636e-04 9.99961143e-01 -3.09970807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.675898227 meters Centerline goodness [0,1] 0.9999787487249235 Centerline is valid? [True, True] Translation: X:63.60, Y:-1.46, Z:-0.31 [[ 9.99459270e-01 -3.14871656e-02 -9.47234151e-03 6.35992126e+01] [ 3.14823583e-02 9.99504092e-01 -6.56228952e-04 -1.46333767e+00] [ 9.48830689e-03 3.57662460e-04 9.99954921e-01 -3.09258598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.705898227 meters Centerline goodness [0,1] 0.9958392595580274 Centerline is valid? [True, True] Translation: X:63.63, Y:-1.45, Z:-0.31 [[ 9.99401592e-01 -3.31099954e-02 -1.00092658e-02 6.36265907e+01] [ 3.31046923e-02 9.99451648e-01 -6.95081976e-04 -1.44735470e+00] [ 1.00267914e-02 3.63312368e-04 9.99949664e-01 -3.13209735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.735898227 meters Centerline goodness [0,1] 0.9999580589690895 Centerline is valid? [True, True] Translation: X:63.66, Y:-1.46, Z:-0.31 [[ 9.99366383e-01 -3.41197551e-02 -1.01328714e-02 6.36564026e+01] [ 3.41143553e-02 9.99417687e-01 -7.05315330e-04 -1.46200372e+00] [ 1.01510361e-02 3.59192053e-04 9.99948412e-01 -3.10196661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.765898227 meters Centerline goodness [0,1] 0.9971795411492317 Centerline is valid? [True, True] Translation: X:63.68, Y:-1.45, Z:-0.31 [[ 9.99351114e-01 -3.45639718e-02 -1.01332521e-02 6.36829425e+01] [ 3.45585850e-02 9.99402424e-01 -7.06275889e-04 -1.44631169e+00] [ 1.01516084e-02 3.55626744e-04 9.99948408e-01 -3.12639376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.795898227 meters Centerline goodness [0,1] 0.9998940408578452 Centerline is valid? [True, True] Translation: X:63.71, Y:-1.46, Z:-0.31 [[ 9.99404169e-01 -3.31885573e-02 -9.47766324e-03 6.37127378e+01] [ 3.31837718e-02 9.99449048e-01 -6.61775463e-04 -1.45749194e+00] [ 9.49440488e-03 3.46876543e-04 9.99954867e-01 -3.07023630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.825898227 meters Centerline goodness [0,1] 0.9998942336167872 Centerline is valid? [True, True] Translation: X:63.74, Y:-1.45, Z:-0.31 [[ 9.99467943e-01 -3.14883862e-02 -8.50370064e-03 6.37422118e+01] [ 3.14844672e-02 9.99504065e-01 -5.94376421e-04 -1.45276605e+00] [ 8.51819931e-03 3.26325695e-04 9.99963666e-01 -3.05309395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.855898227 meters Centerline goodness [0,1] 0.9871388042450352 Centerline is valid? [True, True] Translation: X:63.77, Y:-1.43, Z:-0.30 [[ 9.99529538e-01 -2.97939972e-02 -7.28152699e-03 6.37693650e+01] [ 2.97910773e-02 9.99556018e-01 -5.09155633e-04 -1.42821345e+00] [ 7.29346390e-03 2.91991561e-04 9.99973360e-01 -3.04996336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.885898227 meters Centerline goodness [0,1] 0.9997259754221033 Centerline is valid? [True, True] Translation: X:63.80, Y:-1.44, Z:-0.30 [[ 9.99593377e-01 -2.78266787e-02 -6.22540187e-03 6.37994295e+01] [ 2.78245051e-02 9.99612729e-01 -4.35504054e-04 -1.43980095e+00] [ 6.23510958e-03 2.62108242e-04 9.99980527e-01 -3.01159907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.915898227 meters Centerline goodness [0,1] 0.9997883463500328 Centerline is valid? [True, True] Translation: X:63.83, Y:-1.44, Z:-0.30 [[ 9.99650927e-01 -2.58653731e-02 -5.38568842e-03 6.38290954e+01] [ 2.58637172e-02 9.99665407e-01 -3.76906208e-04 -1.43863134e+00] [ 5.39363522e-03 2.37480719e-04 9.99985426e-01 -2.99553861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.94589822700001 meters Centerline goodness [0,1] 0.9998071648954405 Centerline is valid? [True, True] Translation: X:63.86, Y:-1.44, Z:-0.30 [[ 9.99695440e-01 -2.41579061e-02 -5.04208388e-03 6.38582291e+01] [ 2.41564324e-02 9.99708128e-01 -3.52993388e-04 -1.43616623e+00] [ 5.04913982e-03 2.31087122e-04 9.99987226e-01 -2.98779843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97589822700002 meters Centerline goodness [0,1] 0.9995945369184805 Centerline is valid? [True, True] Translation: X:63.89, Y:-1.43, Z:-0.30 [[ 9.99748082e-01 -2.18450923e-02 -5.15408811e-03 6.38866827e+01] [ 2.18435208e-02 9.99761337e-01 -3.60998159e-04 -1.42952836e+00] [ 5.16074406e-03 2.48323786e-04 9.99986652e-01 -2.99977374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.00589822700002 meters Centerline goodness [0,1] 0.9995120191797678 Centerline is valid? [True, True] Translation: X:63.92, Y:-1.43, Z:-0.30 [[ 9.99766840e-01 -2.10108543e-02 -4.98095753e-03 6.39155864e+01] [ 2.10093745e-02 9.99779218e-01 -3.49220537e-04 -1.42614649e+00] [ 4.98719524e-03 2.44492310e-04 9.99987534e-01 -2.98859515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.035898227 meters Centerline goodness [0,1] 0.9994666211516716 Centerline is valid? [True, True] Translation: X:63.94, Y:-1.42, Z:-0.30 [[ 9.99792354e-01 -1.99646401e-02 -4.08200107e-03 6.39437361e+01] [ 1.99636356e-02 9.99800666e-01 -2.86679280e-04 -1.42364138e+00] [ 4.08691083e-03 2.05128170e-04 9.99991628e-01 -2.99089729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.065898227 meters Centerline goodness [0,1] 0.9990633315593401 Centerline is valid? [True, True] Translation: X:63.97, Y:-1.42, Z:-0.30 [[ 9.99824402e-01 -1.85082396e-02 -2.93422161e-03 6.39722177e+01] [ 1.85077139e-02 9.99828696e-01 -2.06196420e-04 -1.41953096e+00] [ 2.93753530e-03 1.51854479e-04 9.99995674e-01 -2.96000930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.095898227 meters Centerline goodness [0,1] 0.999234205488194 Centerline is valid? [True, True] Translation: X:64.00, Y:-1.42, Z:-0.29 [[ 9.99853541e-01 -1.69820265e-02 -2.12295832e-03 6.40017960e+01] [ 1.69817478e-02 9.99855789e-01 -1.49242568e-04 -1.41617411e+00] [ 2.12518661e-03 1.13169167e-04 9.99997735e-01 -2.94767680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.125898227 meters Centerline goodness [0,1] 0.998745054664568 Centerline is valid? [True, True] Translation: X:64.03, Y:-1.41, Z:-0.29 [[ 9.99880951e-01 -1.53250458e-02 -1.79651066e-03 6.40309059e+01] [ 1.53248435e-02 9.99882560e-01 -1.26306126e-04 -1.41145902e+00] [ 1.79823532e-03 9.87598443e-05 9.99998378e-01 -2.94123414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.155898227 meters Centerline goodness [0,1] 0.9883493512228976 Centerline is valid? [True, True] Translation: X:64.06, Y:-1.40, Z:-0.29 [[ 9.99908013e-01 -1.34246803e-02 -1.93468987e-03 6.40595005e+01] [ 1.34244419e-02 9.99909879e-01 -1.36129490e-04 -1.39930622e+00] [ 1.93634301e-03 1.10144837e-04 9.99998119e-01 -2.93850744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.185898227 meters Centerline goodness [0,1] 0.9931336093974478 Centerline is valid? [True, True] Translation: X:64.09, Y:-1.40, Z:-0.30 [[ 9.99947574e-01 -9.96199419e-03 -2.36789491e-03 6.40900479e+01] [ 9.96162737e-03 9.99950368e-01 -1.66657578e-04 -1.40004338e+00] [ 2.36943763e-03 1.43060754e-04 9.99997183e-01 -2.95148807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.215898227 meters Centerline goodness [0,1] 0.9943487337367943 Centerline is valid? [True, True] Translation: X:64.12, Y:-1.40, Z:-0.30 [[ 9.99962055e-01 -8.28985931e-03 -2.67719199e-03 6.41191597e+01] [ 8.28938449e-03 9.99965625e-01 -1.88405118e-04 -1.39871233e+00] [ 2.67866181e-03 1.66205695e-04 9.99996399e-01 -2.95808298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.245898227 meters Centerline goodness [0,1] 0.9858887552996266 Centerline is valid? [True, True] Translation: X:64.15, Y:-1.39, Z:-0.30 [[ 9.99974546e-01 -6.41298505e-03 -3.12745832e-03 6.41483522e+01] [ 6.41232753e-03 9.99979417e-01 -2.20224356e-04 -1.39213092e+00] [ 3.12880624e-03 2.00164464e-04 9.99995085e-01 -2.97114366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.275898227 meters Centerline goodness [0,1] 0.8483672741762966 Centerline is valid? [True, False] Translation: X:64.15, Y:-1.39, Z:-0.30 [[ 9.99982580e-01 -4.25886639e-03 -4.08671492e-03 6.41545341e+01] [ 4.26649233e-03 9.99989170e-01 1.85913154e-03 -1.39266640e+00] [ 4.07875287e-03 -1.87653509e-03 9.99989921e-01 -3.00802150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.305898227 meters Centerline goodness [0,1] 0.969726645661245 Centerline is valid? [False, True] Translation: X:64.11, Y:-1.39, Z:-0.30 [[ 9.99972108e-01 -4.55984679e-03 -5.91529869e-03 6.41149495e+01] [ 4.58024882e-03 9.99983593e-01 3.44007700e-03 -1.39439182e+00] [ 5.89951541e-03 -3.46707459e-03 9.99976587e-01 -3.02281789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.335898227 meters Centerline goodness [0,1] 0.9635119967810931 Centerline is valid? [True, True] Translation: X:64.14, Y:-1.39, Z:-0.30 [[ 9.99972231e-01 -3.72883092e-03 -6.45237940e-03 6.41439498e+01] [ 3.72591597e-03 9.99992951e-01 -4.63726001e-04 -1.38821903e+00] [ 6.45406307e-03 4.39672101e-04 9.99979076e-01 -3.04284664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.365898227 meters Centerline goodness [0,1] 0.7781017858283136 Centerline is valid? [True, False] Translation: X:64.15, Y:-1.38, Z:-0.31 [[ 9.99969500e-01 -4.14658277e-03 -6.61859708e-03 6.41453255e+01] [ 4.13688670e-03 9.99990351e-01 -1.47799235e-03 -1.38346132e+00] [ 6.62466183e-03 1.45056689e-03 9.99977005e-01 -3.05811506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.395898227 meters Centerline goodness [0,1] 0.9331316703235839 Centerline is valid? [False, False] Translation: X:64.15, Y:-1.38, Z:-0.31 [[ 9.99968102e-01 -4.30939596e-03 -6.72490019e-03 6.41459692e+01] [ 4.29713944e-03 9.99989082e-01 -1.83594333e-03 -1.38181252e+00] [ 6.73273858e-03 1.80698693e-03 9.99975702e-01 -3.06377214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.425898227 meters Centerline goodness [0,1] 0.7595872995860388 Centerline is valid? [False, False] Translation: X:64.19, Y:-1.38, Z:-0.31 [[ 9.99970969e-01 -4.40984672e-03 -6.21402236e-03 6.41874034e+01] [ 4.37653457e-03 9.99976035e-01 -5.36424263e-03 -1.37580371e+00] [ 6.23752893e-03 5.33689102e-03 9.99966305e-01 -3.06433448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.455898227 meters Centerline goodness [0,1] 0.9303846884298044 Centerline is valid? [False, False] Translation: X:64.19, Y:-1.37, Z:-0.31 [[ 9.99969341e-01 -4.56815766e-03 -6.35994029e-03 6.41879384e+01] [ 4.53189512e-03 9.99973460e-01 -5.70449551e-03 -1.37417165e+00] [ 6.38583053e-03 5.67549803e-03 9.99963504e-01 -3.06573083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.485898227 meters Centerline goodness [0,1] 0.7611886249866866 Centerline is valid? [False, False] Translation: X:64.19, Y:-1.37, Z:-0.31 [[ 9.99967888e-01 -4.87286342e-03 -6.36231402e-03 6.41882393e+01] [ 4.83220709e-03 9.99967908e-01 -6.38999046e-03 -1.37088137e+00] [ 6.39324739e-03 6.35904124e-03 9.99959344e-01 -3.07078422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.515898227 meters Centerline goodness [0,1] 0.9147191297696949 Centerline is valid? [False, False] Translation: X:64.19, Y:-1.37, Z:-0.31 [[ 9.99977129e-01 -9.08769235e-04 -6.70187740e-03 6.41891536e+01] [ 8.93444573e-04 9.99996981e-01 -2.28926172e-03 -1.37058879e+00] [ 6.70393757e-03 2.28322160e-03 9.99974922e-01 -3.06820090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.545898227 meters Centerline goodness [0,1] 0.9319944745510573 Centerline is valid? [False, False] Translation: X:64.19, Y:-1.37, Z:-0.31 [[ 9.99976538e-01 -1.34397061e-03 -6.71688664e-03 6.41895466e+01] [ 1.32164188e-03 9.99993590e-01 -3.32760103e-03 -1.36561934e+00] [ 6.72131578e-03 3.31864565e-03 9.99971905e-01 -3.07460402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.575898227 meters Centerline goodness [0,1] 0.7352055111972529 Centerline is valid? [False, False] Translation: X:64.20, Y:-1.36, Z:-0.31 [[ 9.99970812e-01 5.61149726e-04 -7.61966320e-03 6.41955725e+01] [-5.73433556e-04 9.99998539e-01 -1.61003341e-03 -1.36306436e+00] [ 7.61874860e-03 1.61435579e-03 9.99969674e-01 -3.11084237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.605898227 meters Centerline goodness [0,1] 0.7352055111972529 Centerline is valid? [False, False] Translation: X:64.20, Y:-1.36, Z:-0.31 [[ 9.99970812e-01 5.61149726e-04 -7.61966320e-03 6.41955725e+01] [-5.73433556e-04 9.99998539e-01 -1.61003341e-03 -1.36306436e+00] [ 7.61874860e-03 1.61435579e-03 9.99969674e-01 -3.11084237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.635898227 meters Centerline goodness [0,1] 0.9505603586295229 Centerline is valid? [False, True] Translation: X:64.15, Y:-1.36, Z:-0.31 [[ 9.99972289e-01 -9.23564303e-05 -7.44390622e-03 6.41521435e+01] [ 8.56546785e-05 9.99999591e-01 -9.00614178e-04 -1.35922531e+00] [ 7.44398635e-03 8.99951616e-04 9.99971888e-01 -3.11581629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.665898227 meters Centerline goodness [0,1] 0.9424085985104942 Centerline is valid? [True, False] Translation: X:64.17, Y:-1.36, Z:-0.30 [[ 9.99948619e-01 -1.54079286e-03 -1.00192575e-02 6.41685737e+01] [ 1.60426825e-03 9.99978676e-01 6.33039030e-03 -1.35797051e+00] [ 1.00092900e-02 -6.34613861e-03 9.99929768e-01 -3.03167903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69589822700001 meters Centerline goodness [0,1] 0.9750374860087432 Centerline is valid? [False, True] Translation: X:64.17, Y:-1.36, Z:-0.30 [[ 9.99948899e-01 -1.82466563e-03 -9.94333674e-03 6.41674560e+01] [ 1.88501549e-03 9.99979841e-01 6.06338866e-03 -1.35708629e+00] [ 9.93207264e-03 -6.08182215e-03 9.99932180e-01 -3.01772250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72589822700002 meters Centerline goodness [0,1] 0.9815820044355265 Centerline is valid? [True, True] Translation: X:64.20, Y:-1.35, Z:-0.30 [[ 9.99953353e-01 -5.53919552e-03 -7.91257071e-03 6.41964535e+01] [ 5.53538900e-03 9.99984553e-01 -5.02891233e-04 -1.35153620e+00] [ 7.91523410e-03 4.59068618e-04 9.99968569e-01 -2.99462863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75589822700002 meters Centerline goodness [0,1] 0.9974893821787978 Centerline is valid? [True, True] Translation: X:64.23, Y:-1.36, Z:-0.30 [[ 9.99933995e-01 -9.41253442e-03 -6.58861998e-03 6.42272950e+01] [ 9.40997864e-03 9.99955637e-01 -4.18801039e-04 -1.35874611e+00] [ 6.59226967e-03 3.56774623e-04 9.99978207e-01 -2.96584699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.785898227 meters Centerline goodness [0,1] 0.9994694622469334 Centerline is valid? [True, True] Translation: X:64.26, Y:-1.37, Z:-0.29 [[ 9.99893240e-01 -1.34510352e-02 -5.70772783e-03 6.42578154e+01] [ 1.34491827e-02 9.99909490e-01 -3.62814440e-04 -1.36555945e+00] [ 5.71209145e-03 2.86011431e-04 9.99983645e-01 -2.94672462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.815898227 meters Centerline goodness [0,1] 0.9995114387067995 Centerline is valid? [True, True] Translation: X:64.29, Y:-1.37, Z:-0.29 [[ 9.99804272e-01 -1.94791146e-02 -3.46149962e-03 6.42876042e+01] [ 1.94784693e-02 9.99810252e-01 -2.20032631e-04 -1.37105032e+00] [ 3.46512885e-03 1.52564850e-04 9.99993985e-01 -2.93078680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.845898227 meters Centerline goodness [0,1] 0.9987236891660041 Centerline is valid? [True, True] Translation: X:64.31, Y:-1.36, Z:-0.29 [[ 9.99789895e-01 -2.03552900e-02 -2.41407581e-03 6.43146334e+01] [ 2.03549789e-02 9.99792804e-01 -1.53401407e-04 -1.36095688e+00] [ 2.41669815e-03 1.04230714e-04 9.99997074e-01 -2.91052706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.875898227 meters Centerline goodness [0,1] 0.9998730158730159 Centerline is valid? [True, True] Translation: X:64.34, Y:-1.37, Z:-0.29 [[ 9.99789006e-01 -2.04282400e-02 -2.15207238e-03 6.43435604e+01] [ 2.04279930e-02 9.99791317e-01 -1.36692369e-04 -1.37188292e+00] [ 2.15441566e-03 9.27010084e-05 9.99997675e-01 -2.90831737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.905898227 meters Centerline goodness [0,1] 0.9998108210367007 Centerline is valid? [True, True] Translation: X:64.37, Y:-1.37, Z:-0.29 [[ 9.99801138e-01 -1.98599731e-02 -1.80732785e-03 6.43720159e+01] [ 1.98597973e-02 9.99802768e-01 -1.15183305e-04 -1.37237889e+00] [ 1.80925892e-03 7.92672345e-05 9.99998360e-01 -2.90318730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.935898227 meters Centerline goodness [0,1] 0.9999143212097845 Centerline is valid? [True, True] Translation: X:64.40, Y:-1.37, Z:-0.29 [[ 9.99813561e-01 -1.92090013e-02 -1.96397017e-03 6.44008852e+01] [ 1.92087922e-02 9.99815486e-01 -1.25269333e-04 -1.37350495e+00] [ 1.96601409e-03 8.75204833e-05 9.99998064e-01 -2.89754394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.965898227 meters Centerline goodness [0,1] 0.9999360668314722 Centerline is valid? [True, True] Translation: X:64.43, Y:-1.37, Z:-0.29 [[ 9.99829977e-01 -1.82515141e-02 -2.62658759e-03 6.44299234e+01] [ 1.82511351e-02 9.99833420e-01 -1.68173746e-04 -1.37154610e+00] [ 2.62921948e-03 1.20206948e-04 9.99996536e-01 -2.89808720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.995898227 meters Centerline goodness [0,1] 0.9995332456400899 Centerline is valid? [True, True] Translation: X:64.46, Y:-1.37, Z:-0.29 [[ 9.99877762e-01 -1.48444334e-02 -4.90961540e-03 6.44589618e+01] [ 1.48430629e-02 9.99889786e-01 -3.15457856e-04 -1.36609552e+00] [ 4.91375709e-03 2.42545564e-04 9.99987898e-01 -2.93288912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.025898227 meters Centerline goodness [0,1] 0.9989860368829084 Centerline is valid? [True, True] Translation: X:64.49, Y:-1.36, Z:-0.30 [[ 9.99898885e-01 -1.30981091e-02 -5.53716253e-03 6.44885365e+01] [ 1.30963385e-02 9.99914176e-01 -3.55910374e-04 -1.36317775e+00] [ 5.54134907e-03 2.83357831e-04 9.99984606e-01 -2.95108553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.055898227 meters Centerline goodness [0,1] 0.9989860368829084 Centerline is valid? [True, True] Translation: X:64.52, Y:-1.36, Z:-0.30 [[ 9.99896433e-01 -1.32839575e-02 -5.53713202e-03 6.45160217e+01] [ 1.32821871e-02 9.99911724e-01 -3.56384382e-04 -1.36125168e+00] [ 5.54137742e-03 2.82802249e-04 9.99984606e-01 -2.95014340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.085898227 meters Centerline goodness [0,1] 0.9986651128297489 Centerline is valid? [True, True] Translation: X:64.54, Y:-1.36, Z:-0.30 [[ 9.99907145e-01 -1.20671364e-02 -6.33129168e-03 6.45443371e+01] [ 1.20647919e-02 9.99927134e-01 -4.08368133e-04 -1.35881463e+00] [ 6.33575818e-03 3.31944497e-04 9.99979874e-01 -2.96050237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.115898227 meters Centerline goodness [0,1] 0.9982594668025132 Centerline is valid? [True, True] Translation: X:64.57, Y:-1.36, Z:-0.29 [[ 9.99908080e-01 -1.21825343e-02 -5.95121232e-03 6.45723361e+01] [ 1.21804631e-02 9.99925742e-01 -3.84154755e-04 -1.35678931e+00] [ 5.95545037e-03 3.11630921e-04 9.99982218e-01 -2.94825033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.145898227 meters Centerline goodness [0,1] 0.9715181219630198 Centerline is valid? [True, True] Translation: X:64.60, Y:-1.34, Z:-0.29 [[ 9.99904753e-01 -1.26278563e-02 -5.56983533e-03 6.45996352e+01] [ 1.26260472e-02 9.99920224e-01 -3.59844831e-04 -1.34373876e+00] [ 5.57393506e-03 2.89485553e-04 9.99984424e-01 -2.94495451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.175898227 meters Centerline goodness [0,1] 0.9988654508782251 Centerline is valid? [True, True] Translation: X:64.63, Y:-1.36, Z:-0.29 [[ 9.99884685e-01 -1.40490956e-02 -5.76532244e-03 6.46296891e+01] [ 1.40471791e-02 9.99901264e-01 -3.72784887e-04 -1.36005671e+00] [ 5.76999049e-03 2.91755383e-04 9.99983311e-01 -2.94259081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.205898227 meters Centerline goodness [0,1] 0.9990746387936655 Centerline is valid? [True, True] Translation: X:64.66, Y:-1.36, Z:-0.30 [[ 9.99846518e-01 -1.61213808e-02 -6.85872125e-03 6.46602219e+01] [ 1.61187150e-02 9.99869987e-01 -4.43773105e-04 -1.36319649e+00] [ 6.86498376e-03 3.33151220e-04 9.99976380e-01 -2.95691363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.235898227 meters Centerline goodness [0,1] 0.9994305839677753 Centerline is valid? [True, True] Translation: X:64.69, Y:-1.37, Z:-0.30 [[ 9.99793936e-01 -1.86158749e-02 -8.09536130e-03 6.46904848e+01] [ 1.86122413e-02 9.99826640e-01 -5.23961189e-04 -1.36735838e+00] [ 8.10371188e-03 3.73180402e-04 9.99967095e-01 -2.97700037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.265898227 meters Centerline goodness [0,1] 0.9997863065219249 Centerline is valid? [True, True] Translation: X:64.72, Y:-1.38, Z:-0.30 [[ 9.99674453e-01 -2.35902478e-02 -9.72052927e-03 6.47221698e+01] [ 2.35852437e-02 9.99721631e-01 -6.29134142e-04 -1.37749140e+00] [ 9.73266482e-03 3.99668278e-04 9.99952557e-01 -3.02417488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.295898227 meters Centerline goodness [0,1] 0.9998715285955935 Centerline is valid? [True, True] Translation: X:64.75, Y:-1.38, Z:-0.30 [[ 9.99647027e-01 -2.47391840e-02 -9.68471938e-03 6.47513829e+01] [ 2.47342607e-02 9.99693864e-01 -6.27818049e-04 -1.37999361e+00] [ 9.69728624e-03 3.88052073e-04 9.99952905e-01 -3.00096109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.325898227 meters Centerline goodness [0,1] 0.9999152021369061 Centerline is valid? [True, True] Translation: X:64.78, Y:-1.38, Z:-0.30 [[ 9.99646705e-01 -2.50148067e-02 -8.98473598e-03 6.47792060e+01] [ 2.50105729e-02 9.99687017e-01 -5.83289555e-04 -1.37898148e+00] [ 8.99651478e-03 3.58370087e-04 9.99959466e-01 -2.98650200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.355898227 meters Centerline goodness [0,1] 0.9994973611460166 Centerline is valid? [True, True] Translation: X:64.81, Y:-1.37, Z:-0.30 [[ 9.99674922e-01 -2.41671793e-02 -8.12387515e-03 6.48070736e+01] [ 2.41636863e-02 9.99707876e-01 -5.27854973e-04 -1.37269785e+00] [ 8.13425873e-03 3.31380608e-04 9.99966861e-01 -2.97658720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.385898227 meters Centerline goodness [0,1] 0.9997016706443914 Centerline is valid? [True, True] Translation: X:64.84, Y:-1.37, Z:-0.30 [[ 9.99713556e-01 -2.25183667e-02 -8.10730698e-03 6.48368943e+01] [ 2.25148314e-02 9.99746370e-01 -5.27083418e-04 -1.37398062e+00] [ 8.11711978e-03 3.44397788e-04 9.99966996e-01 -2.96104017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.415898227 meters Centerline goodness [0,1] 0.9926121261589335 Centerline is valid? [True, True] Translation: X:64.87, Y:-1.36, Z:-0.30 [[ 9.99814450e-01 -1.69864677e-02 -9.08436618e-03 6.48654215e+01] [ 1.69817996e-02 9.99855624e-01 -5.90754108e-04 -1.36012819e+00] [ 9.09308944e-03 4.36375608e-04 9.99958562e-01 -2.98464004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44589822700001 meters Centerline goodness [0,1] 0.9926121261589335 Centerline is valid? [True, True] Translation: X:64.89, Y:-1.36, Z:-0.30 [[ 9.99811444e-01 -1.71625038e-02 -9.08429879e-03 6.48929021e+01] [ 1.71578336e-02 9.99852618e-01 -5.91788915e-04 -1.35816503e+00] [ 9.09311651e-03 4.35810442e-04 9.99958562e-01 -2.98369792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47589822700002 meters Centerline goodness [0,1] 0.9963834017173554 Centerline is valid? [True, True] Translation: X:64.92, Y:-1.36, Z:-0.30 [[ 9.99896235e-01 -1.12846441e-02 -8.95413306e-03 6.49231317e+01] [ 1.12798658e-02 9.99936210e-01 -5.83962655e-04 -1.35830008e+00] [ 8.96015169e-03 4.82900641e-04 9.99959740e-01 -2.97472477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50589822700002 meters Centerline goodness [0,1] 0.9846925866576706 Centerline is valid? [True, True] Translation: X:64.95, Y:-1.35, Z:-0.30 [[ 9.99924401e-01 -9.59546514e-03 -7.68886895e-03 6.49507979e+01] [ 9.59188999e-03 9.99953871e-01 -5.01719347e-04 -1.34928276e+00] [ 7.69332850e-03 4.27930632e-04 9.99970314e-01 -2.96050108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.535898227 meters Centerline goodness [0,1] 0.9818532982426352 Centerline is valid? [True, True] Translation: X:64.98, Y:-1.35, Z:-0.29 [[ 9.99945056e-01 -8.44228047e-03 -6.21391529e-03 6.49789038e+01] [ 8.43992147e-03 9.99964301e-01 -4.05756979e-04 -1.34544815e+00] [ 6.21711897e-03 3.53289728e-04 9.99980611e-01 -2.93321798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.565898227 meters Centerline goodness [0,1] 0.9931834108428362 Centerline is valid? [True, True] Translation: X:65.01, Y:-1.35, Z:-0.29 [[ 9.99956772e-01 -7.86185586e-03 -4.96434091e-03 6.50073901e+01] [ 7.86034184e-03 9.99969054e-01 -3.24417239e-04 -1.34773543e+00] [ 4.96673781e-03 2.85381799e-04 9.99987625e-01 -2.91031236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.595898227 meters Centerline goodness [0,1] 0.9952555210416578 Centerline is valid? [True, True] Translation: X:65.04, Y:-1.35, Z:-0.29 [[ 9.99961443e-01 -7.60141316e-03 -4.39659809e-03 6.50363778e+01] [ 7.60022130e-03 9.99971077e-01 -2.87732332e-04 -1.34666403e+00] [ 4.39865810e-03 2.54306120e-04 9.99990294e-01 -2.90204409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.625898227 meters Centerline goodness [0,1] 0.9920956970158086 Centerline is valid? [True, True] Translation: X:65.06, Y:-1.34, Z:-0.29 [[ 9.99963323e-01 -7.34168894e-03 -4.41051626e-03 6.50640155e+01] [ 7.34048418e-03 9.99973016e-01 -2.89281531e-04 -1.34385242e+00] [ 4.41252107e-03 2.56895596e-04 9.99990232e-01 -2.89959235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.655898227 meters Centerline goodness [0,1] 0.9921970302443949 Centerline is valid? [True, True] Translation: X:65.09, Y:-1.35, Z:-0.29 [[ 9.99966373e-01 -6.36485617e-03 -5.17128790e-03 6.50938134e+01] [ 6.36318491e-03 9.99979697e-01 -3.39568961e-04 -1.34501569e+00] [ 5.17334422e-03 3.06651681e-04 9.99986571e-01 -2.91557225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.685898227 meters Centerline goodness [0,1] 0.9899054433938155 Centerline is valid? [True, True] Translation: X:65.12, Y:-1.34, Z:-0.29 [[ 9.99971465e-01 -5.30215271e-03 -5.38102174e-03 6.51231714e+01] [ 5.30032712e-03 9.99985891e-01 -3.53467796e-04 -1.34230567e+00] [ 5.38281995e-03 3.24936534e-04 9.99985460e-01 -2.91755823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.715898227 meters Centerline goodness [0,1] 0.9905999447055571 Centerline is valid? [True, True] Translation: X:65.15, Y:-1.34, Z:-0.29 [[ 9.99979045e-01 -3.88683539e-03 -5.17716538e-03 6.51522134e+01] [ 3.88512590e-03 9.99992395e-01 -3.40214070e-04 -1.34022079e+00] [ 5.17844836e-03 3.20093001e-04 9.99986541e-01 -2.91344278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.745898227 meters Centerline goodness [0,1] 0.9858329262335125 Centerline is valid? [True, True] Translation: X:65.18, Y:-1.34, Z:-0.29 [[ 9.99985516e-01 -1.92690028e-03 -5.02532665e-03 6.51817165e+01] [ 1.92526427e-03 9.99998092e-01 -3.30370416e-04 -1.33545231e+00] [ 5.02595365e-03 3.20690549e-04 9.99987318e-01 -2.90908332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.775898227 meters Centerline goodness [0,1] 0.97234151111867 Centerline is valid? [True, True] Translation: X:65.21, Y:-1.33, Z:-0.29 [[ 9.99985878e-01 2.05775215e-04 -5.31058207e-03 6.52111000e+01] [-2.07632517e-04 9.99999917e-01 -3.49187113e-04 -1.32849109e+00] [ 5.31050978e-03 3.50284831e-04 9.99985838e-01 -2.91181556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.805898227 meters Centerline goodness [0,1] 0.9290632437946277 Centerline is valid? [True, False] Translation: X:65.21, Y:-1.32, Z:-0.29 [[ 9.99986055e-01 2.85769767e-04 -5.27343649e-03 6.52115304e+01] [-2.92203452e-04 9.99999214e-01 -1.21928735e-03 -1.32311153e+00] [ 5.27308391e-03 1.22081127e-03 9.99985352e-01 -2.92175061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.835898227 meters Centerline goodness [0,1] 0.9382117967023628 Centerline is valid? [False, False] Translation: X:65.21, Y:-1.32, Z:-0.29 [[ 9.99985683e-01 1.36208849e-04 -5.34928107e-03 6.52120509e+01] [-1.45517377e-04 9.99998476e-01 -1.73979501e-03 -1.32049963e+00] [ 5.34903594e-03 1.74054851e-03 9.99984179e-01 -2.92690635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.865898227 meters Centerline goodness [0,1] 0.9489462748590086 Centerline is valid? [False, False] Translation: X:65.21, Y:-1.32, Z:-0.29 [[ 9.99985381e-01 2.88213886e-05 -5.40712398e-03 6.52124746e+01] [-3.97763743e-05 9.99997947e-01 -2.02593161e-03 -1.31912324e+00] [ 5.40705449e-03 2.02611707e-03 9.99983329e-01 -2.93131031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.895898227 meters Centerline goodness [0,1] 0.866401173758122 Centerline is valid? [False, False] Translation: X:65.23, Y:-1.32, Z:-0.29 [[ 9.99987186e-01 -1.38438874e-03 -4.86940057e-03 6.52341164e+01] [ 1.41698841e-03 9.99976566e-01 6.69773547e-03 -1.32029301e+00] [ 4.86001419e-03 -6.70454953e-03 9.99965714e-01 -2.92418546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.925898227 meters Centerline goodness [0,1] 0.9404248997177239 Centerline is valid? [False, False] Translation: X:65.23, Y:-1.32, Z:-0.29 [[ 9.99972278e-01 -5.74529016e-03 -4.73652969e-03 6.52340786e+01] [ 5.75511621e-03 9.99981310e-01 2.06351174e-03 -1.31851321e+00] [ 4.72458569e-03 -2.09071382e-03 9.99986654e-01 -2.93052322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.955898227 meters Centerline goodness [0,1] 0.8231412230532336 Centerline is valid? [False, False] Translation: X:65.26, Y:-1.31, Z:-0.30 [[ 9.99964858e-01 -8.38100720e-03 -2.05371373e-04 6.52565827e+01] [ 8.37804586e-03 9.99897028e-01 -1.16508603e-02 -1.31288271e+00] [ 3.02996169e-04 1.16487302e-02 9.99932105e-01 -2.98687938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.985898227 meters Centerline goodness [0,1] 0.9475740524471812 Centerline is valid? [False, False] Translation: X:65.21, Y:-1.32, Z:-0.30 [[ 9.99972666e-01 -7.34831457e-03 -8.18218594e-04 6.52148389e+01] [ 7.34418428e-03 9.99960822e-01 -4.94139804e-03 -1.32299085e+00] [ 8.54497486e-04 4.93525383e-03 9.99987456e-01 -2.96039086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.015898227 meters Centerline goodness [0,1] 0.9971846006185348 Centerline is valid? [False, True] Translation: X:65.21, Y:-1.33, Z:-0.30 [[ 9.99973630e-01 -7.21087479e-03 -8.61750298e-04 6.52148693e+01] [ 7.20711432e-03 9.99964826e-01 -4.28997879e-03 -1.32632746e+00] [ 8.92654486e-04 4.28365493e-03 9.99990427e-01 -2.95776235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.045898227 meters Centerline goodness [0,1] 0.9971846006185348 Centerline is valid? [True, True] Translation: X:65.24, Y:-1.33, Z:-0.29 [[ 9.99972033e-01 -7.38993687e-03 -1.14996957e-03 6.52433247e+01] [ 7.38985049e-03 9.99972692e-01 -7.93453213e-05 -1.32605193e+00] [ 1.15052452e-03 7.08449990e-05 9.99999336e-01 -2.94991303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.075898227 meters Centerline goodness [0,1] 0.9604318075566323 Centerline is valid? [True, True] Translation: X:65.27, Y:-1.31, Z:-0.30 [[ 9.99981643e-01 -5.00933810e-03 -3.40870285e-03 6.52712165e+01] [ 5.00856923e-03 9.99987430e-01 -2.34059689e-04 -1.31201362e+00] [ 3.40983249e-03 2.16982668e-04 9.99994163e-01 -2.98862289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.105898227 meters Centerline goodness [0,1] 0.9715847227855938 Centerline is valid? [True, True] Translation: X:65.30, Y:-1.31, Z:-0.30 [[ 9.99989152e-01 -2.20402537e-03 -4.10351162e-03 6.53016261e+01] [ 2.20288786e-03 9.99997534e-01 -2.81705277e-04 -1.31242407e+00] [ 4.10412238e-03 2.72662645e-04 9.99991541e-01 -2.99120832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.135898227 meters Centerline goodness [0,1] 0.9244530271841775 Centerline is valid? [True, False] Translation: X:65.30, Y:-1.31, Z:-0.30 [[ 9.99988448e-01 2.15446491e-03 -4.29681394e-03 6.53018832e+01] [-2.13584454e-03 9.99988330e-01 4.33342142e-03 -1.31413151e+00] [ 4.30610000e-03 -4.32419403e-03 9.99981379e-01 -2.98479483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.165898227 meters Centerline goodness [0,1] 0.9125157058585515 Centerline is valid? [False, False] Translation: X:65.30, Y:-1.31, Z:-0.30 [[ 9.99988948e-01 2.11787708e-03 -4.19742693e-03 6.53015786e+01] [-2.10169141e-03 9.99990354e-01 3.85675996e-03 -1.31144408e+00] [ 4.20555459e-03 -3.84789564e-03 9.99983753e-01 -2.98506788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19589822700001 meters Centerline goodness [0,1] 0.8818197329693298 Centerline is valid? [False, False] Translation: X:65.30, Y:-1.31, Z:-0.30 [[ 9.99989721e-01 2.05956308e-03 -4.03934881e-03 6.53010931e+01] [-2.04621705e-03 9.99992444e-01 3.30535942e-03 -1.30844537e+00] [ 4.04612589e-03 -3.29706006e-03 9.99986379e-01 -2.98525352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22589822700002 meters Centerline goodness [0,1] 0.8608360019510953 Centerline is valid? [False, False] Translation: X:65.30, Y:-1.31, Z:-0.30 [[ 9.99990465e-01 1.98065934e-03 -3.89193692e-03 6.53006760e+01] [-1.97011833e-03 9.99994386e-01 2.71039280e-03 -1.30521397e+00] [ 3.89728344e-03 -2.70269937e-03 9.99988753e-01 -2.98671231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25589822700002 meters Centerline goodness [0,1] 0.6643375661597037 Centerline is valid? [False, False] Translation: X:65.34, Y:-1.30, Z:-0.30 [[ 9.99991544e-01 3.93949423e-03 -1.18027293e-03 6.53358350e+01] [-3.93915944e-03 9.99992201e-01 2.85842816e-04 -1.29609610e+00] [ 1.18138980e-03 -2.81191116e-04 9.99999263e-01 -2.96689036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.285898227 meters Centerline goodness [0,1] 0.6015233259282767 Centerline is valid? [False, False] Translation: X:65.34, Y:-1.29, Z:-0.30 [[ 9.99992177e-01 3.81812083e-03 -1.03348303e-03 6.53352975e+01] [-3.81825304e-03 9.99992703e-01 -1.25985751e-04 -1.29388630e+00] [ 1.03299446e-03 1.29930865e-04 9.99999458e-01 -2.96644597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.315898227 meters Centerline goodness [0,1] 0.7138305606637301 Centerline is valid? [False, False] Translation: X:65.34, Y:-1.29, Z:-0.30 [[ 9.99992661e-01 3.69107161e-03 -1.02646465e-03 6.53353958e+01] [-3.69151057e-03 9.99993096e-01 -4.26070927e-04 -1.29243392e+00] [ 1.02488490e-03 4.29857005e-04 9.99999382e-01 -2.96882185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.345898227 meters Centerline goodness [0,1] 0.5658639929521332 Centerline is valid? [False, False] Translation: X:65.38, Y:-1.29, Z:-0.30 [[ 9.99992600e-01 3.74337415e-03 -8.87315406e-04 6.53781602e+01] [-3.74640373e-03 9.99987074e-01 -3.43760622e-03 -1.28702673e+00] [ 8.74435690e-04 3.44090503e-03 9.99993698e-01 -2.97796726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.375898227 meters Centerline goodness [0,1] 0.5582640343638249 Centerline is valid? [False, False] Translation: X:65.38, Y:-1.29, Z:-0.30 [[ 9.99992976e-01 3.59693869e-03 -1.05339714e-03 6.53789668e+01] [-3.60079541e-03 9.99986737e-01 -3.68249860e-03 -1.28596428e+00] [ 1.04013744e-03 3.68626581e-03 9.99992665e-01 -2.98263872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.405898227 meters Centerline goodness [0,1] 0.6905429034908463 Centerline is valid? [False, False] Translation: X:65.38, Y:-1.28, Z:-0.30 [[ 9.99993432e-01 3.41915299e-03 -1.20248697e-03 6.53798604e+01] [-3.42396418e-03 9.99986050e-01 -4.02199040e-03 -1.28450115e+00] [ 1.18871839e-03 4.02608126e-03 9.99991189e-01 -2.98950075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.435898227 meters Centerline goodness [0,1] 0.7839768051676722 Centerline is valid? [False, False] Translation: X:65.36, Y:-1.29, Z:-0.29 [[ 9.99970116e-01 4.84292154e-03 -6.02610722e-03 6.53586854e+01] [-4.79077352e-03 9.99951214e-01 8.63823335e-03 -1.28770156e+00] [ 6.06764752e-03 -8.60910548e-03 9.99944532e-01 -2.93414851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.465898227 meters Centerline goodness [0,1] 0.5347185747000862 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.28, Z:-0.29 [[ 9.99985737e-01 2.56397568e-03 -4.68517086e-03 6.53970844e+01] [-2.55994076e-03 9.99996347e-01 8.67004859e-04 -1.27714982e+00] [ 4.68737673e-03 -8.54998733e-04 9.99988649e-01 -2.94447537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.495898227 meters Centerline goodness [0,1] 0.5347185747000862 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.28, Z:-0.29 [[ 9.99985737e-01 2.56397568e-03 -4.68517086e-03 6.53970844e+01] [-2.55994076e-03 9.99996347e-01 8.67004859e-04 -1.27714982e+00] [ 4.68737673e-03 -8.54998733e-04 9.99988649e-01 -2.94447537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.525898227 meters Centerline goodness [0,1] 0.7503975574072896 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.28, Z:-0.29 [[ 9.99986245e-01 2.40078782e-03 -4.66318548e-03 6.53970364e+01] [-2.39849750e-03 9.99997000e-01 4.96678628e-04 -1.27539957e+00] [ 4.66436391e-03 -4.85487157e-04 9.99989004e-01 -2.94520930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.555898227 meters Centerline goodness [0,1] 0.5600033727523768 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.27, Z:-0.29 [[ 9.99986527e-01 2.30257376e-03 -4.65239462e-03 6.53968859e+01] [-2.30109638e-03 9.99997300e-01 3.22881581e-04 -1.27466421e+00] [ 4.65312552e-03 -3.12171622e-04 9.99989125e-01 -2.94330338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.585898227 meters Centerline goodness [0,1] 0.8129355770865205 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.28, Z:-0.29 [[ 9.99986640e-01 2.27533367e-03 -4.64132425e-03 6.53966798e+01] [-2.27365382e-03 9.99997348e-01 3.67177859e-04 -1.27503333e+00] [ 4.64214739e-03 -3.56620189e-04 9.99989162e-01 -2.94051281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.615898227 meters Centerline goodness [0,1] 0.7845427276788564 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.28, Z:-0.29 [[ 9.99985981e-01 2.28304069e-03 -4.77762824e-03 6.53968041e+01] [-2.27905403e-03 9.99997050e-01 8.39722260e-04 -1.27785948e+00] [ 4.77953127e-03 -8.28822015e-04 9.99988234e-01 -2.93516676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.645898227 meters Centerline goodness [0,1] 0.8553973650658734 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.28, Z:-0.29 [[ 9.99984895e-01 2.30715162e-03 -4.98857659e-03 6.53975295e+01] [-2.30152723e-03 9.99996710e-01 1.13290096e-03 -1.27966209e+00] [ 4.99117395e-03 -1.12140251e-03 9.99986915e-01 -2.93616649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.675898227 meters Centerline goodness [0,1] 0.8708193089344297 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.28, Z:-0.29 [[ 9.99983778e-01 2.29349734e-03 -5.21384548e-03 6.53985112e+01] [-2.28645896e-03 9.99996467e-01 1.35549865e-03 -1.28110607e+00] [ 5.21693589e-03 -1.34355542e-03 9.99985489e-01 -2.94105817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.705898227 meters Centerline goodness [0,1] 0.8678843355197942 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.28, Z:-0.29 [[ 9.99982424e-01 2.30840736e-03 -5.46109650e-03 6.53994249e+01] [-2.29958970e-03 9.99996043e-01 1.62036048e-03 -1.28264224e+00] [ 5.46481534e-03 -1.60777372e-03 9.99983775e-01 -2.94330562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.735898227 meters Centerline goodness [0,1] 0.9014667890770117 Centerline is valid? [False, False] Translation: X:65.36, Y:-1.29, Z:-0.30 [[ 9.99976241e-01 4.42793166e-04 -6.87902075e-03 6.53594640e+01] [-4.26812126e-04 9.99997207e-01 2.32445050e-03 -1.28620449e+00] [ 6.88003079e-03 -2.32145923e-03 9.99973638e-01 -2.96141179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.765898227 meters Centerline goodness [0,1] 0.8235083733064041 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.28, Z:-0.30 [[ 9.99976846e-01 -1.09643725e-04 -6.80401960e-03 6.54019146e+01] [ 1.02229169e-04 9.99999401e-01 -1.09006988e-03 -1.28224860e+00] [ 6.80413504e-03 1.08934908e-03 9.99976258e-01 -2.96263575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.795898227 meters Centerline goodness [0,1] 0.9146748252491129 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.28, Z:-0.30 [[ 9.99975801e-01 -1.41268936e-04 -6.95537427e-03 6.54026413e+01] [ 1.33309810e-04 9.99999336e-01 -1.14476335e-03 -1.28205931e+00] [ 6.95553137e-03 1.14380843e-03 9.99975156e-01 -2.96668399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.825898227 meters Centerline goodness [0,1] 0.9112479158650764 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.28, Z:-0.30 [[ 9.99974953e-01 -1.59837236e-04 -7.07591934e-03 6.54032189e+01] [ 1.50751988e-04 9.99999164e-01 -1.28448191e-03 -1.28125671e+00] [ 7.07611873e-03 1.28338303e-03 9.99974140e-01 -2.97005378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.855898227 meters Centerline goodness [0,1] 0.7957739060821202 Centerline is valid? [False, False] Translation: X:65.44, Y:-1.28, Z:-0.30 [[ 9.99978186e-01 6.54143106e-04 -6.57270638e-03 6.54444708e+01] [-6.80057028e-04 9.99992002e-01 -3.94119521e-03 -1.27582106e+00] [ 6.57007571e-03 3.94557905e-03 9.99970633e-01 -2.96812745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.885898227 meters Centerline goodness [0,1] 0.809053147300032 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.28, Z:-0.30 [[ 9.99981406e-01 3.79199514e-03 -4.77591092e-03 6.53978260e+01] [-3.78647798e-03 9.99992154e-01 1.16371871e-03 -1.27810991e+00] [ 4.78028626e-03 -1.14561319e-03 9.99987918e-01 -2.95537000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.915898227 meters Centerline goodness [0,1] 0.7458095176931475 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.27, Z:-0.30 [[ 9.99982596e-01 3.75570895e-03 -4.54992472e-03 6.53970156e+01] [-3.75298617e-03 9.99992773e-01 6.06814043e-04 -1.27496181e+00] [ 4.55217086e-03 -5.89727677e-04 9.99989465e-01 -2.95370954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94589822700001 meters Centerline goodness [0,1] 0.6511030199186121 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.27, Z:-0.30 [[ 9.99983980e-01 3.61222369e-03 -4.35795221e-03 6.53964711e+01] [-3.61279641e-03 9.99993466e-01 -1.23556240e-04 -1.27111570e+00] [ 4.35747743e-03 1.39298654e-04 9.99990496e-01 -2.95533259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97589822700002 meters Centerline goodness [0,1] 0.5906446407338203 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.27, Z:-0.30 [[ 9.99960073e-01 7.69984055e-03 -4.53485377e-03 6.53968733e+01] [-7.68174070e-03 9.99962514e-01 3.99526012e-03 -1.27067199e+00] [ 4.56544664e-03 -3.96026503e-03 9.99981736e-01 -2.95158216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00589822700002 meters Centerline goodness [0,1] 0.5611786637291869 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.26, Z:-0.30 [[ 9.99984726e-01 3.62464047e-03 -4.17250894e-03 6.53960049e+01] [-3.63062510e-03 9.99992390e-01 -1.42762192e-03 -1.26311427e+00] [ 4.16730257e-03 1.44274893e-03 9.99990276e-01 -2.95989410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.035898227 meters Centerline goodness [0,1] 0.4593878752207181 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.26, Z:-0.29 [[ 9.99960655e-01 7.63093277e-03 -4.52299582e-03 6.53965135e+01] [-7.61759258e-03 9.99966607e-01 2.95934090e-03 -1.26435056e+00] [ 4.54542732e-03 -2.92477013e-03 9.99985392e-01 -2.94873613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.065898227 meters Centerline goodness [0,1] 0.5475746854522997 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.26, Z:-0.29 [[ 9.99963294e-01 7.34474415e-03 -4.41206982e-03 6.53950250e+01] [-7.33360846e-03 9.99969896e-01 2.53481219e-03 -1.26245966e+00] [ 4.43055455e-03 -2.50236275e-03 9.99987054e-01 -2.93093356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.095898227 meters Centerline goodness [0,1] 0.5587446974653356 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.26, Z:-0.29 [[ 9.99964127e-01 7.28915390e-03 -4.31436402e-03 6.53941599e+01] [-7.27804315e-03 9.99970172e-01 2.58541481e-03 -1.26284261e+00] [ 4.33308082e-03 -2.55392194e-03 9.99987351e-01 -2.92147597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.125898227 meters Centerline goodness [0,1] 0.5774588165454662 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.26, Z:-0.29 [[ 9.99982723e-01 4.77121079e-03 -3.43358658e-03 6.53882655e+01] [-4.77109877e-03 9.99988617e-01 4.08137100e-05 -1.26148420e+00] [ 3.43374223e-03 -2.44310242e-05 9.99994104e-01 -2.88601292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.155898227 meters Centerline goodness [0,1] 0.6174928100152258 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.26, Z:-0.29 [[ 9.99982913e-01 4.66383865e-03 -3.52441935e-03 6.53883495e+01] [-4.66331383e-03 9.99989114e-01 1.57113353e-04 -1.26247772e+00] [ 3.52511374e-03 -1.40675195e-04 9.99993777e-01 -2.88262806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.185898227 meters Centerline goodness [0,1] 0.6481610726899731 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.26, Z:-0.29 [[ 9.99982716e-01 4.58114809e-03 -3.68533594e-03 6.53889136e+01] [-4.58006423e-03 9.99989466e-01 3.02484745e-04 -1.26363230e+00] [ 3.68668285e-03 -2.85600441e-04 9.99993163e-01 -2.88349990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.215898227 meters Centerline goodness [0,1] 0.6567702552719201 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.26, Z:-0.29 [[ 9.99982548e-01 4.56288355e-03 -3.75286517e-03 6.53893423e+01] [-4.56150163e-03 9.99989525e-01 3.76708308e-04 -1.26414273e+00] [ 3.75454474e-03 -3.59583033e-04 9.99992887e-01 -2.88712784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.245898227 meters Centerline goodness [0,1] 0.5806748203900103 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.26, Z:-0.29 [[ 9.99982607e-01 4.63235718e-03 -3.65067171e-03 6.53891305e+01] [-4.63196126e-03 9.99989266e-01 1.16899112e-04 -1.26245214e+00] [ 3.65117404e-03 -9.99873087e-05 9.99993329e-01 -2.88859923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.275898227 meters Centerline goodness [0,1] 0.5278554803442164 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.26, Z:-0.29 [[ 9.99983070e-01 4.61489240e-03 -3.54444556e-03 6.53889892e+01] [-4.61616140e-03 9.99989284e-01 -3.49927879e-04 -1.25985732e+00] [ 3.54279270e-03 3.66283687e-04 9.99993657e-01 -2.89177745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.305898227 meters Centerline goodness [0,1] 0.47749008630744105 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.26, Z:-0.29 [[ 9.99953296e-01 8.90556953e-03 -3.75462288e-03 6.53897830e+01] [-8.89059774e-03 9.99952535e-01 3.98557216e-03 -1.26014257e+00] [ 3.78993846e-03 -3.95200517e-03 9.99985009e-01 -2.89206057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.335898227 meters Centerline goodness [0,1] 0.43973698770055747 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.26, Z:-0.29 [[ 9.99953847e-01 8.81249435e-03 -3.82674139e-03 6.53907786e+01] [-8.80090561e-03 9.99956666e-01 3.03470933e-03 -1.25501213e+00] [ 3.85331892e-03 -3.00089048e-03 9.99988073e-01 -2.90629375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.365898227 meters Centerline goodness [0,1] 0.40167799490229394 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.25, Z:-0.29 [[ 9.99954420e-01 8.68404537e-03 -3.96811275e-03 6.53922282e+01] [-8.67629734e-03 9.99960428e-01 1.96563526e-03 -1.24931814e+00] [ 3.98502539e-03 -1.93111714e-03 9.99990195e-01 -2.92498316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.395898227 meters Centerline goodness [0,1] 0.35818812383691423 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.24, Z:-0.29 [[ 9.99911139e-01 1.26496005e-02 -4.20738678e-03 6.53939140e+01] [-1.26285542e-02 9.99907797e-01 4.99174644e-03 -1.24295431e+00] [ 4.27014244e-03 -4.93816965e-03 9.99978690e-01 -2.93949187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.425898227 meters Centerline goodness [0,1] 0.34904661016949157 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.24, Z:-0.29 [[ 9.99955611e-01 8.67769510e-03 -3.67060485e-03 6.53922988e+01] [-8.67910710e-03 9.99962268e-01 -3.68925176e-04 -1.23524657e+00] [ 3.66726493e-03 4.00766372e-04 9.99993195e-01 -2.94515827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.455898227 meters Centerline goodness [0,1] 0.34569606801275243 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.23, Z:-0.29 [[ 9.99958640e-01 8.36494642e-03 -3.57006089e-03 6.53917476e+01] [-8.36896972e-03 9.99964360e-01 -1.11350817e-03 -1.23168698e+00] [ 3.56061922e-03 1.14333984e-03 9.99993007e-01 -2.94184319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.485898227 meters Centerline goodness [0,1] 0.5813197622204165 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.23, Z:-0.29 [[ 9.99960519e-01 8.12180115e-03 -3.60513519e-03 6.53915540e+01] [-8.12731738e-03 9.99965820e-01 -1.51809705e-03 -1.22993585e+00] [ 3.59268228e-03 1.54733719e-03 9.99992349e-01 -2.93702192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.515898227 meters Centerline goodness [0,1] 0.4843066468464642 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.23, Z:-0.29 [[ 9.99961578e-01 7.83909696e-03 -3.92323208e-03 6.53923803e+01] [-7.84565438e-03 9.99967846e-01 -1.65884338e-03 -1.22996422e+00] [ 3.91010210e-03 1.68955997e-03 9.99990928e-01 -2.93466010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.545898227 meters Centerline goodness [0,1] 0.6482361503553387 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.23, Z:-0.29 [[ 9.99962351e-01 7.59706344e-03 -4.19309970e-03 6.53931857e+01] [-7.60379832e-03 9.99969823e-01 -1.59258398e-03 -1.23105545e+00] [ 4.18087420e-03 1.62440751e-03 9.99989941e-01 -2.93421560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.575898227 meters Centerline goodness [0,1] 0.6344300573126724 Centerline is valid? [False, False] Translation: X:65.42, Y:-1.23, Z:-0.30 [[ 9.99994172e-01 6.66047961e-04 -3.34840273e-03 6.54166232e+01] [-6.60743153e-04 9.99998525e-01 1.58513677e-03 -1.22955547e+00] [ 3.34945357e-03 -1.58291510e-03 9.99993138e-01 -2.95128801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.605898227 meters Centerline goodness [0,1] 0.5372347185156945 Centerline is valid? [False, False] Translation: X:65.42, Y:-1.23, Z:-0.29 [[ 9.99993486e-01 5.37241269e-04 -3.56926872e-03 6.54170763e+01] [-5.30509683e-04 9.99998080e-01 1.88666383e-03 -1.23170676e+00] [ 3.57027546e-03 -1.88475801e-03 9.99991850e-01 -2.94644392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.635898227 meters Centerline goodness [0,1] 0.837238583013231 Centerline is valid? [False, False] Translation: X:65.41, Y:-1.23, Z:-0.29 [[ 9.99994069e-01 -2.09882962e-03 -2.73066279e-03 6.54112261e+01] [ 2.09685071e-03 9.99997537e-01 -7.27361321e-04 -1.23138849e+00] [ 2.73218268e-03 7.21631215e-04 9.99996007e-01 -2.90797477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.665898227 meters Centerline goodness [0,1] 0.7545764423683878 Centerline is valid? [False, False] Translation: X:65.45, Y:-1.23, Z:-0.29 [[ 9.99998879e-01 -1.48422707e-03 -1.95264266e-04 6.54480880e+01] [ 1.48392069e-03 9.99997682e-01 -1.55993901e-03 -1.22835734e+00] [ 1.97579117e-04 1.55964750e-03 9.99998764e-01 -2.87937990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69589822700001 meters Centerline goodness [0,1] 0.5664486647381881 Centerline is valid? [False, False] Translation: X:65.45, Y:-1.23, Z:-0.29 [[ 9.99998720e-01 -1.59645291e-03 -1.06238372e-04 6.54475646e+01] [ 1.59624291e-03 9.99996828e-01 -1.94827531e-03 -1.22623635e+00] [ 1.09348365e-04 1.94810324e-03 9.99998096e-01 -2.87533780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72589822700002 meters Centerline goodness [0,1] 0.7028294878053958 Centerline is valid? [False, False] Translation: X:65.41, Y:-1.23, Z:-0.29 [[ 9.99999505e-01 -7.66976228e-04 -6.33722607e-04 6.54056403e+01] [ 7.66932119e-04 9.99999703e-01 -6.98431982e-05 -1.22687372e+00] [ 6.33775987e-04 6.93571414e-05 9.99999797e-01 -2.88987530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75589822700002 meters Centerline goodness [0,1] 0.5037276394432828 Centerline is valid? [False, False] Translation: X:65.41, Y:-1.22, Z:-0.29 [[ 9.99994205e-01 3.34394930e-03 -6.38296799e-04 6.54061898e+01] [-3.34192789e-03 9.99989479e-01 3.14209954e-03 -1.22102377e+00] [ 6.48797106e-04 -3.13994819e-03 9.99994860e-01 -2.89960244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.785898227 meters Centerline goodness [0,1] 0.5477921692493588 Centerline is valid? [False, False] Translation: X:65.41, Y:-1.22, Z:-0.29 [[ 9.99994558e-01 3.27097222e-03 -4.30265714e-04 6.54057195e+01] [-3.26994272e-03 9.99991840e-01 2.37204097e-03 -1.21681248e+00] [ 4.38021083e-04 -2.37062111e-03 9.99997094e-01 -2.90397429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.815898227 meters Centerline goodness [0,1] 0.5568872491522894 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.21, Z:-0.29 [[ 9.99995118e-01 3.12137623e-03 -1.47588036e-04 6.54048720e+01] [-3.12113181e-03 9.99993804e-01 1.62829038e-03 -1.21286518e+00] [ 1.52669628e-04 -1.62782179e-03 9.99998663e-01 -2.90538606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.845898227 meters Centerline goodness [0,1] 0.5171290480550174 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.21, Z:-0.29 [[ 9.99995770e-01 2.90829006e-03 3.31738756e-05 6.54044773e+01] [-2.90831828e-03 9.99995379e-01 8.85261444e-04 -1.20913103e+00] [-3.05991253e-05 -8.85354180e-04 9.99999608e-01 -2.90932494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.875898227 meters Centerline goodness [0,1] 0.435892550962088 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.21, Z:-0.29 [[ 9.99996451e-01 2.66358401e-03 5.11468847e-05 6.54044399e+01] [-2.66359515e-03 9.99996429e-01 2.19013823e-04 -1.20590611e+00] [-5.05633403e-05 -2.19149280e-04 9.99999975e-01 -2.91038273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.905898227 meters Centerline goodness [0,1] 0.5042133647931237 Centerline is valid? [False, False] Translation: X:65.40, Y:-1.20, Z:-0.29 [[ 9.99997128e-01 2.39649525e-03 -2.66913987e-05 6.54049835e+01] [-2.39650405e-03 9.99997072e-01 -3.34663039e-04 -1.20343780e+00] [ 2.58893022e-05 3.34726043e-04 9.99999944e-01 -2.91590755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.935898227 meters Centerline goodness [0,1] 0.5209792415925295 Centerline is valid? [False, False] Translation: X:65.41, Y:-1.20, Z:-0.29 [[ 9.99997933e-01 1.96823762e-03 -5.10673741e-04 6.54067251e+01] [-1.96856950e-03 9.99997851e-01 -6.50196600e-04 -1.20285005e+00] [ 5.09392902e-04 6.51200553e-04 9.99999658e-01 -2.91989235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.965898227 meters Centerline goodness [0,1] 0.5544150462225056 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.21, Z:-0.29 [[ 9.99989961e-01 -4.84811005e-04 -4.45442873e-03 6.53858239e+01] [ 5.22398605e-04 9.99964238e-01 8.44096868e-03 -1.20697581e+00] [ 4.45017716e-03 -8.44321093e-03 9.99954453e-01 -2.88167029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.995898227 meters Centerline goodness [0,1] 0.6349047141424273 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.20, Z:-0.29 [[ 9.99979049e-01 -4.95432481e-03 -4.16613651e-03 6.53850465e+01] [ 4.96827004e-03 9.99982068e-01 3.34362127e-03 -1.20275993e+00] [ 4.14949641e-03 -3.36424971e-03 9.99985732e-01 -2.88430291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.025898227 meters Centerline goodness [0,1] 0.5123833828389741 Centerline is valid? [False, False] Translation: X:65.43, Y:-1.20, Z:-0.29 [[ 9.99981611e-01 -5.16216865e-03 -3.18285948e-03 6.54260564e+01] [ 5.16647198e-03 9.99985749e-01 1.34529441e-03 -1.19729625e+00] [ 3.17586948e-03 -1.36171382e-03 9.99994030e-01 -2.87594108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.055898227 meters Centerline goodness [0,1] 0.6850666609964065 Centerline is valid? [False, False] Translation: X:65.38, Y:-1.20, Z:-0.29 [[ 9.99974657e-01 -5.71326402e-03 -4.24780554e-03 6.53849597e+01] [ 5.72699817e-03 9.99978390e-01 3.22813154e-03 -1.20153378e+00] [ 4.22927058e-03 -3.25237690e-03 9.99985768e-01 -2.88365589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.085898227 meters Centerline goodness [0,1] 0.635103974952931 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.20, Z:-0.29 [[ 9.99972625e-01 -5.87898346e-03 -4.49286697e-03 6.53859095e+01] [ 5.89288392e-03 9.99977872e-01 3.08694463e-03 -1.20116339e+00] [ 4.47461946e-03 -3.11333607e-03 9.99985142e-01 -2.88676788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.115898227 meters Centerline goodness [0,1] 0.8002468715416702 Centerline is valid? [False, False] Translation: X:65.39, Y:-1.20, Z:-0.29 [[ 9.99968774e-01 -6.29813098e-03 -4.77325970e-03 6.53870614e+01] [ 6.31111108e-03 9.99976415e-01 2.70917062e-03 -1.20012088e+00] [ 4.75608441e-03 -2.73921059e-03 9.99984938e-01 -2.89178498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.145898227 meters Centerline goodness [0,1] 0.6406305683080729 Centerline is valid? [False, False] Translation: X:65.43, Y:-1.19, Z:-0.29 [[ 9.99961339e-01 -8.03431298e-03 -3.57362145e-03 6.54272011e+01] [ 8.02837593e-03 9.99966373e-01 -1.67260975e-03 -1.19328703e+00] [ 3.58693956e-03 1.64385471e-03 9.99992216e-01 -2.88346374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.175898227 meters Centerline goodness [0,1] 0.7936416308554081 Centerline is valid? [False, False] Translation: X:65.38, Y:-1.20, Z:-0.29 [[ 9.99957447e-01 -8.22054821e-03 -4.18651334e-03 6.53839626e+01] [ 8.22511765e-03 9.99965595e-01 1.07542101e-03 -1.19829926e+00] [ 4.17752875e-03 -1.10980981e-03 9.99990658e-01 -2.87182036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.205898227 meters Centerline goodness [0,1] 0.8336104738049632 Centerline is valid? [False, False] Translation: X:65.41, Y:-1.19, Z:-0.29 [[ 9.99959250e-01 -9.00419168e-03 6.50939382e-04 6.54075312e+01] [ 9.01025283e-03 9.99909398e-01 -1.00005920e-02 -1.19157560e+00] [-5.60833158e-04 1.00060496e-02 9.99949781e-01 -2.92870082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.235898227 meters Centerline goodness [0,1] 0.8396758728946587 Centerline is valid? [False, False] Translation: X:65.41, Y:-1.20, Z:-0.29 [[ 9.99986303e-01 -5.22354311e-03 3.29043748e-04 6.54082133e+01] [ 5.22519981e-03 9.99972550e-01 -5.25314732e-03 -1.19560670e+00] [-3.01594674e-04 5.25479469e-03 9.99986148e-01 -2.92306498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.265898227 meters Centerline goodness [0,1] 0.7438868517548455 Centerline is valid? [False, False] Translation: X:65.45, Y:-1.19, Z:-0.29 [[ 9.99990152e-01 -4.26019398e-03 1.24355807e-03 6.54489466e+01] [ 4.26585784e-03 9.99980376e-01 -4.58800616e-03 -1.19402539e+00] [-1.22398787e-03 4.59326582e-03 9.99988702e-01 -2.90930169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.295898227 meters Centerline goodness [0,1] 0.9022304597822195 Centerline is valid? [False, False] Translation: X:65.45, Y:-1.19, Z:-0.29 [[ 9.99989650e-01 -4.37832996e-03 1.23699115e-03 6.54486403e+01] [ 4.38398662e-03 9.99979774e-01 -4.60782462e-03 -1.19414452e+00] [-1.21679155e-03 4.61319988e-03 9.99988619e-01 -2.90436193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.325898227 meters Centerline goodness [0,1] 0.9553867958454085 Centerline is valid? [False, True] Translation: X:65.45, Y:-1.19, Z:-0.29 [[ 9.99988819e-01 -4.57720406e-03 1.18813719e-03 6.54486065e+01] [ 4.58271811e-03 9.99978546e-01 -4.68044357e-03 -1.19423977e+00] [-1.16668835e-03 4.68583613e-03 9.99988341e-01 -2.90135872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.355898227 meters Centerline goodness [0,1] 0.9790627283164597 Centerline is valid? [True, True] Translation: X:65.48, Y:-1.20, Z:-0.29 [[ 9.99938328e-01 -1.09841440e-02 1.63970785e-03 6.54786862e+01] [ 1.09839713e-02 9.99939668e-01 1.14265157e-04 -1.19515276e+00] [-1.64086403e-03 -9.62476059e-05 9.99998649e-01 -2.89495001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.385898227 meters Centerline goodness [0,1] 0.9954379562043796 Centerline is valid? [True, True] Translation: X:65.51, Y:-1.20, Z:-0.29 [[ 9.99893111e-01 -1.44387622e-02 2.29970036e-03 6.55095948e+01] [ 1.44384317e-02 9.99895748e-01 1.60250672e-04 -1.19937812e+00] [-2.30177443e-03 -1.27029476e-04 9.99997343e-01 -2.88611135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.415898227 meters Centerline goodness [0,1] 0.9954379562043796 Centerline is valid? [True, True] Translation: X:65.54, Y:-1.20, Z:-0.29 [[ 9.99893111e-01 -1.44387623e-02 2.29969856e-03 6.55395675e+01] [ 1.44384318e-02 9.99895748e-01 1.60276481e-04 -1.19728919e+00] [-2.30177301e-03 -1.27055308e-04 9.99997343e-01 -2.88727076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.44589822700001 meters Centerline goodness [0,1] 0.9992169146436961 Centerline is valid? [True, True] Translation: X:65.57, Y:-1.20, Z:-0.29 [[ 9.99832654e-01 -1.80226977e-02 3.13780234e-03 6.55709211e+01] [ 1.80220999e-02 9.99837565e-01 2.18686294e-04 -1.20373992e+00] [-3.14123396e-03 -1.62099910e-04 9.99995053e-01 -2.89088436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47589822700002 meters Centerline goodness [0,1] 0.9983738120380148 Centerline is valid? [True, True] Translation: X:65.60, Y:-1.20, Z:-0.29 [[ 9.99759727e-01 -2.16324112e-02 3.53935238e-03 6.56000596e+01] [ 2.16316731e-02 9.99765978e-01 2.46676470e-04 -1.19830217e+00] [-3.54386030e-03 -1.70055087e-04 9.99993706e-01 -2.86762839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.50589822700002 meters Centerline goodness [0,1] 0.9995175769779344 Centerline is valid? [True, True] Translation: X:65.63, Y:-1.21, Z:-0.29 [[ 9.99662687e-01 -2.56402044e-02 4.13421652e-03 6.56315986e+01] [ 2.56392313e-02 9.99671219e-01 2.88200129e-04 -1.20642413e+00] [-4.14024678e-03 -1.82104782e-04 9.99991413e-01 -2.85138421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.535898227 meters Centerline goodness [0,1] 0.9996857256594524 Centerline is valid? [True, True] Translation: X:65.66, Y:-1.21, Z:-0.28 [[ 9.99545849e-01 -2.98041338e-02 4.45068336e-03 6.56607288e+01] [ 2.98030472e-02 9.99555742e-01 3.10277729e-04 -1.20675117e+00] [-4.45795367e-03 -1.77492889e-04 9.99990048e-01 -2.84156161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.565898227 meters Centerline goodness [0,1] 0.9998536972787694 Centerline is valid? [True, True] Translation: X:65.69, Y:-1.21, Z:-0.28 [[ 9.99299188e-01 -3.69684580e-02 5.87071319e-03 6.56907506e+01] [ 3.69666902e-02 9.99316414e-01 4.09382663e-04 -1.21388295e+00] [-5.88183430e-03 -1.92074927e-04 9.99982683e-01 -2.81453319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.595898227 meters Centerline goodness [0,1] 0.999957805907173 Centerline is valid? [True, True] Translation: X:65.72, Y:-1.22, Z:-0.28 [[ 9.99202570e-01 -3.94490195e-02 6.16437794e-03 6.57204263e+01] [ 3.94471165e-02 9.99221567e-01 4.30043117e-04 -1.22183913e+00] [-6.17654416e-03 -1.86533253e-04 9.99980908e-01 -2.81278391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.625898227 meters Centerline goodness [0,1] 0.9999789216306226 Centerline is valid? [True, True] Translation: X:65.75, Y:-1.22, Z:-0.28 [[ 9.99144112e-01 -4.08965593e-02 6.20604888e-03 6.57479793e+01] [ 4.08946564e-02 9.99163370e-01 4.33265538e-04 -1.22083332e+00] [-6.21857578e-03 -1.79100475e-04 9.99980648e-01 -2.81180256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.655898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.78, Y:-1.22, Z:-0.28 [[ 9.99110410e-01 -4.17292544e-02 6.08745624e-03 6.57766948e+01] [ 4.17274354e-02 9.99128941e-01 4.25574722e-04 -1.22296532e+00] [-6.09991262e-03 -1.71182198e-04 9.99981381e-01 -2.81588410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.685898227 meters Centerline goodness [0,1] 0.9999790035064144 Centerline is valid? [True, True] Translation: X:65.80, Y:-1.22, Z:-0.28 [[ 9.99132464e-01 -4.12117962e-02 5.99231941e-03 6.58042917e+01] [ 4.12100198e-02 9.99150418e-01 4.19674534e-04 -1.21768578e+00] [-6.00452399e-03 -1.72366849e-04 9.99981958e-01 -2.82029104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.715898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.83, Y:-1.22, Z:-0.28 [[ 9.99179963e-01 -4.01729167e-02 5.05354578e-03 6.58329028e+01] [ 4.01716380e-02 9.99192731e-01 3.54316238e-04 -1.21719919e+00] [-5.06370012e-03 -1.51016474e-04 9.99987168e-01 -2.83954077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.745898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.86, Y:-1.22, Z:-0.29 [[ 9.99245443e-01 -3.87129850e-02 3.13838973e-03 6.58616191e+01] [ 3.87124838e-02 9.99250367e-01 2.20313816e-04 -1.21556563e+00] [-3.14456610e-03 -9.86527147e-05 9.99995051e-01 -2.87108458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.775898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.89, Y:-1.21, Z:-0.29 [[ 9.99317840e-01 -3.69176283e-02 9.71514504e-04 6.58892262e+01] [ 3.69175794e-02 9.99318311e-01 6.82634990e-05 -1.20666494e+00] [-9.73372361e-04 -3.23509686e-05 9.99999526e-01 -2.90448444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.805898227 meters Centerline goodness [0,1] 0.9999146411728302 Centerline is valid? [True, True] Translation: X:65.92, Y:-1.19, Z:-0.30 [[ 9.99464726e-01 -3.26801267e-02 -1.50670277e-03 6.59181184e+01] [ 3.26800036e-02 9.99465860e-01 -1.06256273e-04 -1.19467081e+00] [ 1.50937045e-03 5.69603451e-05 9.99998859e-01 -2.95272160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.835898227 meters Centerline goodness [0,1] 0.999827589922631 Centerline is valid? [True, True] Translation: X:65.95, Y:-1.19, Z:-0.30 [[ 9.99516851e-01 -3.10421823e-02 -1.56431789e-03 6.59457849e+01] [ 3.10420472e-02 9.99518073e-01 -1.10527769e-04 -1.18703030e+00] [ 1.56699503e-03 6.19147378e-05 9.99998770e-01 -2.96028331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.865898227 meters Centerline goodness [0,1] 0.9997259292054055 Centerline is valid? [True, True] Translation: X:65.97, Y:-1.18, Z:-0.30 [[ 9.99544776e-01 -3.01577487e-02 -8.66197194e-04 6.59734430e+01] [ 3.01577068e-02 9.99545151e-01 -6.13607776e-05 -1.18025571e+00] [ 8.67653708e-04 3.52103237e-05 9.99999623e-01 -2.95191351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.895898227 meters Centerline goodness [0,1] 0.9997877083112197 Centerline is valid? [True, True] Translation: X:66.00, Y:-1.17, Z:-0.30 [[ 9.99528602e-01 -3.06935395e-02 -6.92476625e-04 6.60017801e+01] [ 3.06935125e-02 9.99528842e-01 -4.96029137e-05 -1.17449455e+00] [ 6.93672848e-04 2.83249910e-05 9.99999759e-01 -2.95516775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.925898227 meters Centerline goodness [0,1] 0.9998736655928242 Centerline is valid? [True, True] Translation: X:66.03, Y:-1.17, Z:-0.29 [[ 9.99484650e-01 -3.20980391e-02 -3.88198077e-04 6.60308043e+01] [ 3.20980306e-02 9.99484725e-01 -2.81418573e-05 -1.17304177e+00] [ 3.88901347e-04 1.56669606e-05 9.99999924e-01 -2.94098202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.955898227 meters Centerline goodness [0,1] 0.999936451448907 Centerline is valid? [True, True] Translation: X:66.06, Y:-1.17, Z:-0.29 [[ 9.99407592e-01 -3.44156549e-02 1.66832979e-04 6.60589819e+01] [ 3.44156534e-02 9.99407606e-01 1.16998609e-05 -1.16649797e+00] [-1.67136807e-04 -5.95126388e-06 9.99999986e-01 -2.93764440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.985898227 meters Centerline goodness [0,1] 0.9999164787438403 Centerline is valid? [True, True] Translation: X:66.09, Y:-1.16, Z:-0.29 [[ 9.99300460e-01 -3.73943776e-02 5.01865337e-04 6.60878280e+01] [ 3.73943645e-02 9.99300586e-01 3.55266882e-05 -1.16384388e+00] [-5.02842824e-04 -1.67349005e-05 9.99999873e-01 -2.93039663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.015898227 meters Centerline goodness [0,1] 0.9998948276224733 Centerline is valid? [True, True] Translation: X:66.12, Y:-1.16, Z:-0.29 [[ 9.99150345e-01 -4.12119408e-02 4.06097355e-04 6.61166656e+01] [ 4.12119325e-02 9.99150427e-01 2.87409101e-05 -1.16358236e+00] [-4.06936814e-04 -1.19804334e-05 9.99999917e-01 -2.92653616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.045898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.15, Y:-1.17, Z:-0.29 [[ 9.98711804e-01 -5.07384049e-02 -5.88673203e-04 6.61475862e+01] [ 5.07383891e-02 9.98711978e-01 -4.18104851e-05 -1.17245680e+00] [ 5.90036376e-04 1.18882950e-05 9.99999826e-01 -2.93630805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.075898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.18, Y:-1.17, Z:-0.29 [[ 9.98437600e-01 -5.58732031e-02 -7.38076885e-04 6.61773672e+01] [ 5.58731795e-02 9.98437872e-01 -5.25069415e-05 -1.17485859e+00] [ 7.39857646e-04 1.11862023e-05 9.99999726e-01 -2.93399714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.105898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.21, Y:-1.18, Z:-0.29 [[ 9.98135188e-01 -6.10421769e-02 7.29252580e-06 6.62051681e+01] [ 6.10421769e-02 9.98135188e-01 2.86883052e-07 -1.17629713e+00] [-7.29643857e-06 1.58803581e-07 1.00000000e+00 -2.91787215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.135898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.23, Y:-1.18, Z:-0.29 [[ 9.97843727e-01 -6.56261216e-02 1.05260957e-03 6.62346749e+01] [ 6.56260793e-02 9.97844283e-01 7.47438018e-05 -1.17889408e+00] [-1.05524558e-03 -5.50399494e-06 9.99999443e-01 -2.88912762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.165898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.26, Y:-1.18, Z:-0.29 [[ 9.97565673e-01 -6.96977635e-02 2.22486437e-03 6.62628322e+01] [ 6.96975842e-02 9.97568154e-01 1.58085108e-04 -1.18008041e+00] [-2.23047202e-03 -2.63260503e-06 9.99997512e-01 -2.87100194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19589822700001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.29, Y:-1.18, Z:-0.29 [[ 9.97318526e-01 -7.31017150e-02 3.44920270e-03 6.62898666e+01] [ 7.31013035e-02 9.97324490e-01 2.45418065e-04 -1.18138262e+00] [-3.45791480e-03 7.38122965e-06 9.99994021e-01 -2.85492045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.22589822700002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.32, Y:-1.18, Z:-0.29 [[ 9.97095747e-01 -7.60359006e-02 4.31428578e-03 6.63183907e+01] [ 7.60352820e-02 9.97105080e-01 3.07454565e-04 -1.18201628e+00] [-4.32517386e-03 2.14762976e-05 9.99990646e-01 -2.85001558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25589822700002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.35, Y:-1.18, Z:-0.28 [[ 9.96778886e-01 -8.00116891e-02 5.47563373e-03 6.63474529e+01] [ 8.00107468e-02 9.96793924e-01 3.91296406e-04 -1.18494571e+00] [-5.48938672e-03 4.80735474e-05 9.99984932e-01 -2.83129167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.285898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.38, Y:-1.19, Z:-0.28 [[ 9.96632690e-01 -8.17759901e-02 5.99732956e-03 6.63757442e+01] [ 8.17748862e-02 9.96650733e-01 4.29473881e-04 -1.18677457e+00] [-6.01236356e-03 6.24032328e-05 9.99981924e-01 -2.82039848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.315898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.40, Y:-1.18, Z:-0.28 [[ 9.96513318e-01 -8.32087513e-02 6.12455121e-03 6.64049191e+01] [ 8.32076225e-02 9.96532136e-01 4.39325499e-04 -1.18495278e+00] [-6.13986782e-03 7.18156343e-05 9.99981148e-01 -2.81818350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.345898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.43, Y:-1.19, Z:-0.28 [[ 9.96432462e-01 -8.41391260e-02 6.55411327e-03 6.64329115e+01] [ 8.41378477e-02 9.96454013e-01 4.71010474e-04 -1.18544010e+00] [-6.57050288e-03 8.21188574e-05 9.99978411e-01 -2.81199483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.375898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.46, Y:-1.18, Z:-0.28 [[ 9.96379817e-01 -8.47570245e-02 6.59603484e-03 6.64607413e+01] [ 8.47557382e-02 9.96401646e-01 4.74801712e-04 -1.18236573e+00] [-6.61254275e-03 8.59689587e-05 9.99978133e-01 -2.82294345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.405898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.49, Y:-1.18, Z:-0.28 [[ 9.96387361e-01 -8.47247544e-02 5.82601533e-03 6.64882967e+01] [ 8.47237449e-02 9.96404391e-01 4.20314462e-04 -1.18242524e+00] [-5.84067830e-03 7.48058193e-05 9.99982940e-01 -2.83256768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.435898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.52, Y:-1.18, Z:-0.29 [[ 9.96515116e-01 -8.33467048e-02 3.30903605e-03 6.65164319e+01] [ 8.33463707e-02 9.96520610e-01 2.38979761e-04 -1.18016117e+00] [-3.31744079e-03 3.76492005e-05 9.99994497e-01 -2.88008216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.465898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.54, Y:-1.18, Z:-0.29 [[ 9.96633328e-01 -8.19621234e-02 2.05441049e-03 6.65447251e+01] [ 8.19619919e-02 9.96635445e-01 1.48283274e-04 -1.17562457e+00] [-2.05965192e-03 2.05995230e-05 9.99997879e-01 -2.89650548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.495898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.57, Y:-1.17, Z:-0.29 [[ 9.96768379e-01 -8.03163134e-02 1.44545012e-03 6.65734036e+01] [ 8.03162465e-02 9.96769427e-01 1.04367320e-04 -1.16966039e+00] [-1.44916288e-03 1.20630834e-05 9.99998950e-01 -2.90141345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.525898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.60, Y:-1.16, Z:-0.29 [[ 9.96936440e-01 -7.82089420e-02 1.04679580e-03 6.66005747e+01] [ 7.82089054e-02 9.96936990e-01 7.58866863e-05 -1.16439000e+00] [-1.04952447e-03 6.21455058e-06 9.99999449e-01 -2.90448619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.555898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.63, Y:-1.16, Z:-0.29 [[ 9.97080579e-01 -7.63436630e-02 1.40141916e-03 6.66289872e+01] [ 7.63435958e-02 9.97081564e-01 1.01492163e-04 -1.15875983e+00] [-1.40507749e-03 5.79351293e-06 9.99999013e-01 -2.90194653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.585898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.66, Y:-1.15, Z:-0.29 [[ 9.97206422e-01 -7.46807411e-02 1.46216489e-03 6.66569080e+01] [ 7.46806653e-02 9.97207494e-01 1.06424576e-04 -1.15400486e+00] [-1.46602966e-03 3.06817654e-06 9.99998925e-01 -2.90738647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.615898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.69, Y:-1.15, Z:-0.29 [[ 9.97284545e-01 -7.36432731e-02 4.53126183e-04 6.66850555e+01] [ 7.36432660e-02 9.97284648e-01 3.24393385e-05 -1.14930131e+00] [-4.54284725e-04 1.01844109e-06 9.99999897e-01 -2.92452909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.645898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.71, Y:-1.15, Z:-0.30 [[ 9.97339214e-01 -7.28941221e-02 -9.69585265e-04 6.67124180e+01] [ 7.28940873e-02 9.97339685e-01 -7.11880187e-05 -1.14570666e+00] [ 9.72195051e-04 3.21569572e-07 9.99999527e-01 -2.95617441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.675898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.74, Y:-1.14, Z:-0.30 [[ 9.97340225e-01 -7.28411770e-02 -2.57656700e-03 6.67409002e+01] [ 7.28409302e-02 9.97343553e-01 -1.89621167e-04 -1.14322627e+00] [ 2.58353471e-03 1.43728070e-06 9.99996663e-01 -2.98714138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.705898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.77, Y:-1.14, Z:-0.30 [[ 9.97272103e-01 -7.36660449e-02 -4.65466159e-03 6.67692871e+01] [ 7.36652515e-02 9.97282966e-01 -3.41908190e-04 -1.14461284e+00] [ 4.66720174e-03 -1.91131698e-06 9.99989109e-01 -3.01837515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.735898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.80, Y:-1.15, Z:-0.30 [[ 9.97207852e-01 -7.45688672e-02 -3.99811689e-03 6.67974911e+01] [ 7.45682836e-02 9.97215866e-01 -2.95036446e-04 -1.14519135e+00] [ 4.00898613e-03 -3.92005361e-06 9.99991964e-01 -2.99087848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.765898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.83, Y:-1.15, Z:-0.30 [[ 9.97145964e-01 -7.54453030e-02 -2.81662945e-03 6.68255848e+01] [ 7.54450167e-02 9.97149942e-01 -2.07930739e-04 -1.14549506e+00] [ 2.82428929e-03 -5.16335805e-06 9.99996012e-01 -2.98675691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.795898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.85, Y:-1.14, Z:-0.30 [[ 9.97127539e-01 -7.57180827e-02 -1.85560437e-03 6.68536763e+01] [ 7.57179574e-02 9.97129265e-01 -1.37797581e-04 -1.14423868e+00] [ 1.86071119e-03 -3.10080935e-06 9.99998269e-01 -2.96815628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.825898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.88, Y:-1.14, Z:-0.30 [[ 9.97172541e-01 -7.51289980e-02 -1.59882178e-03 6.68819459e+01] [ 7.51289035e-02 9.97173823e-01 -1.19184617e-04 -1.14111357e+00] [ 1.60325744e-03 -1.27009920e-06 9.99998715e-01 -2.95445500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.855898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.91, Y:-1.14, Z:-0.30 [[ 9.97288795e-01 -7.35825284e-02 -8.18840081e-04 6.69086762e+01] [ 7.35825029e-02 9.97289131e-01 -6.12790777e-05 -1.13710013e+00] [ 8.21129382e-04 8.60634965e-07 9.99999663e-01 -2.95111746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.885898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.94, Y:-1.13, Z:-0.29 [[ 9.97696727e-01 -6.78209999e-02 1.24612887e-03 6.69366013e+01] [ 6.78209379e-02 9.97697505e-01 9.20419318e-05 -1.12659519e+00] [-1.24950204e-03 -7.31630565e-06 9.99999219e-01 -2.91927234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.915898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.96, Y:-1.12, Z:-0.29 [[ 9.98006739e-01 -6.30871659e-02 1.59942377e-03 6.69643998e+01] [ 6.30870565e-02 9.98008021e-01 1.18820540e-04 -1.11781721e+00] [-1.60373380e-03 -1.76807624e-05 9.99998714e-01 -2.90554143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.94589822700001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.99, Y:-1.11, Z:-0.29 [[ 9.98327097e-01 -5.77735719e-02 2.28514690e-03 6.69918686e+01] [ 5.77733340e-02 9.98329712e-01 1.70019981e-04 -1.10689111e+00] [-2.29115271e-03 -3.77149990e-05 9.99997375e-01 -2.89316794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97589822700002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.02, Y:-1.10, Z:-0.29 [[ 9.98619251e-01 -5.24567826e-02 2.80670327e-03 6.70199957e+01] [ 5.24564022e-02 9.98623193e-01 2.09014437e-04 -1.09619287e+00] [-2.81380321e-03 -6.14962851e-05 9.99996039e-01 -2.88105302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.00589822700002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.05, Y:-1.09, Z:-0.29 [[ 9.98836937e-01 -4.81200720e-02 3.03843696e-03 6.70488652e+01] [ 4.81196058e-02 9.98841555e-01 2.26389979e-04 -1.08762058e+00] [-3.04581100e-03 -7.99182841e-05 9.99995358e-01 -2.87577140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.035898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.08, Y:-1.08, Z:-0.29 [[ 9.99098808e-01 -4.23305629e-02 3.11365859e-03 6.70782038e+01] [ 4.23300449e-02 9.99103655e-01 2.32124674e-04 -1.07995021e+00] [-3.12069365e-03 -1.00114178e-04 9.99995126e-01 -2.87693940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.065898227 meters Centerline goodness [0,1] 0.9999577738366692 Centerline is valid? [True, True] Translation: X:67.11, Y:-1.07, Z:-0.29 [[ 9.99174738e-01 -4.04964506e-02 3.14328509e-03 6.71057994e+01] [ 4.04959136e-02 9.99179677e-01 2.34334602e-04 -1.07061276e+00] [-3.15019630e-03 -1.06851013e-04 9.99995032e-01 -2.88308489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.095898227 meters Centerline goodness [0,1] 0.9998939397153342 Centerline is valid? [True, True] Translation: X:67.13, Y:-1.06, Z:-0.29 [[ 9.99213594e-01 -3.95043489e-02 3.40589212e-03 6.71330006e+01] [ 3.95037121e-02 9.99219391e-01 2.54079905e-04 -1.06141952e+00] [-3.41327072e-03 -1.19334713e-04 9.99994168e-01 -2.88579761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.125898227 meters Centerline goodness [0,1] 0.99997884403825 Centerline is valid? [True, True] Translation: X:67.16, Y:-1.06, Z:-0.29 [[ 9.99221195e-01 -3.92537308e-02 4.01837544e-03 6.71618911e+01] [ 3.92528405e-02 9.99229265e-01 3.00218286e-04 -1.06070507e+00] [-4.02706303e-03 -1.42251824e-04 9.99991881e-01 -2.87716488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.155898227 meters Centerline goodness [0,1] 0.9999787856930714 Centerline is valid? [True, True] Translation: X:67.19, Y:-1.06, Z:-0.29 [[ 9.99203514e-01 -3.95658921e-02 5.18447066e-03 6.71904955e+01] [ 3.95644088e-02 9.99216947e-01 3.88394530e-04 -1.05835237e+00] [-5.19577812e-03 -1.82964663e-04 9.99986485e-01 -2.86406683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.185898227 meters Centerline goodness [0,1] 0.9999574983530611 Centerline is valid? [True, True] Translation: X:67.22, Y:-1.06, Z:-0.28 [[ 9.99162989e-01 -4.04214057e-02 6.27938397e-03 6.72194299e+01] [ 4.04192391e-02 9.99182697e-01 4.71613159e-04 -1.05737875e+00] [-6.29331508e-03 -2.17410492e-04 9.99980173e-01 -2.84777229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.215898227 meters Centerline goodness [0,1] 0.9998091441173975 Centerline is valid? [True, True] Translation: X:67.25, Y:-1.06, Z:-0.29 [[ 9.99114023e-01 -4.15675862e-02 6.58064211e-03 6.72481353e+01] [ 4.15652240e-02 9.99135670e-01 4.95385415e-04 -1.05708408e+00] [-6.59554624e-03 -2.21420652e-04 9.99978225e-01 -2.87503580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.245898227 meters Centerline goodness [0,1] 0.9999789162977019 Centerline is valid? [True, True] Translation: X:67.28, Y:-1.05, Z:-0.29 [[ 9.99079073e-01 -4.25961158e-02 5.15523807e-03 6.72752666e+01] [ 4.25946767e-02 9.99092359e-01 3.88674401e-04 -1.05011228e+00] [-5.16711499e-03 -1.68730761e-04 9.99986636e-01 -2.86811588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.275898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.30, Y:-1.05, Z:-0.29 [[ 9.99003748e-01 -4.46007118e-02 1.51249656e-03 6.73049079e+01] [ 4.46005904e-02 9.99004892e-01 1.13906899e-04 -1.05467122e+00] [-1.51607179e-03 -4.63351794e-05 9.99998850e-01 -2.93700291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.305898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.33, Y:-1.05, Z:-0.29 [[ 9.98995404e-01 -4.47872188e-02 1.51250544e-03 6.73323261e+01] [ 4.47870978e-02 9.98996548e-01 1.13789910e-04 -1.05242181e+00] [-1.51608404e-03 -4.59348681e-05 9.99998850e-01 -2.93806426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.335898227 meters Centerline goodness [0,1] 0.9999578592498947 Centerline is valid? [True, True] Translation: X:67.36, Y:-1.05, Z:-0.30 [[ 9.98926410e-01 -4.63232344e-02 4.29610182e-04 6.73604854e+01] [ 4.63232249e-02 9.98926503e-01 3.19676495e-05 -1.04864753e+00] [-4.30629841e-04 -1.20324003e-05 9.99999907e-01 -2.96367938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.365898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.39, Y:-1.05, Z:-0.30 [[ 9.98856806e-01 -4.78015835e-02 -3.00721559e-04 6.73903325e+01] [ 4.78015786e-02 9.98856851e-01 -2.34503315e-05 -1.05331306e+00] [ 3.01498752e-04 9.04855800e-06 9.99999955e-01 -2.97509798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.395898227 meters Centerline goodness [0,1] 0.9999786925764936 Centerline is valid? [True, True] Translation: X:67.42, Y:-1.05, Z:-0.30 [[ 9.98789217e-01 -4.91719968e-02 -1.48837982e-03 6.74189428e+01] [ 4.91718814e-02 9.98790325e-01 -1.14032483e-04 -1.05419340e+00] [ 1.49218657e-03 4.07079785e-05 9.99998886e-01 -2.99651423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.425898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.45, Y:-1.06, Z:-0.30 [[ 9.98756268e-01 -4.97968447e-02 -2.48810942e-03 6.74477946e+01] [ 4.97965238e-02 9.98759365e-01 -1.90817402e-04 -1.05829989e+00] [ 2.49452469e-03 6.66808765e-05 9.99996886e-01 -3.00876416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.455898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.47, Y:-1.05, Z:-0.30 [[ 9.98785324e-01 -4.91666073e-02 -3.24377728e-03 6.74749804e+01] [ 4.91660592e-02 9.98790587e-01 -2.48554322e-04 -1.05447540e+00] [ 3.25207478e-03 8.87686637e-05 9.99994708e-01 -3.02117939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.485898227 meters Centerline goodness [0,1] 0.9999789522426386 Centerline is valid? [True, True] Translation: X:67.51, Y:-1.05, Z:-0.30 [[ 9.98971336e-01 -4.52332061e-02 -3.19807068e-03 6.75050578e+01] [ 4.52326542e-02 9.98976450e-01 -2.44722505e-04 -1.05050885e+00] [ 3.20586688e-03 9.98135422e-05 9.99994856e-01 -3.00990088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.515898227 meters Centerline goodness [0,1] 0.9999789522426386 Centerline is valid? [True, True] Translation: X:67.53, Y:-1.05, Z:-0.30 [[ 9.98962917e-01 -4.54187583e-02 -3.19797386e-03 6.75324763e+01] [ 4.54182034e-02 9.98968031e-01 -2.45986335e-04 -1.04822883e+00] [ 3.20584605e-03 1.00484999e-04 9.99994856e-01 -3.01096253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.545898227 meters Centerline goodness [0,1] 0.9999787261200698 Centerline is valid? [True, True] Translation: X:67.56, Y:-1.05, Z:-0.30 [[ 9.99096332e-01 -4.24226022e-02 -2.61558460e-03 6.75620916e+01] [ 4.24222218e-02 9.99099752e-01 -2.00758078e-04 -1.04742832e+00] [ 2.62174660e-03 8.96177499e-05 9.99996559e-01 -2.99124773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.575898227 meters Centerline goodness [0,1] 0.9998946925021062 Centerline is valid? [True, True] Translation: X:67.59, Y:-1.04, Z:-0.30 [[ 9.99350513e-01 -3.60266711e-02 -7.94812253e-04 6.75908640e+01] [ 3.60266339e-02 9.99350828e-01 -6.10315567e-05 -1.03864668e+00] [ 7.96495047e-04 3.23575074e-05 9.99999682e-01 -2.97112239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.605898227 meters Centerline goodness [0,1] 0.9998931098616841 Centerline is valid? [True, True] Translation: X:67.62, Y:-1.04, Z:-0.30 [[ 9.99444230e-01 -3.33319545e-02 -4.60705287e-04 6.76209385e+01] [ 3.33319417e-02 9.99444336e-01 -3.54091412e-05 -1.04054382e+00] [ 4.61629546e-04 2.00332601e-05 9.99999893e-01 -2.95811265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.635898227 meters Centerline goodness [0,1] 0.9997472726506886 Centerline is valid? [True, True] Translation: X:67.65, Y:-1.03, Z:-0.30 [[ 9.99508881e-01 -3.13364322e-02 1.55998317e-04 6.76492237e+01] [ 3.13364307e-02 9.99508893e-01 1.18374722e-05 -1.03283024e+00] [-1.56292649e-04 -6.94322816e-06 9.99999988e-01 -2.95606702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.665898227 meters Centerline goodness [0,1] 0.9995115528372409 Centerline is valid? [True, True] Translation: X:67.68, Y:-1.03, Z:-0.30 [[ 9.99547797e-01 -3.00694422e-02 1.74542625e-04 6.76785180e+01] [ 3.00694403e-02 9.99547812e-01 1.32735783e-05 -1.03195701e+00] [-1.74862828e-04 -8.01917693e-06 9.99999985e-01 -2.95257570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69589822700001 meters Centerline goodness [0,1] 0.9996820484558153 Centerline is valid? [True, True] Translation: X:67.71, Y:-1.04, Z:-0.29 [[ 9.99562567e-01 -2.95650108e-02 7.64190811e-04 6.77079291e+01] [ 2.95649749e-02 9.99562859e-01 5.81773747e-05 -1.03765311e+00] [-7.65576766e-04 -3.55586439e-05 9.99999706e-01 -2.94479112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.72589822700002 meters Centerline goodness [0,1] 0.997788402805569 Centerline is valid? [True, True] Translation: X:67.74, Y:-1.03, Z:-0.29 [[ 9.99627971e-01 -2.71774745e-02 2.30317919e-03 6.77365108e+01] [ 2.71771380e-02 9.99630618e-01 1.77305344e-04 -1.02831471e+00] [-2.30714715e-03 -1.14645562e-04 9.99997332e-01 -2.92527042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75589822700002 meters Centerline goodness [0,1] 0.9989434536387457 Centerline is valid? [True, True] Translation: X:67.77, Y:-1.03, Z:-0.29 [[ 9.99681437e-01 -2.51332146e-02 2.31233657e-03 6.77668755e+01] [ 2.51328700e-02 9.99684104e-01 1.77990760e-04 -1.03461456e+00] [-2.31607959e-03 -1.19818405e-04 9.99997311e-01 -2.92590136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.785898227 meters Centerline goodness [0,1] 0.9978108028459562 Centerline is valid? [True, True] Translation: X:67.80, Y:-1.03, Z:-0.29 [[ 9.99745869e-01 -2.24885086e-02 1.56989389e-03 6.77961802e+01] [ 2.24883464e-02 9.99747098e-01 1.20875536e-04 -1.02941444e+00] [-1.57221517e-03 -8.55405002e-05 9.99998760e-01 -2.93828747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.815898227 meters Centerline goodness [0,1] 0.981890840256599 Centerline is valid? [True, True] Translation: X:67.83, Y:-1.02, Z:-0.30 [[ 9.99808380e-01 -1.95262173e-02 1.38947569e-03 6.78253788e+01] [ 1.95260874e-02 9.99809342e-01 1.06986949e-04 -1.02141064e+00] [-1.39129983e-03 -7.98354240e-05 9.99999029e-01 -2.95012090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.845898227 meters Centerline goodness [0,1] 0.9903882715788584 Centerline is valid? [True, True] Translation: X:67.86, Y:-1.03, Z:-0.29 [[ 9.99868696e-01 -1.60608827e-02 2.15370378e-03 6.78566725e+01] [ 1.60605625e-02 9.99871007e-01 1.65915088e-04 -1.02600912e+00] [-2.15609071e-03 -1.31303609e-04 9.99997667e-01 -2.93806017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.875898227 meters Centerline goodness [0,1] 0.9729810292332914 Centerline is valid? [True, True] Translation: X:67.89, Y:-1.02, Z:-0.29 [[ 9.99910031e-01 -1.30194224e-02 3.22857767e-03 6.78868466e+01] [ 1.30186869e-02 9.99915222e-01 2.48737474e-04 -1.02211163e+00] [-3.23154237e-03 -2.06683254e-04 9.99994757e-01 -2.91912695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.905898227 meters Centerline goodness [0,1] 0.8983093457356546 Centerline is valid? [True, False] Translation: X:67.92, Y:-1.02, Z:-0.29 [[ 9.99981419e-01 -5.68980974e-03 2.18799879e-03 6.79242161e+01] [ 5.71265964e-03 9.99927682e-01 -1.05828340e-02 -1.02161549e+00] [-2.12762624e-03 1.05951367e-02 9.99941606e-01 -2.88572414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.935898227 meters Centerline goodness [0,1] 0.9716517952439909 Centerline is valid? [False, True] Translation: X:67.88, Y:-1.03, Z:-0.29 [[ 9.99998159e-01 -1.65450887e-03 9.71824068e-04 6.78834533e+01] [ 1.65712715e-03 9.99994983e-01 -2.69958729e-03 -1.03054874e+00] [-9.67352701e-04 2.70119276e-03 9.99995884e-01 -2.88583375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.965898227 meters Centerline goodness [0,1] 0.8095664860358482 Centerline is valid? [True, False] Translation: X:67.94, Y:-1.03, Z:-0.29 [[ 9.99996487e-01 -2.34516680e-03 -1.23508410e-03 6.79446950e+01] [ 2.34920788e-03 9.99991859e-01 3.28068613e-03 -1.02816211e+00] [ 1.22738029e-03 -3.28357607e-03 9.99993856e-01 -2.85958432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.995898227 meters Centerline goodness [0,1] 0.8299850262041427 Centerline is valid? [False, False] Translation: X:67.95, Y:-1.03, Z:-0.29 [[ 9.99996505e-01 -2.27355412e-03 -1.34908967e-03 6.79455570e+01] [ 2.27812860e-03 9.99991628e-01 3.39899683e-03 -1.02875116e+00] [ 1.34135057e-03 -3.40205835e-03 9.99993313e-01 -2.86722044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.025898227 meters Centerline goodness [0,1] 0.9100725565514298 Centerline is valid? [False, False] Translation: X:67.88, Y:-1.03, Z:-0.29 [[ 9.99997627e-01 4.31374471e-04 -2.13531175e-03 6.78835575e+01] [-4.32323305e-04 9.99999808e-01 -4.43912224e-04 -1.03452182e+00] [ 2.13511985e-03 4.44834315e-04 9.99997622e-01 -2.87514567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.055898227 meters Centerline goodness [0,1] 0.9010402263396371 Centerline is valid? [False, False] Translation: X:67.88, Y:-1.04, Z:-0.29 [[ 9.99997376e-01 5.08163910e-04 -2.23370977e-03 6.78840825e+01] [-5.08909630e-04 9.99999815e-01 -3.33292430e-04 -1.03502824e+00] [ 2.23353999e-03 3.34428312e-04 9.99997450e-01 -2.87877570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.085898227 meters Centerline goodness [0,1] 0.8620164870006342 Centerline is valid? [False, False] Translation: X:67.88, Y:-1.03, Z:-0.29 [[ 9.99997170e-01 6.10083952e-04 -2.29964869e-03 6.78844253e+01] [-6.10936603e-04 9.99999745e-01 -3.70090143e-04 -1.03455400e+00] [ 2.29942232e-03 3.71494035e-04 9.99997287e-01 -2.88100579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.115898227 meters Centerline goodness [0,1] 0.8050089445438282 Centerline is valid? [False, False] Translation: X:67.88, Y:-1.03, Z:-0.29 [[ 9.99997121e-01 5.83853482e-04 -2.32733632e-03 6.78846980e+01] [-5.85132257e-04 9.99999678e-01 -5.48815666e-04 -1.03356076e+00] [ 2.32701515e-03 5.50175886e-04 9.99997141e-01 -2.88415226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.145898227 meters Centerline goodness [0,1] 0.7793181913952214 Centerline is valid? [False, False] Translation: X:67.89, Y:-1.04, Z:-0.29 [[ 9.99984778e-01 4.81875094e-03 -2.68749635e-03 6.78857431e+01] [-4.80743210e-03 9.99979614e-01 4.20234371e-03 -1.03637971e+00] [ 2.70769162e-03 -4.18935979e-03 9.99987559e-01 -2.88170953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.175898227 meters Centerline goodness [0,1] 0.6420215451944118 Centerline is valid? [False, False] Translation: X:67.89, Y:-1.03, Z:-0.29 [[ 9.99996640e-01 9.13815529e-04 -2.42607780e-03 6.78852689e+01] [-9.15344035e-04 9.99999383e-01 -6.28996264e-04 -1.03221930e+00] [ 2.42550151e-03 6.31214846e-04 9.99996859e-01 -2.88928750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.205898227 meters Centerline goodness [0,1] 0.8001785448593959 Centerline is valid? [False, False] Translation: X:67.89, Y:-1.03, Z:-0.29 [[ 9.99996723e-01 8.96799524e-04 -2.39779706e-03 6.78850713e+01] [-8.98506164e-04 9.99999344e-01 -7.10770645e-04 -1.03181726e+00] [ 2.39715807e-03 7.12922752e-04 9.99996873e-01 -2.88772689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.235898227 meters Centerline goodness [0,1] 0.774816760581282 Centerline is valid? [False, False] Translation: X:67.88, Y:-1.03, Z:-0.29 [[ 9.99996931e-01 9.43897767e-04 -2.29072951e-03 6.78845172e+01] [-9.45245702e-04 9.99999381e-01 -5.87419099e-04 -1.03242190e+00] [ 2.29017363e-03 5.89582598e-04 9.99997204e-01 -2.88410825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.265898227 meters Centerline goodness [0,1] 0.8328938414426675 Centerline is valid? [False, False] Translation: X:67.88, Y:-1.03, Z:-0.29 [[ 9.99997182e-01 1.03093275e-03 -2.13847169e-03 6.78835287e+01] [-1.03151664e-03 9.99999431e-01 -2.71955583e-04 -1.03401730e+00] [ 2.13819011e-03 2.74160686e-04 9.99997676e-01 -2.87521782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.295898227 meters Centerline goodness [0,1] 0.7890956094253263 Centerline is valid? [False, False] Translation: X:67.88, Y:-1.04, Z:-0.29 [[ 9.99997082e-01 1.11501117e-03 -2.14287419e-03 6.78831610e+01] [-1.11473955e-03 9.99999370e-01 1.27948061e-04 -1.03614509e+00] [ 2.14301550e-03 -1.25558941e-04 9.99997696e-01 -2.86864970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.325898227 meters Centerline goodness [0,1] 0.9189505739048958 Centerline is valid? [False, False] Translation: X:67.88, Y:-1.04, Z:-0.28 [[ 9.99998976e-01 -5.71204129e-04 -1.31212930e-03 6.78780384e+01] [ 5.69593298e-04 9.99999084e-01 -1.22769298e-03 -1.03665240e+00] [ 1.31282937e-03 1.22694434e-03 9.99998386e-01 -2.83858738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.355898227 meters Centerline goodness [0,1] 0.9337346834581348 Centerline is valid? [False, False] Translation: X:67.88, Y:-1.04, Z:-0.28 [[ 9.99998150e-01 -8.13980201e-04 -1.74281373e-03 6.78794628e+01] [ 8.13212940e-04 9.99999572e-01 -4.40906135e-04 -1.04180676e+00] [ 1.74317187e-03 4.39488041e-04 9.99998384e-01 -2.83912133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.385898227 meters Centerline goodness [0,1] 0.9844486635236896 Centerline is valid? [False, True] Translation: X:67.88, Y:-1.04, Z:-0.28 [[ 9.99997927e-01 -7.56267915e-04 -1.89031377e-03 6.78800473e+01] [ 7.56342777e-04 9.99999713e-01 3.88884046e-05 -1.04446610e+00] [ 1.89028382e-03 -4.03180492e-05 9.99998213e-01 -2.84112085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.415898227 meters Centerline goodness [0,1] 0.9510440981641537 Centerline is valid? [True, True] Translation: X:67.91, Y:-1.04, Z:-0.28 [[ 9.99994689e-01 -2.71579738e-03 -1.80204407e-03 6.79087666e+01] [ 2.71558488e-03 9.99996306e-01 -1.20358251e-04 -1.03732561e+00] [ 1.80236428e-03 1.15464008e-04 9.99998369e-01 -2.84569198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44589822700001 meters Centerline goodness [0,1] 0.963734924570324 Centerline is valid? [True, True] Translation: X:67.94, Y:-1.04, Z:-0.28 [[ 9.99992170e-01 -3.73928454e-03 -1.29553274e-03 6.79384522e+01] [ 3.73917553e-03 9.99993006e-01 -8.65544707e-05 -1.03879857e+00] [ 1.29584733e-03 8.17095686e-05 9.99999157e-01 -2.83901343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47589822700002 meters Centerline goodness [0,1] 0.9563842431445794 Centerline is valid? [True, True] Translation: X:67.97, Y:-1.04, Z:-0.28 [[ 9.99992049e-01 -3.97105014e-03 -3.65126152e-04 6.79682626e+01] [ 3.97104150e-03 9.99992115e-01 -2.43928315e-05 -1.03835974e+00] [ 3.65220138e-04 2.29427064e-05 9.99999933e-01 -2.81879080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50589822700002 meters Centerline goodness [0,1] 0.9849874184330618 Centerline is valid? [True, True] Translation: X:68.00, Y:-1.04, Z:-0.28 [[ 9.99994808e-01 -2.63993913e-03 1.84803171e-03 6.79987280e+01] [ 2.63971528e-03 9.99996508e-01 1.23557893e-04 -1.04455025e+00] [-1.84835145e-03 -1.18678974e-04 9.99998285e-01 -2.78457508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.535898227 meters Centerline goodness [0,1] 0.8795190834889528 Centerline is valid? [True, False] Translation: X:68.04, Y:-1.04, Z:-0.28 [[ 9.99997295e-01 -1.09098890e-03 2.05432613e-03 6.80410120e+01] [ 1.09234341e-03 9.99999187e-01 -6.58336940e-04 -1.04088452e+00] [-2.05360622e-03 6.60579188e-04 9.99997673e-01 -2.77992206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.565898227 meters Centerline goodness [0,1] 0.9387402205773814 Centerline is valid? [False, False] Translation: X:68.04, Y:-1.04, Z:-0.28 [[ 9.99997363e-01 -1.17153570e-03 1.97508152e-03 6.80415732e+01] [ 1.17344262e-03 9.99998846e-01 -9.64608732e-04 -1.03931502e+00] [-1.97394917e-03 9.66923833e-04 9.99997584e-01 -2.78556593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.595898227 meters Centerline goodness [0,1] 0.9867272844799724 Centerline is valid? [False, True] Translation: X:68.00, Y:-1.04, Z:-0.28 [[ 9.99999539e-01 -9.25447377e-04 2.56182085e-04 6.80016034e+01] [ 9.25186299e-04 9.99999055e-01 1.01736016e-03 -1.04187378e+00] [-2.57123356e-04 -1.01712268e-03 9.99999450e-01 -2.80096333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.625898227 meters Centerline goodness [0,1] 0.9127232048630166 Centerline is valid? [True, False] Translation: X:68.05, Y:-1.04, Z:-0.28 [[ 9.99999973e-01 -1.48104315e-04 -1.77714308e-04 6.80463858e+01] [ 1.48046446e-04 9.99999936e-01 -3.25596227e-04 -1.03798588e+00] [ 1.77762519e-04 3.25569909e-04 9.99999931e-01 -2.81490771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.655898227 meters Centerline goodness [0,1] 0.8626722338204593 Centerline is valid? [False, False] Translation: X:68.09, Y:-1.03, Z:-0.28 [[ 9.99999692e-01 3.85906077e-04 -6.82934550e-04 6.80889480e+01] [-3.87109986e-04 9.99998370e-01 -1.76359299e-03 -1.03464238e+00] [ 6.82252856e-04 1.76385682e-03 9.99998212e-01 -2.80811693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.685898227 meters Centerline goodness [0,1] 0.941023870792276 Centerline is valid? [False, False] Translation: X:68.09, Y:-1.03, Z:-0.28 [[ 9.99999616e-01 3.28708060e-04 -8.11785270e-04 6.80893586e+01] [-3.30132204e-04 9.99998406e-01 -1.75482565e-03 -1.03484385e+00] [ 8.11207151e-04 1.75509297e-03 9.99998131e-01 -2.80836176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.715898227 meters Centerline goodness [0,1] 0.9358740157480315 Centerline is valid? [False, False] Translation: X:68.09, Y:-1.03, Z:-0.28 [[ 9.99999583e-01 2.64945346e-04 -8.74318505e-04 6.80897900e+01] [-2.66588602e-04 9.99998197e-01 -1.87988964e-03 -1.03422333e+00] [ 8.73818861e-04 1.88012193e-03 9.99997851e-01 -2.81209997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.745898227 meters Centerline goodness [0,1] 0.8964803312629399 Centerline is valid? [False, False] Translation: X:68.09, Y:-1.03, Z:-0.28 [[ 9.99999571e-01 1.75424307e-04 -9.09239458e-04 6.80901497e+01] [-1.77389270e-04 9.99997648e-01 -2.16147691e-03 -1.03277550e+00] [ 9.08858144e-04 2.16163727e-03 9.99997251e-01 -2.81648970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.775898227 meters Centerline goodness [0,1] 0.9728509691498011 Centerline is valid? [False, True] Translation: X:68.05, Y:-1.03, Z:-0.28 [[ 9.99998567e-01 3.70415292e-04 -1.65178424e-03 6.80486638e+01] [-3.70980384e-04 9.99999873e-01 -3.41816926e-04 -1.03452965e+00] [ 1.65165742e-03 3.42429215e-04 9.99998577e-01 -2.83005674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.805898227 meters Centerline goodness [0,1] 0.9559840793478492 Centerline is valid? [True, True] Translation: X:68.08, Y:-1.03, Z:-0.28 [[ 9.99997926e-01 1.20429224e-03 -1.64228517e-03 6.80772470e+01] [-1.20447419e-03 9.99999269e-01 -1.09807308e-04 -1.02857256e+00] [ 1.64215173e-03 1.11785171e-04 9.99998645e-01 -2.83997483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.835898227 meters Centerline goodness [0,1] 0.8907119897476837 Centerline is valid? [True, False] Translation: X:68.12, Y:-1.02, Z:-0.28 [[ 9.99997175e-01 1.90923053e-03 -1.41611446e-03 6.81191129e+01] [-1.91232948e-03 9.99995773e-01 -2.19022787e-03 -1.02310790e+00] [ 1.41192682e-03 2.19292976e-03 9.99996599e-01 -2.83901896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.865898227 meters Centerline goodness [0,1] 0.919277108433735 Centerline is valid? [False, False] Translation: X:68.12, Y:-1.02, Z:-0.28 [[ 9.99997375e-01 1.72457831e-03 -1.50872343e-03 6.81198444e+01] [-1.72865284e-03 9.99994851e-01 -2.70352661e-03 -1.02057380e+00] [ 1.50405321e-03 2.70612757e-03 9.99995207e-01 -2.84682879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.895898227 meters Centerline goodness [0,1] 0.8356864807995792 Centerline is valid? [False, False] Translation: X:68.12, Y:-1.02, Z:-0.28 [[ 9.99997194e-01 1.70426654e-03 -1.64565684e-03 6.81202279e+01] [-1.70862370e-03 9.99995029e-01 -2.64990355e-03 -1.02097936e+00] [ 1.64113252e-03 2.65270792e-03 9.99995135e-01 -2.84602208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.925898227 meters Centerline goodness [0,1] 0.9563070636559048 Centerline is valid? [False, True] Translation: X:68.10, Y:-1.03, Z:-0.28 [[ 9.99980011e-01 3.24136391e-04 -6.31452750e-03 6.80976796e+01] [-2.79636828e-04 9.99975132e-01 7.04678099e-03 -1.02645410e+00] [ 6.31665459e-03 -7.04487435e-03 9.99955234e-01 -2.78976151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.955898227 meters Centerline goodness [0,1] 0.9508434647259265 Centerline is valid? [True, True] Translation: X:68.13, Y:-1.02, Z:-0.28 [[ 9.99983179e-01 -1.04165488e-03 -5.70580027e-03 6.81267057e+01] [ 1.03948309e-03 9.99999386e-01 -3.83580233e-04 -1.02082515e+00] [ 5.70619633e-03 3.77642698e-04 9.99983648e-01 -2.79400865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.985898227 meters Centerline goodness [0,1] 0.955728229340899 Centerline is valid? [True, True] Translation: X:68.16, Y:-1.02, Z:-0.28 [[ 9.99985424e-01 -2.21999807e-03 -4.92176194e-03 6.81561466e+01] [ 2.21839581e-03 9.99997485e-01 -3.30981752e-04 -1.01982822e+00] [ 4.92248434e-03 3.20058511e-04 9.99987833e-01 -2.80442862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.015898227 meters Centerline goodness [0,1] 0.9367345643759122 Centerline is valid? [True, False] Translation: X:68.16, Y:-1.02, Z:-0.28 [[ 9.99986802e-01 -2.08608544e-03 -4.69512384e-03 6.81551845e+01] [ 2.08512362e-03 9.99997804e-01 -2.09740076e-04 -1.02011929e+00] [ 4.69555107e-03 1.99947395e-04 9.99988956e-01 -2.80042218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.045898227 meters Centerline goodness [0,1] 0.9739704160902416 Centerline is valid? [False, True] Translation: X:68.15, Y:-1.02, Z:-0.28 [[ 9.99987754e-01 -2.03868531e-03 -4.50951606e-03 6.81543351e+01] [ 2.03713622e-03 9.99997864e-01 -3.48082135e-04 -1.01910693e+00] [ 4.51021606e-03 3.38891374e-04 9.99989771e-01 -2.79579130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.075898227 meters Centerline goodness [0,1] 0.8813052631578947 Centerline is valid? [True, False] Translation: X:68.17, Y:-1.01, Z:-0.28 [[ 9.99999677e-01 8.00931095e-04 -6.76403270e-05 6.81746579e+01] [-8.01491209e-04 9.99961552e-01 -8.73219105e-03 -1.01433227e+00] [ 6.06438430e-05 8.73224244e-03 9.99961871e-01 -2.83142710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.105898227 meters Centerline goodness [0,1] 0.7049074112778497 Centerline is valid? [False, False] Translation: X:68.17, Y:-1.02, Z:-0.28 [[ 9.99986456e-01 5.20139568e-03 -1.83072210e-04 6.81747952e+01] [-5.20209803e-03 9.99978180e-01 -4.07154514e-03 -1.01616318e+00] [ 1.61890498e-04 4.07244235e-03 9.99991694e-01 -2.82661000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.135898227 meters Centerline goodness [0,1] 0.6614527262364638 Centerline is valid? [False, False] Translation: X:68.18, Y:-1.02, Z:-0.28 [[ 9.99953141e-01 9.67671087e-03 -2.78153063e-04 6.81751334e+01] [-9.67651437e-03 9.99952937e-01 6.99329171e-04 -1.01842793e+00] [ 2.84907179e-04 -6.96604849e-04 9.99999717e-01 -2.82511817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.165898227 meters Centerline goodness [0,1] 0.6518093463484871 Centerline is valid? [False, False] Translation: X:68.18, Y:-1.02, Z:-0.28 [[ 9.99952469e-01 9.74587658e-03 -2.79265399e-04 6.81756909e+01] [-9.74574431e-03 9.99952398e-01 4.71150801e-04 -1.01707838e+00] [ 2.83843883e-04 -4.68406758e-04 9.99999850e-01 -2.83480692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19589822700001 meters Centerline goodness [0,1] 0.582284362591873 Centerline is valid? [False, False] Translation: X:68.18, Y:-1.02, Z:-0.28 [[ 9.99951285e-01 9.86306718e-03 -3.84565922e-04 6.81765144e+01] [-9.86292333e-03 9.99951290e-01 3.74175638e-04 -1.01632284e+00] [ 3.88237710e-04 -3.70364465e-04 9.99999856e-01 -2.84321027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22589822700002 meters Centerline goodness [0,1] 0.582284362591873 Centerline is valid? [False, False] Translation: X:68.18, Y:-1.01, Z:-0.28 [[ 9.99982232e-01 5.96097866e-03 -5.36860114e-05 6.81755867e+01] [-5.96115169e-03 9.99973395e-01 -4.20410980e-03 -1.01321615e+00] [ 2.86239743e-05 4.20435513e-03 9.99991161e-01 -2.84714533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25589822700002 meters Centerline goodness [0,1] 0.5139048104275463 Centerline is valid? [False, False] Translation: X:68.18, Y:-1.01, Z:-0.29 [[ 9.99981516e-01 6.08006062e-03 2.39504823e-05 6.81756480e+01] [-6.07990707e-03 9.99972753e-01 -4.18654421e-03 -1.01306331e+00] [-4.94042724e-05 4.18632121e-03 9.99991236e-01 -2.85222936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.285898227 meters Centerline goodness [0,1] 0.4570948782535684 Centerline is valid? [False, False] Translation: X:68.18, Y:-1.01, Z:-0.28 [[ 9.99944111e-01 1.05723585e-02 1.71461093e-05 6.81753437e+01] [-1.05723662e-02 9.99943966e-01 5.38184968e-04 -1.01498308e+00] [-1.14552641e-05 -5.38336164e-04 9.99999855e-01 -2.84476560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.315898227 meters Centerline goodness [0,1] 0.4458240698015856 Centerline is valid? [False, False] Translation: X:68.18, Y:-1.01, Z:-0.29 [[ 9.99945347e-01 1.04548155e-02 2.43244634e-05 6.81757061e+01] [-1.04548164e-02 9.99945346e-01 3.41049944e-05 -1.01239621e+00] [-2.39665725e-05 -3.43574382e-05 9.99999999e-01 -2.85143310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.345898227 meters Centerline goodness [0,1] 0.44506714602939623 Centerline is valid? [False, False] Translation: X:68.18, Y:-1.01, Z:-0.29 [[ 9.99946494e-01 1.03443409e-02 -5.50259771e-05 6.81764826e+01] [-1.03443673e-02 9.99946369e-01 -5.03635227e-04 -1.00960137e+00] [ 4.98132515e-05 5.04177488e-04 9.99999872e-01 -2.86072151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.375898227 meters Centerline goodness [0,1] 0.5620733788395904 Centerline is valid? [False, False] Translation: X:68.18, Y:-1.01, Z:-0.29 [[ 9.99947979e-01 1.01996426e-02 -7.84632936e-05 6.81771089e+01] [-1.01997259e-02 9.99947324e-01 -1.14671571e-03 -1.00634464e+00] [ 6.67630700e-05 1.14745636e-03 9.99999339e-01 -2.87077179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.405898227 meters Centerline goodness [0,1] 0.4606110512869238 Centerline is valid? [False, False] Translation: X:68.18, Y:-1.01, Z:-0.29 [[ 9.99896008e-01 1.44169411e-02 -3.52451020e-04 6.81783580e+01] [-1.44157094e-02 9.99890715e-01 3.27798275e-03 -1.00726648e+00] [ 3.99670987e-04 -3.27256104e-03 9.99994565e-01 -2.87403166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.435898227 meters Centerline goodness [0,1] 0.3952932718738106 Centerline is valid? [False, False] Translation: X:68.18, Y:-1.00, Z:-0.29 [[ 9.99942271e-01 1.07446789e-02 -7.85219389e-05 6.81779454e+01] [-1.07448063e-02 9.99940545e-01 -1.85868465e-03 -9.99973834e-01] [ 5.85463006e-05 1.85942105e-03 9.99998270e-01 -2.88682561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.465898227 meters Centerline goodness [0,1] 0.3404371930268345 Centerline is valid? [False, False] Translation: X:68.18, Y:-0.99, Z:-0.29 [[ 9.99941721e-01 1.07953724e-02 1.21990251e-04 6.81776567e+01] [-1.07948986e-02 9.99936022e-01 -3.37974193e-03 -9.90649745e-01] [-1.58468019e-04 3.37822809e-03 9.99994281e-01 -2.89505132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.495898227 meters Centerline goodness [0,1] 0.34941696823482105 Centerline is valid? [False, False] Translation: X:68.18, Y:-0.98, Z:-0.29 [[ 9.99945458e-01 1.04418416e-02 2.20296183e-04 6.81773559e+01] [-1.04407313e-02 9.99935139e-01 -4.55069995e-03 -9.84781926e-01] [-2.67799583e-04 4.54815169e-03 9.99989621e-01 -2.89600863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.525898227 meters Centerline goodness [0,1] 0.4090096608077627 Centerline is valid? [False, False] Translation: X:68.18, Y:-0.98, Z:-0.29 [[ 9.99949757e-01 1.00170828e-02 3.77414658e-04 6.81768957e+01] [-1.00147502e-02 9.99933349e-01 -5.74468444e-03 -9.78935974e-01] [-4.34934482e-04 5.74061609e-03 9.99983428e-01 -2.89720831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.555898227 meters Centerline goodness [0,1] 0.4200927616529203 Centerline is valid? [False, False] Translation: X:68.20, Y:-0.98, Z:-0.29 [[ 9.99946187e-01 1.02944417e-02 -1.28385322e-03 6.81966396e+01] [-1.02894165e-02 9.99939608e-01 3.86121028e-03 -9.75280277e-01] [ 1.32352469e-03 -3.84779239e-03 9.99991721e-01 -2.85545027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.585898227 meters Centerline goodness [0,1] 0.4522616266723296 Centerline is valid? [False, False] Translation: X:68.20, Y:-0.97, Z:-0.29 [[ 9.99951019e-01 9.82672549e-03 -1.18111947e-03 6.81962845e+01] [-9.82337922e-03 9.99947812e-01 2.80631382e-03 -9.70344971e-01] [ 1.20863471e-03 -2.79457378e-03 9.99995365e-01 -2.85577466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.615898227 meters Centerline goodness [0,1] 0.5357675747111736 Centerline is valid? [False, False] Translation: X:68.20, Y:-0.97, Z:-0.29 [[ 9.99954855e-01 9.42895337e-03 -1.17625847e-03 6.81959924e+01] [-9.42658284e-03 9.99953559e-01 2.00483421e-03 -9.66699190e-01] [ 1.19510734e-03 -1.99365560e-03 9.99997299e-01 -2.85177707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.645898227 meters Centerline goodness [0,1] 0.4440085667635022 Centerline is valid? [False, False] Translation: X:68.20, Y:-0.96, Z:-0.28 [[ 9.99962088e-01 8.56111076e-03 -1.59065635e-03 6.81963038e+01] [-8.55948196e-03 9.99962839e-01 1.02798146e-03 -9.63259816e-01] [ 1.59939790e-03 -1.01432730e-03 9.99998207e-01 -2.83706314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.675898227 meters Centerline goodness [0,1] 0.5746206720435828 Centerline is valid? [False, False] Translation: X:68.20, Y:-0.96, Z:-0.28 [[ 9.99991215e-01 3.90072825e-03 -1.53418920e-03 6.81958654e+01] [-3.90708809e-03 9.99983696e-01 -4.16448887e-03 -9.59007451e-01] [ 1.51791964e-03 4.17044649e-03 9.99990152e-01 -2.83525982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.705898227 meters Centerline goodness [0,1] 0.5098525298754132 Centerline is valid? [False, False] Translation: X:68.20, Y:-0.96, Z:-0.28 [[ 9.99992017e-01 3.51055074e-03 -1.90840078e-03 6.81968350e+01] [-3.51877900e-03 9.99984454e-01 -4.32547885e-03 -9.59151239e-01] [ 1.89318630e-03 4.33215956e-03 9.99988824e-01 -2.83191193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.735898227 meters Centerline goodness [0,1] 0.5618465430016863 Centerline is valid? [False, False] Translation: X:68.22, Y:-0.96, Z:-0.28 [[ 9.99987182e-01 -7.42523722e-04 -5.00840989e-03 6.82168062e+01] [ 7.43411846e-04 9.99999708e-01 1.75467302e-04 -9.57169888e-01] [ 5.00827814e-03 -1.79188365e-04 9.99987442e-01 -2.78454675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.765898227 meters Centerline goodness [0,1] 0.6448179744910888 Centerline is valid? [False, False] Translation: X:68.22, Y:-0.96, Z:-0.28 [[ 9.99986466e-01 -9.96561061e-04 -5.10640168e-03 6.82170602e+01] [ 9.97454966e-04 9.99999488e-01 1.72512065e-04 -9.57798750e-01] [ 5.10622714e-03 -1.77603136e-04 9.99986947e-01 -2.78357280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.795898227 meters Centerline goodness [0,1] 0.6712717799795012 Centerline is valid? [False, False] Translation: X:68.17, Y:-0.96, Z:-0.28 [[ 9.99983105e-01 -2.86527680e-03 -5.05758099e-03 6.81740578e+01] [ 2.86881791e-03 9.99995645e-01 6.93043048e-04 -9.61422972e-01] [ 5.05557320e-03 -7.07540618e-04 9.99986970e-01 -2.79000541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.825898227 meters Centerline goodness [0,1] 0.7543717995027941 Centerline is valid? [False, False] Translation: X:68.17, Y:-0.96, Z:-0.28 [[ 9.99980683e-01 -3.33642714e-03 -5.24417816e-03 6.81742450e+01] [ 3.33905659e-03 9.99994304e-01 4.92729216e-04 -9.61395942e-01] [ 5.24250434e-03 -5.10230306e-04 9.99986128e-01 -2.78336338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.855898227 meters Centerline goodness [0,1] 0.6148682770810538 Centerline is valid? [False, False] Translation: X:68.19, Y:-0.96, Z:-0.28 [[ 9.99985768e-01 -2.73122404e-03 -4.58296069e-03 6.81928556e+01] [ 2.68272753e-03 9.99940697e-01 -1.05549069e-02 -9.56396485e-01] [ 4.61151672e-03 1.05424619e-02 9.99933793e-01 -2.76158577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.885898227 meters Centerline goodness [0,1] 0.6209214069158522 Centerline is valid? [False, False] Translation: X:68.19, Y:-0.96, Z:-0.28 [[ 9.99986975e-01 1.14843251e-03 -4.97297301e-03 6.81941264e+01] [-1.17798679e-03 9.99981640e-01 -5.94413400e-03 -9.59301771e-01] [ 4.96605527e-03 5.94991468e-03 9.99969968e-01 -2.76183896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.915898227 meters Centerline goodness [0,1] 0.8646259231510222 Centerline is valid? [False, False] Translation: X:68.18, Y:-0.96, Z:-0.28 [[ 9.99999427e-01 -9.59161329e-04 4.75963466e-04 6.81751839e+01] [ 9.59326347e-04 9.99999480e-01 -3.46596075e-04 -9.60653770e-01] [-4.75630777e-04 3.47052481e-04 9.99999827e-01 -2.82289483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.94589822700001 meters Centerline goodness [0,1] 0.7468362439888636 Centerline is valid? [False, False] Translation: X:68.22, Y:-0.96, Z:-0.28 [[ 9.99999836e-01 -4.20143250e-04 3.90448754e-04 6.82173663e+01] [ 4.20252529e-04 9.99999873e-01 -2.79839189e-04 -9.58313503e-01] [-3.90331132e-04 2.80003230e-04 9.99999885e-01 -2.80849188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97589822700002 meters Centerline goodness [0,1] 0.7684519504828349 Centerline is valid? [False, False] Translation: X:68.22, Y:-0.96, Z:-0.28 [[ 9.99999785e-01 -5.19605027e-04 4.00920208e-04 6.82171722e+01] [ 5.19710803e-04 9.99999830e-01 -2.63774608e-04 -9.58682049e-01] [-4.00783081e-04 2.63982914e-04 9.99999885e-01 -2.80548017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.005898227 meters Centerline goodness [0,1] 0.7672395680127747 Centerline is valid? [False, False] Translation: X:68.26, Y:-0.96, Z:-0.28 [[ 9.99996389e-01 -1.22103235e-03 2.39414006e-03 6.82556892e+01] [ 1.22406257e-03 9.99998451e-01 -1.26462532e-03 -9.56007300e-01] [-2.39259220e-03 1.26755133e-03 9.99996334e-01 -2.78126966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.035898227 meters Centerline goodness [0,1] 0.9267847671581627 Centerline is valid? [False, False] Translation: X:68.26, Y:-0.96, Z:-0.28 [[ 9.99996522e-01 -1.21040597e-03 2.34337948e-03 6.82557532e+01] [ 1.21322658e-03 9.99998541e-01 -1.20259992e-03 -9.56324741e-01] [-2.34192043e-03 1.20543879e-03 9.99996531e-01 -2.77976709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.065898227 meters Centerline goodness [0,1] 0.9697917997189935 Centerline is valid? [False, True] Translation: X:68.26, Y:-0.96, Z:-0.28 [[ 9.99996859e-01 -1.22502107e-03 2.18648230e-03 6.82562779e+01] [ 1.22774361e-03 9.99998472e-01 -1.24425868e-03 -9.56075841e-01] [-2.18495471e-03 1.24693921e-03 9.99996836e-01 -2.78040597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.095898227 meters Centerline goodness [0,1] 0.8892553191489362 Centerline is valid? [True, False] Translation: X:68.26, Y:-0.95, Z:-0.28 [[ 9.99997043e-01 -1.34811233e-03 2.02413054e-03 6.82570342e+01] [ 1.35141937e-03 9.99997753e-01 -1.63332835e-03 -9.54170517e-01] [-2.02192408e-03 1.63605897e-03 9.99996618e-01 -2.78489196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.125898227 meters Centerline goodness [0,1] 0.6939307779464267 Centerline is valid? [False, False] Translation: X:68.25, Y:-0.95, Z:-0.28 [[ 9.99996392e-01 2.10109038e-04 2.67804892e-03 6.82526411e+01] [-2.09215624e-04 9.99999922e-01 -3.33882298e-04 -9.53397910e-01] [-2.67811886e-03 3.33320803e-04 9.99996358e-01 -2.75928545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.155898227 meters Centerline goodness [0,1] 0.8256822239224688 Centerline is valid? [False, False] Translation: X:68.25, Y:-0.95, Z:-0.28 [[ 9.99987332e-01 4.40250012e-03 2.43989095e-03 6.82534804e+01] [-4.41218187e-03 9.99982358e-01 3.97703598e-03 -9.53687899e-01] [-2.42233900e-03 -3.98775085e-03 9.99989115e-01 -2.76034841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.185898227 meters Centerline goodness [0,1] 0.6331554846027811 Centerline is valid? [False, False] Translation: X:68.29, Y:-0.95, Z:-0.28 [[ 9.99967772e-01 7.17223806e-03 3.60755209e-03 6.82932880e+01] [-7.18252685e-03 9.99970152e-01 2.84718935e-03 -9.45462777e-01] [-3.58702369e-03 -2.87300893e-03 9.99989439e-01 -2.76087696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.215898227 meters Centerline goodness [0,1] 0.6462881177707676 Centerline is valid? [False, False] Translation: X:68.29, Y:-0.94, Z:-0.28 [[ 9.99967272e-01 7.19649530e-03 3.69657649e-03 6.82928735e+01] [-7.20584881e-03 9.99970854e-01 2.52326112e-03 -9.43609574e-01] [-3.67831011e-03 -2.54981551e-03 9.99989984e-01 -2.75964915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.245898227 meters Centerline goodness [0,1] 0.6269940469885389 Centerline is valid? [False, False] Translation: X:68.29, Y:-0.94, Z:-0.28 [[ 9.99966953e-01 7.15605075e-03 3.85804865e-03 6.82923029e+01] [-7.16446902e-03 9.99971975e-01 2.17261526e-03 -9.41742522e-01] [-3.84239318e-03 -2.20018433e-03 9.99990198e-01 -2.75881265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.275898227 meters Centerline goodness [0,1] 0.5348979290875766 Centerline is valid? [False, False] Translation: X:68.29, Y:-0.94, Z:-0.28 [[ 9.99967373e-01 7.09854995e-03 3.85526952e-03 6.82924380e+01] [-7.10538842e-03 9.99973202e-01 1.76300684e-03 -9.39586290e-01] [-3.84265141e-03 -1.79034251e-03 9.99991014e-01 -2.76184228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.305898227 meters Centerline goodness [0,1] 0.5709128196364102 Centerline is valid? [False, False] Translation: X:68.27, Y:-0.95, Z:-0.27 [[ 9.99956367e-01 9.26213541e-03 -1.21569849e-03 6.82712883e+01] [-9.24310001e-03 9.99847354e-01 1.48267723e-02 -9.45721244e-01] [ 1.35284049e-03 -1.48148885e-02 9.99889338e-01 -2.71473293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.335898227 meters Centerline goodness [0,1] 0.5731479911849466 Centerline is valid? [False, False] Translation: X:68.29, Y:-0.94, Z:-0.27 [[ 9.99941682e-01 1.06386724e-02 1.85762158e-03 6.82925978e+01] [-1.06467442e-02 9.99933682e-01 4.39083506e-03 -9.38936216e-01] [-1.81078573e-03 -4.41035662e-03 9.99988635e-01 -2.74796245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.365898227 meters Centerline goodness [0,1] 0.5403048264182896 Centerline is valid? [False, False] Translation: X:68.29, Y:-0.93, Z:-0.28 [[ 9.99976089e-01 6.62019349e-03 1.99868361e-03 6.82922914e+01] [-6.61895713e-03 9.99977899e-01 -6.24567980e-04 -9.34157641e-01] [-2.00277420e-03 6.11323845e-04 9.99997808e-01 -2.75402026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.395898227 meters Centerline goodness [0,1] 0.5251712148351069 Centerline is valid? [False, False] Translation: X:68.29, Y:-0.93, Z:-0.28 [[ 9.99976738e-01 6.52822040e-03 1.97644618e-03 6.82926016e+01] [-6.52642686e-03 9.99978286e-01 -9.12549330e-04 -9.32784891e-01] [-1.98236059e-03 8.99628971e-04 9.99997630e-01 -2.75816327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.425898227 meters Centerline goodness [0,1] 0.4925918153200419 Centerline is valid? [False, False] Translation: X:68.29, Y:-0.93, Z:-0.28 [[ 9.99977460e-01 6.43861893e-03 1.90359691e-03 6.82931239e+01] [-6.43637179e-03 9.99978585e-01 -1.18425312e-03 -9.31474462e-01] [-1.91118110e-03 1.17197417e-03 9.99997487e-01 -2.76314373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.455898227 meters Centerline goodness [0,1] 0.5989535504538175 Centerline is valid? [False, False] Translation: X:68.25, Y:-0.93, Z:-0.28 [[ 9.99986142e-01 5.12557115e-03 1.20172315e-03 6.82505810e+01] [-5.12332581e-03 9.99985138e-01 -1.86412303e-03 -9.33042209e-01] [-1.21125999e-03 1.85794037e-03 9.99997540e-01 -2.77088778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.485898227 meters Centerline goodness [0,1] 0.5200656072934862 Centerline is valid? [False, False] Translation: X:68.25, Y:-0.93, Z:-0.28 [[ 9.99986469e-01 5.05987436e-03 1.20830404e-03 6.82506736e+01] [-5.05751048e-03 9.99985307e-01 -1.95146507e-03 -9.32748038e-01] [-1.21816046e-03 1.94532766e-03 9.99997366e-01 -2.77262863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.515898227 meters Centerline goodness [0,1] 0.5775476632360385 Centerline is valid? [False, False] Translation: X:68.27, Y:-0.93, Z:-0.28 [[ 9.99992111e-01 1.55088068e-03 3.65677403e-03 6.82695102e+01] [-1.56948413e-03 9.99985814e-01 5.09002363e-03 -9.31473928e-01] [-3.64882813e-03 -5.09572273e-03 9.99980360e-01 -2.77081004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.545898227 meters Centerline goodness [0,1] 0.5702312685109332 Centerline is valid? [False, False] Translation: X:68.27, Y:-0.93, Z:-0.28 [[ 9.99992267e-01 1.49880630e-03 3.63594960e-03 6.82691542e+01] [-1.51780975e-03 9.99985175e-01 5.22942782e-03 -9.32366138e-01] [-3.62805780e-03 -5.23490606e-03 9.99979716e-01 -2.76351275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.575898227 meters Centerline goodness [0,1] 0.6203685866563925 Centerline is valid? [False, False] Translation: X:68.22, Y:-0.93, Z:-0.28 [[ 9.99991826e-01 -1.27780468e-03 3.83600059e-03 6.82245706e+01] [ 1.26545231e-03 9.99994012e-01 3.22081882e-03 -9.34307008e-01] [-3.84009319e-03 -3.21593822e-03 9.99987456e-01 -2.76098322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.605898227 meters Centerline goodness [0,1] 0.691426019648705 Centerline is valid? [False, False] Translation: X:68.23, Y:-0.93, Z:-0.28 [[ 9.99992399e-01 -1.44866670e-03 3.61980907e-03 6.82251539e+01] [ 1.43698084e-03 9.99993755e-01 3.22882503e-03 -9.34826190e-01] [-3.62446396e-03 -3.22359889e-03 9.99988236e-01 -2.75920320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.635898227 meters Centerline goodness [0,1] 0.652694610778443 Centerline is valid? [False, False] Translation: X:68.23, Y:-0.94, Z:-0.28 [[ 9.99992630e-01 -1.62625545e-03 3.47789300e-03 6.82256276e+01] [ 1.61498078e-03 9.99993440e-01 3.24216390e-03 -9.35373382e-01] [-3.48314278e-03 -3.23652328e-03 9.99988696e-01 -2.75964080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.665898227 meters Centerline goodness [0,1] 0.6871807859524715 Centerline is valid? [False, False] Translation: X:68.23, Y:-0.94, Z:-0.28 [[ 9.99992895e-01 -1.82476137e-03 3.29851945e-03 6.82260254e+01] [ 1.81407176e-03 9.99993103e-01 3.24082286e-03 -9.35904925e-01] [-3.30441043e-03 -3.23481608e-03 9.99989308e-01 -2.75705937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69589822700001 meters Centerline goodness [0,1] 0.7578032979976443 Centerline is valid? [False, False] Translation: X:68.23, Y:-0.94, Z:-0.28 [[ 9.99992587e-01 -2.39061938e-03 3.01830658e-03 6.82265980e+01] [ 2.38100527e-03 9.99992094e-01 3.18485320e-03 -9.37065489e-01] [-3.02589649e-03 -3.17764299e-03 9.99990373e-01 -2.75200945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72589822700002 meters Centerline goodness [0,1] 0.8092930746281289 Centerline is valid? [False, False] Translation: X:68.23, Y:-0.94, Z:-0.28 [[ 9.99992757e-01 -2.53966775e-03 2.83480099e-03 6.82270742e+01] [ 2.53049430e-03 9.99991566e-01 3.23491986e-03 -9.37735534e-01] [-2.84299270e-03 -3.22772299e-03 9.99990750e-01 -2.75017583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.755898227 meters Centerline goodness [0,1] 0.7941008683893596 Centerline is valid? [False, False] Translation: X:68.23, Y:-0.94, Z:-0.27 [[ 9.99992885e-01 -2.74173855e-03 2.59099685e-03 6.82277621e+01] [ 2.73332295e-03 9.99990996e-01 3.24599547e-03 -9.38352383e-01] [-2.59987319e-03 -3.23889034e-03 9.99991375e-01 -2.74887831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.785898227 meters Centerline goodness [0,1] 0.927914433990127 Centerline is valid? [False, False] Translation: X:68.23, Y:-0.94, Z:-0.27 [[ 9.99992792e-01 -3.00637330e-03 2.31880705e-03 6.82284919e+01] [ 2.99885824e-03 9.99990262e-01 3.23761346e-03 -9.38962008e-01] [-2.32851795e-03 -3.23063635e-03 9.99992070e-01 -2.74652361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.815898227 meters Centerline goodness [0,1] 0.9594138976653449 Centerline is valid? [False, True] Translation: X:68.22, Y:-0.94, Z:-0.27 [[ 9.99982720e-01 -5.00055502e-03 3.09097340e-03 6.82233474e+01] [ 4.99632753e-03 9.99986574e-01 1.37389935e-03 -9.37142191e-01] [-3.09780216e-03 -1.35843209e-03 9.99994279e-01 -2.71340303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.845898227 meters Centerline goodness [0,1] 0.973304880855248 Centerline is valid? [True, True] Translation: X:68.25, Y:-0.94, Z:-0.27 [[ 9.99918990e-01 -1.14820300e-02 5.49328597e-03 6.82524320e+01] [ 1.14802445e-02 9.99934036e-01 3.56459415e-04 -9.35968970e-01] [-5.49701649e-03 -2.93366272e-04 9.99984848e-01 -2.67885532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.875898227 meters Centerline goodness [0,1] 0.9932005624226145 Centerline is valid? [True, True] Translation: X:68.28, Y:-0.94, Z:-0.27 [[ 9.99870674e-01 -1.47056814e-02 6.50982387e-03 6.82832235e+01] [ 1.47032419e-02 9.99891812e-01 4.22444475e-04 -9.39898620e-01] [-6.51533192e-03 -3.26674327e-04 9.99978722e-01 -2.67152624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.905898227 meters Centerline goodness [0,1] 0.9970264271055828 Centerline is valid? [True, True] Translation: X:68.31, Y:-0.94, Z:-0.27 [[ 9.99823249e-01 -1.77461589e-02 6.20844152e-03 6.83141594e+01] [ 1.77439989e-02 9.99842482e-01 4.02836503e-04 -9.41479882e-01] [-6.21461238e-03 -2.92602721e-04 9.99980646e-01 -2.67639911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.935898227 meters Centerline goodness [0,1] 0.9989395995928062 Centerline is valid? [True, True] Translation: X:68.35, Y:-0.94, Z:-0.27 [[ 9.99762375e-01 -2.13326463e-02 4.48452622e-03 6.83453682e+01] [ 2.13315554e-02 9.99772414e-01 2.90948987e-04 -9.42384092e-01] [-4.48971231e-03 -1.95217931e-04 9.99989902e-01 -2.72089968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.965898227 meters Centerline goodness [0,1] 0.9994326300748088 Centerline is valid? [True, True] Translation: X:68.38, Y:-0.94, Z:-0.27 [[ 9.99713512e-01 -2.37883896e-02 2.64701061e-03 6.83756140e+01] [ 2.37880182e-02 9.99717010e-01 1.71726847e-04 -9.42456477e-01] [-2.65034663e-03 -1.08710513e-04 9.99996482e-01 -2.72969547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.995898227 meters Centerline goodness [0,1] 0.9997674664411795 Centerline is valid? [True, True] Translation: X:68.41, Y:-0.94, Z:-0.28 [[ 9.99642454e-01 -2.67141890e-02 1.14698679e-03 6.84060852e+01] [ 2.67141212e-02 9.99643111e-01 7.43902807e-05 -9.43766631e-01] [-1.14856472e-03 -4.37229386e-05 9.99999339e-01 -2.75162831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.025898227 meters Centerline goodness [0,1] 0.9999579328187115 Centerline is valid? [True, True] Translation: X:68.44, Y:-0.95, Z:-0.27 [[ 9.99472104e-01 -3.24419628e-02 1.74137411e-03 6.84364686e+01] [ 3.24418151e-02 9.99473619e-01 1.12986119e-04 -9.49017918e-01] [-1.74412298e-03 -5.64331370e-05 9.99998477e-01 -2.73374820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.055898227 meters Centerline goodness [0,1] 0.999978840904763 Centerline is valid? [True, True] Translation: X:68.47, Y:-0.95, Z:-0.27 [[ 9.99385560e-01 -3.49384028e-02 2.79473236e-03 6.84666564e+01] [ 3.49380322e-02 9.99389464e-01 1.81351693e-04 -9.53192269e-01] [-2.79936222e-03 -8.35978140e-05 9.99996078e-01 -2.71671185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.085898227 meters Centerline goodness [0,1] 0.9999582158153139 Centerline is valid? [True, True] Translation: X:68.50, Y:-0.95, Z:-0.27 [[ 9.99316352e-01 -3.68312879e-02 3.20705021e-03 6.84954636e+01] [ 3.68308093e-02 9.99321494e-01 2.08194444e-04 -9.51690499e-01] [-3.21254227e-03 -8.99338583e-05 9.99994836e-01 -2.70971701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.115898227 meters Centerline goodness [0,1] 0.9999582158153139 Centerline is valid? [True, True] Translation: X:68.52, Y:-0.95, Z:-0.27 [[ 9.99310571e-01 -3.69877970e-02 3.20704152e-03 6.85237301e+01] [ 3.69873187e-02 9.99315713e-01 2.08328110e-04 -9.49705933e-01] [-3.21255258e-03 -8.95646153e-05 9.99994836e-01 -2.71057477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.145898227 meters Centerline goodness [0,1] 0.9998955417206368 Centerline is valid? [True, True] Translation: X:68.55, Y:-0.95, Z:-0.27 [[ 9.99256013e-01 -3.84822794e-02 2.55635393e-03 6.85529280e+01] [ 3.84819796e-02 9.99259280e-01 1.66365354e-04 -9.50742317e-01] [-2.56086251e-03 -6.78680201e-05 9.99996719e-01 -2.72450034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.175898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.58, Y:-0.96, Z:-0.28 [[ 9.99215691e-01 -3.95972850e-02 2.42038936e-04 6.85825982e+01] [ 3.95972825e-02 9.99215720e-01 1.53712339e-05 -9.55528695e-01] [-2.42457768e-04 -5.77509404e-06 9.99999971e-01 -2.76109516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.61, Y:-0.96, Z:-0.28 [[ 9.99244470e-01 -3.88614866e-02 -5.22950059e-04 6.86115587e+01] [ 3.88614737e-02 9.99244607e-01 -3.48144625e-05 -9.55010348e-01] [ 5.23907968e-04 1.44655492e-05 9.99999863e-01 -2.76723897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.235898227 meters Centerline goodness [0,1] 0.9999368155012637 Centerline is valid? [True, True] Translation: X:68.64, Y:-0.94, Z:-0.28 [[ 9.99323672e-01 -3.67627663e-02 -8.34788880e-04 6.86399693e+01] [ 3.67627332e-02 9.99324021e-01 -5.49421896e-05 -9.44828492e-01] [ 8.36244407e-04 2.42159098e-05 9.99999650e-01 -2.78051711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.265898227 meters Centerline goodness [0,1] 0.9997268850185929 Centerline is valid? [True, True] Translation: X:68.67, Y:-0.94, Z:-0.28 [[ 9.99443501e-01 -3.33381044e-02 -1.12196017e-03 6.86703255e+01] [ 3.33380427e-02 9.99444130e-01 -7.36429803e-05 -9.40209825e-01] [ 1.12379163e-03 3.61980420e-05 9.99999368e-01 -2.79538216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.295898227 meters Centerline goodness [0,1] 0.9998514210515145 Centerline is valid? [True, True] Translation: X:68.70, Y:-0.93, Z:-0.28 [[ 9.99598994e-01 -2.82706150e-02 -1.61996654e-03 6.87002183e+01] [ 2.82704798e-02 9.99600304e-01 -1.06345694e-04 -9.33909356e-01] [ 1.62232551e-03 6.05058174e-05 9.99998682e-01 -2.77240385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.325898227 meters Centerline goodness [0,1] 0.9993061979648473 Centerline is valid? [True, True] Translation: X:68.73, Y:-0.92, Z:-0.28 [[ 9.99727429e-01 -2.32770512e-02 -1.80210514e-03 6.87287593e+01] [ 2.32768756e-02 9.99729050e-01 -1.18353270e-04 -9.16073078e-01] [ 1.80437178e-03 7.63736333e-05 9.99998369e-01 -2.78498884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.355898227 meters Centerline goodness [0,1] 0.998205312275664 Centerline is valid? [True, True] Translation: X:68.76, Y:-0.91, Z:-0.28 [[ 9.99889530e-01 -1.48580953e-02 -4.05078789e-04 6.87580494e+01] [ 1.48580858e-02 9.99889612e-01 -2.65970598e-05 -9.05285237e-01] [ 4.05429255e-04 2.05754263e-05 9.99999918e-01 -2.76761204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.385898227 meters Centerline goodness [0,1] 0.9949456498752274 Centerline is valid? [True, True] Translation: X:68.79, Y:-0.90, Z:-0.28 [[ 9.99927667e-01 -1.20266339e-02 1.45499746e-04 6.87865924e+01] [ 1.20266327e-02 9.99927677e-01 9.50685960e-06 -8.95570690e-01] [-1.45603559e-04 -7.75629994e-06 9.99999989e-01 -2.76123051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.415898227 meters Centerline goodness [0,1] 0.9959226565783943 Centerline is valid? [True, True] Translation: X:68.82, Y:-0.89, Z:-0.28 [[ 9.99943307e-01 -1.06215967e-02 7.51581211e-04 6.88169618e+01] [ 1.06215626e-02 9.99943588e-01 4.93565184e-05 -8.93945996e-01] [-7.52063058e-04 -4.13707533e-05 9.99999716e-01 -2.75574646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.44589822700001 meters Centerline goodness [0,1] 0.9935960694564008 Centerline is valid? [True, True] Translation: X:68.85, Y:-0.89, Z:-0.28 [[ 9.99945862e-01 -1.03087538e-02 1.41520945e-03 6.88470278e+01] [ 1.03086325e-02 9.99946860e-01 9.29371441e-05 -8.90364438e-01] [-1.41609231e-03 -7.83432385e-05 9.99998994e-01 -2.75034465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47589822700002 meters Centerline goodness [0,1] 0.9923739703806694 Centerline is valid? [True, True] Translation: X:68.88, Y:-0.89, Z:-0.27 [[ 9.99933238e-01 -1.14164634e-02 1.78437581e-03 6.88766981e+01] [ 1.14162724e-02 9.99934825e-01 1.17180388e-04 -8.86912986e-01] [-1.78559730e-03 -9.68016441e-05 9.99998401e-01 -2.74757150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.505898227 meters Centerline goodness [0,1] 0.9862022828950119 Centerline is valid? [True, True] Translation: X:68.91, Y:-0.88, Z:-0.27 [[ 9.99913881e-01 -1.29583334e-02 2.07658523e-03 6.89063278e+01] [ 1.29580780e-02 9.99916031e-01 1.36369850e-04 -8.82400056e-01] [-2.07817798e-03 -1.09449552e-04 9.99997835e-01 -2.74543154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.535898227 meters Centerline goodness [0,1] 0.9988577230613022 Centerline is valid? [True, True] Translation: X:68.94, Y:-0.89, Z:-0.27 [[ 9.99879796e-01 -1.53765481e-02 1.98894539e-03 6.89378732e+01] [ 1.53763186e-02 9.99881769e-01 1.30626842e-04 -8.91871683e-01] [-1.99071882e-03 -1.00028482e-04 9.99998014e-01 -2.73422609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.565898227 meters Centerline goodness [0,1] 0.9991037514403994 Centerline is valid? [True, True] Translation: X:68.97, Y:-0.89, Z:-0.27 [[ 9.99889459e-01 -1.48156451e-02 1.25170162e-03 6.89679611e+01] [ 1.48155538e-02 9.99890240e-01 8.21845982e-05 -8.89930500e-01] [-1.25278185e-03 -6.36308607e-05 9.99999213e-01 -2.73869753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.595898227 meters Centerline goodness [0,1] 0.9958512403727501 Centerline is valid? [True, True] Translation: X:69.00, Y:-0.88, Z:-0.27 [[ 9.99916524e-01 -1.29098459e-02 5.29759558e-04 6.89967105e+01] [ 1.29098293e-02 9.99916664e-01 3.47831109e-05 -8.75396847e-01] [-5.30164455e-04 -2.79411019e-05 9.99999859e-01 -2.74710888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.625898227 meters Centerline goodness [0,1] 0.9686176317162233 Centerline is valid? [True, True] Translation: X:69.03, Y:-0.86, Z:-0.27 [[ 9.99950964e-01 -9.87189825e-03 7.84609704e-04 6.90251321e+01] [ 9.87186086e-03 9.99951271e-01 5.15196019e-05 -8.61411156e-01] [-7.85080066e-04 -4.37715177e-05 9.99999691e-01 -2.74157818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.655898227 meters Centerline goodness [0,1] 0.9628401216832855 Centerline is valid? [True, True] Translation: X:69.06, Y:-0.86, Z:-0.27 [[ 9.99977669e-01 -6.57301224e-03 1.20722981e-03 6.90557037e+01] [ 6.57292132e-03 9.99978395e-01 7.92613199e-05 -8.56353458e-01] [-1.20772471e-03 -7.13245233e-05 9.99999268e-01 -2.73478151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.685898227 meters Centerline goodness [0,1] 0.9052218279547316 Centerline is valid? [True, False] Translation: X:69.06, Y:-0.85, Z:-0.27 [[ 9.99977053e-01 -6.66274576e-03 1.22508135e-03 6.90556416e+01] [ 6.66368737e-03 9.99977504e-01 -7.66138678e-04 -8.51703480e-01] [-1.21994920e-03 7.74284656e-04 9.99998956e-01 -2.73601728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.715898227 meters Centerline goodness [0,1] 0.8395825442915457 Centerline is valid? [False, False] Translation: X:69.06, Y:-0.85, Z:-0.27 [[ 9.99995776e-01 -2.60253426e-03 1.29431201e-03 6.90556086e+01] [ 2.59862581e-03 9.99992087e-01 3.01228349e-03 -8.49213233e-01] [-1.30214134e-03 -3.00890733e-03 9.99994625e-01 -2.74122757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.745898227 meters Centerline goodness [0,1] 0.8696383336526385 Centerline is valid? [False, False] Translation: X:69.03, Y:-0.85, Z:-0.27 [[ 9.99998430e-01 -1.10651025e-03 -1.38404605e-03 6.90333605e+01] [ 1.09767095e-03 9.99979102e-01 -6.37110350e-03 -8.47193535e-01] [ 1.39106682e-03 6.36957427e-03 9.99978747e-01 -2.71660579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.775898227 meters Centerline goodness [0,1] 0.9122573558921065 Centerline is valid? [False, False] Translation: X:69.03, Y:-0.85, Z:-0.27 [[ 9.99998215e-01 -1.21557161e-03 -1.44668076e-03 6.90337571e+01] [ 1.20602866e-03 9.99977630e-01 -6.57914057e-03 -8.46246189e-01] [ 1.45464581e-03 6.57738408e-03 9.99977311e-01 -2.72022243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.805898227 meters Centerline goodness [0,1] 0.8896400665529369 Centerline is valid? [False, False] Translation: X:69.03, Y:-0.85, Z:-0.27 [[ 9.99997923e-01 -1.30359409e-03 -1.56682309e-03 6.90343321e+01] [ 1.29315761e-03 9.99977095e-01 -6.64357456e-03 -8.46108626e-01] [ 1.57544773e-03 6.64153462e-03 9.99976704e-01 -2.72356295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.835898227 meters Centerline goodness [0,1] 0.9688971473215229 Centerline is valid? [False, True] Translation: X:69.04, Y:-0.85, Z:-0.27 [[ 9.99997557e-01 -1.35058664e-03 -1.74994221e-03 6.90350461e+01] [ 1.33915980e-03 9.99977883e-01 -6.51463826e-03 -8.46947868e-01] [ 1.75870209e-03 6.51227889e-03 9.99977248e-01 -2.72587673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.865898227 meters Centerline goodness [0,1] 0.9787157516132444 Centerline is valid? [True, True] Translation: X:69.06, Y:-0.85, Z:-0.28 [[ 9.99975582e-01 -5.90837689e-03 -3.73192777e-03 6.90643505e+01] [ 5.90752071e-03 9.99982522e-01 -2.40403127e-04 -8.47091598e-01] [ 3.73328293e-03 2.18350817e-04 9.99993007e-01 -2.75300928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.895898227 meters Centerline goodness [0,1] 0.9963707366767833 Centerline is valid? [True, True] Translation: X:69.09, Y:-0.85, Z:-0.28 [[ 9.99965307e-01 -7.22996503e-03 -4.13671267e-03 6.90942165e+01] [ 7.22892387e-03 9.99973835e-01 -2.66584500e-04 -8.53256272e-01] [ 4.13853183e-03 2.36671271e-04 9.99991408e-01 -2.75311087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.925898227 meters Centerline goodness [0,1] 0.9963879627254851 Centerline is valid? [True, True] Translation: X:69.12, Y:-0.85, Z:-0.28 [[ 9.99960921e-01 -7.84624922e-03 -4.07341104e-03 6.91228397e+01] [ 7.84524156e-03 9.99969191e-01 -2.63294367e-04 -8.50826117e-01] [ 4.07535141e-03 2.31327184e-04 9.99991669e-01 -2.75444037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.955898227 meters Centerline goodness [0,1] 0.9807048047156609 Centerline is valid? [True, True] Translation: X:69.15, Y:-0.84, Z:-0.28 [[ 9.99966785e-01 -7.39111901e-03 -3.43522517e-03 6.91512552e+01] [ 7.39039952e-03 9.99972666e-01 -2.22091715e-04 -8.39608128e-01] [ 3.43677277e-03 1.96696651e-04 9.99994075e-01 -2.75252210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.985898227 meters Centerline goodness [0,1] 0.9949423040142805 Centerline is valid? [True, True] Translation: X:69.18, Y:-0.84, Z:-0.27 [[ 9.99972742e-01 -6.76078674e-03 -2.96755363e-03 6.91813698e+01] [ 6.76024686e-03 9.99977131e-01 -1.91922602e-04 -8.43206422e-01] [ 2.96878332e-03 1.71855976e-04 9.99995578e-01 -2.73764220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.015898227 meters Centerline goodness [0,1] 0.9580969922766185 Centerline is valid? [True, True] Translation: X:69.21, Y:-0.83, Z:-0.27 [[ 9.99977954e-01 -6.08452895e-03 -2.65892547e-03 6.92094473e+01] [ 6.08409286e-03 9.99981477e-01 -1.72068009e-04 -8.30048672e-01] [ 2.65992317e-03 1.55887066e-04 9.99996450e-01 -2.74013407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.045898227 meters Centerline goodness [0,1] 0.9374973658701058 Centerline is valid? [True, False] Translation: X:69.21, Y:-0.83, Z:-0.27 [[ 9.99976492e-01 -6.30837078e-03 -2.68696429e-03 6.92094004e+01] [ 6.30604951e-03 9.99979737e-01 -8.71496128e-04 -8.26511253e-01] [ 2.69240756e-03 8.54531511e-04 9.99996010e-01 -2.73845278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.075898227 meters Centerline goodness [0,1] 0.9807194671870361 Centerline is valid? [False, True] Translation: X:69.21, Y:-0.82, Z:-0.27 [[ 9.99975589e-01 -6.44164798e-03 -2.70678474e-03 6.92092802e+01] [ 6.43833855e-03 9.99978518e-01 -1.22958474e-03 -8.24777234e-01] [ 2.71464715e-03 1.21212753e-03 9.99995581e-01 -2.73572443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.105898227 meters Centerline goodness [0,1] 0.9860515477049807 Centerline is valid? [True, True] Translation: X:69.24, Y:-0.82, Z:-0.27 [[ 9.99977271e-01 -6.36177393e-03 -2.23281427e-03 6.92385392e+01] [ 6.36146007e-03 9.99979755e-01 -1.47643488e-04 -8.24059469e-01] [ 2.23370834e-03 1.33436174e-04 9.99997496e-01 -2.72558353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.135898227 meters Centerline goodness [0,1] 0.9907681181000192 Centerline is valid? [True, True] Translation: X:69.27, Y:-0.82, Z:-0.27 [[ 9.99976745e-01 -6.53447075e-03 -1.95190385e-03 6.92683211e+01] [ 6.53423112e-03 9.99978643e-01 -1.29118640e-04 -8.23611480e-01] [ 1.95270588e-03 1.16361447e-04 9.99998087e-01 -2.71590893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.165898227 meters Centerline goodness [0,1] 0.9443204312850103 Centerline is valid? [True, False] Translation: X:69.27, Y:-0.82, Z:-0.27 [[ 9.99940416e-01 -1.07705147e-02 -1.77799971e-03 6.92677059e+01] [ 1.07613285e-02 9.99929101e-01 -5.09773082e-03 -8.19541923e-01] [ 1.83277883e-03 5.07829343e-03 9.99985426e-01 -2.71406752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19589822700001 meters Centerline goodness [0,1] 0.979471463655255 Centerline is valid? [False, True] Translation: X:69.27, Y:-0.82, Z:-0.27 [[ 9.99976128e-01 -6.58500276e-03 -2.09309070e-03 6.92684952e+01] [ 6.58495540e-03 9.99978319e-01 -2.95180131e-05 -8.24230743e-01] [ 2.09323969e-03 1.57343996e-05 9.99997809e-01 -2.71195079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.22589822700002 meters Centerline goodness [0,1] 0.9677982867846695 Centerline is valid? [True, True] Translation: X:69.30, Y:-0.82, Z:-0.27 [[ 9.99973453e-01 -7.06676024e-03 -1.77580582e-03 6.92978436e+01] [ 7.06656506e-03 9.99975025e-01 -1.16163145e-04 -8.20612946e-01] [ 1.77658236e-03 1.03611214e-04 9.99998417e-01 -2.70613093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.255898227 meters Centerline goodness [0,1] 0.9715032567706547 Centerline is valid? [True, True] Translation: X:69.33, Y:-0.82, Z:-0.27 [[ 9.99969429e-01 -7.54448432e-03 -2.05492454e-03 6.93279331e+01] [ 7.54422387e-03 9.99971533e-01 -1.34465537e-04 -8.20948810e-01] [ 2.05588051e-03 1.18958615e-04 9.99997880e-01 -2.69961206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.285898227 meters Centerline goodness [0,1] 0.9726233964828817 Centerline is valid? [True, True] Translation: X:69.36, Y:-0.82, Z:-0.27 [[ 9.99967716e-01 -7.83604052e-03 -1.77860397e-03 6.93572544e+01] [ 7.83584586e-03 9.99969293e-01 -1.16384417e-04 -8.18268099e-01] [ 1.77946134e-03 1.02443793e-04 9.99998412e-01 -2.71646842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.315898227 meters Centerline goodness [0,1] 0.9489915198401734 Centerline is valid? [True, False] Translation: X:69.36, Y:-0.82, Z:-0.27 [[ 9.99968817e-01 -7.69764171e-03 -1.76408589e-03 6.93571594e+01] [ 7.69778061e-03 9.99970369e-01 7.19657897e-05 -8.18942960e-01] [ 1.76347965e-03 -8.55430917e-05 9.99998441e-01 -2.71532765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.345898227 meters Centerline goodness [0,1] 0.8915175995383727 Centerline is valid? [False, False] Translation: X:69.36, Y:-0.82, Z:-0.27 [[ 9.99971888e-01 -7.34818637e-03 -1.49217152e-03 6.93563519e+01] [ 7.34837748e-03 9.99972993e-01 1.22629382e-04 -8.18302794e-01] [ 1.49123012e-03 -1.33590974e-04 9.99998879e-01 -2.71605335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.375898227 meters Centerline goodness [0,1] 0.854105463383705 Centerline is valid? [False, False] Translation: X:69.38, Y:-0.82, Z:-0.27 [[ 9.99995551e-01 -2.83783690e-03 9.19004415e-04 6.93754791e+01] [ 2.84382998e-03 9.99974262e-01 -6.58697782e-03 -8.16348401e-01] [-9.00287993e-04 6.58956200e-03 9.99977883e-01 -2.71870044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.405898227 meters Centerline goodness [0,1] 0.7256018528355608 Centerline is valid? [False, False] Translation: X:69.37, Y:-0.82, Z:-0.27 [[ 9.99998726e-01 -4.29049727e-04 1.53736414e-03 6.93709942e+01] [ 4.35377562e-04 9.99991426e-01 -4.11806110e-03 -8.15745288e-01] [-1.53558410e-03 4.11872519e-03 9.99990339e-01 -2.69133673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.435898227 meters Centerline goodness [0,1] 0.8226354560229647 Centerline is valid? [False, False] Translation: X:69.37, Y:-0.82, Z:-0.27 [[ 9.99991751e-01 3.82974689e-03 1.35291488e-03 6.93720003e+01] [-3.83005563e-03 9.99992640e-01 2.25679699e-04 -8.16083792e-01] [-1.35204063e-03 -2.30859577e-04 9.99999059e-01 -2.69792740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.465898227 meters Centerline goodness [0,1] 0.6408308430489499 Centerline is valid? [False, False] Translation: X:69.37, Y:-0.81, Z:-0.27 [[ 9.99992268e-01 3.72036535e-03 1.27390569e-03 6.93725621e+01] [-3.71956313e-03 9.99992883e-01 -6.31522364e-04 -8.11517274e-01] [-1.27624612e-03 6.26779109e-04 9.99998989e-01 -2.70434164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.495898227 meters Centerline goodness [0,1] 0.7313378781423093 Centerline is valid? [False, False] Translation: X:69.35, Y:-0.82, Z:-0.27 [[ 9.99974559e-01 6.23147664e-03 -3.47119375e-03 6.93523720e+01] [-6.18685183e-03 9.99899939e-01 1.27214666e-02 -8.15817434e-01] [ 3.55011994e-03 -1.26996672e-02 9.99913054e-01 -2.66941773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.525898227 meters Centerline goodness [0,1] 0.666087730074344 Centerline is valid? [False, False] Translation: X:69.35, Y:-0.81, Z:-0.27 [[ 9.99991475e-01 2.28156459e-03 -3.44171300e-03 6.93523622e+01] [-2.25692754e-03 9.99971925e-01 7.14534978e-03 -8.07028916e-01] [ 3.45791895e-03 -7.13752116e-03 9.99968549e-01 -2.67578009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.555898227 meters Centerline goodness [0,1] 0.6484583739768438 Centerline is valid? [False, False] Translation: X:69.35, Y:-0.80, Z:-0.27 [[ 9.99992464e-01 -2.15806319e-03 -3.22730602e-03 6.93516891e+01] [ 2.16422409e-03 9.99995840e-01 1.90671736e-03 -8.01958428e-01] [ 3.22317778e-03 -1.91368760e-03 9.99992974e-01 -2.67766899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.585898227 meters Centerline goodness [0,1] 0.7210981124864646 Centerline is valid? [False, False] Translation: X:69.35, Y:-0.80, Z:-0.27 [[ 9.99991221e-01 -2.38461173e-03 -3.44565050e-03 6.93522665e+01] [ 2.39083486e-03 9.99995516e-01 1.80309422e-03 -8.01954192e-01] [ 3.44133538e-03 -1.81131637e-03 9.99992438e-01 -2.67615878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.615898227 meters Centerline goodness [0,1] 0.6373266765958339 Centerline is valid? [False, False] Translation: X:69.40, Y:-0.80, Z:-0.27 [[ 9.99982429e-01 -4.75113316e-03 -3.54516290e-03 6.93950462e+01] [ 4.74948961e-03 9.99988610e-01 -4.71876917e-04 -7.98288572e-01] [ 3.54736447e-03 4.55030911e-04 9.99993605e-01 -2.66650786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.645898227 meters Centerline goodness [0,1] 0.8166338811684328 Centerline is valid? [False, False] Translation: X:69.40, Y:-0.80, Z:-0.27 [[ 9.99950625e-01 -9.28504324e-03 -3.54051844e-03 6.93951189e+01] [ 9.26664854e-03 9.99943663e-01 -5.17696614e-03 -7.96520977e-01] [ 3.58838733e-03 5.14390179e-03 9.99980332e-01 -2.66673425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.675898227 meters Centerline goodness [0,1] 0.9489952980369831 Centerline is valid? [False, False] Translation: X:69.40, Y:-0.80, Z:-0.27 [[ 9.99946869e-01 -9.57521972e-03 -3.81767283e-03 6.93958843e+01] [ 9.55712292e-03 9.99943139e-01 -4.73066316e-03 -7.99749122e-01] [ 3.86275289e-03 4.69392584e-03 9.99981523e-01 -2.66426857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.705898227 meters Centerline goodness [0,1] 0.9948964402670863 Centerline is valid? [False, True] Translation: X:69.39, Y:-0.80, Z:-0.26 [[ 9.99892054e-01 -1.42569063e-02 -3.55268558e-03 6.93944348e+01] [ 1.42258093e-02 9.99861567e-01 -8.62981423e-03 -8.03038648e-01] [ 3.67522822e-03 8.57834284e-03 9.99956451e-01 -2.64987670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.735898227 meters Centerline goodness [0,1] 0.9974433739012847 Centerline is valid? [True, True] Translation: X:69.42, Y:-0.81, Z:-0.26 [[ 9.99826179e-01 -1.83937786e-02 -3.04628885e-03 6.94244341e+01] [ 1.83932463e-02 9.99830809e-01 -2.02654245e-04 -8.09472485e-01] [ 3.04950103e-03 1.46587878e-04 9.99995340e-01 -2.63364629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.765898227 meters Centerline goodness [0,1] 0.9990643274853801 Centerline is valid? [True, True] Translation: X:69.45, Y:-0.81, Z:-0.26 [[ 9.99751872e-01 -2.20809744e-02 -2.93681184e-03 6.94548145e+01] [ 2.20804955e-02 9.99756177e-01 -1.95394654e-04 -8.14252457e-01] [ 2.94041028e-03 1.30499911e-04 9.99995668e-01 -2.61986530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.795898227 meters Centerline goodness [0,1] 0.9993204357705622 Centerline is valid? [True, True] Translation: X:69.48, Y:-0.82, Z:-0.26 [[ 9.99680286e-01 -2.50166399e-02 -3.67324224e-03 6.94837917e+01] [ 2.50159103e-02 9.99687023e-01 -2.44431754e-04 -8.16831523e-01] [ 3.67820746e-03 1.52464108e-04 9.99993224e-01 -2.62641865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.825898227 meters Centerline goodness [0,1] 0.9995801053935462 Centerline is valid? [True, True] Translation: X:69.51, Y:-0.82, Z:-0.26 [[ 9.99625651e-01 -2.70336922e-02 -4.21163676e-03 6.95129905e+01] [ 2.70327506e-02 9.99634509e-01 -2.80349308e-04 -8.17196157e-01] [ 4.21767632e-03 1.66392234e-04 9.99991092e-01 -2.63053136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.855898227 meters Centerline goodness [0,1] 0.9997883911378208 Centerline is valid? [True, True] Translation: X:69.54, Y:-0.82, Z:-0.26 [[ 9.99600966e-01 -2.80276108e-02 -3.51580359e-03 6.95416425e+01] [ 2.80269596e-02 9.99607140e-01 -2.34386410e-04 -8.19652074e-01] [ 3.52099166e-03 1.35755597e-04 9.99993792e-01 -2.61638516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.885898227 meters Centerline goodness [0,1] 0.9995601173020527 Centerline is valid? [True, True] Translation: X:69.57, Y:-0.82, Z:-0.26 [[ 9.99602017e-01 -2.82099637e-02 7.87159153e-05 6.95702737e+01] [ 2.82099633e-02 9.99602020e-01 5.31020520e-06 -8.15797541e-01] [-7.88343887e-05 -3.08751874e-06 9.99999997e-01 -2.55744808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.915898227 meters Centerline goodness [0,1] 0.9995998315080034 Centerline is valid? [True, True] Translation: X:69.60, Y:-0.81, Z:-0.25 [[ 9.99600611e-01 -2.82496259e-02 7.59903608e-04 6.96001562e+01] [ 2.82495955e-02 9.99600899e-01 5.07949518e-05 -8.13176393e-01] [-7.61035269e-04 -2.93076953e-05 9.99999710e-01 -2.54079473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94589822700001 meters Centerline goodness [0,1] 0.9995578202644656 Centerline is valid? [True, True] Translation: X:69.63, Y:-0.81, Z:-0.26 [[ 9.99590984e-01 -2.85977074e-02 1.87684421e-04 6.96298812e+01] [ 2.85977056e-02 9.99591002e-01 1.25277878e-05 -8.10100173e-01] [-1.87965925e-04 -7.15531995e-06 9.99999982e-01 -2.55175782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97589822700002 meters Centerline goodness [0,1] 0.9995356102503483 Centerline is valid? [True, True] Translation: X:69.66, Y:-0.80, Z:-0.26 [[ 9.99561526e-01 -2.96009192e-02 -7.35829956e-04 6.96592396e+01] [ 2.96008910e-02 9.99561796e-01 -4.91381837e-05 -8.04590212e-01] [ 7.36962048e-04 2.73354155e-05 9.99999728e-01 -2.56728569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.005898227 meters Centerline goodness [0,1] 0.9995356102503483 Centerline is valid? [True, True] Translation: X:69.69, Y:-0.80, Z:-0.26 [[ 9.99560868e-01 -2.96231289e-02 -7.35829970e-04 6.96883559e+01] [ 2.96231007e-02 9.99561138e-01 -4.91379698e-05 -8.02599951e-01] [ 7.36962663e-04 2.73188265e-05 9.99999728e-01 -2.56683636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.035898227 meters Centerline goodness [0,1] 0.9998311630753646 Centerline is valid? [True, True] Translation: X:69.72, Y:-0.81, Z:-0.26 [[ 9.99517073e-01 -3.10542439e-02 -1.12020022e-03 6.97180713e+01] [ 3.10541794e-02 9.99517700e-01 -7.48482913e-05 -8.05665499e-01] [ 1.12198431e-03 4.00252463e-05 9.99999370e-01 -2.57581052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.065898227 meters Centerline goodness [0,1] 0.9998943855350428 Centerline is valid? [True, True] Translation: X:69.75, Y:-0.80, Z:-0.26 [[ 9.99430536e-01 -3.37347006e-02 -7.56887971e-04 6.97483777e+01] [ 3.37346720e-02 9.99430823e-01 -5.05879492e-05 -8.04444395e-01] [ 7.58163737e-04 2.50257738e-05 9.99999712e-01 -2.56711039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.095898227 meters Centerline goodness [0,1] 0.9998741109082898 Centerline is valid? [True, True] Translation: X:69.78, Y:-0.80, Z:-0.26 [[ 9.99383406e-01 -3.51044114e-02 -6.99207852e-04 6.97765677e+01] [ 3.51043873e-02 9.99383650e-01 -4.67199775e-05 -8.01284545e-01] [ 7.00416973e-04 2.21459070e-05 9.99999754e-01 -2.56605783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.125898227 meters Centerline goodness [0,1] 0.9999574802814806 Centerline is valid? [True, True] Translation: X:69.81, Y:-0.80, Z:-0.26 [[ 9.99334900e-01 -3.64501221e-02 -1.07057635e-03 6.98064444e+01] [ 3.64500663e-02 9.99335473e-01 -7.16060638e-05 -8.02136017e-01] [ 1.07247497e-03 3.25358597e-05 9.99999424e-01 -2.57088406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.155898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.84, Y:-0.80, Z:-0.26 [[ 9.99260508e-01 -3.84331962e-02 -1.15165047e-03 6.98351597e+01] [ 3.84331329e-02 9.99261171e-01 -7.70550504e-05 -8.00026280e-01] [ 1.15376107e-03 3.27365330e-05 9.99999334e-01 -2.57900886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.185898227 meters Centerline goodness [0,1] 0.9999573287817367 Centerline is valid? [True, True] Translation: X:69.86, Y:-0.80, Z:-0.26 [[ 9.99173600e-01 -4.06146050e-02 -1.60341502e-03 6.98641484e+01] [ 4.06144850e-02 9.99174886e-01 -1.07362957e-04 -8.00349461e-01] [ 1.60645252e-03 4.21523567e-05 9.99998709e-01 -2.59064831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.215898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.89, Y:-0.80, Z:-0.26 [[ 9.99068072e-01 -4.31012263e-02 -2.29611453e-03 6.98935808e+01] [ 4.31009862e-02 9.99070709e-01 -1.53972512e-04 -8.01171392e-01] [ 2.30061717e-03 5.48642199e-05 9.99997352e-01 -2.59245783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.245898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.92, Y:-0.80, Z:-0.26 [[ 9.98954978e-01 -4.55191834e-02 -4.11783681e-03 6.99229435e+01] [ 4.55184282e-02 9.98963461e-01 -2.76983383e-04 -8.02424809e-01] [ 4.12617657e-03 8.92564703e-05 9.99991483e-01 -2.61001900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.275898227 meters Centerline goodness [0,1] 0.999978988065221 Centerline is valid? [True, True] Translation: X:69.95, Y:-0.80, Z:-0.26 [[ 9.98947524e-01 -4.56320187e-02 -4.64355609e-03 6.99497835e+01] [ 4.56310571e-02 9.98958312e-01 -3.12890204e-04 -7.97241998e-01] [ 4.65299677e-03 1.00670522e-04 9.99989170e-01 -2.62090818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.305898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.98, Y:-0.79, Z:-0.26 [[ 9.98968997e-01 -4.51363493e-02 -4.86339348e-03 6.99788425e+01] [ 4.51352852e-02 9.98980830e-01 -3.28393439e-04 -7.93750139e-01] [ 4.87325933e-03 1.08544213e-04 9.99988120e-01 -2.61853543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.335898227 meters Centerline goodness [0,1] 0.999957997311828 Centerline is valid? [True, True] Translation: X:70.01, Y:-0.79, Z:-0.26 [[ 9.99019262e-01 -4.41110827e-02 -3.83739104e-03 7.00061317e+01] [ 4.41104113e-02 9.99026628e-01 -2.59450525e-04 -7.88183802e-01] [ 3.84510048e-03 8.99271752e-05 9.99992604e-01 -2.61374505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.365898227 meters Centerline goodness [0,1] 0.9999788350829665 Centerline is valid? [True, True] Translation: X:70.03, Y:-0.78, Z:-0.26 [[ 9.99101120e-01 -4.23012383e-02 -2.74901987e-03 7.00347818e+01] [ 4.23008862e-02 9.99104900e-01 -1.86128821e-04 -7.83014107e-01] [ 2.75443270e-03 6.96755372e-05 9.99996204e-01 -2.58181133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.395898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.06, Y:-0.78, Z:-0.26 [[ 9.99193857e-01 -4.01065831e-02 -1.76000474e-03 7.00639081e+01] [ 4.01064351e-02 9.99195406e-01 -1.19335390e-04 -7.79694888e-01] [ 1.76337478e-03 4.86516732e-05 9.99998444e-01 -2.56045517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.425898227 meters Centerline goodness [0,1] 0.9999363692281588 Centerline is valid? [True, True] Translation: X:70.09, Y:-0.77, Z:-0.26 [[ 9.99401030e-01 -3.45857750e-02 -1.18525632e-03 7.00921897e+01] [ 3.45857040e-02 9.99401732e-01 -8.04012023e-05 -7.66467362e-01] [ 1.18732796e-03 3.93601202e-05 9.99999294e-01 -2.55965522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.455898227 meters Centerline goodness [0,1] 0.9998936170212765 Centerline is valid? [True, True] Translation: X:70.12, Y:-0.76, Z:-0.26 [[ 9.99466040e-01 -3.26247629e-02 -1.80530095e-03 7.01212296e+01] [ 3.26245948e-02 9.99467669e-01 -1.22485713e-04 -7.60707805e-01] [ 1.80833600e-03 6.35230990e-05 9.99998363e-01 -2.56819024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.485898227 meters Centerline goodness [0,1] 0.99993580003852 Centerline is valid? [True, True] Translation: X:70.15, Y:-0.76, Z:-0.26 [[ 9.99512046e-01 -3.11507681e-02 -2.30212776e-03 7.01502543e+01] [ 3.11504906e-02 9.99514693e-01 -1.56284557e-04 -7.55054406e-01] [ 2.30587891e-03 8.44958884e-05 9.99997338e-01 -2.57467390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.515898227 meters Centerline goodness [0,1] 0.9996215704824977 Centerline is valid? [True, True] Translation: X:70.18, Y:-0.74, Z:-0.26 [[ 9.99532442e-01 -3.04817381e-02 -2.40020010e-03 7.01783740e+01] [ 3.04814344e-02 9.99535320e-01 -1.63025415e-04 -7.40910157e-01] [ 2.40405407e-03 8.97876491e-05 9.99997106e-01 -2.57873332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.545898227 meters Centerline goodness [0,1] 0.9997673926834426 Centerline is valid? [True, True] Translation: X:70.21, Y:-0.74, Z:-0.26 [[ 9.99551365e-01 -2.98456800e-02 -2.51096220e-03 7.02082682e+01] [ 2.98453453e-02 9.99554514e-01 -1.70653423e-04 -7.40619306e-01] [ 2.51493686e-03 9.56363278e-05 9.99996833e-01 -2.57348371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.575898227 meters Centerline goodness [0,1] 0.9997446699859569 Centerline is valid? [True, True] Translation: X:70.24, Y:-0.74, Z:-0.26 [[ 9.99569581e-01 -2.92459296e-02 -2.30817593e-03 7.02372621e+01] [ 2.92456451e-02 9.99572242e-01 -1.56932762e-04 -7.37652524e-01] [ 2.31177823e-03 8.93611214e-05 9.99997324e-01 -2.56338300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.605898227 meters Centerline goodness [0,1] 0.9995975002648024 Centerline is valid? [True, True] Translation: X:70.27, Y:-0.73, Z:-0.26 [[ 9.99603488e-01 -2.80822702e-02 -2.06214016e-03 7.02662469e+01] [ 2.80820405e-02 9.99605612e-01 -1.40261101e-04 -7.25407164e-01] [ 2.06526573e-03 8.22963824e-05 9.99997864e-01 -2.55401109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.635898227 meters Centerline goodness [0,1] 0.9990836245844344 Centerline is valid? [True, True] Translation: X:70.30, Y:-0.71, Z:-0.25 [[ 9.99712927e-01 -2.38766800e-02 -1.99209776e-03 7.02960636e+01] [ 2.38764573e-02 9.99714908e-01 -1.35516666e-04 -7.11457806e-01] [ 1.99476551e-03 8.79135260e-05 9.99998007e-01 -2.54217979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.665898227 meters Centerline goodness [0,1] 0.9987428887989261 Centerline is valid? [True, True] Translation: X:70.33, Y:-0.70, Z:-0.25 [[ 9.99774123e-01 -2.11597955e-02 -1.99136370e-03 7.03261787e+01] [ 2.11595676e-02 9.99776102e-01 -1.35472680e-04 -7.03628386e-01] [ 1.99378442e-03 9.33056849e-05 9.99998008e-01 -2.54361012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69589822700001 meters Centerline goodness [0,1] 0.9939219989869998 Centerline is valid? [True, True] Translation: X:70.36, Y:-0.69, Z:-0.26 [[ 9.99820144e-01 -1.88200646e-02 -2.34198891e-03 7.03550101e+01] [ 1.88197429e-02 9.99822880e-01 -1.59335239e-04 -6.90021683e-01] [ 2.34457280e-03 1.15230952e-04 9.99997245e-01 -2.55449036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.72589822700002 meters Centerline goodness [0,1] 0.9973146924683517 Centerline is valid? [True, True] Translation: X:70.39, Y:-0.69, Z:-0.26 [[ 9.99850629e-01 -1.70386963e-02 -2.89853781e-03 7.03854132e+01] [ 1.70381959e-02 9.99854820e-01 -1.97221960e-04 -6.87042692e-01] [ 2.90147741e-03 1.47806646e-04 9.99995780e-01 -2.56759184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.755898227 meters Centerline goodness [0,1] 0.9878989754184762 Centerline is valid? [True, True] Translation: X:70.41, Y:-0.67, Z:-0.26 [[ 9.99862980e-01 -1.62186264e-02 -3.31323724e-03 7.04137410e+01] [ 1.62179683e-02 9.99868455e-01 -2.25406809e-04 -6.74314130e-01] [ 3.31645719e-03 1.71641947e-04 9.99994486e-01 -2.57865647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.785898227 meters Centerline goodness [0,1] 0.990393383522426 Centerline is valid? [True, True] Translation: X:70.44, Y:-0.67, Z:-0.26 [[ 9.99860805e-01 -1.62152031e-02 -3.92922435e-03 7.04440577e+01] [ 1.62142776e-02 9.99868504e-01 -2.67280882e-04 -6.70092345e-01] [ 3.93304168e-03 2.03534143e-04 9.99992245e-01 -2.58445286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.815898227 meters Centerline goodness [0,1] 0.993868497049345 Centerline is valid? [True, True] Translation: X:70.47, Y:-0.66, Z:-0.26 [[ 9.99820836e-01 -1.84381568e-02 -4.28147027e-03 7.04735550e+01] [ 1.84370783e-02 9.99829980e-01 -2.91241998e-04 -6.63507875e-01] [ 4.28611230e-03 2.12252015e-04 9.99990792e-01 -2.60018540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.845898227 meters Centerline goodness [0,1] 0.9977958013225192 Centerline is valid? [True, True] Translation: X:70.50, Y:-0.66, Z:-0.26 [[ 9.99796391e-01 -1.97049301e-02 -4.34646771e-03 7.05042146e+01] [ 1.97038305e-02 9.99805817e-01 -2.95663373e-04 -6.62664561e-01] [ 4.35144973e-03 2.09961110e-04 9.99990510e-01 -2.59622305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.875898227 meters Centerline goodness [0,1] 0.998086043000234 Centerline is valid? [True, True] Translation: X:70.53, Y:-0.66, Z:-0.26 [[ 9.99773319e-01 -2.08494080e-02 -4.31422512e-03 7.05341610e+01] [ 2.08483351e-02 9.99782607e-01 -2.93502679e-04 -6.58875813e-01] [ 4.31940659e-03 2.03491737e-04 9.99990651e-01 -2.59413140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.905898227 meters Centerline goodness [0,1] 0.9988677632984405 Centerline is valid? [True, True] Translation: X:70.56, Y:-0.66, Z:-0.26 [[ 9.99740746e-01 -2.22482617e-02 -4.84310154e-03 7.05642995e+01] [ 2.22469258e-02 9.99752452e-01 -3.29542020e-04 -6.56415741e-01] [ 4.84923437e-03 2.21712464e-04 9.99988218e-01 -2.60492264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.935898227 meters Centerline goodness [0,1] 0.9993016611998731 Centerline is valid? [True, True] Translation: X:70.59, Y:-0.65, Z:-0.26 [[ 9.99697667e-01 -2.38870840e-02 -5.82938490e-03 7.05940053e+01] [ 2.38851762e-02 9.99714630e-01 -3.96674048e-04 -6.54017174e-01] [ 5.83719676e-03 2.57318235e-04 9.99982930e-01 -2.62005848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.965898227 meters Centerline goodness [0,1] 0.9994739057239057 Centerline is valid? [True, True] Translation: X:70.62, Y:-0.65, Z:-0.26 [[ 9.99643280e-01 -2.59615153e-02 -6.26991369e-03 7.06237888e+01] [ 2.59593483e-02 9.99662908e-01 -4.26761502e-04 -6.53774956e-01] [ 6.27887953e-03 2.63846394e-04 9.99980253e-01 -2.63659034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.995898227 meters Centerline goodness [0,1] 0.9993034006712684 Centerline is valid? [True, True] Translation: X:70.65, Y:-0.65, Z:-0.26 [[ 9.99575708e-01 -2.83810181e-02 -6.55150657e-03 7.06527519e+01] [ 2.83787030e-02 9.99597144e-01 -4.46082239e-04 -6.48522605e-01] [ 6.56152753e-03 2.59969710e-04 9.99978439e-01 -2.64679684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.025898227 meters Centerline goodness [0,1] 0.9993526832324076 Centerline is valid? [True, True] Translation: X:70.68, Y:-0.65, Z:-0.27 [[ 9.99530000e-01 -2.99831005e-02 -6.38693755e-03 7.06830529e+01] [ 2.99809323e-02 9.99550376e-01 -4.34965597e-04 -6.48441404e-01] [ 6.39710745e-03 2.43274821e-04 9.99979509e-01 -2.65291155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.055898227 meters Centerline goodness [0,1] 0.9994499799031118 Centerline is valid? [True, True] Translation: X:70.71, Y:-0.65, Z:-0.27 [[ 9.99490235e-01 -3.12423948e-02 -6.57138052e-03 7.07132521e+01] [ 3.12401263e-02 9.99511808e-01 -4.47600100e-04 -6.48973130e-01] [ 6.58215652e-03 2.42081172e-04 9.99978308e-01 -2.65763211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.085898227 meters Centerline goodness [0,1] 0.9997267816985772 Centerline is valid? [True, True] Translation: X:70.74, Y:-0.65, Z:-0.27 [[ 9.99480559e-01 -3.14161083e-02 -7.18612696e-03 7.07435648e+01] [ 3.14133989e-02 9.99506357e-01 -4.89620507e-04 -6.51917560e-01] [ 7.19796155e-03 2.63625506e-04 9.99974060e-01 -2.65762211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.115898227 meters Centerline goodness [0,1] 0.9997025959128181 Centerline is valid? [True, True] Translation: X:70.77, Y:-0.65, Z:-0.27 [[ 9.99511707e-01 -3.03071696e-02 -7.60412191e-03 7.07724839e+01] [ 3.03041020e-02 9.99540591e-01 -5.18344697e-04 -6.47943897e-01] [ 7.61633806e-03 2.87655507e-04 9.99970954e-01 -2.65166603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.145898227 meters Centerline goodness [0,1] 0.9996010079798404 Centerline is valid? [True, True] Translation: X:70.80, Y:-0.64, Z:-0.26 [[ 9.99563168e-01 -2.85784558e-02 -7.53294228e-03 7.08014714e+01] [ 2.85753944e-02 9.99591508e-01 -5.13748750e-04 -6.42818375e-01] [ 7.54454728e-03 2.98267531e-04 9.99971495e-01 -2.64580970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.175898227 meters Centerline goodness [0,1] 0.999658046591152 Centerline is valid? [True, True] Translation: X:70.83, Y:-0.64, Z:-0.26 [[ 9.99616186e-01 -2.67334998e-02 -7.26637178e-03 7.08306535e+01] [ 2.67306007e-02 9.99642551e-01 -4.95819037e-04 -6.41201775e-01] [ 7.27702940e-03 3.01394252e-04 9.99973477e-01 -2.63729985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.205898227 meters Centerline goodness [0,1] 0.9990410024720825 Centerline is valid? [True, True] Translation: X:70.86, Y:-0.63, Z:-0.26 [[ 9.99677995e-01 -2.45239743e-02 -6.51774811e-03 7.08589934e+01] [ 2.45215935e-02 9.99699201e-01 -4.44957879e-04 -6.32497967e-01] [ 6.52669972e-03 2.84989030e-04 9.99978660e-01 -2.63035308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.235898227 meters Centerline goodness [0,1] 0.987920025122998 Centerline is valid? [True, True] Translation: X:70.89, Y:-0.62, Z:-0.26 [[ 9.99795024e-01 -1.95753702e-02 -5.16869489e-03 7.08874769e+01] [ 1.95738064e-02 9.99808352e-01 -3.52981757e-04 -6.24364322e-01] [ 5.17461407e-03 2.51738371e-04 9.99986580e-01 -2.61370718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.265898227 meters Centerline goodness [0,1] 0.971110640101738 Centerline is valid? [True, True] Translation: X:70.92, Y:-0.62, Z:-0.26 [[ 9.99842878e-01 -1.70169732e-02 -4.96407183e-03 7.09178620e+01] [ 1.70154991e-02 9.99855168e-01 -3.39039935e-04 -6.19341514e-01] [ 4.96912231e-03 2.54520505e-04 9.99987621e-01 -2.60397983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.295898227 meters Centerline goodness [0,1] 0.9396701661742209 Centerline is valid? [True, False] Translation: X:70.92, Y:-0.62, Z:-0.26 [[ 9.99844644e-01 -1.69047814e-02 -4.99156537e-03 7.09179531e+01] [ 1.69024661e-02 9.99857015e-01 -5.05674882e-04 -6.18111167e-01] [ 4.99939997e-03 4.21226558e-04 9.99987414e-01 -2.60461481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.325898227 meters Centerline goodness [0,1] 0.9902138455962305 Centerline is valid? [False, True] Translation: X:70.87, Y:-0.62, Z:-0.26 [[ 9.99923414e-01 -1.14445563e-02 -4.71039996e-03 7.08746008e+01] [ 1.13826812e-02 9.99851232e-01 -1.29594603e-02 -6.19520076e-01] [ 4.85801447e-03 1.29048508e-02 9.99904928e-01 -2.59906234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.355898227 meters Centerline goodness [0,1] 0.985125760735413 Centerline is valid? [True, True] Translation: X:70.91, Y:-0.62, Z:-0.26 [[ 9.99949640e-01 -8.35047825e-03 -5.56667583e-03 7.09050818e+01] [ 8.34851565e-03 9.99965080e-01 -3.75705438e-04 -6.20216242e-01] [ 5.56961876e-03 3.29213037e-04 9.99984435e-01 -2.63628614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.385898227 meters Centerline goodness [0,1] 0.969561362772829 Centerline is valid? [True, True] Translation: X:70.93, Y:-0.62, Z:-0.26 [[ 9.99964707e-01 -6.80033535e-03 -4.93364481e-03 7.09337291e+01] [ 6.79877408e-03 9.99976833e-01 -3.33156976e-04 -6.16366920e-01] [ 4.93579609e-03 2.99602482e-04 9.99987774e-01 -2.61308267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.415898227 meters Centerline goodness [0,1] 0.9570045437173553 Centerline is valid? [True, True] Translation: X:70.96, Y:-0.61, Z:-0.26 [[ 9.99975800e-01 -5.09951858e-03 -4.73230689e-03 7.09628757e+01] [ 5.09806221e-03 9.99986954e-01 -3.19761814e-04 -6.12540050e-01] [ 4.73387578e-03 2.95628481e-04 9.99988751e-01 -2.60416342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44589822700001 meters Centerline goodness [0,1] 0.8174542682926829 Centerline is valid? [True, False] Translation: X:70.96, Y:-0.61, Z:-0.26 [[ 9.99976116e-01 -5.07915839e-03 -4.68715806e-03 7.09626589e+01] [ 5.07656029e-03 9.99986954e-01 -5.66033989e-04 -6.11017860e-01] [ 4.68997189e-03 5.42225829e-04 9.99988855e-01 -2.60331492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47589822700002 meters Centerline goodness [0,1] 0.7436812432694947 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.61, Z:-0.26 [[ 9.99980585e-01 -3.15826740e-03 -5.37166176e-03 7.09676762e+01] [ 3.16475720e-03 9.99994272e-01 1.20008262e-03 -6.10951817e-01] [ 5.36784081e-03 -1.21705933e-03 9.99984852e-01 -2.63549038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.505898227 meters Centerline goodness [0,1] 0.7983899858807663 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.61, Z:-0.26 [[ 9.99980822e-01 -3.22559888e-03 -5.28692120e-03 7.09675441e+01] [ 3.22945219e-03 9.99994526e-01 7.20461603e-04 -6.08333401e-01] [ 5.28456834e-03 -7.37521645e-04 9.99985765e-01 -2.63798648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.535898227 meters Centerline goodness [0,1] 0.7344820959579783 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.61, Z:-0.27 [[ 9.99981748e-01 -1.09998408e-03 -5.94080830e-03 7.09266566e+01] [ 1.10458878e-03 9.99999092e-01 7.71870479e-04 -6.06048507e-01] [ 5.93995386e-03 -7.78418541e-04 9.99982055e-01 -2.66340383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.565898227 meters Centerline goodness [0,1] 0.7344820959579783 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.61, Z:-0.27 [[ 9.99981748e-01 -1.09998408e-03 -5.94080830e-03 7.09266566e+01] [ 1.10458878e-03 9.99999092e-01 7.71870479e-04 -6.06048507e-01] [ 5.93995386e-03 -7.78418541e-04 9.99982055e-01 -2.66340383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.595898227 meters Centerline goodness [0,1] 0.5497697112452418 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.60, Z:-0.27 [[ 9.99986494e-01 8.94287032e-05 -5.19656621e-03 7.09676795e+01] [-9.22475244e-05 9.99999849e-01 -5.42202044e-04 -5.96951628e-01] [ 5.19651694e-03 5.42674092e-04 9.99986351e-01 -2.66105130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.625898227 meters Centerline goodness [0,1] 0.6664126177622526 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.59, Z:-0.27 [[ 9.99985617e-01 -1.34221357e-04 -5.36175134e-03 7.09684048e+01] [ 1.27950326e-04 9.99999307e-01 -1.16991209e-03 -5.93877746e-01] [ 5.36190466e-03 1.16920923e-03 9.99984941e-01 -2.66528863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.655898227 meters Centerline goodness [0,1] 0.6698055184407542 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.59, Z:-0.27 [[ 9.99984541e-01 -3.42836958e-04 -5.54977501e-03 7.09693531e+01] [ 3.33626486e-04 9.99998566e-01 -1.66045254e-03 -5.91537588e-01] [ 5.55033631e-03 1.65857532e-03 9.99983221e-01 -2.67185586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.685898227 meters Centerline goodness [0,1] 0.6620665028252148 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.59, Z:-0.27 [[ 9.99983141e-01 -5.24648655e-04 -5.78293759e-03 7.09702403e+01] [ 5.12846173e-04 9.99997783e-01 -2.04220864e-03 -5.89754728e-01] [ 5.78399621e-03 2.03920845e-03 9.99981193e-01 -2.67465625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.715898227 meters Centerline goodness [0,1] 0.7376816506376308 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.59, Z:-0.27 [[ 9.99982817e-01 -6.47193102e-04 -5.82641688e-03 7.09703943e+01] [ 6.34283972e-04 9.99997341e-01 -2.21719600e-03 -5.89047750e-01] [ 5.82783634e-03 2.21346229e-03 9.99980568e-01 -2.67515726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.745898227 meters Centerline goodness [0,1] 0.7117442228553339 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.59, Z:-0.27 [[ 9.99982791e-01 -9.23029456e-04 -5.79354912e-03 7.09700644e+01] [ 9.07451860e-04 9.99995968e-01 -2.69083600e-03 -5.86904443e-01] [ 5.79600948e-03 2.68553233e-03 9.99979597e-01 -2.67174364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.775898227 meters Centerline goodness [0,1] 0.7835916903933354 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.58, Z:-0.27 [[ 9.99982552e-01 -1.09598911e-03 -5.80475374e-03 7.09700657e+01] [ 1.07786330e-03 9.99994537e-01 -3.12478799e-03 -5.84771339e-01] [ 5.80814677e-03 3.11847674e-03 9.99978270e-01 -2.67128385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.805898227 meters Centerline goodness [0,1] 0.7647234870347805 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.59, Z:-0.27 [[ 9.99980737e-01 -2.24842832e-04 -6.20284117e-03 7.09273835e+01] [ 2.08135016e-04 9.99996349e-01 -2.69408862e-03 -5.85956481e-01] [ 6.20342427e-03 2.69274569e-03 9.99977133e-01 -2.68248230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.835898227 meters Centerline goodness [0,1] 0.6774938585256263 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.58, Z:-0.27 [[ 9.99982361e-01 1.04723614e-03 -5.84637001e-03 7.09699364e+01] [-1.05590756e-03 9.99998347e-01 -1.48032511e-03 -5.81541848e-01] [ 5.84481009e-03 1.48647223e-03 9.99981814e-01 -2.67725634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.865898227 meters Centerline goodness [0,1] 0.7319412252535777 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.58, Z:-0.27 [[ 9.99980697e-01 1.11392116e-03 -6.11263904e-03 7.09270930e+01] [-1.13131715e-03 9.99995318e-01 -2.84318475e-03 -5.80722928e-01] [ 6.10944334e-03 2.85004520e-03 9.99977276e-01 -2.68693335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.895898227 meters Centerline goodness [0,1] 0.6659136970106401 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.58, Z:-0.27 [[ 9.99972355e-01 2.84457058e-03 -6.87008199e-03 7.09326110e+01] [-2.85437217e-03 9.99994922e-01 -1.41732193e-03 -5.78396841e-01] [ 6.86601543e-03 1.43689252e-03 9.99975396e-01 -2.72229576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.925898227 meters Centerline goodness [0,1] 0.6735933100811027 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.57, Z:-0.27 [[ 9.99974327e-01 2.57799709e-03 -6.68575443e-03 7.09317038e+01] [-2.59808205e-03 9.99992133e-01 -2.99719901e-03 -5.69630298e-01] [ 6.67797507e-03 3.01449220e-03 9.99973158e-01 -2.71833793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.955898227 meters Centerline goodness [0,1] 0.6735933100811027 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.57, Z:-0.27 [[ 9.99974327e-01 2.57799709e-03 -6.68575443e-03 7.09317038e+01] [-2.59808205e-03 9.99992133e-01 -2.99719901e-03 -5.69630298e-01] [ 6.67797507e-03 3.01449220e-03 9.99973158e-01 -2.71833793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.985898227 meters Centerline goodness [0,1] 0.7009648356797512 Centerline is valid? [False, False] Translation: X:70.89, Y:-0.57, Z:-0.27 [[ 9.99979185e-01 2.96631003e-03 -5.72973813e-03 7.08868033e+01] [-2.99136376e-03 9.99985982e-01 -4.36896874e-03 -5.67133195e-01] [ 5.71669809e-03 4.38601753e-03 9.99974041e-01 -2.72354717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.015898227 meters Centerline goodness [0,1] 0.6486719703666288 Centerline is valid? [False, False] Translation: X:70.91, Y:-0.56, Z:-0.27 [[ 9.99978377e-01 2.77072089e-03 -5.96389545e-03 7.09063072e+01] [-2.73452044e-03 9.99977841e-01 6.06955296e-03 -5.63367817e-01] [ 5.98058033e-03 -6.05311332e-03 9.99963796e-01 -2.70249300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.045898227 meters Centerline goodness [0,1] 0.6908666100254885 Centerline is valid? [False, False] Translation: X:70.91, Y:-0.56, Z:-0.27 [[ 9.99980225e-01 2.38643890e-03 -5.81843677e-03 7.09055921e+01] [-2.35666304e-03 9.99984121e-01 5.11899682e-03 -5.58871389e-01] [ 5.83056055e-03 -5.10518350e-03 9.99969970e-01 -2.69943791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.075898227 meters Centerline goodness [0,1] 0.6766142622496214 Centerline is valid? [False, False] Translation: X:70.91, Y:-0.55, Z:-0.27 [[ 9.99981207e-01 2.01504234e-03 -5.79014910e-03 7.09052151e+01] [-1.99042542e-03 9.99988970e-01 4.25414056e-03 -5.54891924e-01] [ 5.79865751e-03 -4.24253575e-03 9.99974188e-01 -2.69569207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.105898227 meters Centerline goodness [0,1] 0.6790594685786588 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.55, Z:-0.27 [[ 9.99995616e-01 2.55739180e-03 -1.49241753e-03 7.09255464e+01] [-2.56616510e-03 9.99979263e-01 -5.90658336e-03 -5.46438232e-01] [ 1.47728114e-03 5.91038726e-03 9.99981442e-01 -2.71865345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.135898227 meters Centerline goodness [0,1] 0.6757494918699187 Centerline is valid? [False, False] Translation: X:70.92, Y:-0.54, Z:-0.27 [[ 9.99988501e-01 4.71984049e-03 -8.49352976e-04 7.09209163e+01] [-4.72290238e-03 9.99982223e-01 -3.63981247e-03 -5.44098970e-01] [ 8.32158543e-04 3.64378202e-03 9.99993015e-01 -2.68822187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.165898227 meters Centerline goodness [0,1] 0.6423980613212517 Centerline is valid? [False, False] Translation: X:70.92, Y:-0.54, Z:-0.27 [[ 9.99966793e-01 8.09401018e-03 -9.48691096e-04 7.09206523e+01] [-8.09501127e-03 9.99966677e-01 -1.05618976e-03 -5.36381249e-01] [ 9.40110672e-04 1.06383435e-03 9.99998992e-01 -2.67897928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19589822700001 meters Centerline goodness [0,1] 0.6503641160949868 Centerline is valid? [False, False] Translation: X:70.92, Y:-0.53, Z:-0.27 [[ 9.99970528e-01 7.61639074e-03 -9.66001189e-04 7.09204144e+01] [-7.61856140e-03 9.99968416e-01 -2.26363997e-03 -5.30599575e-01] [ 9.48729913e-04 2.27093279e-03 9.99996971e-01 -2.67510909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22589822700002 meters Centerline goodness [0,1] 0.6473177615366794 Centerline is valid? [False, False] Translation: X:70.92, Y:-0.53, Z:-0.27 [[ 9.99973638e-01 7.19062096e-03 -1.00924287e-03 7.09205060e+01] [-7.19393668e-03 9.99968608e-01 -3.32110074e-03 -5.25534087e-01] [ 9.85330409e-04 3.32827362e-03 9.99993976e-01 -2.67521724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.255898227 meters Centerline goodness [0,1] 0.640856741278399 Centerline is valid? [False, False] Translation: X:70.92, Y:-0.52, Z:-0.27 [[ 9.99976270e-01 6.80824991e-03 -1.05238727e-03 7.09207933e+01] [-6.81266206e-03 9.99967773e-01 -4.24738109e-03 -5.21148620e-01] [ 1.02343612e-03 4.25444985e-03 9.99990426e-01 -2.67849838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.285898227 meters Centerline goodness [0,1] 0.6477355033871586 Centerline is valid? [False, False] Translation: X:70.90, Y:-0.52, Z:-0.27 [[ 9.99973433e-01 5.49582969e-03 -4.78834173e-03 7.09025926e+01] [-5.47242090e-03 9.99973079e-01 4.88816800e-03 -5.20440593e-01] [ 4.81507736e-03 -4.86183431e-03 9.99976589e-01 -2.67822478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.315898227 meters Centerline goodness [0,1] 0.6524682711490302 Centerline is valid? [False, False] Translation: X:70.90, Y:-0.52, Z:-0.27 [[ 9.99975345e-01 5.04281166e-03 -4.88663577e-03 7.09026511e+01] [-5.02350494e-03 9.99979560e-01 3.95517404e-03 -5.16195921e-01] [ 4.90648109e-03 -3.93052849e-03 9.99980238e-01 -2.67510911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.345898227 meters Centerline goodness [0,1] 0.7392797736061005 Centerline is valid? [False, False] Translation: X:70.86, Y:-0.51, Z:-0.27 [[ 9.99982442e-01 2.05969530e-03 -5.55637019e-03 7.08606948e+01] [-2.07422732e-03 9.99994440e-01 -2.61088701e-03 -5.06572726e-01] [ 5.55096167e-03 2.62236634e-03 9.99981155e-01 -2.67323221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.375898227 meters Centerline goodness [0,1] 0.7008151999486488 Centerline is valid? [False, False] Translation: X:70.88, Y:-0.50, Z:-0.27 [[ 9.99976076e-01 -1.22713221e-04 -6.91602977e-03 7.08837900e+01] [ 1.61978030e-04 9.99983872e-01 5.67708839e-03 -5.02959950e-01] [ 6.91522158e-03 -5.67807282e-03 9.99959969e-01 -2.67211797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.405898227 meters Centerline goodness [0,1] 0.6214204855142342 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.50, Z:-0.27 [[ 9.99976440e-01 -1.61937403e-03 -6.67062981e-03 7.09266543e+01] [ 1.64506493e-03 9.99991245e-01 3.84766154e-03 -4.95242004e-01] [ 6.66434061e-03 -3.85854450e-03 9.99970349e-01 -2.67164189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.435898227 meters Centerline goodness [0,1] 0.6945744680851064 Centerline is valid? [False, False] Translation: X:70.88, Y:-0.49, Z:-0.27 [[ 9.99975262e-01 -2.65704530e-03 -6.51266175e-03 7.08830593e+01] [ 2.66156031e-03 9.99996224e-01 6.84698236e-04 -4.93696476e-01] [ 6.51081788e-03 -7.02015140e-04 9.99978558e-01 -2.67648735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.465898227 meters Centerline goodness [0,1] 0.6323903135698234 Centerline is valid? [False, False] Translation: X:70.90, Y:-0.49, Z:-0.27 [[ 9.99995821e-01 -2.20847081e-03 -1.86542437e-03 7.09028099e+01] [ 2.19117420e-03 9.99955058e-01 -9.22391230e-03 -4.85564573e-01] [ 1.88571128e-03 9.21978629e-03 9.99955719e-01 -2.69517987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.495898227 meters Centerline goodness [0,1] 0.7099069629126131 Centerline is valid? [False, False] Translation: X:70.88, Y:-0.49, Z:-0.27 [[ 9.99980953e-01 -3.31441143e-03 -5.20654480e-03 7.08829711e+01] [ 3.31480419e-03 9.99994504e-01 6.68092501e-05 -4.86429876e-01] [ 5.20629475e-03 -8.40666542e-05 9.99986444e-01 -2.68699210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.525898227 meters Centerline goodness [0,1] 0.706569810917637 Centerline is valid? [False, False] Translation: X:70.88, Y:-0.48, Z:-0.27 [[ 9.99979699e-01 -3.81813617e-03 -5.10140766e-03 7.08823387e+01] [ 3.81144726e-03 9.99991865e-01 -1.32026772e-03 -4.79624056e-01] [ 5.10640712e-03 1.30079717e-03 9.99986116e-01 -2.68356928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.555898227 meters Centerline goodness [0,1] 0.6848659811193527 Centerline is valid? [False, False] Translation: X:70.90, Y:-0.47, Z:-0.27 [[ 9.99996456e-01 -2.51977366e-03 -8.59491883e-04 7.09023660e+01] [ 2.51057121e-03 9.99941249e-01 -1.05449562e-02 -4.71305997e-01] [ 8.86012290e-04 1.05427610e-02 9.99944031e-01 -2.69995844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.585898227 meters Centerline goodness [0,1] 0.6877303619745616 Centerline is valid? [False, False] Translation: X:70.88, Y:-0.47, Z:-0.27 [[ 9.99989118e-01 -1.66838377e-03 -4.35659908e-03 7.08842127e+01] [ 1.67212619e-03 9.99998236e-01 8.55522324e-04 -4.72023219e-01] [ 4.35516405e-03 -8.62797798e-04 9.99990144e-01 -2.70169115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.615898227 meters Centerline goodness [0,1] 0.6810292358385628 Centerline is valid? [False, False] Translation: X:70.92, Y:-0.46, Z:-0.27 [[ 9.99993951e-01 -1.90496021e-03 -2.91023195e-03 7.09235679e+01] [ 1.90439578e-03 9.99998167e-01 -1.96705106e-04 -4.62885201e-01] [ 2.91060133e-03 1.91161682e-04 9.99995746e-01 -2.69026669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.645898227 meters Centerline goodness [0,1] 0.6717413580376002 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.46, Z:-0.27 [[ 9.99993689e-01 -6.11562105e-04 -3.49973003e-03 7.09278819e+01] [ 6.13799811e-04 9.99999608e-01 6.38355735e-04 -4.59780572e-01] [ 3.49933827e-03 -6.40499840e-04 9.99993672e-01 -2.71689065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.675898227 meters Centerline goodness [0,1] 0.6743389246226931 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.45, Z:-0.27 [[ 9.99994227e-01 -7.61058636e-04 -3.31168306e-03 7.09269362e+01] [ 7.58105364e-04 9.99999314e-01 -8.92937488e-04 -4.51033464e-01] [ 3.31236037e-03 8.90421728e-04 9.99994118e-01 -2.71276714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.705898227 meters Centerline goodness [0,1] 0.6690566598078106 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.45, Z:-0.27 [[ 9.99994256e-01 -1.12120217e-03 -3.19854556e-03 7.09264042e+01] [ 1.11495981e-03 9.99997472e-01 -1.95273908e-03 -4.45811358e-01] [ 3.20072689e-03 1.94916162e-03 9.99992978e-01 -2.71111073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.735898227 meters Centerline goodness [0,1] 0.6899800416335815 Centerline is valid? [False, False] Translation: X:70.88, Y:-0.44, Z:-0.27 [[ 9.99992517e-01 2.01089759e-05 -3.86849147e-03 7.08848719e+01] [-3.22003384e-05 9.99995115e-01 -3.12556455e-03 -4.44235272e-01] [ 3.86840972e-03 3.12566573e-03 9.99987633e-01 -2.72267267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.765898227 meters Centerline goodness [0,1] 0.6772812075983718 Centerline is valid? [False, False] Translation: X:70.91, Y:-0.44, Z:-0.28 [[ 9.99995815e-01 -1.91562132e-03 -2.16782250e-03 7.09069472e+01] [ 1.92803396e-03 9.99981677e-01 5.73832589e-03 -4.39614796e-01] [ 2.15679032e-03 -5.74248152e-03 9.99981186e-01 -2.75386668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.795898227 meters Centerline goodness [0,1] 0.6743102754663448 Centerline is valid? [False, False] Translation: X:70.91, Y:-0.44, Z:-0.27 [[ 9.99995009e-01 -2.27366640e-03 -2.19373087e-03 7.09067457e+01] [ 2.28470821e-03 9.99984669e-01 5.04404207e-03 -4.36529697e-01] [ 2.18222877e-03 -5.04902893e-03 9.99984872e-01 -2.74997895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.825898227 meters Centerline goodness [0,1] 0.6791597497126804 Centerline is valid? [False, False] Translation: X:70.91, Y:-0.43, Z:-0.27 [[ 9.99994181e-01 -2.55659745e-03 -2.25870922e-03 7.09066907e+01] [ 2.56692773e-03 9.99986206e-01 4.58253355e-03 -4.34627640e-01] [ 2.24696237e-03 -4.58830483e-03 9.99986949e-01 -2.74624841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.855898227 meters Centerline goodness [0,1] 0.693148812574748 Centerline is valid? [False, False] Translation: X:70.91, Y:-0.43, Z:-0.27 [[ 9.99992116e-01 -3.05972148e-03 -2.53087582e-03 7.09072677e+01] [ 3.06966814e-03 9.99987544e-01 3.93562137e-03 -4.32193706e-01] [ 2.51880239e-03 -3.94335930e-03 9.99989053e-01 -2.74286605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.885898227 meters Centerline goodness [0,1] 0.7019797945132022 Centerline is valid? [False, False] Translation: X:70.91, Y:-0.43, Z:-0.27 [[ 9.99990660e-01 -3.31796191e-03 -2.76960057e-03 7.09080494e+01] [ 3.32778485e-03 9.99988163e-01 3.54966071e-03 -4.30630803e-01] [ 2.75779015e-03 -3.55884419e-03 9.99989865e-01 -2.74384508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.915898227 meters Centerline goodness [0,1] 0.6971176197117619 Centerline is valid? [False, False] Translation: X:70.95, Y:-0.42, Z:-0.27 [[ 9.99979593e-01 -5.94182272e-03 -2.34704885e-03 7.09493939e+01] [ 5.94497803e-03 9.99981431e-01 1.33969169e-03 -4.23426641e-01] [ 2.33904505e-03 -1.35361750e-03 9.99996348e-01 -2.73544458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94589822700001 meters Centerline goodness [0,1] 0.7143887180574701 Centerline is valid? [False, False] Translation: X:70.95, Y:-0.42, Z:-0.27 [[ 9.99978054e-01 -6.16552324e-03 -2.42450198e-03 7.09495170e+01] [ 6.16804177e-03 9.99980444e-01 1.03268042e-03 -4.22202807e-01] [ 2.41808755e-03 -1.04761218e-03 9.99996528e-01 -2.73379562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97589822700002 meters Centerline goodness [0,1] 0.7164037655581998 Centerline is valid? [False, False] Translation: X:70.95, Y:-0.42, Z:-0.27 [[ 9.99976863e-01 -6.35563723e-03 -2.42455067e-03 7.09492013e+01] [ 6.35793430e-03 9.99979345e-01 9.40895296e-04 -4.22117344e-01] [ 2.41852060e-03 -9.56288661e-04 9.99996618e-01 -2.72879036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.005898227 meters Centerline goodness [0,1] 0.7106333039942998 Centerline is valid? [False, False] Translation: X:70.95, Y:-0.42, Z:-0.27 [[ 9.99975917e-01 -6.50260370e-03 -2.42534074e-03 7.09487013e+01] [ 6.50520213e-03 9.99978274e-01 1.06502017e-03 -4.23206698e-01] [ 2.41836264e-03 -1.08077186e-03 9.99996492e-01 -2.72070875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.035898227 meters Centerline goodness [0,1] 0.778325331528521 Centerline is valid? [False, False] Translation: X:70.95, Y:-0.42, Z:-0.27 [[ 9.99937724e-01 -1.08958145e-02 -2.41433436e-03 7.09481761e+01] [ 1.08884871e-02 9.99936135e-01 -3.02763727e-03 -4.24707511e-01] [ 2.44716875e-03 3.00116027e-03 9.99992502e-01 -2.70990716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.065898227 meters Centerline goodness [0,1] 0.864402883711211 Centerline is valid? [False, False] Translation: X:70.95, Y:-0.42, Z:-0.27 [[ 9.99881417e-01 -1.51881385e-02 -2.54401022e-03 7.09488125e+01] [ 1.51690737e-02 9.99857908e-01 -7.35274868e-03 -4.24504640e-01] [ 2.65532330e-03 7.31328649e-03 9.99969732e-01 -2.71054365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.095898227 meters Centerline goodness [0,1] 0.927345878746594 Centerline is valid? [False, False] Translation: X:70.91, Y:-0.43, Z:-0.27 [[ 9.99887427e-01 -1.42910824e-02 -4.57142998e-03 7.09109221e+01] [ 1.42643703e-02 9.99881300e-01 -5.82346620e-03 -4.32921138e-01] [ 4.65411099e-03 5.75760207e-03 9.99972594e-01 -2.73464970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.125898227 meters Centerline goodness [0,1] 0.9508265856950068 Centerline is valid? [False, True] Translation: X:70.91, Y:-0.44, Z:-0.27 [[ 9.99888821e-01 -1.41092999e-02 -4.82416313e-03 7.09120766e+01] [ 1.40848083e-02 9.99887932e-01 -5.07367446e-03 -4.36720367e-01] [ 4.89520849e-03 5.00516296e-03 9.99975492e-01 -2.74019774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.155898227 meters Centerline goodness [0,1] 0.9472900098621398 Centerline is valid? [True, False] Translation: X:70.91, Y:-0.44, Z:-0.27 [[ 9.99890349e-01 -1.39553410e-02 -4.95367035e-03 7.09125616e+01] [ 1.39332362e-02 9.99892940e-01 -4.46911404e-03 -4.39826519e-01] [ 5.01550802e-03 4.39960334e-03 9.99977744e-01 -2.74046187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.185898227 meters Centerline goodness [0,1] 0.9740511803548448 Centerline is valid? [False, True] Translation: X:70.91, Y:-0.45, Z:-0.27 [[ 9.99896046e-01 -1.35206503e-02 -5.00890030e-03 7.09130279e+01] [ 1.35039484e-02 9.99903194e-01 -3.35339421e-03 -4.45235381e-01] [ 5.05375549e-03 3.28540568e-03 9.99981833e-01 -2.74393116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.215898227 meters Centerline goodness [0,1] 0.9220057462827422 Centerline is valid? [True, False] Translation: X:70.91, Y:-0.45, Z:-0.27 [[ 9.99899202e-01 -1.32517784e-02 -5.09663924e-03 7.09136290e+01] [ 1.32376639e-02 9.99908477e-01 -2.79320232e-03 -4.47723330e-01] [ 5.13318767e-03 2.72545317e-03 9.99983111e-01 -2.74885212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.245898227 meters Centerline goodness [0,1] 0.9824650787585446 Centerline is valid? [False, True] Translation: X:70.91, Y:-0.45, Z:-0.28 [[ 9.99903215e-01 -1.29312442e-02 -5.13256190e-03 7.09140464e+01] [ 1.29202704e-02 9.99914185e-01 -2.16550046e-03 -4.50515438e-01] [ 5.16012406e-03 2.09897678e-03 9.99984484e-01 -2.75328107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.275898227 meters Centerline goodness [0,1] 0.9544844339321102 Centerline is valid? [True, True] Translation: X:70.94, Y:-0.45, Z:-0.28 [[ 9.99918660e-01 -1.14894929e-02 -5.53754389e-03 7.09438010e+01] [ 1.14876495e-02 9.99933948e-01 -3.64589827e-04 -4.48602178e-01] [ 5.54136708e-03 3.00946809e-04 9.99984601e-01 -2.76222322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.305898227 meters Centerline goodness [0,1] 0.9376197797106333 Centerline is valid? [True, False] Translation: X:70.94, Y:-0.45, Z:-0.28 [[ 9.99922731e-01 -1.11052780e-02 -5.58615887e-03 7.09441960e+01] [ 1.11073969e-02 9.99938250e-01 3.48431197e-04 -4.51751016e-01] [ 5.58194450e-03 -4.10451957e-04 9.99984337e-01 -2.76552859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.335898227 meters Centerline goodness [0,1] 0.9062737321745 Centerline is valid? [False, False] Translation: X:70.94, Y:-0.45, Z:-0.28 [[ 9.99927079e-01 -1.07007322e-02 -5.59732974e-03 7.09443574e+01] [ 1.07067621e-02 9.99942131e-01 1.04842504e-03 -4.54754591e-01] [ 5.58578691e-03 -1.10827786e-03 9.99983785e-01 -2.76703048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.365898227 meters Centerline goodness [0,1] 0.7974239123537996 Centerline is valid? [False, False] Translation: X:70.94, Y:-0.46, Z:-0.27 [[ 9.99953755e-01 -8.40268255e-03 -4.67791009e-03 7.09399803e+01] [ 8.41880561e-03 9.99958652e-01 3.43768094e-03 -4.59958590e-01] [ 4.64883092e-03 -3.47690438e-03 9.99983150e-01 -2.74877682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.395898227 meters Centerline goodness [0,1] 0.7529278190113748 Centerline is valid? [False, False] Translation: X:70.94, Y:-0.46, Z:-0.27 [[ 9.99955883e-01 -8.10186062e-03 -4.75299887e-03 7.09402189e+01] [ 8.11853955e-03 9.99960917e-01 3.50040302e-03 -4.59536754e-01] [ 4.72445333e-03 -3.53883600e-03 9.99982578e-01 -2.74925098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.425898227 meters Centerline goodness [0,1] 0.7724933827421916 Centerline is valid? [False, False] Translation: X:70.94, Y:-0.46, Z:-0.28 [[ 9.99958611e-01 -7.80788190e-03 -4.67036992e-03 7.09401138e+01] [ 7.82460466e-03 9.99963004e-01 3.57311515e-03 -4.59172048e-01] [ 4.64229867e-03 -3.60951106e-03 9.99982710e-01 -2.75197193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.455898227 meters Centerline goodness [0,1] 0.6806898298644826 Centerline is valid? [False, False] Translation: X:70.94, Y:-0.46, Z:-0.28 [[ 9.99960925e-01 -7.54969725e-03 -4.59887431e-03 7.09400497e+01] [ 7.56621554e-03 9.99964949e-01 3.58506515e-03 -4.58552912e-01] [ 4.57164696e-03 -3.61972114e-03 9.99982999e-01 -2.75494824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.485898227 meters Centerline goodness [0,1] 0.7071304942413299 Centerline is valid? [False, False] Translation: X:70.92, Y:-0.46, Z:-0.27 [[ 9.99976982e-01 -2.50225562e-03 -6.30675265e-03 7.09187568e+01] [ 2.48555929e-03 9.99993390e-01 -2.65382243e-03 -4.61303922e-01] [ 6.31335151e-03 2.63808554e-03 9.99976591e-01 -2.73608919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.515898227 meters Centerline goodness [0,1] 0.6924885114673556 Centerline is valid? [False, False] Translation: X:70.92, Y:-0.46, Z:-0.28 [[ 9.99974843e-01 -4.65125502e-04 -7.07789413e-03 7.09242846e+01] [ 4.60316854e-04 9.99999662e-01 -6.81003573e-04 -4.62004603e-01] [ 7.07820849e-03 6.77728367e-04 9.99974720e-01 -2.77223124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.545898227 meters Centerline goodness [0,1] 0.5723773806281296 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.46, Z:-0.28 [[ 9.99945881e-01 1.63568592e-03 -1.02742689e-02 7.09339749e+01] [-1.64282870e-03 9.99998415e-01 -6.86809282e-04 -4.62837005e-01] [ 1.02731292e-02 7.03650976e-04 9.99946982e-01 -2.75359083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.575898227 meters Centerline goodness [0,1] 0.6804792704909342 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.46, Z:-0.28 [[ 9.99945738e-01 1.77493732e-03 -1.02650456e-02 7.09341266e+01] [-1.77926735e-03 9.99998332e-01 -4.12705893e-04 -4.64096725e-01] [ 1.02642960e-02 4.30947759e-04 9.99947228e-01 -2.75640311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.605898227 meters Centerline goodness [0,1] 0.673366409796263 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.47, Z:-0.28 [[ 9.99945018e-01 1.91859283e-03 -1.03092599e-02 7.09342363e+01] [-1.91963012e-03 9.99998153e-01 -9.07230273e-05 -4.65639415e-01] [ 1.03090668e-02 1.10508005e-04 9.99946854e-01 -2.75562825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.635898227 meters Centerline goodness [0,1] 0.6712308629271059 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.47, Z:-0.28 [[ 9.99944921e-01 2.00656250e-03 -1.03018548e-02 7.09340348e+01] [-2.00582236e-03 9.99997985e-01 8.21765596e-05 -4.66388128e-01] [ 1.03019990e-02 -6.15083426e-05 9.99946931e-01 -2.75234963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.665898227 meters Centerline goodness [0,1] 0.6125602435106113 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.47, Z:-0.28 [[ 9.99945122e-01 2.04187406e-03 -1.02754310e-02 7.09338789e+01] [-2.04060806e-03 9.99997909e-01 1.33689336e-04 -4.66640157e-01] [ 1.02756825e-02 -1.12713872e-04 9.99947197e-01 -2.75080917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69589822700001 meters Centerline goodness [0,1] 0.6590740229689855 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.47, Z:-0.28 [[ 9.99944945e-01 2.02096793e-03 -1.02967037e-02 7.09339791e+01] [-2.02110251e-03 9.99997958e-01 -2.66428934e-06 -4.65942010e-01] [ 1.02966773e-02 2.34748364e-05 9.99946988e-01 -2.75156296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.72589822700002 meters Centerline goodness [0,1] 0.6322819405746858 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.46, Z:-0.28 [[ 9.99945498e-01 2.08811782e-03 -1.02294182e-02 7.09340599e+01] [-2.09188952e-03 9.99997748e-01 -3.58025598e-04 -4.63733726e-01] [ 1.02286475e-02 3.79404898e-04 9.99947614e-01 -2.75764433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.755898227 meters Centerline goodness [0,1] 0.655294017675051 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.46, Z:-0.28 [[ 9.99946069e-01 2.03488087e-03 -1.01841893e-02 7.09340720e+01] [-2.04179065e-03 9.99997692e-01 -6.68129761e-04 -4.62091426e-01] [ 1.01828063e-02 6.88887711e-04 9.99947917e-01 -2.76028828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.785898227 meters Centerline goodness [0,1] 0.6183225479000127 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.46, Z:-0.28 [[ 9.99945301e-01 2.00793099e-03 -1.02646851e-02 7.09344559e+01] [-2.01841873e-03 9.99997451e-01 -1.01147310e-03 -4.60133748e-01] [ 1.02626279e-02 1.03213620e-03 9.99946805e-01 -2.76270920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.815898227 meters Centerline goodness [0,1] 0.6183225479000127 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.46, Z:-0.28 [[ 9.99945301e-01 2.00793099e-03 -1.02646851e-02 7.09344559e+01] [-2.01841873e-03 9.99997451e-01 -1.01147310e-03 -4.60133748e-01] [ 1.02626279e-02 1.03213620e-03 9.99946805e-01 -2.76270920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.845898227 meters Centerline goodness [0,1] 0.58295033358043 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.46, Z:-0.28 [[ 9.99945146e-01 1.91353557e-03 -1.02977304e-02 7.09345257e+01] [-1.92854739e-03 9.99997092e-01 -1.44804642e-03 -4.57830726e-01] [ 1.02949295e-02 1.46782665e-03 9.99945928e-01 -2.76306697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.875898227 meters Centerline goodness [0,1] 0.6173727911432829 Centerline is valid? [False, False] Translation: X:70.93, Y:-0.46, Z:-0.28 [[ 9.99946236e-01 1.80245382e-03 -1.02116084e-02 7.09340371e+01] [-1.82179324e-03 9.99996564e-01 -1.88488098e-03 -4.55613361e-01] [ 1.02081759e-02 1.90338308e-03 9.99946084e-01 -2.76015013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.905898227 meters Centerline goodness [0,1] 0.5582832436992513 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.45, Z:-0.27 [[ 9.99962565e-01 3.02586967e-03 -8.10632339e-03 7.09724491e+01] [-3.02362300e-03 9.99995387e-01 2.89391008e-04 -4.51017761e-01] [ 8.10716165e-03 -2.64869709e-04 9.99967101e-01 -2.74170848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.935898227 meters Centerline goodness [0,1] 0.6018179495912807 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.44, Z:-0.27 [[ 9.99965717e-01 2.77481266e-03 -7.80162516e-03 7.09709227e+01] [-2.78196439e-03 9.99995720e-01 -9.05995114e-04 -4.44803512e-01] [ 7.79907780e-03 9.27667897e-04 9.99969156e-01 -2.73381905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.965898227 meters Centerline goodness [0,1] 0.5981265032279843 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.28 [[ 9.99976057e-01 2.20982351e-03 -6.55755491e-03 7.09930775e+01] [-2.14736415e-03 9.99952410e-01 9.51659711e-03 -4.42077542e-01] [ 6.57827284e-03 -9.50228780e-03 9.99933214e-01 -2.75830494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.995898227 meters Centerline goodness [0,1] 0.5546563850521142 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.28 [[ 9.99977670e-01 -2.06998580e-03 -6.35409724e-03 7.09920292e+01] [ 2.09670773e-03 9.99988975e-01 4.20168816e-03 -4.36057563e-01] [ 6.34532975e-03 -4.21491703e-03 9.99970985e-01 -2.75361940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.025898227 meters Centerline goodness [0,1] 0.603648105380207 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.43, Z:-0.28 [[ 9.99977265e-01 -2.23719430e-03 -6.36116342e-03 7.09920346e+01] [ 2.26199879e-03 9.99989857e-01 3.89484692e-03 -4.34757314e-01] [ 6.35238536e-03 -3.90914732e-03 9.99972182e-01 -2.75397026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.055898227 meters Centerline goodness [0,1] 0.5346402223661937 Centerline is valid? [False, False] Translation: X:71.03, Y:-0.43, Z:-0.27 [[ 9.99977885e-01 -3.15359937e-03 -5.85523358e-03 7.10342466e+01] [ 3.17914307e-03 9.99985449e-01 4.35837155e-03 -4.30300963e-01] [ 5.84140382e-03 -4.37688979e-03 9.99973360e-01 -2.74881800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.085898227 meters Centerline goodness [0,1] 0.6442356742050672 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.43, Z:-0.28 [[ 9.99973942e-01 -4.70495436e-03 -5.47523642e-03 7.09901551e+01] [ 4.71348090e-03 9.99987697e-01 1.54543166e-03 -4.33368755e-01] [ 5.46789788e-03 -1.57119881e-03 9.99983817e-01 -2.75050630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.115898227 meters Centerline goodness [0,1] 0.6486680761099366 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.27 [[ 9.99968964e-01 -5.20658471e-03 -5.91294074e-03 7.09913623e+01] [ 5.21756414e-03 9.99984690e-01 1.84294159e-03 -4.36417039e-01] [ 5.90325478e-03 -1.87373554e-03 9.99980820e-01 -2.74832215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.145898227 meters Centerline goodness [0,1] 0.6400623341616476 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.27 [[ 9.99967793e-01 -5.22039053e-03 -6.09595487e-03 7.09918374e+01] [ 5.23407104e-03 9.99983815e-01 2.23040281e-03 -4.38666123e-01] [ 6.08421263e-03 -2.26223764e-03 9.99978932e-01 -2.74550986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.175898227 meters Centerline goodness [0,1] 0.694623931077133 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.27 [[ 9.99936291e-01 -9.59193436e-03 -5.95054767e-03 7.09909590e+01] [ 9.57733002e-03 9.99951066e-01 -2.47794497e-03 -4.36474354e-01] [ 5.97402477e-03 2.42079675e-03 9.99979225e-01 -2.73713295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.205898227 meters Centerline goodness [0,1] 0.6254313609965492 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.43, Z:-0.27 [[ 9.99886551e-01 -1.38507745e-02 -5.91959898e-03 7.09906720e+01] [ 1.38080290e-02 9.99878728e-01 -7.20187965e-03 -4.33902288e-01] [ 6.01863271e-03 7.11932461e-03 9.99956545e-01 -2.73191434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.235898227 meters Centerline goodness [0,1] 0.6833255587125229 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.43, Z:-0.27 [[ 9.99886657e-01 -1.37845606e-02 -6.05466775e-03 7.09913321e+01] [ 1.37420139e-02 9.99880978e-01 -7.01336552e-03 -4.34804594e-01] [ 6.15062328e-03 6.92936728e-03 9.99957076e-01 -2.73545171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.265898227 meters Centerline goodness [0,1] 0.6448631428930712 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.27 [[ 9.99886635e-01 -1.37162333e-02 -6.21145274e-03 7.09921517e+01] [ 1.36737093e-02 9.99883132e-01 -6.83755475e-03 -4.35580859e-01] [ 6.30451232e-03 6.75184601e-03 9.99957332e-01 -2.74043892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.295898227 meters Centerline goodness [0,1] 0.6765116279069767 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.27 [[ 9.99889390e-01 -1.35038406e-02 -6.23337557e-03 7.09923845e+01] [ 1.34648114e-02 9.99889741e-01 -6.26139125e-03 -4.38340629e-01] [ 6.31724111e-03 6.17676745e-03 9.99960969e-01 -2.74258228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.325898227 meters Centerline goodness [0,1] 0.6839889709751426 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.27 [[ 9.99934314e-01 -9.42943813e-03 -6.51562818e-03 7.09931974e+01] [ 9.42229063e-03 9.99954974e-01 -1.12680466e-03 -4.43741819e-01] [ 6.52595994e-03 1.06533850e-03 9.99978138e-01 -2.74265194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.355898227 meters Centerline goodness [0,1] 0.6528967148929042 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.45, Z:-0.27 [[ 9.99934669e-01 -9.33916728e-03 -6.59078769e-03 7.09932340e+01] [ 9.33392042e-03 9.99956097e-01 -8.26402374e-04 -4.45247739e-01] [ 6.59821624e-03 7.64830496e-04 9.99977939e-01 -2.73884877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.385898227 meters Centerline goodness [0,1] 0.6880448056596622 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.45, Z:-0.27 [[ 9.99934935e-01 -9.28985465e-03 -6.62006926e-03 7.09932087e+01] [ 9.28539808e-03 9.99956642e-01 -7.03608845e-04 -4.45858874e-01] [ 6.62631865e-03 6.42093086e-04 9.99977840e-01 -2.73663876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.415898227 meters Centerline goodness [0,1] 0.6050432487905 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.45, Z:-0.27 [[ 9.99934645e-01 -9.26831789e-03 -6.69362825e-03 7.09934148e+01] [ 9.26405249e-03 9.99956865e-01 -6.67957072e-04 -4.45970983e-01] [ 6.69953036e-03 6.05903294e-04 9.99977374e-01 -2.73607083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44589822700001 meters Centerline goodness [0,1] 0.6995716345746035 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.45, Z:-0.27 [[ 9.99934250e-01 -9.30109383e-03 -6.70715079e-03 7.09934961e+01] [ 9.29621482e-03 9.99956502e-01 -7.58245247e-04 -4.45514163e-01] [ 6.71391155e-03 6.95844278e-04 9.99977219e-01 -2.73693176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47589822700002 meters Centerline goodness [0,1] 0.668567220702714 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.27 [[ 9.99933779e-01 -9.26441716e-03 -6.82695931e-03 7.09940252e+01] [ 9.25609616e-03 9.99956381e-01 -1.24943387e-03 -4.42487115e-01] [ 6.83823681e-03 1.18616014e-03 9.99975915e-01 -2.73996672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.505898227 meters Centerline goodness [0,1] 0.6647832686793727 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.27 [[ 9.99932962e-01 -9.38511327e-03 -6.78162634e-03 7.09938913e+01] [ 9.37313465e-03 9.99954458e-01 -1.79596454e-03 -4.39592335e-01] [ 6.79817282e-03 1.73227904e-03 9.99975392e-01 -2.74100848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.535898227 meters Centerline goodness [0,1] 0.6105654479014849 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.27 [[ 9.99962780e-01 -5.13572803e-03 -6.93277820e-03 7.09944271e+01] [ 5.15498643e-03 9.99982896e-01 2.76287071e-03 -4.41238013e-01] [ 6.91847027e-03 -2.79850625e-03 9.99972151e-01 -2.74348955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.565898227 meters Centerline goodness [0,1] 0.6613129680054459 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.27 [[ 9.99962918e-01 -5.23339863e-03 -6.83916844e-03 7.09941077e+01] [ 5.25028435e-03 9.99983208e-01 2.45335421e-03 -4.39714583e-01] [ 6.82621421e-03 -2.48917081e-03 9.99973603e-01 -2.74361588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.595898227 meters Centerline goodness [0,1] 0.6244702608108963 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.27 [[ 9.99933290e-01 -9.35929689e-03 -6.76894346e-03 7.09937045e+01] [ 9.34295693e-03 9.99953373e-01 -2.44156662e-03 -4.35771796e-01] [ 6.79147919e-03 2.37816180e-03 9.99974110e-01 -2.74049258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.625898227 meters Centerline goodness [0,1] 0.6680146594212056 Centerline is valid? [False, False] Translation: X:70.99, Y:-0.44, Z:-0.27 [[ 9.99933129e-01 -9.24643525e-03 -6.94563841e-03 7.09944724e+01] [ 9.23481131e-03 9.99955907e-01 -1.70377135e-03 -4.39699850e-01] [ 6.96108596e-03 1.63951575e-03 9.99974427e-01 -2.74339986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.655898227 meters Centerline goodness [0,1] 0.6593342009151588 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.44, Z:-0.27 [[ 9.99933569e-01 -9.10402313e-03 -7.06925045e-03 7.09952158e+01] [ 9.09584955e-03 9.99957927e-01 -1.18750714e-03 -4.42323643e-01] [ 7.07976412e-03 1.12312741e-03 9.99974307e-01 -2.74850581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.685898227 meters Centerline goodness [0,1] 0.6900369783412572 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.44, Z:-0.28 [[ 9.99933951e-01 -8.97314263e-03 -7.18169101e-03 7.09957489e+01] [ 8.96795541e-03 9.99959503e-01 -7.54163079e-04 -4.44473951e-01] [ 7.18816738e-03 6.89708183e-04 9.99973927e-01 -2.75075039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.715898227 meters Centerline goodness [0,1] 0.6885092041552014 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.45, Z:-0.28 [[ 9.99934582e-01 -8.87901609e-03 -7.21067455e-03 7.09960372e+01] [ 8.87551897e-03 9.99960478e-01 -5.16848495e-04 -4.45597576e-01] [ 7.21497867e-03 4.52816206e-04 9.99973869e-01 -2.75368589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.745898227 meters Centerline goodness [0,1] 0.6852627570449352 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.45, Z:-0.28 [[ 9.99934761e-01 -8.84020988e-03 -7.23361879e-03 7.09961369e+01] [ 8.83690336e-03 9.99960834e-01 -4.88938530e-04 -4.45640479e-01] [ 7.23765780e-03 4.24983841e-04 9.99973718e-01 -2.75421102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.775898227 meters Centerline goodness [0,1] 0.6872115527765372 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.45, Z:-0.27 [[ 9.99934579e-01 -8.83273750e-03 -7.26781340e-03 7.09959611e+01] [ 8.82900194e-03 9.99960875e-01 -5.45912167e-04 -4.45225893e-01] [ 7.27235094e-03 4.81708914e-04 9.99973440e-01 -2.74971922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.805898227 meters Centerline goodness [0,1] 0.626053962900506 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.44, Z:-0.27 [[ 9.99934860e-01 -8.77118651e-03 -7.30362787e-03 7.09960134e+01] [ 8.76697347e-03 9.99961384e-01 -6.08657922e-04 -4.44656825e-01] [ 7.30868449e-03 5.44587562e-04 9.99973143e-01 -2.74881654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.835898227 meters Centerline goodness [0,1] 0.6333460269103833 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.44, Z:-0.28 [[ 9.99934880e-01 -8.75212577e-03 -7.32371350e-03 7.09962362e+01] [ 8.74665733e-03 9.99961444e-01 -7.78372995e-04 -4.43580574e-01] [ 7.33024355e-03 7.14264294e-04 9.99972878e-01 -2.75172968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.865898227 meters Centerline goodness [0,1] 0.6365545772780312 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.44, Z:-0.28 [[ 9.99936114e-01 -8.48587445e-03 -7.46717608e-03 7.09973902e+01] [ 8.48012780e-03 9.99963722e-01 -8.00914021e-04 -4.42751086e-01] [ 7.47370164e-03 7.37540246e-04 9.99971800e-01 -2.76438018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.895898227 meters Centerline goodness [0,1] 0.6000978223885676 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.44, Z:-0.28 [[ 9.99937631e-01 -8.32780670e-03 -7.44191015e-03 7.09974379e+01] [ 8.32374730e-03 9.99965191e-01 -5.76284744e-04 -4.43608844e-01] [ 7.44645029e-03 5.14304222e-04 9.99972143e-01 -2.76660247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.925898227 meters Centerline goodness [0,1] 0.6550042589437819 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.45, Z:-0.28 [[ 9.99939514e-01 -8.17555385e-03 -7.35724429e-03 7.09969205e+01] [ 8.17410036e-03 9.99966566e-01 -2.27606726e-04 -4.45213505e-01] [ 7.35885912e-03 1.67454105e-04 9.99972909e-01 -2.76197169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.955898227 meters Centerline goodness [0,1] 0.6392814575174528 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.45, Z:-0.28 [[ 9.99942036e-01 -7.96117921e-03 -7.24872246e-03 7.09962131e+01] [ 7.96410432e-03 9.99968216e-01 3.74757814e-04 -4.48154526e-01] [ 7.24550855e-03 -4.32465674e-04 9.99973657e-01 -2.75522714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.985898227 meters Centerline goodness [0,1] 0.6607578947368421 Centerline is valid? [False, False] Translation: X:71.01, Y:-0.45, Z:-0.27 [[ 9.99956981e-01 -8.35333648e-03 -4.03206255e-03 7.10117646e+01] [ 8.31011517e-03 9.99909078e-01 -1.06197004e-02 -4.46090131e-01] [ 4.12040588e-03 1.05857367e-02 9.99935480e-01 -2.72385257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.015898227 meters Centerline goodness [0,1] 0.6444628767094154 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.46, Z:-0.27 [[ 9.99965303e-01 -6.21484913e-03 -5.54700358e-03 7.09723488e+01] [ 6.17673617e-03 9.99957381e-01 -6.86179628e-03 -4.56540286e-01] [ 5.58941220e-03 6.82729581e-03 9.99961072e-01 -2.73712048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.045898227 meters Centerline goodness [0,1] 0.6780299025102037 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.46, Z:-0.27 [[ 9.99965653e-01 -5.93586212e-03 -5.78437312e-03 7.09735435e+01] [ 5.90213056e-03 9.99965580e-01 -5.83122312e-03 -4.61767276e-01] [ 5.81878736e-03 5.79688271e-03 9.99966268e-01 -2.74330174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.075898227 meters Centerline goodness [0,1] 0.6874132296717145 Centerline is valid? [False, False] Translation: X:70.97, Y:-0.46, Z:-0.27 [[ 9.99967339e-01 -5.74140798e-03 -5.68840623e-03 7.09731676e+01] [ 5.71116793e-03 9.99969549e-01 -5.31814265e-03 -4.64218510e-01] [ 5.71876664e-03 5.28548150e-03 9.99969679e-01 -2.74150960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.105898227 meters Centerline goodness [0,1] 0.6737984822934233 Centerline is valid? [False, False] Translation: X:71.01, Y:-0.47, Z:-0.27 [[ 9.99979936e-01 -4.24844250e-03 -4.69873450e-03 7.10123539e+01] [ 4.24451420e-03 9.99990634e-01 -8.45689886e-04 -4.66612478e-01] [ 4.70228336e-03 8.25729073e-04 9.99988603e-01 -2.72100850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.135898227 meters Centerline goodness [0,1] 0.683149758861066 Centerline is valid? [False, False] Translation: X:71.01, Y:-0.47, Z:-0.27 [[ 9.99981100e-01 -4.01566331e-03 -4.65549534e-03 7.10119832e+01] [ 4.01456462e-03 9.99991912e-01 -2.45319631e-04 -4.69479549e-01] [ 4.65644281e-03 2.26625207e-04 9.99989133e-01 -2.71685525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.165898227 meters Centerline goodness [0,1] 0.6843610667115336 Centerline is valid? [False, False] Translation: X:71.01, Y:-0.47, Z:-0.27 [[ 9.99981801e-01 -3.80305026e-03 -4.68342060e-03 7.10119644e+01] [ 3.80492409e-03 9.99992685e-01 3.91252375e-04 -4.72559958e-01] [ 4.68189839e-03 -4.09065314e-04 9.99988956e-01 -2.71420146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19589822700001 meters Centerline goodness [0,1] 0.6986133423522449 Centerline is valid? [False, False] Translation: X:71.01, Y:-0.48, Z:-0.27 [[ 9.99982466e-01 -3.58856890e-03 -4.71057264e-03 7.10122758e+01] [ 3.59361499e-03 9.99992978e-01 1.06320147e-03 -4.75912397e-01] [ 4.70672419e-03 -1.08011081e-03 9.99988340e-01 -2.71741891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22589822700002 meters Centerline goodness [0,1] 0.7361952754566137 Centerline is valid? [False, False] Translation: X:71.01, Y:-0.48, Z:-0.27 [[ 9.99958546e-01 -7.60116952e-03 -5.01274260e-03 7.10139512e+01] [ 7.58905534e-03 9.99968247e-01 -2.43128671e-03 -4.79819419e-01] [ 5.03106406e-03 2.39314395e-03 9.99984481e-01 -2.72759603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.255898227 meters Centerline goodness [0,1] 0.7195671396690386 Centerline is valid? [False, False] Translation: X:71.01, Y:-0.48, Z:-0.27 [[ 9.99917160e-01 -1.17836897e-02 -5.17862997e-03 7.10147299e+01] [ 1.17492300e-02 9.99908962e-01 -6.63501877e-03 -4.80048220e-01] [ 5.25634352e-03 6.57362421e-03 9.99964579e-01 -2.72964425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.285898227 meters Centerline goodness [0,1] 0.778983267611638 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.48, Z:-0.27 [[ 9.99917999e-01 -1.16022611e-02 -5.42054729e-03 7.10156481e+01] [ 1.15709127e-02 9.99916354e-01 -5.77925601e-03 -4.84503608e-01] [ 5.48714632e-03 5.71606142e-03 9.99968608e-01 -2.73141498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.315898227 meters Centerline goodness [0,1] 0.7763422215643568 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.49, Z:-0.27 [[ 9.99919643e-01 -1.13958906e-02 -5.55352340e-03 7.10161186e+01] [ 1.13682152e-02 9.99922930e-01 -4.98973693e-03 -4.88524717e-01] [ 5.60995789e-03 4.92620232e-03 9.99972130e-01 -2.73125533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.345898227 meters Centerline goodness [0,1] 0.782322678586489 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.50, Z:-0.27 [[ 9.99957114e-01 -7.18572653e-03 -5.84250784e-03 7.10170972e+01] [ 7.18836407e-03 9.99974071e-01 4.30567083e-04 -4.95223656e-01] [ 5.83926241e-03 -4.72546691e-04 9.99982840e-01 -2.73320076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.375898227 meters Centerline goodness [0,1] 0.7328398099440013 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.50, Z:-0.27 [[ 9.99958894e-01 -6.87053279e-03 -5.91666099e-03 7.10177512e+01] [ 6.87655215e-03 9.99975859e-01 9.97614458e-04 -4.97720484e-01] [ 5.90966401e-03 -1.03825968e-03 9.99981999e-01 -2.73967381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.405898227 meters Centerline goodness [0,1] 0.7908334920332635 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.50, Z:-0.27 [[ 9.99958308e-01 -6.79428697e-03 -6.10082274e-03 7.10187218e+01] [ 6.80055622e-03 9.99976368e-01 1.00745064e-03 -4.97561877e-01] [ 6.09383366e-03 -1.04889762e-03 9.99980882e-01 -2.74622062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.435898227 meters Centerline goodness [0,1] 0.7072809891155025 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.50, Z:-0.28 [[ 9.99958222e-01 -6.72982671e-03 -6.18582521e-03 7.10192437e+01] [ 6.73569094e-03 9.99976885e-01 9.27667072e-04 -4.96881870e-01] [ 6.17943918e-03 -9.69294122e-04 9.99980437e-01 -2.75044319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.465898227 meters Centerline goodness [0,1] 0.7124763705103969 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.50, Z:-0.28 [[ 9.99958250e-01 -6.70071660e-03 -6.21283783e-03 7.10193300e+01] [ 6.70564320e-03 9.99977219e-01 7.72479011e-04 -4.95875071e-01] [ 6.20752013e-03 -8.14107833e-04 9.99980402e-01 -2.75082647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.495898227 meters Centerline goodness [0,1] 0.7074390629946186 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.50, Z:-0.27 [[ 9.99959958e-01 -6.58481034e-03 -6.05990814e-03 7.10183767e+01] [ 6.59029935e-03 9.99977891e-01 8.86269494e-04 -4.96190014e-01] [ 6.05393824e-03 -9.26170615e-04 9.99981246e-01 -2.74324977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.525898227 meters Centerline goodness [0,1] 0.7130697419000549 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.50, Z:-0.27 [[ 9.99960952e-01 -6.43464562e-03 -6.05718823e-03 7.10183508e+01] [ 6.44269630e-03 9.99978387e-01 1.31053781e-03 -4.98260592e-01] [ 6.04862447e-03 -1.34951126e-03 9.99980796e-01 -2.74272066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.555898227 meters Centerline goodness [0,1] 0.7334673154220436 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.50, Z:-0.27 [[ 9.99961542e-01 -6.24881235e-03 -6.15359963e-03 7.10187460e+01] [ 6.26083829e-03 9.99978525e-01 1.93697356e-03 -5.01409010e-01] [ 6.14136370e-03 -1.97542576e-03 9.99979190e-01 -2.74341640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.585898227 meters Centerline goodness [0,1] 0.7199472151819191 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.50, Z:-0.27 [[ 9.99926723e-01 -1.04301065e-02 -6.14501335e-03 7.10187249e+01] [ 1.04151141e-02 9.99942719e-01 -2.46673244e-03 -5.00530915e-01] [ 6.17038964e-03 2.40255068e-03 9.99978077e-01 -2.74236842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.615898227 meters Centerline goodness [0,1] 0.723672103722292 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.51, Z:-0.27 [[ 9.99955689e-01 -6.90707501e-03 -6.39634710e-03 7.10195425e+01] [ 6.92265898e-03 9.99973116e-01 2.41745881e-03 -5.07030019e-01] [ 6.37947757e-03 -2.46163142e-03 9.99976621e-01 -2.74394949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.645898227 meters Centerline goodness [0,1] 0.7695373128067453 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.51, Z:-0.27 [[ 9.99956517e-01 -6.70845286e-03 -6.47767820e-03 7.10197326e+01] [ 6.72822998e-03 9.99972756e-01 3.03616874e-03 -5.10113271e-01] [ 6.45713372e-03 -3.07962003e-03 9.99974410e-01 -2.74192154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.675898227 meters Centerline goodness [0,1] 0.7965258435566517 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.51, Z:-0.27 [[ 9.99923059e-01 -1.06716190e-02 -6.32395569e-03 7.10191724e+01] [ 1.06658347e-02 9.99942669e-01 -9.47675412e-04 -5.11081950e-01] [ 6.33370636e-03 8.80152231e-04 9.99979555e-01 -2.73861726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.705898227 meters Centerline goodness [0,1] 0.798686301514991 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.51, Z:-0.27 [[ 9.99925058e-01 -1.04385614e-02 -6.39644270e-03 7.10196394e+01] [ 1.04355573e-02 9.99945422e-01 -5.02845709e-04 -5.13022155e-01] [ 6.40134258e-03 4.36057581e-04 9.99979416e-01 -2.74192541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.735898227 meters Centerline goodness [0,1] 0.7391486949035089 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.51, Z:-0.27 [[ 9.99927023e-01 -1.01646460e-02 -6.52899320e-03 7.10203322e+01] [ 1.01640468e-02 9.99948337e-01 -1.24962615e-04 -5.14450549e-01] [ 6.52992609e-03 5.85925034e-05 9.99978678e-01 -2.74627554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.765898227 meters Centerline goodness [0,1] 0.7391486949035089 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.51, Z:-0.27 [[ 9.99927023e-01 -1.01646460e-02 -6.52899320e-03 7.10203322e+01] [ 1.01640468e-02 9.99948337e-01 -1.24962615e-04 -5.14450549e-01] [ 6.52992609e-03 5.85925034e-05 9.99978678e-01 -2.74627554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.795898227 meters Centerline goodness [0,1] 0.7177027426784431 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.51, Z:-0.27 [[ 9.99928483e-01 -9.98381418e-03 -6.58428937e-03 7.10207187e+01] [ 9.98433419e-03 9.99950154e-01 4.61113024e-05 -5.14972410e-01] [ 6.58350081e-03 -1.11847750e-04 9.99978322e-01 -2.74969643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.825898227 meters Centerline goodness [0,1] 0.699657777221318 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.52, Z:-0.28 [[ 9.99930196e-01 -9.75894275e-03 -6.66085428e-03 7.10209809e+01] [ 9.76057410e-03 9.99952342e-01 2.12451717e-04 -5.15351606e-01] [ 6.65846354e-03 -2.77450649e-04 9.99977794e-01 -2.75020073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.855898227 meters Centerline goodness [0,1] 0.6930503554751588 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.52, Z:-0.27 [[ 9.99932429e-01 -9.54055268e-03 -6.64188933e-03 7.10207421e+01] [ 9.54382292e-03 9.99954350e-01 4.60845237e-04 -5.16252994e-01] [ 6.63718941e-03 -5.24203113e-04 9.99977836e-01 -2.74739928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.885898227 meters Centerline goodness [0,1] 0.6696112699925856 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.52, Z:-0.27 [[ 9.99935591e-01 -9.29470041e-03 -6.51319696e-03 7.10201579e+01] [ 9.30033707e-03 9.99956402e-01 8.35667163e-04 -5.17782925e-01] [ 6.50514572e-03 -8.96188266e-04 9.99978440e-01 -2.74429719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.915898227 meters Centerline goodness [0,1] 0.6712730494957593 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.52, Z:-0.27 [[ 9.99938090e-01 -9.07890451e-03 -6.43347787e-03 7.10198769e+01] [ 9.08678542e-03 9.99957998e-01 1.19681409e-03 -5.19282325e-01] [ 6.42234189e-03 -1.25519962e-03 9.99978589e-01 -2.74362748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94589822700001 meters Centerline goodness [0,1] 0.6725015779507679 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.52, Z:-0.27 [[ 9.99940579e-01 -8.77496814e-03 -6.46821030e-03 7.10200903e+01] [ 8.78576284e-03 9.99960056e-01 1.64236422e-03 -5.21058421e-01] [ 6.45354024e-03 -1.69909479e-03 9.99977732e-01 -2.74489195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97589822700002 meters Centerline goodness [0,1] 0.6694420963651733 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.52, Z:-0.27 [[ 9.99941054e-01 -8.69857096e-03 -6.49802396e-03 7.10201488e+01] [ 8.70959287e-03 9.99960677e-01 1.66982613e-03 -5.20977363e-01] [ 6.48324334e-03 -1.72632285e-03 9.99977493e-01 -2.74427098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.005898227 meters Centerline goodness [0,1] 0.6626814507596597 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.52, Z:-0.27 [[ 9.99941511e-01 -8.65633045e-03 -6.48409048e-03 7.10200904e+01] [ 8.66695829e-03 9.99961141e-01 1.61276191e-03 -5.20475945e-01] [ 6.46987791e-03 -1.66886492e-03 9.99977678e-01 -2.74447346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.035898227 meters Centerline goodness [0,1] 0.6694461363970511 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.52, Z:-0.27 [[ 9.99941155e-01 -8.61597690e-03 -6.59175722e-03 7.10204255e+01] [ 8.62663763e-03 9.99961525e-01 1.59056141e-03 -5.20196712e-01] [ 6.57779936e-03 -1.64733251e-03 9.99977009e-01 -2.74465912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.065898227 meters Centerline goodness [0,1] 0.6907764193816808 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.52, Z:-0.27 [[ 9.99933299e-01 -7.00408767e-03 -9.18372166e-03 7.09971932e+01] [ 6.93354858e-03 9.99946391e-01 -7.69035549e-03 -5.21028274e-01] [ 9.23709325e-03 7.62616675e-03 9.99928256e-01 -2.70604416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.095898227 meters Centerline goodness [0,1] 0.5842130873548141 Centerline is valid? [False, False] Translation: X:71.00, Y:-0.52, Z:-0.27 [[ 9.99933303e-01 -6.91811136e-03 -9.24825206e-03 7.09974787e+01] [ 6.84928143e-03 9.99948765e-01 -7.45355020e-03 -5.22171017e-01] [ 9.29934271e-03 7.38970918e-03 9.99929455e-01 -2.70720574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.125898227 meters Centerline goodness [0,1] 0.6028918692372172 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.53, Z:-0.28 [[ 9.99956712e-01 -7.64929512e-03 -5.29748130e-03 7.10217246e+01] [ 7.66167077e-03 9.99967958e-01 2.31979849e-03 -5.26701484e-01] [ 5.27956673e-03 -2.36028562e-03 9.99983277e-01 -2.76429240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.155898227 meters Centerline goodness [0,1] 0.674291502247357 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.53, Z:-0.28 [[ 9.99957310e-01 -7.56504495e-03 -5.30540217e-03 7.10216859e+01] [ 7.57886913e-03 9.99967925e-01 2.59043418e-03 -5.28058581e-01] [ 5.28563525e-03 -2.63053254e-03 9.99982571e-01 -2.76282299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.185898227 meters Centerline goodness [0,1] 0.6659078453690823 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.53, Z:-0.28 [[ 9.99957236e-01 -7.49739728e-03 -5.41439044e-03 7.10221930e+01] [ 7.51278272e-03 9.99967783e-01 2.82685689e-03 -5.29197744e-01] [ 5.39302193e-03 -2.86741314e-03 9.99981346e-01 -2.76516737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.215898227 meters Centerline goodness [0,1] 0.6358842362985749 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.53, Z:-0.28 [[ 9.99956169e-01 -7.48950068e-03 -5.61850698e-03 7.10230645e+01] [ 7.50654381e-03 9.99967270e-01 3.01846193e-03 -5.30331781e-01] [ 5.59571631e-03 -3.06050520e-03 9.99979660e-01 -2.76839956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.245898227 meters Centerline goodness [0,1] 0.6684705931900019 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.53, Z:-0.28 [[ 9.99956339e-01 -7.37255985e-03 -5.74158223e-03 7.10236522e+01] [ 7.39234623e-03 9.99966785e-01 3.43259113e-03 -5.32451835e-01] [ 5.71608453e-03 -3.47488502e-03 9.99977626e-01 -2.77084343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.275898227 meters Centerline goodness [0,1] 0.6887640212976409 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.54, Z:-0.28 [[ 9.99957206e-01 -7.22478897e-03 -5.77822149e-03 7.10239092e+01] [ 7.24759266e-03 9.99965992e-01 3.93533570e-03 -5.35015208e-01] [ 5.74959302e-03 -3.97704549e-03 9.99975562e-01 -2.77232316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.305898227 meters Centerline goodness [0,1] 0.6844128143940194 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.54, Z:-0.28 [[ 9.99958983e-01 -6.98015547e-03 -5.77147248e-03 7.10242060e+01] [ 7.00918640e-03 9.99962808e-01 5.02523951e-03 -5.40776003e-01] [ 5.73618088e-03 -5.06548672e-03 9.99970718e-01 -2.77582921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.335898227 meters Centerline goodness [0,1] 0.7463466440101953 Centerline is valid? [False, False] Translation: X:71.02, Y:-0.54, Z:-0.28 [[ 9.99959791e-01 -6.79818514e-03 -5.84822058e-03 7.10247923e+01] [ 6.83068643e-03 9.99961238e-01 5.55556023e-03 -5.43365421e-01] [ 5.81022616e-03 -5.59528421e-03 9.99967467e-01 -2.78049101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.365898227 meters Centerline goodness [0,1] 0.7647732089868589 Centerline is valid? [False, False] Translation: X:71.03, Y:-0.55, Z:-0.28 [[ 9.99959591e-01 -6.63920796e-03 -6.06111130e-03 7.10260041e+01] [ 6.67548905e-03 9.99959806e-01 5.98540342e-03 -5.45470125e-01] [ 6.02112934e-03 -6.02562244e-03 9.99963718e-01 -2.78890362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.395898227 meters Centerline goodness [0,1] 0.572064000674579 Centerline is valid? [False, False] Translation: X:71.03, Y:-0.55, Z:-0.28 [[ 9.99959431e-01 -6.51387967e-03 -6.22134147e-03 7.10270595e+01] [ 6.55319400e-03 9.99958556e-01 6.31992838e-03 -5.47155056e-01] [ 6.17991638e-03 -6.36044164e-03 9.99960676e-01 -2.79722357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.425898227 meters Centerline goodness [0,1] 0.6595320950903526 Centerline is valid? [False, False] Translation: X:71.03, Y:-0.55, Z:-0.28 [[ 9.99959019e-01 -6.39053171e-03 -6.41261825e-03 7.10279621e+01] [ 6.43327311e-03 9.99957082e-01 6.66685964e-03 -5.48933923e-01] [ 6.36973826e-03 -6.70784055e-03 9.99957215e-01 -2.80150526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.455898227 meters Centerline goodness [0,1] 0.7858753456711338 Centerline is valid? [False, False] Translation: X:71.01, Y:-0.55, Z:-0.28 [[ 9.99978853e-01 -6.09079395e-03 -2.27955551e-03 7.10060414e+01] [ 6.08662737e-03 9.99979801e-01 -1.83029972e-03 -5.51485518e-01] [ 2.29065744e-03 1.81638621e-03 9.99995727e-01 -2.83280935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.485898227 meters Centerline goodness [0,1] 0.7843250037280842 Centerline is valid? [False, False] Translation: X:71.01, Y:-0.55, Z:-0.28 [[ 9.99979477e-01 -5.96502995e-03 -2.33744090e-03 7.10059082e+01] [ 5.96168034e-03 9.99981196e-01 -1.43738400e-03 -5.53428358e-01] [ 2.34597099e-03 1.42341943e-03 9.99996235e-01 -2.82714752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.515898227 meters Centerline goodness [0,1] 0.8341895710249165 Centerline is valid? [False, False] Translation: X:71.01, Y:-0.56, Z:-0.28 [[ 9.99980384e-01 -5.79989068e-03 -2.36491999e-03 7.10058261e+01] [ 5.79770406e-03 9.99982760e-01 -9.30412894e-04 -5.55868606e-01] [ 2.37027552e-03 9.16683537e-04 9.99996771e-01 -2.82365178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.545898227 meters Centerline goodness [0,1] 0.8244600004281464 Centerline is valid? [False, False] Translation: X:71.01, Y:-0.56, Z:-0.28 [[ 9.99981109e-01 -5.63164502e-03 -2.46299091e-03 7.10060208e+01] [ 5.63059731e-03 9.99984055e-01 -4.32107383e-04 -5.58252892e-01] [ 2.46538511e-03 4.18231110e-04 9.99996873e-01 -2.82127001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.575898227 meters Centerline goodness [0,1] 0.7509253028263796 Centerline is valid? [False, False] Translation: X:71.05, Y:-0.56, Z:-0.28 [[ 9.99986094e-01 -4.77799259e-03 -2.23237241e-03 7.10486756e+01] [ 4.78308105e-03 9.99985963e-01 2.27964608e-03 -5.59512916e-01] [ 2.22144895e-03 -2.29029200e-03 9.99994910e-01 -2.82233509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.605898227 meters Centerline goodness [0,1] 0.7873715435957199 Centerline is valid? [False, False] Translation: X:71.05, Y:-0.56, Z:-0.28 [[ 9.99986591e-01 -4.64505519e-03 -2.28953298e-03 7.10490343e+01] [ 4.65116009e-03 9.99985623e-01 2.66836581e-03 -5.61450530e-01] [ 2.27710536e-03 -2.67897901e-03 9.99993819e-01 -2.82477178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.635898227 meters Centerline goodness [0,1] 0.7978580428391432 Centerline is valid? [False, False] Translation: X:71.05, Y:-0.56, Z:-0.28 [[ 9.99958771e-01 -8.78807578e-03 -2.28601593e-03 7.10490511e+01] [ 8.78385692e-03 9.99959712e-01 -1.84904730e-03 -5.59798875e-01] [ 2.30217339e-03 1.82889103e-03 9.99995678e-01 -2.82436908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.665898227 meters Centerline goodness [0,1] 0.7905146656566931 Centerline is valid? [False, False] Translation: X:71.05, Y:-0.56, Z:-0.28 [[ 9.99959311e-01 -8.72402632e-03 -2.29518094e-03 7.10490203e+01] [ 8.72027525e-03 9.99960634e-01 -1.63928672e-03 -5.60843120e-01] [ 2.30939177e-03 1.61920541e-03 9.99996022e-01 -2.82319519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69589822700001 meters Centerline goodness [0,1] 0.8677600253941382 Centerline is valid? [False, False] Translation: X:71.05, Y:-0.56, Z:-0.28 [[ 9.99959943e-01 -8.64538847e-03 -2.31731610e-03 7.10489421e+01] [ 8.64215097e-03 9.99961671e-01 -1.40347894e-03 -5.62004505e-01] [ 2.32936090e-03 1.38339613e-03 9.99996330e-01 -2.82042955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72589822700002 meters Centerline goodness [0,1] 0.9196724094033777 Centerline is valid? [False, False] Translation: X:71.05, Y:-0.56, Z:-0.28 [[ 9.99960819e-01 -8.52991547e-03 -2.36661865e-03 7.10490819e+01] [ 8.52738228e-03 9.99963060e-01 -1.07841659e-03 -5.63592561e-01] [ 2.37573003e-03 1.05819328e-03 9.99996618e-01 -2.81996302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.755898227 meters Centerline goodness [0,1] 0.8463857962213226 Centerline is valid? [False, False] Translation: X:71.05, Y:-0.57, Z:-0.28 [[ 9.99961512e-01 -8.40825600e-03 -2.50530679e-03 7.10494884e+01] [ 8.40657143e-03 9.99964431e-01 -6.82171300e-04 -5.65553878e-01] [ 2.51095355e-03 6.61084004e-04 9.99996629e-01 -2.81899952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.785898227 meters Centerline goodness [0,1] 0.9175538131361425 Centerline is valid? [False, False] Translation: X:71.05, Y:-0.57, Z:-0.28 [[ 9.99962676e-01 -8.24278048e-03 -2.58892085e-03 7.10498272e+01] [ 8.24233604e-03 9.99966015e-01 -1.82295882e-04 -5.68000592e-01] [ 2.59033549e-03 1.60950323e-04 9.99996632e-01 -2.81991958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.815898227 meters Centerline goodness [0,1] 0.9618111917983767 Centerline is valid? [False, True] Translation: X:71.05, Y:-0.57, Z:-0.28 [[ 9.99964444e-01 -8.06192258e-03 -2.47310342e-03 7.10491049e+01] [ 8.06358161e-03 9.99967270e-01 6.61592707e-04 -5.72383083e-01] [ 2.46768876e-03 -6.81511255e-04 9.99996723e-01 -2.81213599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.845898227 meters Centerline goodness [0,1] 0.8951396861844623 Centerline is valid? [True, False] Translation: X:71.05, Y:-0.57, Z:-0.28 [[ 9.99965195e-01 -7.95604673e-03 -2.51196930e-03 7.10491202e+01] [ 7.95856902e-03 9.99967834e-01 9.95715928e-04 -5.74039892e-01] [ 2.50396654e-03 -1.01567295e-03 9.99996349e-01 -2.81003372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.875898227 meters Centerline goodness [0,1] 0.8980111646467005 Centerline is valid? [False, False] Translation: X:71.05, Y:-0.57, Z:-0.28 [[ 9.99965525e-01 -7.89352869e-03 -2.57705469e-03 7.10494395e+01] [ 7.89655169e-03 9.99968143e-01 1.16498439e-03 -5.74826139e-01] [ 2.56777676e-03 -1.18529408e-03 9.99996001e-01 -2.81159013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.905898227 meters Centerline goodness [0,1] 0.9120456466610313 Centerline is valid? [False, False] Translation: X:71.05, Y:-0.58, Z:-0.28 [[ 9.99965588e-01 -7.83052060e-03 -2.73960188e-03 7.10503576e+01] [ 7.83403113e-03 9.99968503e-01 1.27302649e-03 -5.75283406e-01] [ 2.72954713e-03 -1.29444481e-03 9.99995437e-01 -2.81813928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.935898227 meters Centerline goodness [0,1] 0.9617374640689875 Centerline is valid? [False, True] Translation: X:71.05, Y:-0.57, Z:-0.28 [[ 9.99965446e-01 -7.80803234e-03 -2.85336621e-03 7.10510977e+01] [ 7.81154369e-03 9.99968743e-01 1.22153426e-03 -5.74902054e-01] [ 2.84373925e-03 -1.24378124e-03 9.99995183e-01 -2.82483695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.965898227 meters Centerline goodness [0,1] 0.9572987808770026 Centerline is valid? [True, True] Translation: X:71.08, Y:-0.57, Z:-0.28 [[ 9.99976772e-01 -5.12132848e-03 -4.49749777e-03 7.10816057e+01] [ 5.12001529e-03 9.99986847e-01 -3.03446235e-04 -5.71510291e-01] [ 4.49899267e-03 2.80411929e-04 9.99989840e-01 -2.84438915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.995898227 meters Centerline goodness [0,1] 0.8356074548877748 Centerline is valid? [True, False] Translation: X:71.08, Y:-0.57, Z:-0.28 [[ 9.99976415e-01 -5.07691785e-03 -4.62530392e-03 7.10821281e+01] [ 5.07527810e-03 9.99987054e-01 -3.66186240e-04 -5.70994892e-01] [ 4.62710313e-03 3.42702900e-04 9.99989236e-01 -2.84631540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.025898227 meters Centerline goodness [0,1] 0.7215923406399597 Centerline is valid? [False, False] Translation: X:71.08, Y:-0.57, Z:-0.28 [[ 9.99976497e-01 -5.05016376e-03 -4.63697913e-03 7.10821475e+01] [ 5.04796894e-03 9.99987141e-01 -4.84911066e-04 -5.70211377e-01] [ 4.63936839e-03 4.61492342e-04 9.99989132e-01 -2.84602080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.055898227 meters Centerline goodness [0,1] 0.7918623507360529 Centerline is valid? [False, False] Translation: X:71.08, Y:-0.57, Z:-0.28 [[ 9.99977125e-01 -5.05778547e-03 -4.49086937e-03 7.10814339e+01] [ 5.05472564e-03 9.99986985e-01 -6.92432901e-04 -5.68997593e-01] [ 4.49431310e-03 6.69716949e-04 9.99989676e-01 -2.84237694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.085898227 meters Centerline goodness [0,1] 0.779523568170299 Centerline is valid? [False, False] Translation: X:71.08, Y:-0.57, Z:-0.28 [[ 9.99986695e-01 -3.59318885e-03 -3.70120432e-03 7.10765067e+01] [ 3.59547802e-03 9.99993349e-01 6.12027722e-04 -5.69422564e-01] [ 3.69898057e-03 -6.25327178e-04 9.99992963e-01 -2.81359523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.115898227 meters Centerline goodness [0,1] 0.7240248823133826 Centerline is valid? [False, False] Translation: X:71.08, Y:-0.57, Z:-0.28 [[ 9.99989264e-01 -1.73519522e-03 -4.29663559e-03 7.10814576e+01] [ 1.74446807e-03 9.99996156e-01 2.15535969e-03 -5.68099994e-01] [ 4.29287911e-03 -2.16283190e-03 9.99988447e-01 -2.84893019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.145898227 meters Centerline goodness [0,1] 0.7017398332482558 Centerline is valid? [False, False] Translation: X:71.04, Y:-0.56, Z:-0.29 [[ 9.99983432e-01 -7.76140633e-05 -5.75590425e-03 7.10422023e+01] [ 8.67838039e-05 9.99998728e-01 1.59286900e-03 -5.64224282e-01] [ 5.75577330e-03 -1.59334213e-03 9.99982166e-01 -2.87443604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.175898227 meters Centerline goodness [0,1] 0.6841861151518984 Centerline is valid? [False, False] Translation: X:71.04, Y:-0.56, Z:-0.29 [[ 9.99982509e-01 -2.59382904e-04 -5.90892037e-03 7.10429082e+01] [ 2.65698036e-04 9.99999394e-01 1.06798563e-03 -5.61615887e-01] [ 5.90863977e-03 -1.06953694e-03 9.99981972e-01 -2.87900166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.205898227 meters Centerline goodness [0,1] 0.5993043183167897 Centerline is valid? [False, False] Translation: X:71.04, Y:-0.56, Z:-0.29 [[ 9.99982134e-01 -4.28158767e-04 -5.96227185e-03 7.10429711e+01] [ 4.32772077e-04 9.99999608e-01 7.72481655e-04 -5.60371840e-01] [ 5.96193877e-03 -7.75048158e-04 9.99981927e-01 -2.87782479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.235898227 meters Centerline goodness [0,1] 0.7211876464680281 Centerline is valid? [False, False] Translation: X:71.08, Y:-0.56, Z:-0.29 [[ 9.99990764e-01 -1.17527167e-03 -4.13405169e-03 7.10817685e+01] [ 1.17999622e-03 9.99998653e-01 1.14058541e-03 -5.58295371e-01] [ 4.13270563e-03 -1.14545304e-03 9.99990804e-01 -2.85877953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.265898227 meters Centerline goodness [0,1] 0.62864234611935 Centerline is valid? [False, False] Translation: X:71.08, Y:-0.56, Z:-0.29 [[ 9.99989726e-01 -1.32549419e-03 -4.33495769e-03 7.10820347e+01] [ 1.33194866e-03 9.99998008e-01 1.48638763e-03 -5.60683304e-01] [ 4.33297886e-03 -1.49214630e-03 9.99989499e-01 -2.85279104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.295898227 meters Centerline goodness [0,1] 0.8409172415247981 Centerline is valid? [False, False] Translation: X:71.04, Y:-0.57, Z:-0.29 [[ 9.99986086e-01 -3.08836219e-03 -4.27673985e-03 7.10391070e+01] [ 3.09371838e-03 9.99994438e-01 1.24635220e-03 -5.66108285e-01] [ 4.27286687e-03 -1.25956589e-03 9.99990078e-01 -2.85561755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.325898227 meters Centerline goodness [0,1] 0.980227416298168 Centerline is valid? [False, True] Translation: X:71.04, Y:-0.57, Z:-0.29 [[ 9.99978518e-01 -4.19017640e-03 -5.04046036e-03 7.10421197e+01] [ 4.19765293e-03 9.99990104e-01 1.47364119e-03 -5.70882008e-01] [ 5.03423566e-03 -1.49476764e-03 9.99986211e-01 -2.86536133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.355898227 meters Centerline goodness [0,1] 0.9908018269474752 Centerline is valid? [True, True] Translation: X:71.07, Y:-0.57, Z:-0.29 [[ 9.99957518e-01 -7.35557530e-03 -5.55494141e-03 7.10728677e+01] [ 7.35383914e-03 9.99972905e-01 -3.32904905e-04 -5.71432822e-01] [ 5.55723960e-03 2.92040617e-04 9.99984516e-01 -2.87730201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.385898227 meters Centerline goodness [0,1] 0.9952048545543273 Centerline is valid? [True, True] Translation: X:71.10, Y:-0.57, Z:-0.29 [[ 9.99936852e-01 -9.85141798e-03 -5.40756961e-03 7.11021118e+01] [ 9.84980805e-03 9.99951437e-01 -3.24269525e-04 -5.71897985e-01] [ 5.41050151e-03 2.70985525e-04 9.99985326e-01 -2.88041854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.415898227 meters Centerline goodness [0,1] 0.9970716484268126 Centerline is valid? [True, True] Translation: X:71.13, Y:-0.57, Z:-0.29 [[ 9.99926571e-01 -1.09574311e-02 -5.17563107e-03 7.11316304e+01] [ 1.09559704e-02 9.99939933e-01 -3.10485408e-04 -5.72979568e-01] [ 5.17872230e-03 2.53758549e-04 9.99986558e-01 -2.86584382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44589822700001 meters Centerline goodness [0,1] 0.9971355153966047 Centerline is valid? [True, True] Translation: X:71.16, Y:-0.57, Z:-0.29 [[ 9.99934573e-01 -1.05275565e-02 -4.47438717e-03 7.11616932e+01] [ 1.05264601e-02 9.99944559e-01 -2.68531134e-04 -5.71691569e-01] [ 4.47696608e-03 2.21414107e-04 9.99989954e-01 -2.85011154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47589822700002 meters Centerline goodness [0,1] 0.9968863188663659 Centerline is valid? [True, True] Translation: X:71.19, Y:-0.57, Z:-0.28 [[ 9.99946406e-01 -9.33714121e-03 -4.47250140e-03 7.11916688e+01] [ 9.33603368e-03 9.99956382e-01 -2.68446071e-04 -5.70109211e-01] [ 4.47481283e-03 2.26676261e-04 9.99989962e-01 -2.83767885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.505898227 meters Centerline goodness [0,1] 0.9948423946633703 Centerline is valid? [True, True] Translation: X:71.22, Y:-0.57, Z:-0.28 [[ 9.99966859e-01 -7.50995692e-03 -3.14354507e-03 7.12217461e+01] [ 7.50940063e-03 9.99971786e-01 -1.88726147e-04 -5.69948697e-01] [ 3.14487370e-03 1.65113753e-04 9.99995041e-01 -2.81658637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.535898227 meters Centerline goodness [0,1] 0.9772042830851598 Centerline is valid? [True, True] Translation: X:71.25, Y:-0.56, Z:-0.28 [[ 9.99973920e-01 -6.99712268e-03 -1.78861387e-03 7.12507930e+01] [ 6.99694171e-03 9.99975515e-01 -1.07413871e-04 -5.63789520e-01] [ 1.78932166e-03 9.48962429e-05 9.99998395e-01 -2.80182758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.565898227 meters Centerline goodness [0,1] 0.9722262949542342 Centerline is valid? [True, True] Translation: X:71.28, Y:-0.56, Z:-0.28 [[ 9.99976950e-01 -6.73008012e-03 -8.97216174e-04 7.12814887e+01] [ 6.73003449e-03 9.99977352e-01 -5.38686806e-05 -5.62373425e-01] [ 8.97558394e-04 4.78291432e-05 9.99999596e-01 -2.78838393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.595898227 meters Centerline goodness [0,1] 0.9650825054723018 Centerline is valid? [True, True] Translation: X:71.31, Y:-0.56, Z:-0.28 [[ 9.99978490e-01 -6.55151144e-03 -3.10410272e-04 7.13129358e+01] [ 6.55150598e-03 9.99978538e-01 -1.85797048e-05 -5.61365779e-01] [ 3.10525335e-04 1.65456504e-05 9.99999952e-01 -2.78042940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.625898227 meters Centerline goodness [0,1] 0.9650825054723018 Centerline is valid? [True, True] Translation: X:71.34, Y:-0.56, Z:-0.28 [[ 9.99978642e-01 -6.52839978e-03 -3.10410696e-04 7.13437656e+01] [ 6.52839433e-03 9.99978690e-01 -1.85726154e-05 -5.59560064e-01] [ 3.10525331e-04 1.65457352e-05 9.99999952e-01 -2.78109582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.655898227 meters Centerline goodness [0,1] 0.9379551227773074 Centerline is valid? [True, False] Translation: X:71.34, Y:-0.56, Z:-0.28 [[ 9.99980309e-01 -6.26242636e-03 -4.04548591e-04 7.13441587e+01] [ 6.26259368e-03 9.99980304e-01 4.13655288e-04 -5.61377654e-01] [ 4.01950137e-04 -4.16180666e-04 9.99999833e-01 -2.78208206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.685898227 meters Centerline goodness [0,1] 0.9249480990626376 Centerline is valid? [False, False] Translation: X:71.34, Y:-0.56, Z:-0.28 [[ 9.99981007e-01 -6.13717601e-03 -5.66419266e-04 7.13447899e+01] [ 6.13747513e-03 9.99981026e-01 5.27857277e-04 -5.61717777e-01] [ 5.63168966e-04 -5.31323636e-04 9.99999700e-01 -2.78390271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.715898227 meters Centerline goodness [0,1] 0.8952023133588027 Centerline is valid? [False, False] Translation: X:71.35, Y:-0.56, Z:-0.28 [[ 9.99981644e-01 -6.02833832e-03 -6.08674131e-04 7.13450838e+01] [ 6.02871401e-03 9.99981637e-01 6.17294448e-04 -5.61916108e-01] [ 6.04941693e-04 -6.20952640e-04 9.99999624e-01 -2.78682766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.745898227 meters Centerline goodness [0,1] 0.9256107834877844 Centerline is valid? [False, False] Translation: X:71.35, Y:-0.56, Z:-0.28 [[ 9.99982484e-01 -5.88247856e-03 -6.54468509e-04 7.13452309e+01] [ 5.88293979e-03 9.99982447e-01 7.05050478e-04 -5.62009785e-01] [ 6.50309577e-04 -7.08888327e-04 9.99999537e-01 -2.78682500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.775898227 meters Centerline goodness [0,1] 0.7833476538759772 Centerline is valid? [False, False] Translation: X:71.35, Y:-0.56, Z:-0.28 [[ 9.99983512e-01 -5.71154780e-03 -5.95705196e-04 7.13451130e+01] [ 5.71201652e-03 9.99983376e-01 7.88111286e-04 -5.62049829e-01] [ 5.91193957e-04 -7.91500969e-04 9.99999512e-01 -2.78816847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.805898227 meters Centerline goodness [0,1] 0.7595967265671137 Centerline is valid? [False, False] Translation: X:71.34, Y:-0.56, Z:-0.28 [[ 9.99984304e-01 -5.58000943e-03 -5.04642782e-04 7.13449030e+01] [ 5.58043184e-03 9.99984077e-01 8.39565546e-04 -5.62018005e-01] [ 4.99949963e-04 -8.42368493e-04 9.99999520e-01 -2.78976068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.835898227 meters Centerline goodness [0,1] 0.8668962292224631 Centerline is valid? [False, False] Translation: X:71.35, Y:-0.56, Z:-0.28 [[ 9.99986053e-01 -5.26012463e-03 -4.74249312e-04 7.13451382e+01] [ 5.26047967e-03 9.99985882e-01 7.50532663e-04 -5.60641167e-01] [ 4.70294721e-04 -7.53016974e-04 9.99999606e-01 -2.79518351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.865898227 meters Centerline goodness [0,1] 0.7812089077412513 Centerline is valid? [False, False] Translation: X:71.35, Y:-0.56, Z:-0.28 [[ 9.99993054e-01 -3.48846048e-03 -1.31284548e-03 7.13504468e+01] [ 3.49147029e-03 9.99991266e-01 2.29731879e-03 -5.61194025e-01] [ 1.30481990e-03 -2.30188659e-03 9.99996499e-01 -2.82767862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.895898227 meters Centerline goodness [0,1] 0.6803725291434364 Centerline is valid? [False, False] Translation: X:71.35, Y:-0.56, Z:-0.28 [[ 9.99993100e-01 -3.38455683e-03 -1.53104606e-03 7.13513510e+01] [ 3.38766836e-03 9.99992193e-01 2.03428243e-03 -5.59404339e-01] [ 1.52414896e-03 -2.03945507e-03 9.99996759e-01 -2.83174503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.925898227 meters Centerline goodness [0,1] 0.7670470359031449 Centerline is valid? [False, False] Translation: X:71.33, Y:-0.56, Z:-0.28 [[ 9.99990297e-01 -2.16551575e-04 -4.39997195e-03 7.13282460e+01] [ 1.91594038e-04 9.99983897e-01 -5.67183373e-03 -5.59248599e-01] [ 4.40112934e-03 5.67093569e-03 9.99974235e-01 -2.79533208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.955898227 meters Centerline goodness [0,1] 0.5739362036784599 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.56, Z:-0.28 [[ 9.99988788e-01 2.45013728e-03 -4.05228188e-03 7.13711431e+01] [-2.46112387e-03 9.99993304e-01 -2.70844908e-03 -5.57142457e-01] [ 4.04561867e-03 2.71839188e-03 9.99988122e-01 -2.79446602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.985898227 meters Centerline goodness [0,1] 0.6845532248828183 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.56, Z:-0.28 [[ 9.99968228e-01 6.83148494e-03 -4.10769163e-03 7.13713432e+01] [-6.82277707e-03 9.99974456e-01 2.13018252e-03 -5.60044161e-01] [ 4.12213902e-03 -2.10208897e-03 9.99989295e-01 -2.79319652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.015898227 meters Centerline goodness [0,1] 0.6402124176147097 Centerline is valid? [False, False] Translation: X:71.39, Y:-0.56, Z:-0.28 [[ 9.99971652e-01 7.37417726e-03 -1.52178631e-03 7.13929429e+01] [-7.35272885e-03 9.99879816e-01 1.36488233e-02 -5.61809382e-01] [ 1.62225226e-03 -1.36372471e-02 9.99905692e-01 -2.81964306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.045898227 meters Centerline goodness [0,1] 0.6345690078323409 Centerline is valid? [False, False] Translation: X:71.35, Y:-0.56, Z:-0.28 [[ 9.99992702e-01 3.51996252e-03 -1.48526730e-03 7.13496936e+01] [-3.50863038e-03 9.99965233e-01 7.56454529e-03 -5.60391414e-01] [ 1.51184257e-03 -7.55927883e-03 9.99970285e-01 -2.82625628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.075898227 meters Centerline goodness [0,1] 0.6855887783035886 Centerline is valid? [False, False] Translation: X:71.35, Y:-0.56, Z:-0.28 [[ 9.99992317e-01 3.56863687e-03 -1.62214799e-03 7.13503034e+01] [-3.55606375e-03 9.99964118e-01 7.68880939e-03 -5.61029469e-01] [ 1.64952836e-03 -7.68298185e-03 9.99969125e-01 -2.82919412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.105898227 meters Centerline goodness [0,1] 0.6067441713793176 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.56, Z:-0.29 [[ 9.99985595e-01 4.79648180e-03 2.40888636e-03 7.13708528e+01] [-4.79215966e-03 9.99986903e-01 -1.79682728e-03 -5.56578422e-01] [-2.41747326e-03 1.78525763e-03 9.99995484e-01 -2.85739116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.135898227 meters Centerline goodness [0,1] 0.6851219149884344 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.56, Z:-0.29 [[ 9.99956620e-01 9.01965963e-03 2.32459332e-03 7.13712104e+01] [-9.02641321e-03 9.99955023e-01 2.91134501e-03 -5.58996914e-01] [-2.29822943e-03 -2.93220146e-03 9.99993060e-01 -2.85655938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.165898227 meters Centerline goodness [0,1] 0.6162260326041051 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.56, Z:-0.29 [[ 9.99957527e-01 8.90241667e-03 2.38576532e-03 7.13708445e+01] [-8.90784656e-03 9.99957736e-01 2.27507500e-03 -5.55641702e-01] [-2.36541082e-03 -2.29623040e-03 9.99994566e-01 -2.85435484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19589822700001 meters Centerline goodness [0,1] 0.5346073618339269 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.55, Z:-0.29 [[ 9.99952575e-01 9.40725026e-03 2.52006665e-03 7.13704019e+01] [-9.40989162e-03 9.99955187e-01 1.03833464e-03 -5.45980926e-01] [-2.51018584e-03 -1.06199895e-03 9.99996286e-01 -2.85476345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22589822700002 meters Centerline goodness [0,1] 0.5833439775194789 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.54, Z:-0.29 [[ 9.99954033e-01 9.25011509e-03 2.52316351e-03 7.13705853e+01] [-9.25004498e-03 9.99957217e-01 -3.94522067e-05 -5.40254163e-01] [-2.52342049e-03 1.61110173e-05 9.99996816e-01 -2.85993467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.255898227 meters Centerline goodness [0,1] 0.5554425659929664 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.53, Z:-0.29 [[ 9.99956405e-01 9.02024702e-03 2.41332921e-03 7.13711587e+01] [-9.01740971e-03 9.99958641e-01 -1.18399235e-03 -5.34353696e-01] [-2.42390930e-03 1.16217875e-03 9.99996387e-01 -2.86601624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.285898227 meters Centerline goodness [0,1] 0.5325428859737639 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.53, Z:-0.29 [[ 9.99913399e-01 1.29650586e-02 2.25853732e-03 7.13718521e+01] [-1.29710852e-02 9.99912295e-01 2.67447953e-03 -5.32639314e-01] [-2.22366445e-03 -2.70354360e-03 9.99993873e-01 -2.86762002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.315898227 meters Centerline goodness [0,1] 0.5305285412262156 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.53, Z:-0.29 [[ 9.99918473e-01 1.25399141e-02 2.40773797e-03 7.13710603e+01] [-1.25436424e-02 9.99920140e-01 1.53964226e-03 -5.27214706e-01] [-2.38823871e-03 -1.56971854e-03 9.99995916e-01 -2.86384178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.345898227 meters Centerline goodness [0,1] 0.5214527742481999 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.52, Z:-0.29 [[ 9.99961879e-01 8.32662607e-03 2.62833606e-03 7.13698014e+01] [-8.31585968e-03 9.99957095e-01 -4.08096679e-03 -5.19089553e-01] [-2.66220397e-03 4.05895434e-03 9.99988219e-01 -2.85775805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.375898227 meters Centerline goodness [0,1] 0.579790851895936 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.51, Z:-0.29 [[ 9.99969519e-01 7.41069342e-03 2.45835806e-03 7.13697156e+01] [-7.39637398e-03 9.99955921e-01 -5.78362920e-03 -5.11732024e-01] [-2.50111040e-03 5.76526997e-03 9.99980253e-01 -2.85016442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.405898227 meters Centerline goodness [0,1] 0.5539541058221127 Centerline is valid? [False, False] Translation: X:71.39, Y:-0.51, Z:-0.28 [[ 9.99992253e-01 3.59456456e-03 -1.60430880e-03 7.13899217e+01] [-3.59641577e-03 9.99992869e-01 -1.15251173e-03 -5.07326706e-01] [ 1.60015458e-03 1.15827257e-03 9.99998049e-01 -2.80503879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.435898227 meters Centerline goodness [0,1] 0.6066022442577739 Centerline is valid? [False, False] Translation: X:71.39, Y:-0.51, Z:-0.28 [[ 9.99993365e-01 3.09976524e-03 -1.91333499e-03 7.13906071e+01] [-3.10265488e-03 9.99994048e-01 -1.50914685e-03 -5.06491121e-01] [ 1.90864560e-03 1.51507325e-03 9.99997031e-01 -2.80075894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.465898227 meters Centerline goodness [0,1] 0.6166751939967596 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.51, Z:-0.28 [[ 9.99979577e-01 -2.50565963e-03 -5.87940826e-03 7.13701454e+01] [ 2.52556031e-03 9.99991099e-01 3.37983052e-03 -5.07222128e-01] [ 5.87088722e-03 -3.39461030e-03 9.99977004e-01 -2.77542289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.495898227 meters Centerline goodness [0,1] 0.6778347213324791 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.51, Z:-0.28 [[ 9.99952437e-01 -7.64255179e-03 -6.05923671e-03 7.13702000e+01] [ 7.63421295e-03 9.99969882e-01 -1.39815708e-03 -5.06636297e-01] [ 6.06973971e-03 1.35183307e-03 9.99980665e-01 -2.76604262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.525898227 meters Centerline goodness [0,1] 0.7851392008135938 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.51, Z:-0.28 [[ 9.99946947e-01 -8.07517413e-03 -6.39491736e-03 7.13711336e+01] [ 8.06761414e-03 9.99966728e-01 -1.20710245e-03 -5.08810088e-01] [ 6.40445214e-03 1.15544668e-03 9.99978824e-01 -2.76389165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.555898227 meters Centerline goodness [0,1] 0.7841265828118745 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.51, Z:-0.28 [[ 9.99942286e-01 -8.44154325e-03 -6.64571470e-03 7.13717382e+01] [ 8.43572387e-03 9.99964011e-01 -9.03204397e-04 -5.11454859e-01] [ 6.65309996e-03 8.47090855e-04 9.99977509e-01 -2.76052342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.585898227 meters Centerline goodness [0,1] 0.8838169856714003 Centerline is valid? [False, False] Translation: X:71.37, Y:-0.51, Z:-0.28 [[ 9.99895091e-01 -1.29091303e-02 -6.56978536e-03 7.13712667e+01] [ 1.28733543e-02 9.99902233e-01 -5.45898858e-03 -5.10370167e-01] [ 6.63961385e-03 5.37384071e-03 9.99963518e-01 -2.75422413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.615898227 meters Centerline goodness [0,1] 0.9612411287597161 Centerline is valid? [False, True] Translation: X:71.37, Y:-0.51, Z:-0.28 [[ 9.99891136e-01 -1.30773737e-02 -6.83358636e-03 7.13719137e+01] [ 1.30435834e-02 9.99902597e-01 -4.96612502e-03 -5.13584148e-01] [ 6.89786462e-03 4.87644993e-03 9.99964319e-01 -2.75045398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.645898227 meters Centerline goodness [0,1] 0.9926272478539652 Centerline is valid? [True, True] Translation: X:71.40, Y:-0.52, Z:-0.28 [[ 9.99781497e-01 -1.91178105e-02 -8.45390746e-03 7.14017263e+01] [ 1.91136704e-02 9.99817154e-01 -5.70252361e-04 -5.22278680e-01] [ 8.46326368e-03 4.08542558e-04 9.99964102e-01 -2.78235732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.675898227 meters Centerline goodness [0,1] 0.9873720787338178 Centerline is valid? [True, True] Translation: X:71.43, Y:-0.52, Z:-0.28 [[ 9.99743498e-01 -2.06000347e-02 -9.41154472e-03 7.14308236e+01] [ 2.05949677e-02 9.99787700e-01 -6.34986734e-04 -5.18786702e-01] [ 9.42262740e-03 4.40993398e-04 9.99955509e-01 -2.82702219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.705898227 meters Centerline goodness [0,1] 0.9984283408376519 Centerline is valid? [True, True] Translation: X:71.46, Y:-0.53, Z:-0.28 [[ 9.99711889e-01 -2.17367950e-02 -1.01809152e-02 7.14610572e+01] [ 2.17309187e-02 9.99763619e-01 -6.87472201e-04 -5.30726051e-01] [ 1.01934521e-02 4.66033491e-04 9.99947937e-01 -2.80866028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.735898227 meters Centerline goodness [0,1] 0.9971021904031364 Centerline is valid? [True, True] Translation: X:71.49, Y:-0.53, Z:-0.28 [[ 9.99700279e-01 -2.23951528e-02 -9.88989318e-03 7.14900523e+01] [ 2.23896343e-02 9.99749097e-01 -6.68371522e-04 -5.29353492e-01] [ 9.90238006e-03 4.46740105e-04 9.99950870e-01 -2.81222293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.765898227 meters Centerline goodness [0,1] 0.9942809434356085 Centerline is valid? [True, True] Translation: X:71.52, Y:-0.53, Z:-0.28 [[ 9.99708234e-01 -2.22780437e-02 -9.33464750e-03 7.15183181e+01] [ 2.22731194e-02 9.99751724e-01 -6.31163854e-04 -5.27149324e-01] [ 9.34639102e-03 4.23067983e-04 9.99956232e-01 -2.80714657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.795898227 meters Centerline goodness [0,1] 0.9977161707796739 Centerline is valid? [True, True] Translation: X:71.55, Y:-0.53, Z:-0.28 [[ 9.99719829e-01 -2.19320008e-02 -8.90227537e-03 7.15479963e+01] [ 2.19275058e-02 9.99759382e-01 -6.02231051e-04 -5.33537675e-01] [ 8.91334146e-03 4.06857628e-04 9.99960193e-01 -2.81541576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.825898227 meters Centerline goodness [0,1] 0.9992940572455398 Centerline is valid? [True, True] Translation: X:71.58, Y:-0.55, Z:-0.28 [[ 9.99737185e-01 -2.12382988e-02 -8.63109827e-03 7.15783024e+01] [ 2.12340455e-02 9.99774362e-01 -5.84135618e-04 -5.46906537e-01] [ 8.64155681e-03 4.00708965e-04 9.99962581e-01 -2.77291223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.855898227 meters Centerline goodness [0,1] 0.9987489132509171 Centerline is valid? [True, True] Translation: X:71.61, Y:-0.55, Z:-0.28 [[ 9.99747626e-01 -2.09797570e-02 -8.03328845e-03 7.16071209e+01] [ 2.09760623e-02 9.99779830e-01 -5.43912545e-04 -5.49048851e-01] [ 8.04293091e-03 3.75268516e-04 9.99967585e-01 -2.77223018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.885898227 meters Centerline goodness [0,1] 0.9982631166465442 Centerline is valid? [True, True] Translation: X:71.64, Y:-0.55, Z:-0.28 [[ 9.99761599e-01 -2.04924140e-02 -7.53700944e-03 7.16356952e+01] [ 2.04891459e-02 9.99789945e-01 -5.10573676e-04 -5.51333825e-01] [ 7.54588914e-03 3.56025068e-04 9.99971466e-01 -2.79382513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.915898227 meters Centerline goodness [0,1] 0.9970610001057194 Centerline is valid? [True, True] Translation: X:71.66, Y:-0.55, Z:-0.28 [[ 9.99762081e-01 -2.03213207e-02 -7.92624924e-03 7.16644271e+01] [ 2.03176983e-02 9.99793430e-01 -5.37271350e-04 -5.54556557e-01] [ 7.93552998e-03 3.76100382e-04 9.99968442e-01 -2.77713571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94589822700001 meters Centerline goodness [0,1] 0.9938080495356038 Centerline is valid? [True, True] Translation: X:71.69, Y:-0.55, Z:-0.28 [[ 9.99779710e-01 -1.95425061e-02 -7.65649848e-03 7.16930626e+01] [ 1.95391010e-02 9.99808959e-01 -5.19292406e-04 -5.54719739e-01] [ 7.66518404e-03 3.69576915e-04 9.99970554e-01 -2.80059054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97589822700002 meters Centerline goodness [0,1] 0.9949761580381471 Centerline is valid? [True, True] Translation: X:71.72, Y:-0.56, Z:-0.28 [[ 9.99802689e-01 -1.82746279e-02 -7.78595022e-03 7.17230522e+01] [ 1.82710665e-02 9.99832931e-01 -5.28304684e-04 -5.61277997e-01] [ 7.79430400e-03 3.85942829e-04 9.99969549e-01 -2.77070781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.005898227 meters Centerline goodness [0,1] 0.9769568630779351 Centerline is valid? [True, True] Translation: X:71.75, Y:-0.56, Z:-0.28 [[ 9.99888156e-01 -1.31351870e-02 -7.15140845e-03 7.17527693e+01] [ 1.31320505e-02 9.99913653e-01 -4.85359651e-04 -5.64067882e-01] [ 7.15716624e-03 3.91392709e-04 9.99974311e-01 -2.77498365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.035898227 meters Centerline goodness [0,1] 0.9326209247370292 Centerline is valid? [True, False] Translation: X:71.77, Y:-0.57, Z:-0.28 [[ 9.99944826e-01 -9.02399879e-03 -5.37697474e-03 7.17714577e+01] [ 8.98641298e-03 9.99935303e-01 -6.97377282e-03 -5.66463007e-01] [ 5.43955819e-03 6.92506834e-03 9.99961227e-01 -2.76339155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.065898227 meters Centerline goodness [0,1] 0.8748355332965494 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.58, Z:-0.28 [[ 9.99967393e-01 -4.32980676e-03 -6.81651059e-03 7.17315076e+01] [ 4.32840406e-03 9.99990608e-01 -2.20518742e-04 -5.77070034e-01] [ 6.81740137e-03 1.91006939e-04 9.99976743e-01 -2.77828316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.095898227 meters Centerline goodness [0,1] 0.8095478019901751 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.58, Z:-0.28 [[ 9.99968862e-01 -3.85228161e-03 -6.88724087e-03 7.17321492e+01] [ 3.85493291e-03 9.99992501e-01 3.71725347e-04 -5.79309236e-01] [ 6.88575723e-03 -3.98263624e-04 9.99976214e-01 -2.78501766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.125898227 meters Centerline goodness [0,1] 0.856387159822396 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.58, Z:-0.28 [[ 9.99970569e-01 -3.43772550e-03 -6.85875112e-03 7.17324651e+01] [ 3.44447210e-03 9.99993595e-01 9.72079297e-04 -5.81699930e-01] [ 6.85536545e-03 -9.95675465e-04 9.99976006e-01 -2.79152383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.155898227 meters Centerline goodness [0,1] 0.6247119754782793 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.59, Z:-0.28 [[ 9.99973754e-01 -2.45919316e-03 -6.81499054e-03 7.17329315e+01] [ 2.47383461e-03 9.99994648e-01 2.14082100e-03 -5.85905020e-01] [ 6.80968938e-03 -2.15762398e-03 9.99974486e-01 -2.80007383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.185898227 meters Centerline goodness [0,1] 0.6393744250229991 Centerline is valid? [False, False] Translation: X:71.75, Y:-0.58, Z:-0.28 [[ 9.99994338e-01 -2.09105971e-04 -3.35862219e-03 7.17534398e+01] [ 1.87539523e-04 9.99979372e-01 -6.42025066e-03 -5.83935891e-01] [ 3.35989542e-03 6.41958443e-03 9.99973750e-01 -2.82028015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.215898227 meters Centerline goodness [0,1] 0.6469292672596357 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.59, Z:-0.28 [[ 9.99990326e-01 2.23511623e-03 -3.78846333e-03 7.17108430e+01] [-2.24633090e-03 9.99993100e-01 -2.95855194e-03 -5.90348969e-01] [ 3.78182448e-03 2.96703346e-03 9.99988447e-01 -2.82777544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.245898227 meters Centerline goodness [0,1] 0.7107150434967112 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.59, Z:-0.28 [[ 9.99990058e-01 2.36880617e-03 -3.77780624e-03 7.17109996e+01] [-2.37994885e-03 9.99992823e-01 -2.94775032e-03 -5.90045808e-01] [ 3.77079648e-03 2.95671200e-03 9.99988519e-01 -2.83094361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.275898227 meters Centerline goodness [0,1] 0.6816666312726964 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.59, Z:-0.28 [[ 9.99989621e-01 2.47685504e-03 -3.82394444e-03 7.17113815e+01] [-2.48837582e-03 9.99992371e-01 -3.01098758e-03 -5.89405132e-01] [ 3.81645749e-03 3.02047174e-03 9.99988156e-01 -2.83522688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.305898227 meters Centerline goodness [0,1] 0.6261672437309831 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.59, Z:-0.28 [[ 9.99968078e-01 6.86872543e-03 -4.08207781e-03 7.17125371e+01] [-6.86104495e-03 9.99974672e-01 1.89254822e-03 -5.92670041e-01] [ 4.09497381e-03 -1.86448049e-03 9.99989877e-01 -2.83937990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.335898227 meters Centerline goodness [0,1] 0.6009857404638035 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.59, Z:-0.28 [[ 9.99967522e-01 7.08685381e-03 -3.83807151e-03 7.17120619e+01] [-7.08049503e-03 9.99973542e-01 1.66782520e-03 -5.90919866e-01] [ 3.84978959e-03 -1.64059559e-03 9.99991244e-01 -2.84460686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.365898227 meters Centerline goodness [0,1] 0.5355431140518302 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.59, Z:-0.28 [[ 9.99967392e-01 7.12280034e-03 -3.80539797e-03 7.17119460e+01] [-7.11690874e-03 9.99973458e-01 1.55952895e-03 -5.90215671e-01] [ 3.81640518e-03 -1.53239543e-03 9.99991543e-01 -2.84467310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.395898227 meters Centerline goodness [0,1] 0.5536983750846309 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.59, Z:-0.28 [[ 9.99967210e-01 7.13441243e-03 -3.83140100e-03 7.17119299e+01] [-7.12871438e-03 9.99973467e-01 1.49880110e-03 -5.89901124e-01] [ 3.84199241e-03 -1.47143899e-03 9.99991537e-01 -2.84304422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.425898227 meters Centerline goodness [0,1] 0.5796888450313884 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.59, Z:-0.28 [[ 9.99966424e-01 7.29030345e-03 -3.74193568e-03 7.17115137e+01] [-7.28332922e-03 9.99971720e-01 1.87405660e-03 -5.91716091e-01] [ 3.75549230e-03 -1.84673992e-03 9.99991243e-01 -2.84111598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.455898227 meters Centerline goodness [0,1] 0.5826408518054109 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.59, Z:-0.28 [[ 9.99966060e-01 7.37377323e-03 -3.67502459e-03 7.17111598e+01] [-7.36599962e-03 9.99970614e-01 2.12431830e-03 -5.92984207e-01] [ 3.69058084e-03 -2.09717597e-03 9.99990991e-01 -2.83862108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.485898227 meters Centerline goodness [0,1] 0.5725275646669182 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.59, Z:-0.29 [[ 9.99984790e-01 5.46337155e-03 -7.55800674e-04 7.17332901e+01] [-5.45493994e-03 9.99927434e-01 1.07410900e-02 -5.93893287e-01] [ 8.14428394e-04 -1.07368038e-02 9.99942027e-01 -2.86922419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.515898227 meters Centerline goodness [0,1] 0.5989484353224376 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.59, Z:-0.29 [[ 9.99999121e-01 1.23297006e-03 -4.88549074e-04 7.17321059e+01] [-1.23000962e-03 9.99981157e-01 6.01431411e-03 -5.91333461e-01] [ 4.95955338e-04 -6.01370790e-03 9.99981795e-01 -2.86506418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.545898227 meters Centerline goodness [0,1] 0.5894752358490566 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.59, Z:-0.29 [[ 9.99999041e-01 1.25290378e-03 -5.90647885e-04 7.17322869e+01] [-1.24915829e-03 9.99979377e-01 6.29959716e-03 -5.92981317e-01] [ 5.98528493e-04 -6.29885331e-03 9.99979983e-01 -2.86198749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.575898227 meters Centerline goodness [0,1] 0.5894752358490566 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.59, Z:-0.29 [[ 9.99999041e-01 1.25290378e-03 -5.90647885e-04 7.17322869e+01] [-1.24915829e-03 9.99979377e-01 6.29959716e-03 -5.92981317e-01] [ 5.98528493e-04 -6.29885331e-03 9.99979983e-01 -2.86198749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.605898227 meters Centerline goodness [0,1] 0.5876053819296603 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.59, Z:-0.29 [[ 9.99998615e-01 1.53812900e-03 6.36335710e-04 7.17117670e+01] [-1.53563376e-03 9.99991203e-01 -3.90335691e-03 -5.93691846e-01] [-6.42333978e-04 3.90237433e-03 9.99992179e-01 -2.89010485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.635898227 meters Centerline goodness [0,1] 0.6247495306996267 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.60, Z:-0.29 [[ 9.99995641e-01 -2.29069617e-03 1.86303434e-03 7.17341896e+01] [ 2.28450919e-03 9.99991892e-01 3.31629347e-03 -5.96547932e-01] [-1.87061586e-03 -3.31202290e-03 9.99992766e-01 -2.90828152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.665898227 meters Centerline goodness [0,1] 0.7055831080649624 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.60, Z:-0.29 [[ 9.99977062e-01 -6.43613595e-03 2.10971180e-03 7.17334251e+01] [ 6.43823987e-03 9.99978782e-01 -9.91985010e-04 -5.96169800e-01] [-2.10328249e-03 1.00554509e-03 9.99997283e-01 -2.90757483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69589822700001 meters Centerline goodness [0,1] 0.6660350345292235 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.60, Z:-0.29 [[ 9.99941872e-01 -1.05425381e-02 2.26011869e-03 7.17328431e+01] [ 1.05542223e-02 9.99930669e-01 -5.22167389e-03 -5.96135319e-01] [-2.20491230e-03 5.24522415e-03 9.99983813e-01 -2.90425076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72589822700002 meters Centerline goodness [0,1] 0.6625276228559402 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.60, Z:-0.29 [[ 9.99975726e-01 -6.66511013e-03 2.03086338e-03 7.17333901e+01] [ 6.66457026e-03 9.99977754e-01 2.72482365e-04 -6.04563696e-01] [-2.03263433e-03 -2.58940919e-04 9.99997901e-01 -2.89969776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.755898227 meters Centerline goodness [0,1] 0.6947352866672296 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.61, Z:-0.29 [[ 9.99977979e-01 -6.36806804e-03 1.86805504e-03 7.17338090e+01] [ 6.36547293e-03 9.99978771e-01 1.39187604e-03 -6.10197630e-01] [-1.87687895e-03 -1.37995433e-03 9.99997287e-01 -2.89712735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.785898227 meters Centerline goodness [0,1] 0.7025797620301149 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.62, Z:-0.29 [[ 9.99980112e-01 -6.10598879e-03 1.57880774e-03 7.17347743e+01] [ 6.10213248e-03 9.99978415e-01 2.43593114e-03 -6.15539075e-01] [-1.59364743e-03 -2.42624860e-03 9.99995787e-01 -2.89715167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.815898227 meters Centerline goodness [0,1] 0.7543881803257987 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.62, Z:-0.29 [[ 9.99982992e-01 -5.71364619e-03 1.17048017e-03 7.17366754e+01] [ 5.70895502e-03 9.99975812e-01 3.97278226e-03 -6.23469321e-01] [-1.19315093e-03 -3.96603247e-03 9.99991423e-01 -2.90569559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.845898227 meters Centerline goodness [0,1] 0.8266818700114025 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.63, Z:-0.29 [[ 9.99984600e-01 -5.44700648e-03 1.06264935e-03 7.17373807e+01] [ 5.44206337e-03 9.99974610e-01 4.60040994e-03 -6.26478383e-01] [-1.08768083e-03 -4.59455609e-03 9.99988853e-01 -2.91131635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.875898227 meters Centerline goodness [0,1] 0.7158405929838761 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.63, Z:-0.29 [[ 9.99955228e-01 -9.37746694e-03 1.26682014e-03 7.17369656e+01] [ 9.37721224e-03 9.99956012e-01 2.06844639e-04 -6.25082302e-01] [-1.26870409e-03 -1.94956137e-04 9.99999176e-01 -2.91404735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.905898227 meters Centerline goodness [0,1] 0.6513141215245499 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.63, Z:-0.29 [[ 9.99957903e-01 -9.09817659e-03 1.18952579e-03 7.17372999e+01] [ 9.09735515e-03 9.99958377e-01 6.94157680e-04 -6.27208785e-01] [-1.19579185e-03 -6.83306919e-04 9.99999052e-01 -2.91536196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.935898227 meters Centerline goodness [0,1] 0.6252285576175365 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.63, Z:-0.29 [[ 9.99960362e-01 -8.83961502e-03 1.06589736e-03 7.17377788e+01] [ 8.83843317e-03 9.99960326e-01 1.10843602e-03 -6.28965531e-01] [-1.07565322e-03 -1.09897122e-03 9.99998818e-01 -2.91648311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.965898227 meters Centerline goodness [0,1] 0.6286378292366317 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.63, Z:-0.29 [[ 9.99962187e-01 -8.63805062e-03 1.00393862e-03 7.17382950e+01] [ 8.63663708e-03 9.99961718e-01 1.40389794e-03 -6.30193125e-01] [-1.01602713e-03 -1.39517420e-03 9.99998511e-01 -2.92136049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.995898227 meters Centerline goodness [0,1] 0.7111616736190115 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.63, Z:-0.29 [[ 9.99964386e-01 -8.38575735e-03 9.51443230e-04 7.17389831e+01] [ 8.38424804e-03 9.99963604e-01 1.57938898e-03 -6.30592985e-01] [-9.64652975e-04 -1.57135560e-03 9.99998300e-01 -2.92997900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.025898227 meters Centerline goodness [0,1] 0.643945131700749 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.63, Z:-0.29 [[ 9.99964676e-01 -8.35639162e-03 9.04282517e-04 7.17393130e+01] [ 8.35510318e-03 9.99964088e-01 1.41933978e-03 -6.29579110e-01] [-9.16110601e-04 -1.41173427e-03 9.99998584e-01 -2.93331653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.055898227 meters Centerline goodness [0,1] 0.5061466812117144 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.63, Z:-0.29 [[ 9.99964774e-01 -8.35706298e-03 7.81250739e-04 7.17398187e+01] [ 8.35616781e-03 9.99964434e-01 1.14213974e-03 -6.27973872e-01] [-7.90767887e-04 -1.13557124e-03 9.99999043e-01 -2.93565947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.085898227 meters Centerline goodness [0,1] 0.5831843337590463 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.63, Z:-0.29 [[ 9.99982462e-01 -5.83463558e-03 -1.01667288e-03 7.17172360e+01] [ 5.82713436e-03 9.99956876e-01 -7.23123581e-03 -6.27357901e-01] [ 1.05882066e-03 7.22518470e-03 9.99973337e-01 -2.91770632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.115898227 meters Centerline goodness [0,1] 0.5818540848265865 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.63, Z:-0.29 [[ 9.99997724e-01 -1.33170114e-03 -1.66691999e-03 7.17601487e+01] [ 1.32776558e-03 9.99996334e-01 -2.35986003e-03 -6.26402951e-01] [ 1.67005651e-03 2.35764138e-03 9.99995826e-01 -2.90544866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.145898227 meters Centerline goodness [0,1] 0.5655365330416859 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.62, Z:-0.29 [[ 9.99997790e-01 -1.42799853e-03 -1.54313246e-03 7.17597927e+01] [ 1.42355665e-03 9.99994852e-01 -2.87576152e-03 -6.23671313e-01] [ 1.54723110e-03 2.87355843e-03 9.99994674e-01 -2.90682343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.175898227 meters Centerline goodness [0,1] 0.5792681640830961 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.62, Z:-0.29 [[ 9.99995098e-01 2.76511041e-03 -1.46925939e-03 7.17592009e+01] [-2.76328764e-03 9.99995412e-01 1.24118745e-03 -6.22815543e-01] [ 1.47268467e-03 -1.23712138e-03 9.99998150e-01 -2.90124994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.205898227 meters Centerline goodness [0,1] 0.5619953195167717 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.62, Z:-0.29 [[ 9.99995445e-01 2.67018917e-03 -1.40747059e-03 7.17589324e+01] [-2.66897048e-03 9.99996062e-01 8.67041383e-04 -6.20933725e-01] [ 1.40978021e-03 -8.63280936e-04 9.99998634e-01 -2.90085873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.235898227 meters Centerline goodness [0,1] 0.6001313893362719 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.62, Z:-0.29 [[ 9.99995643e-01 2.58347329e-03 -1.42782864e-03 7.17589921e+01] [-2.58259395e-03 9.99996475e-01 6.17360465e-04 -6.19739115e-01] [ 1.42941854e-03 -6.13670274e-04 9.99998790e-01 -2.90116754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.265898227 meters Centerline goodness [0,1] 0.5297749034100454 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.62, Z:-0.29 [[ 9.99995492e-01 2.61153680e-03 -1.48189006e-03 7.17592768e+01] [-2.61061918e-03 9.99996400e-01 6.20818410e-04 -6.19706729e-01] [ 1.48350601e-03 -6.16946961e-04 9.99998709e-01 -2.90349332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.295898227 meters Centerline goodness [0,1] 0.5591742152938698 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.62, Z:-0.29 [[ 9.99995508e-01 2.65858775e-03 -1.38408655e-03 7.17585282e+01] [-2.65718547e-03 9.99995956e-01 1.01400170e-03 -6.21896312e-01] [ 1.38677677e-03 -1.01031937e-03 9.99998528e-01 -2.89646472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.325898227 meters Centerline goodness [0,1] 0.5918315033964199 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.63, Z:-0.29 [[ 9.99999312e-01 1.10988218e-03 3.78396671e-04 7.17130634e+01] [-1.11024684e-03 9.99998918e-01 9.64860065e-04 -6.26496620e-01] [-3.77325380e-04 -9.65279516e-04 9.99999463e-01 -2.89828930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.355898227 meters Centerline goodness [0,1] 0.6642024755533777 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.63, Z:-0.29 [[ 9.99999260e-01 1.13363560e-03 4.40617475e-04 7.17124916e+01] [-1.13417713e-03 9.99998599e-01 1.23073201e-03 -6.27974915e-01] [-4.39221657e-04 -1.23123084e-03 9.99999146e-01 -2.89167925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.385898227 meters Centerline goodness [0,1] 0.6225498515061518 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.63, Z:-0.29 [[ 9.99999295e-01 1.13812545e-03 3.39280008e-04 7.17125569e+01] [-1.13859685e-03 9.99998382e-01 1.39247488e-03 -6.28950706e-01] [-3.37694648e-04 -1.39286020e-03 9.99998973e-01 -2.88709689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.415898227 meters Centerline goodness [0,1] 0.6142741901244002 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.63, Z:-0.29 [[ 9.99999333e-01 1.11072839e-03 3.17079729e-04 7.17127486e+01] [-1.11116372e-03 9.99998436e-01 1.37608524e-03 -6.28980500e-01] [-3.15550776e-04 -1.37643665e-03 9.99999003e-01 -2.88884678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44589822700001 meters Centerline goodness [0,1] 0.6384404313700466 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.63, Z:-0.29 [[ 9.99999408e-01 1.00636064e-03 4.14702720e-04 7.17128906e+01] [-1.00671708e-03 9.99999123e-01 8.60199377e-04 -6.26323184e-01] [-4.13836686e-04 -8.60616356e-04 9.99999544e-01 -2.89693771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47589822700002 meters Centerline goodness [0,1] 0.581950294860994 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.63, Z:-0.29 [[ 9.99986391e-01 5.21556798e-03 1.24735200e-04 7.17137004e+01] [-5.21617163e-03 9.99971472e-01 5.46324943e-03 -6.28262802e-01] [-9.62376931e-05 -5.46382572e-03 9.99985069e-01 -2.89447289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.505898227 meters Centerline goodness [0,1] 0.5012215748919375 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.63, Z:-0.29 [[ 9.99987005e-01 5.09537969e-03 1.61707798e-04 7.17134641e+01] [-5.09612843e-03 9.99974373e-01 5.02812880e-03 -6.26039063e-01] [-1.36083429e-04 -5.02888754e-03 9.99987346e-01 -2.89318390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.535898227 meters Centerline goodness [0,1] 0.6330098321749449 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.63, Z:-0.29 [[ 9.99994895e-01 3.19368935e-03 -1.00447177e-04 7.16709061e+01] [-3.19343426e-03 9.99991913e-01 2.44466698e-03 -6.25740687e-01] [ 1.08253872e-04 -2.44433373e-03 9.99997007e-01 -2.90701697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.565898227 meters Centerline goodness [0,1] 0.5945807879781189 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.62, Z:-0.29 [[ 9.99995291e-01 3.05724925e-03 -2.67682441e-04 7.16715772e+01] [-3.05664489e-03 9.99992842e-01 2.22978014e-03 -6.24926712e-01] [ 2.74497518e-04 -2.22895143e-03 9.99997478e-01 -2.90983902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.595898227 meters Centerline goodness [0,1] 0.6219412467761213 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.62, Z:-0.29 [[ 9.99997075e-01 1.85611288e-03 -1.55043458e-03 7.17158263e+01] [-1.85662380e-03 9.99998223e-01 -3.28159762e-04 -6.19377248e-01] [ 1.54982272e-03 3.31037376e-04 9.99998744e-01 -2.91029770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.625898227 meters Centerline goodness [0,1] 0.5883434926745803 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.62, Z:-0.29 [[ 9.99994678e-01 -1.99174684e-04 -3.25632472e-03 7.16759798e+01] [ 1.96384376e-04 9.99999613e-01 -8.57186002e-04 -6.23270970e-01] [ 3.25649419e-03 8.56541949e-04 9.99994331e-01 -2.92710532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.655898227 meters Centerline goodness [0,1] 0.6192853115014306 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.62, Z:-0.29 [[ 9.99996832e-01 -3.89343098e-04 -2.48703895e-03 7.17179464e+01] [ 3.86250890e-04 9.99999152e-01 -1.24368856e-03 -6.20453558e-01] [ 2.48752106e-03 1.24272400e-03 9.99996134e-01 -2.92112611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.685898227 meters Centerline goodness [0,1] 0.6286038020898905 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.62, Z:-0.29 [[ 9.99996719e-01 -3.78336023e-04 -2.53367949e-03 7.17179238e+01] [ 3.75746072e-04 9.99999407e-01 -1.02260745e-03 -6.21675789e-01] [ 2.53406487e-03 1.02165207e-03 9.99996267e-01 -2.91821215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.715898227 meters Centerline goodness [0,1] 0.6503201923281492 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.63, Z:-0.29 [[ 9.99996626e-01 -7.00092424e-04 -2.50156193e-03 7.16750159e+01] [ 7.00328912e-04 9.99999750e-01 9.36615435e-05 -6.25963430e-01] [ 2.50149573e-03 -9.54131437e-05 9.99996867e-01 -2.92604142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.745898227 meters Centerline goodness [0,1] 0.5119015105359357 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.62, Z:-0.29 [[ 9.99994774e-01 -4.07865714e-04 -3.20699872e-03 7.17187046e+01] [ 4.06584809e-04 9.99999837e-01 -4.00050967e-04 -6.21006639e-01] [ 3.20716137e-03 3.98744959e-04 9.99994778e-01 -2.92304001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.775898227 meters Centerline goodness [0,1] 0.6491010539367639 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.62, Z:-0.29 [[ 9.99990879e-01 -9.58456133e-04 -4.16209365e-03 7.16767904e+01] [ 9.55672288e-04 9.99999318e-01 -6.70794308e-04 -6.22295978e-01] [ 4.16273374e-03 6.66810592e-04 9.99991113e-01 -2.93394109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.805898227 meters Centerline goodness [0,1] 0.6270481365141354 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.62, Z:-0.29 [[ 9.99990087e-01 -1.04657470e-03 -4.32784351e-03 7.16775062e+01] [ 1.04277736e-03 9.99999069e-01 -8.79584245e-04 -6.21248875e-01] [ 4.32876004e-03 8.75062549e-04 9.99990248e-01 -2.93763826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.835898227 meters Centerline goodness [0,1] 0.6373462700540449 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.62, Z:-0.29 [[ 9.99989552e-01 -1.09616823e-03 -4.43790322e-03 7.16778888e+01] [ 1.09208535e-03 9.99998978e-01 -9.22321358e-04 -6.21107889e-01] [ 4.43890970e-03 9.17465152e-04 9.99989727e-01 -2.93815323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.865898227 meters Centerline goodness [0,1] 0.6619506193789242 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.62, Z:-0.29 [[ 9.99989059e-01 -1.08862969e-03 -4.54931619e-03 7.16781624e+01] [ 1.08505802e-03 9.99999101e-01 -7.87495024e-04 -6.21806191e-01] [ 4.55016940e-03 7.82550137e-04 9.99989342e-01 -2.93682768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.895898227 meters Centerline goodness [0,1] 0.625561531161025 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.62, Z:-0.29 [[ 9.99988530e-01 -1.06411013e-03 -4.66989416e-03 7.16783036e+01] [ 1.06152215e-03 9.99999282e-01 -5.56626959e-04 -6.23058970e-01] [ 4.67048312e-03 5.51663378e-04 9.99988941e-01 -2.93255652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.925898227 meters Centerline goodness [0,1] 0.6888007091899193 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.63, Z:-0.29 [[ 9.99987949e-01 -1.10851681e-03 -4.78258478e-03 7.16784140e+01] [ 1.10902935e-03 9.99999380e-01 1.04516388e-04 -6.26946769e-01] [ 4.78246595e-03 -1.09819155e-04 9.99988558e-01 -2.92795060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.955898227 meters Centerline goodness [0,1] 0.6841893721441868 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.63, Z:-0.29 [[ 9.99987356e-01 -1.00441938e-03 -4.92745813e-03 7.16787029e+01] [ 1.00708897e-03 9.99999347e-01 5.39326869e-04 -6.29202220e-01] [ 4.92691321e-03 -5.44282438e-04 9.99987715e-01 -2.92455659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.985898227 meters Centerline goodness [0,1] 0.66186793325207 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.63, Z:-0.29 [[ 9.99987315e-01 -8.89761033e-04 -4.95769009e-03 7.16786479e+01] [ 8.94357673e-04 9.99999172e-01 9.25033764e-04 -6.31212285e-01] [ 4.95686293e-03 -9.29455978e-04 9.99987283e-01 -2.92174498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.015898227 meters Centerline goodness [0,1] 0.7129362484238422 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.64, Z:-0.29 [[ 9.99992756e-01 -1.47855522e-03 -3.50752920e-03 7.16327560e+01] [ 1.48248162e-03 9.99998277e-01 1.11708496e-03 -6.35305813e-01] [ 3.50587149e-03 -1.12227672e-03 9.99993225e-01 -2.91945267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.045898227 meters Centerline goodness [0,1] 0.6471187519898122 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.64, Z:-0.29 [[ 9.99993400e-01 -1.32071851e-03 -3.38451010e-03 7.16320063e+01] [ 1.32486410e-03 9.99998375e-01 1.22292099e-03 -6.35469016e-01] [ 3.38288947e-03 -1.22739694e-03 9.99993525e-01 -2.91330076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.075898227 meters Centerline goodness [0,1] 0.6075664665068217 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.63, Z:-0.29 [[ 9.99996253e-01 -7.29760162e-04 -2.63838291e-03 7.16292209e+01] [ 7.32447617e-04 9.99999214e-01 1.01777654e-03 -6.32641256e-01] [ 2.63763811e-03 -1.01970521e-03 9.99996002e-01 -2.90480260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.105898227 meters Centerline goodness [0,1] 0.5737925807402418 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.63, Z:-0.29 [[ 9.99989656e-01 3.66244555e-03 -2.69721129e-03 7.16294451e+01] [-3.64731753e-03 9.99977710e-01 5.59248346e-03 -6.33993509e-01] [ 2.71763334e-03 -5.58258802e-03 9.99980724e-01 -2.90457387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.135898227 meters Centerline goodness [0,1] 0.7005976642520749 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.63, Z:-0.29 [[ 9.99990009e-01 3.61786742e-03 -2.62547404e-03 7.16293478e+01] [-3.60448502e-03 9.99980580e-01 5.08409447e-03 -6.31244225e-01] [ 2.64381663e-03 -5.07458019e-03 9.99983629e-01 -2.90785444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.165898227 meters Centerline goodness [0,1] 0.6884768943255182 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.63, Z:-0.29 [[ 9.99990642e-01 3.49630654e-03 -2.54800963e-03 7.16293361e+01] [-3.48486763e-03 9.99983892e-01 4.48004729e-03 -6.28145119e-01] [ 2.56363220e-03 -4.47112589e-03 9.99986718e-01 -2.91303663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19589822700001 meters Centerline goodness [0,1] 0.48156956004756246 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.63, Z:-0.29 [[ 9.99991241e-01 3.31753419e-03 -2.55199464e-03 7.16295687e+01] [-3.30750994e-03 9.99986838e-01 3.92224559e-03 -6.25431883e-01] [ 2.56497324e-03 -3.91377049e-03 9.99989052e-01 -2.91776082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22589822700002 meters Centerline goodness [0,1] 0.625601722827464 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.62, Z:-0.29 [[ 9.99991436e-01 3.03397391e-03 -2.81494403e-03 7.16307152e+01] [-3.02461925e-03 9.99989909e-01 3.32154002e-03 -6.22729218e-01] [ 2.82499309e-03 -3.31299743e-03 9.99990522e-01 -2.92412182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.255898227 meters Centerline goodness [0,1] 0.6043625582380348 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.62, Z:-0.29 [[ 9.99991197e-01 2.91529630e-03 -3.01769430e-03 7.16314506e+01] [-2.90548131e-03 9.99990492e-01 3.25176952e-03 -6.22653708e-01] [ 3.02714548e-03 -3.24297304e-03 9.99990160e-01 -2.92608454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.285898227 meters Centerline goodness [0,1] 0.4587294275304661 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.62, Z:-0.29 [[ 9.99990887e-01 2.79981833e-03 -3.22276530e-03 7.16323439e+01] [-2.78942941e-03 9.99990914e-01 3.22359710e-03 -6.22739541e-01] [ 3.23176150e-03 -3.21457805e-03 9.99989611e-01 -2.93003556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.315898227 meters Centerline goodness [0,1] 0.6310675465009503 Centerline is valid? [False, False] Translation: X:71.59, Y:-0.62, Z:-0.29 [[ 9.99991530e-01 4.76445776e-04 -4.08817729e-03 7.15904539e+01] [-4.72820062e-04 9.99999494e-01 8.87798428e-04 -6.24123281e-01] [ 4.08859821e-03 -8.85857936e-04 9.99991249e-01 -2.94369417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.345898227 meters Centerline goodness [0,1] 0.6474261922785769 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.62, Z:-0.29 [[ 9.99991885e-01 8.58304467e-05 -4.02780871e-03 7.16338310e+01] [-8.48514132e-05 9.99999967e-01 2.43238765e-04 -6.20660224e-01] [ 4.02782945e-03 -2.42895026e-04 9.99991859e-01 -2.94575028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.375898227 meters Centerline goodness [0,1] 0.6453370501773948 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.62, Z:-0.29 [[ 9.99991847e-01 6.94905039e-05 -4.03743383e-03 7.16338717e+01] [-6.85880091e-05 9.99999973e-01 2.23669823e-04 -6.20605601e-01] [ 4.03744926e-03 -2.23391080e-04 9.99991825e-01 -2.94608063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.405898227 meters Centerline goodness [0,1] 0.6258030542390731 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.62, Z:-0.29 [[ 9.99991662e-01 4.30355468e-05 -4.08345873e-03 7.16341307e+01] [-4.23672194e-05 9.99999986e-01 1.63753349e-04 -6.20318621e-01] [ 4.08346572e-03 -1.63578979e-04 9.99991649e-01 -2.94806790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.435898227 meters Centerline goodness [0,1] 0.6258030542390731 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.62, Z:-0.29 [[ 9.99991662e-01 4.30355468e-05 -4.08345873e-03 7.16341307e+01] [-4.23672194e-05 9.99999986e-01 1.63753349e-04 -6.20318621e-01] [ 4.08346572e-03 -1.63578979e-04 9.99991649e-01 -2.94806790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.465898227 meters Centerline goodness [0,1] 0.6261532290413157 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.62, Z:-0.30 [[ 9.99991063e-01 -1.72518033e-05 -4.22777083e-03 7.16348099e+01] [ 1.73479724e-05 1.00000000e+00 2.27103330e-05 -6.19690450e-01] [ 4.22777044e-03 -2.27834733e-05 9.99991063e-01 -2.95186298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.495898227 meters Centerline goodness [0,1] 0.6146273449383133 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.62, Z:-0.30 [[ 9.99990357e-01 -1.60144253e-04 -4.38858967e-03 7.16357416e+01] [ 1.58763232e-04 9.99999938e-01 -3.15031013e-04 -6.18090820e-01] [ 4.38863985e-03 3.14331229e-04 9.99990320e-01 -2.95920263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.525898227 meters Centerline goodness [0,1] 0.5772530366091906 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.62, Z:-0.30 [[ 9.99989594e-01 -2.99352581e-04 -4.55212688e-03 7.16367246e+01] [ 2.96168396e-04 9.99999711e-01 -7.00151895e-04 -6.16238963e-01] [ 4.55233516e-03 6.98796414e-04 9.99989394e-01 -2.96772003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.555898227 meters Centerline goodness [0,1] 0.610277185501066 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.61, Z:-0.30 [[ 9.99989470e-01 -5.24672033e-04 -4.55906400e-03 7.16369956e+01] [ 5.17627665e-04 9.99998671e-01 -1.54617737e-03 -6.11891640e-01] [ 4.55986918e-03 1.54380119e-03 9.99988412e-01 -2.97297672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.585898227 meters Centerline goodness [0,1] 0.6151599796851194 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.61, Z:-0.30 [[ 9.99989566e-01 -6.67271435e-04 -4.51920204e-03 7.16367425e+01] [ 6.58186504e-04 9.99997760e-01 -2.01148428e-03 -6.09530757e-01] [ 4.52053412e-03 2.00848881e-03 9.99987765e-01 -2.97146901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.615898227 meters Centerline goodness [0,1] 0.6130515688832803 Centerline is valid? [False, False] Translation: X:71.59, Y:-0.61, Z:-0.30 [[ 9.99991851e-01 -5.43201865e-04 -4.00046512e-03 7.15924959e+01] [ 5.37129590e-04 9.99998702e-01 -1.51881026e-03 -6.11379984e-01] [ 4.00128494e-03 1.51664912e-03 9.99990845e-01 -2.97567016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.645898227 meters Centerline goodness [0,1] 0.5461997330218589 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.61, Z:-0.30 [[ 9.99997671e-01 -2.52348740e-04 -2.14341279e-03 7.16316044e+01] [ 2.48195583e-04 9.99998092e-01 -1.93768246e-03 -6.05419437e-01] [ 2.14389768e-03 1.93714596e-03 9.99995826e-01 -2.95471882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.675898227 meters Centerline goodness [0,1] 0.631422236300285 Centerline is valid? [False, False] Translation: X:71.59, Y:-0.61, Z:-0.30 [[ 9.99999207e-01 -4.35648041e-04 -1.18199771e-03 7.15870228e+01] [ 4.34556441e-04 9.99999479e-01 -9.23620529e-04 -6.08868091e-01] [ 1.18239946e-03 9.23106151e-04 9.99998875e-01 -2.95400628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.705898227 meters Centerline goodness [0,1] 0.6246148001181984 Centerline is valid? [False, False] Translation: X:71.59, Y:-0.61, Z:-0.30 [[ 9.99999088e-01 -5.18815350e-04 -1.24666007e-03 7.15870379e+01] [ 5.17626941e-04 9.99999412e-01 -9.53408124e-04 -6.08845318e-01] [ 1.24715398e-03 9.52761950e-04 9.99998768e-01 -2.95113686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.735898227 meters Centerline goodness [0,1] 0.6614864577575577 Centerline is valid? [False, False] Translation: X:71.59, Y:-0.61, Z:-0.30 [[ 9.99998885e-01 -6.24751355e-04 -1.35636310e-03 7.15873653e+01] [ 6.23472746e-04 9.99999361e-01 -9.42892399e-04 -6.09212974e-01] [ 1.35695131e-03 9.42045692e-04 9.99998636e-01 -2.95089058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.765898227 meters Centerline goodness [0,1] 0.6657832186954418 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.61, Z:-0.30 [[ 9.99995548e-01 -2.97583659e-03 2.20319133e-04 7.16100785e+01] [ 2.97412346e-03 9.99968155e-01 7.40565138e-03 -6.08786781e-01] [-2.42350125e-04 -7.40496315e-03 9.99972554e-01 -2.97416720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.795898227 meters Centerline goodness [0,1] 0.6890220820189275 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.61, Z:-0.30 [[ 9.99995204e-01 -3.09038881e-03 2.02080947e-04 7.16100775e+01] [ 3.08881396e-03 9.99968016e-01 7.37735339e-03 -6.08925065e-01] [-2.24873374e-04 -7.37669383e-03 9.99972767e-01 -2.97320851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.825898227 meters Centerline goodness [0,1] 0.6864769365035441 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.60, Z:-0.30 [[ 9.99971585e-01 -7.50146372e-03 7.46011090e-04 7.16078480e+01] [ 7.49978757e-03 9.99969401e-01 2.22479096e-03 -6.04263370e-01] [-7.62677452e-04 -2.21913282e-03 9.99997247e-01 -2.96375376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.855898227 meters Centerline goodness [0,1] 0.7053063468900027 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.60, Z:-0.30 [[ 9.99970875e-01 -7.59406229e-03 7.61359088e-04 7.16074996e+01] [ 7.59253715e-03 9.99969203e-01 1.98645009e-03 -6.03091259e-01] [-7.76420867e-04 -1.98061159e-03 9.99997737e-01 -2.95901836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.885898227 meters Centerline goodness [0,1] 0.6763688517674851 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.60, Z:-0.30 [[ 9.99969989e-01 -7.71219096e-03 7.36571394e-04 7.16074551e+01] [ 7.71098756e-03 9.99968953e-01 1.62288904e-03 -6.01215083e-01] [-7.49064556e-04 -1.61716065e-03 9.99998412e-01 -2.95735223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.915898227 meters Centerline goodness [0,1] 0.6950120255150057 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.60, Z:-0.30 [[ 9.99969130e-01 -7.83063025e-03 6.48249701e-04 7.16077137e+01] [ 7.82983005e-03 9.99968593e-01 1.22785721e-03 -5.99192696e-01] [-6.57844237e-04 -1.22274362e-03 9.99999036e-01 -2.95734273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94589822700001 meters Centerline goodness [0,1] 0.663100811320355 Centerline is valid? [False, False] Translation: X:71.60, Y:-0.59, Z:-0.30 [[ 9.99935259e-01 -1.12717579e-02 1.55748194e-03 7.16045476e+01] [ 1.12768059e-02 9.99931064e-01 -3.27126130e-03 -5.94617890e-01] [-1.52050171e-03 3.28861293e-03 9.99993437e-01 -2.95056807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97589822700002 meters Centerline goodness [0,1] 0.6497602244885139 Centerline is valid? [False, False] Translation: X:71.60, Y:-0.59, Z:-0.29 [[ 9.99934063e-01 -1.13766562e-02 1.56257862e-03 7.16043677e+01] [ 1.13824109e-02 9.99928281e-01 -3.72461907e-03 -5.92228050e-01] [-1.52009284e-03 3.74215939e-03 9.99991843e-01 -2.94873246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.005898227 meters Centerline goodness [0,1] 0.6302923387096775 Centerline is valid? [False, False] Translation: X:71.60, Y:-0.59, Z:-0.29 [[ 9.99971846e-01 -7.33957173e-03 1.56164755e-03 7.16041189e+01] [ 7.33941646e-03 9.99973061e-01 1.05133918e-04 -5.89983972e-01] [-1.56237712e-03 -9.36693762e-05 9.99998775e-01 -2.94725804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.035898227 meters Centerline goodness [0,1] 0.6909167544783983 Centerline is valid? [False, False] Translation: X:71.60, Y:-0.59, Z:-0.30 [[ 9.99970178e-01 -7.56056970e-03 1.57482076e-03 7.16042550e+01] [ 7.56154681e-03 9.99971222e-01 -6.15431537e-04 -5.86329825e-01] [-1.57012242e-03 6.27321265e-04 9.99998571e-01 -2.95135652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.065898227 meters Centerline goodness [0,1] 0.6402006026508207 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.59, Z:-0.30 [[ 9.99993139e-01 -3.48116566e-03 1.26624522e-03 7.16054301e+01] [ 3.47646493e-03 9.99987128e-01 3.69578102e-03 -5.86915805e-01] [-1.27909455e-03 -3.69135361e-03 9.99992369e-01 -2.95594156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.095898227 meters Centerline goodness [0,1] 0.5723395270270271 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.58, Z:-0.30 [[ 9.99992288e-01 -3.76126131e-03 1.12985740e-03 7.16061285e+01] [ 3.75792555e-03 9.99988617e-01 2.94012586e-03 -5.83304990e-01] [-1.14090312e-03 -2.93585727e-03 9.99995040e-01 -2.96134245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.125898227 meters Centerline goodness [0,1] 0.5355153055820359 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.58, Z:-0.30 [[ 9.99990228e-01 -4.34755964e-03 8.01222501e-04 7.16078689e+01] [ 4.34650317e-03 9.99989688e-01 1.31563692e-03 -5.75356898e-01] [-8.06934049e-04 -1.31214154e-03 9.99998814e-01 -2.97612865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.155898227 meters Centerline goodness [0,1] 0.6319159836065573 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.57, Z:-0.30 [[ 9.99988890e-01 -4.66216719e-03 6.95872632e-04 7.16082729e+01] [ 4.66181644e-03 9.99989006e-01 5.04817955e-04 -5.71448468e-01] [-6.98218527e-04 -5.01568316e-04 9.99999630e-01 -2.97834620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.185898227 meters Centerline goodness [0,1] 0.611159417216296 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.57, Z:-0.30 [[ 9.99987876e-01 -4.89142411e-03 5.67451375e-04 7.16085544e+01] [ 4.89152414e-03 9.99988021e-01 -1.75015440e-04 -5.68080199e-01] [-5.66588502e-04 1.77789020e-04 9.99999824e-01 -2.97731711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.215898227 meters Centerline goodness [0,1] 0.6681523500810373 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.56, Z:-0.30 [[ 9.99986445e-01 -5.17366634e-03 5.85244719e-04 7.16083706e+01] [ 5.17418492e-03 9.99986219e-01 -8.88076240e-04 -5.64693606e-01] [-5.80642044e-04 8.91092367e-04 9.99999434e-01 -2.97607917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.245898227 meters Centerline goodness [0,1] 0.6003849163547152 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.56, Z:-0.30 [[ 9.99985150e-01 -5.41966107e-03 5.72692124e-04 7.16082662e+01] [ 5.42057773e-03 9.99984010e-01 -1.61137488e-03 -5.61121734e-01] [-5.63949861e-04 1.61445527e-03 9.99998538e-01 -2.97455150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.275898227 meters Centerline goodness [0,1] 0.6694671913219186 Centerline is valid? [False, False] Translation: X:71.60, Y:-0.56, Z:-0.29 [[ 9.99991642e-01 -3.92763733e-03 1.13583748e-03 7.16035296e+01] [ 3.92783361e-03 9.99992271e-01 -1.70625768e-04 -5.60087691e-01] [-1.13515854e-03 1.75085723e-04 9.99999340e-01 -2.94165141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.305898227 meters Centerline goodness [0,1] 0.521159775309372 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.55, Z:-0.30 [[ 9.99997528e-01 -2.20023040e-03 3.21344300e-04 7.16087696e+01] [ 2.19985901e-03 9.99996917e-01 1.15156317e-03 -5.54680559e-01] [-3.23877014e-04 -1.15085341e-03 9.99999285e-01 -2.97350634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.335898227 meters Centerline goodness [0,1] 0.4925149700598802 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.55, Z:-0.30 [[ 9.99997047e-01 -2.42079590e-03 2.16010136e-04 7.16092668e+01] [ 2.42065066e-03 9.99996846e-01 6.70120623e-04 -5.52445648e-01] [-2.17631680e-04 -6.69595759e-04 9.99999752e-01 -2.97669713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.365898227 meters Centerline goodness [0,1] 0.5937433632077476 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.55, Z:-0.30 [[ 9.99996597e-01 -2.60579080e-03 1.22303836e-04 7.16095502e+01] [ 2.60575858e-03 9.99996570e-01 2.62870133e-04 -5.50578949e-01] [-1.22988401e-04 -2.62550544e-04 9.99999958e-01 -2.97704510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.395898227 meters Centerline goodness [0,1] 0.4985334149275148 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.55, Z:-0.30 [[ 9.99996118e-01 -2.78489613e-03 9.42366923e-05 7.16094886e+01] [ 2.78491814e-03 9.99996095e-01 -2.34216983e-04 -5.48127253e-01] [-9.35840543e-05 2.34478516e-04 9.99999968e-01 -2.97490315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.425898227 meters Centerline goodness [0,1] 0.47980341285409944 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.54, Z:-0.30 [[ 9.99995460e-01 -3.01116290e-03 1.13524344e-04 7.16092859e+01] [ 3.01127426e-03 9.99994972e-01 -9.93848354e-04 -5.44255781e-01] [-1.10531134e-04 9.94185695e-04 9.99999500e-01 -2.97364888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.455898227 meters Centerline goodness [0,1] 0.5967485870324507 Centerline is valid? [False, False] Translation: X:71.60, Y:-0.54, Z:-0.29 [[ 9.99998259e-01 -1.70922023e-03 7.48823076e-04 7.16048975e+01] [ 1.70930300e-03 9.99998533e-01 -1.09914126e-04 -5.42226729e-01] [-7.48634110e-04 1.11193900e-04 9.99999714e-01 -2.94662864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.485898227 meters Centerline goodness [0,1] 0.5570942968651643 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.54, Z:-0.30 [[ 9.99997994e-01 1.90901241e-03 6.06169976e-04 7.16056117e+01] [-1.91071775e-03 9.99994183e-01 2.82530550e-03 -5.35982530e-01] [-6.00772907e-04 -2.82645805e-03 9.99995825e-01 -2.95289848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.515898227 meters Centerline goodness [0,1] 0.5824900919133148 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.53, Z:-0.30 [[ 9.99998505e-01 1.59035439e-03 6.78899325e-04 7.16052446e+01] [-1.59171232e-03 9.99996724e-01 2.00435964e-03 -5.32044544e-01] [-6.75709459e-04 -2.00543726e-03 9.99997761e-01 -2.95180402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.545898227 meters Centerline goodness [0,1] 0.6493487144559851 Centerline is valid? [False, False] Translation: X:71.60, Y:-0.53, Z:-0.29 [[ 9.99998863e-01 1.30378185e-03 7.57454249e-04 7.16046150e+01] [-1.30478177e-03 9.99998276e-01 1.32110648e-03 -5.28867825e-01] [-7.55730509e-04 -1.32209330e-03 9.99998840e-01 -2.94630793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.575898227 meters Centerline goodness [0,1] 0.6585795177401226 Centerline is valid? [False, False] Translation: X:71.60, Y:-0.53, Z:-0.29 [[ 9.99999345e-01 8.29446093e-04 7.88853732e-04 7.16034280e+01] [-8.29797921e-04 9.99999556e-01 4.45775818e-04 -5.25007337e-01] [-7.88483635e-04 -4.46430115e-04 9.99999589e-01 -2.92910189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.605898227 meters Centerline goodness [0,1] 0.6250265516801903 Centerline is valid? [False, False] Translation: X:71.60, Y:-0.52, Z:-0.29 [[ 9.99999568e-01 6.28941435e-04 6.84624502e-04 7.16035639e+01] [-6.29116814e-04 9.99999769e-01 2.55981978e-04 -5.24446807e-01] [-6.84463346e-04 -2.56412576e-04 9.99999733e-01 -2.92610925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.635898227 meters Centerline goodness [0,1] 0.6944218676476879 Centerline is valid? [False, False] Translation: X:71.60, Y:-0.52, Z:-0.29 [[ 9.99998333e-01 -1.22106865e-03 1.35787277e-03 7.15990046e+01] [ 1.22302074e-03 9.99998219e-01 -1.43770891e-03 -5.23040868e-01] [-1.35611481e-03 1.43936722e-03 9.99998045e-01 -2.89720886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.665898227 meters Centerline goodness [0,1] 0.7116903967214501 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.52, Z:-0.29 [[ 9.99997805e-01 -1.57166123e-03 1.38537900e-03 7.16413333e+01] [ 1.57147785e-03 9.99998756e-01 1.33448341e-04 -5.21647183e-01] [-1.38558701e-03 -1.31270956e-04 9.99999031e-01 -2.89126717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69589822700001 meters Centerline goodness [0,1] 0.7036958906421399 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.52, Z:-0.29 [[ 9.99997734e-01 -1.70740417e-03 1.27181001e-03 7.16415902e+01] [ 1.70693267e-03 9.99998474e-01 3.71726556e-04 -5.23319334e-01] [-1.27244275e-03 -3.69554820e-04 9.99999122e-01 -2.88904712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72589822700002 meters Centerline goodness [0,1] 0.7744771913469076 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.53, Z:-0.29 [[ 9.99996250e-01 -2.33269298e-03 1.43441685e-03 7.16403873e+01] [ 2.33179946e-03 9.99997086e-01 6.24272458e-04 -5.26509665e-01] [-1.43586891e-03 -6.20925345e-04 9.99998776e-01 -2.87563374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.755898227 meters Centerline goodness [0,1] 0.7583016476552598 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.53, Z:-0.29 [[ 9.99996444e-01 -2.36042689e-03 1.24131157e-03 7.16408050e+01] [ 2.35939535e-03 9.99996871e-01 8.31817855e-04 -5.27749684e-01] [-1.24327113e-03 -8.28886152e-04 9.99998884e-01 -2.87213954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.785898227 meters Centerline goodness [0,1] 0.8191088170230696 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.53, Z:-0.29 [[ 9.99996658e-01 -2.36853883e-03 1.03662618e-03 7.16415044e+01] [ 2.36750280e-03 9.99996698e-01 9.99513079e-04 -5.28711932e-01] [-1.03899014e-03 -9.97055523e-04 9.99998963e-01 -2.87270332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.815898227 meters Centerline goodness [0,1] 0.8764332557647556 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.53, Z:-0.29 [[ 9.99996868e-01 -2.35503339e-03 8.47652514e-04 7.16423209e+01] [ 2.35401936e-03 9.99996515e-01 1.19529152e-03 -5.29812662e-01] [-8.50464511e-04 -1.19329238e-03 9.99998926e-01 -2.87614932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.845898227 meters Centerline goodness [0,1] 0.8824756166922963 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.53, Z:-0.29 [[ 9.99997052e-01 -2.32749447e-03 6.92258014e-04 7.16430253e+01] [ 2.32652988e-03 9.99996326e-01 1.39095040e-03 -5.30855333e-01] [-6.95492900e-04 -1.38933574e-03 9.99998793e-01 -2.87963836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.875898227 meters Centerline goodness [0,1] 0.8028585926928281 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.53, Z:-0.29 [[ 9.99997036e-01 -2.34048770e-03 6.70930446e-04 7.16432514e+01] [ 2.33950831e-03 9.99996202e-01 1.45683396e-03 -5.31289299e-01] [-6.74337600e-04 -1.45526000e-03 9.99998714e-01 -2.88239038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.905898227 meters Centerline goodness [0,1] 0.9008458146025524 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.53, Z:-0.29 [[ 9.99996783e-01 -2.46966609e-03 5.78189212e-04 7.16436533e+01] [ 2.46887823e-03 9.99996028e-01 1.35940656e-03 -5.31149506e-01] [-5.81544196e-04 -1.35797471e-03 9.99998909e-01 -2.88462483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.935898227 meters Centerline goodness [0,1] 0.8557415863351936 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.53, Z:-0.29 [[ 9.99996661e-01 -2.53886479e-03 4.82021179e-04 7.16441817e+01] [ 2.53826807e-03 9.99996017e-01 1.23455853e-03 -5.30581042e-01] [-4.85153636e-04 -1.23333091e-03 9.99999122e-01 -2.88849784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.965898227 meters Centerline goodness [0,1] 0.8300363513399273 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.53, Z:-0.29 [[ 9.99996685e-01 -2.55271014e-03 3.35859601e-04 7.16449277e+01] [ 2.55233330e-03 9.99996118e-01 1.11771327e-03 -5.29920236e-01] [-3.38711495e-04 -1.11685234e-03 9.99999319e-01 -2.89334085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.995898227 meters Centerline goodness [0,1] 0.8485150615188799 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.53, Z:-0.29 [[ 9.99996540e-01 -2.61270336e-03 3.06541599e-04 7.16452797e+01] [ 2.61243127e-03 9.99996196e-01 8.84656354e-04 -5.28689325e-01] [-3.08851778e-04 -8.83852474e-04 9.99999562e-01 -2.89808880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.025898227 meters Centerline goodness [0,1] 0.8385797718695314 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.53, Z:-0.29 [[ 9.99999520e-01 -8.39625889e-04 -5.04440860e-04 7.16509756e+01] [ 8.40797658e-04 9.99996939e-01 2.32720168e-03 -5.26206750e-01] [ 5.02485337e-04 -2.32762469e-03 9.99997165e-01 -2.93495268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.055898227 meters Centerline goodness [0,1] 0.7669698644111022 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.52, Z:-0.29 [[ 9.99999443e-01 -9.75291350e-04 -4.03877611e-04 7.16505194e+01] [ 9.76026313e-04 9.99997861e-01 1.82358584e-03 -5.23600992e-01] [ 4.02098220e-04 -1.82397902e-03 9.99998256e-01 -2.93304822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.085898227 meters Centerline goodness [0,1] 0.8460999235279123 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.52, Z:-0.29 [[ 9.99999314e-01 -1.10364205e-03 -3.92729413e-04 7.16504718e+01] [ 1.10415665e-03 9.99998529e-01 1.31252456e-03 -5.20974080e-01] [ 3.91280278e-04 -1.31295730e-03 9.99999062e-01 -2.93369088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.115898227 meters Centerline goodness [0,1] 0.7261271529888551 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.52, Z:-0.30 [[ 9.99999281e-01 4.19840485e-04 -1.12307989e-03 7.16556150e+01] [-4.16980921e-04 9.99996674e-01 2.54520393e-03 -5.19681696e-01] [ 1.12414473e-03 -2.54473380e-03 9.99996130e-01 -2.96704448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.145898227 meters Centerline goodness [0,1] 0.6602762838764105 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.52, Z:-0.30 [[ 9.99999333e-01 2.16035204e-04 -1.13500557e-03 7.16556965e+01] [-2.13899322e-04 9.99998207e-01 1.88160958e-03 -5.16429773e-01] [ 1.13541003e-03 -1.88136555e-03 9.99997586e-01 -2.96874498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.175898227 meters Centerline goodness [0,1] 0.6841196656771722 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.51, Z:-0.30 [[ 9.99999361e-01 3.36123681e-05 -1.13007189e-03 7.16558651e+01] [-3.21735064e-05 9.99999189e-01 1.27324206e-03 -5.13343627e-01] [ 1.13011377e-03 -1.27320488e-03 9.99998551e-01 -2.97238569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.205898227 meters Centerline goodness [0,1] 0.7410461878546986 Centerline is valid? [False, False] Translation: X:71.61, Y:-0.51, Z:-0.30 [[ 9.99999558e-01 -1.08445133e-04 -9.34311915e-04 7.16122335e+01] [ 1.07440565e-04 9.99999416e-01 -1.07517820e-03 -5.10818095e-01] [ 9.34427967e-04 1.07507734e-03 9.99998986e-01 -2.97332570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.235898227 meters Centerline goodness [0,1] 0.6778966727971911 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.51, Z:-0.30 [[ 9.99999964e-01 1.77700591e-04 1.99558175e-04 7.16531500e+01] [-1.77713948e-04 9.99999982e-01 6.69208704e-05 -5.07899688e-01] [-1.99546280e-04 -6.69563323e-05 9.99999978e-01 -2.96396483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.265898227 meters Centerline goodness [0,1] 0.6846377667200809 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.51, Z:-0.30 [[ 9.99999958e-01 1.17228465e-04 2.63280744e-04 7.16526329e+01] [-1.17246415e-04 9.99999991e-01 6.81640822e-05 -5.08080356e-01] [-2.63272751e-04 -6.81949481e-05 9.99999963e-01 -2.95893357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.295898227 meters Centerline goodness [0,1] 0.746523454810188 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.51, Z:-0.30 [[ 9.99999979e-01 1.11575836e-04 1.73428216e-04 7.16528730e+01] [-1.11618392e-04 9.99999964e-01 2.45386710e-04 -5.09115449e-01] [-1.73400831e-04 -2.45406062e-04 9.99999955e-01 -2.95812082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.325898227 meters Centerline goodness [0,1] 0.8594422648711695 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.51, Z:-0.30 [[ 9.99999992e-01 1.03649492e-04 -7.30883790e-05 7.16538377e+01] [-1.03620337e-04 9.99999915e-01 3.98787716e-04 -5.10055340e-01] [ 7.31297069e-05 -3.98780139e-04 9.99999918e-01 -2.96093710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.355898227 meters Centerline goodness [0,1] 0.8759368961929634 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.51, Z:-0.30 [[ 9.99999909e-01 -9.76870417e-06 -4.26806229e-04 7.16555706e+01] [ 9.82741128e-06 9.99999990e-01 1.37547898e-04 -5.08823033e-01] [ 4.26804881e-04 -1.37552080e-04 9.99999899e-01 -2.97155605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.385898227 meters Centerline goodness [0,1] 0.8759368961929634 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.51, Z:-0.30 [[ 9.99999909e-01 -9.76870417e-06 -4.26806229e-04 7.16555706e+01] [ 9.82741128e-06 9.99999990e-01 1.37547898e-04 -5.08823033e-01] [ 4.26804881e-04 -1.37552080e-04 9.99999899e-01 -2.97155605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.415898227 meters Centerline goodness [0,1] 0.8625375089810237 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.51, Z:-0.30 [[ 9.99999893e-01 -6.02700288e-05 -4.59202880e-04 7.16555906e+01] [ 6.01719079e-05 9.99999975e-01 -2.13687439e-04 -5.06842174e-01] [ 4.59215748e-04 2.13659784e-04 9.99999872e-01 -2.97045942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44589822700001 meters Centerline goodness [0,1] 0.7837335529789435 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.50, Z:-0.30 [[ 9.99999957e-01 -1.02965581e-04 -2.75971016e-04 7.16547197e+01] [ 1.02787101e-04 9.99999786e-01 -6.46669854e-04 -5.04423781e-01] [ 2.76037542e-04 6.46641460e-04 9.99999753e-01 -2.96587381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47589822700002 meters Centerline goodness [0,1] 0.6848040243135611 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.50, Z:-0.30 [[ 9.99998306e-01 1.65156111e-03 -8.12831472e-04 7.16586173e+01] [-1.65086520e-03 9.99998271e-01 8.56082652e-04 -5.04164048e-01] [ 8.14243939e-04 -8.54739326e-04 9.99999303e-01 -2.98844302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.505898227 meters Centerline goodness [0,1] 0.6950201376069811 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.50, Z:-0.30 [[ 9.99998495e-01 1.60046398e-03 -6.69408666e-04 7.16578657e+01] [-1.60012795e-03 9.99998594e-01 5.02205496e-04 -5.02307118e-01] [ 6.70211486e-04 -5.01133601e-04 9.99999650e-01 -2.98396546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.535898227 meters Centerline goodness [0,1] 0.7247841961967878 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.50, Z:-0.30 [[ 9.99998588e-01 1.55382261e-03 -6.40509388e-04 7.16579269e+01] [-1.55368980e-03 9.99998771e-01 2.07795060e-04 -5.00753861e-01] [ 6.40831478e-04 -2.06799613e-04 9.99999773e-01 -2.98706551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.565898227 meters Centerline goodness [0,1] 0.6996352622485762 Centerline is valid? [False, False] Translation: X:71.62, Y:-0.50, Z:-0.30 [[ 9.99995354e-01 1.56612038e-03 -2.61508627e-03 7.16206229e+01] [-1.56949280e-03 9.99997939e-01 -1.28805012e-03 -5.01296303e-01] [ 2.61306364e-03 1.29214850e-03 9.99995751e-01 -3.02799504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.595898227 meters Centerline goodness [0,1] 0.6774728620320407 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.50, Z:-0.30 [[ 9.99994535e-01 1.82307246e-03 -2.75799726e-03 7.16635148e+01] [-1.82371213e-03 9.99998311e-01 -2.29436142e-04 -4.98526972e-01] [ 2.75757432e-03 2.34464682e-04 9.99996170e-01 -3.02313825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.625898227 meters Centerline goodness [0,1] 0.6649992612760928 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.50, Z:-0.30 [[ 9.99994594e-01 1.81387201e-03 -2.74255219e-03 7.16633381e+01] [-1.81451185e-03 9.99998327e-01 -2.30831451e-04 -4.98606333e-01] [ 2.74212891e-03 2.35806597e-04 9.99996213e-01 -3.02115750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.655898227 meters Centerline goodness [0,1] 0.6697859547350369 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.50, Z:-0.30 [[ 9.99994959e-01 1.77816034e-03 -2.63073620e-03 7.16626876e+01] [-1.77880845e-03 9.99998388e-01 -2.44040204e-04 -4.98665425e-01] [ 2.63029802e-03 2.48718549e-04 9.99996510e-01 -3.01639010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.685898227 meters Centerline goodness [0,1] 0.673623004545935 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.50, Z:-0.30 [[ 9.99995456e-01 1.78251940e-03 -2.43103213e-03 7.16616076e+01] [-1.78335052e-03 9.99998352e-01 -3.39752128e-04 -4.98064622e-01] [ 2.43042251e-03 3.44085967e-04 9.99996987e-01 -3.00913250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.715898227 meters Centerline goodness [0,1] 0.6400058764271324 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.50, Z:-0.30 [[ 9.99995495e-01 1.80923376e-03 -2.39495382e-03 7.16613648e+01] [-1.81040054e-03 9.99998244e-01 -4.85104296e-04 -4.97109230e-01] [ 2.39407195e-03 4.89437937e-04 9.99997014e-01 -3.00719846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.745898227 meters Centerline goodness [0,1] 0.6373550754858621 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.50, Z:-0.30 [[ 9.99995475e-01 1.82968612e-03 -2.38805748e-03 7.16615085e+01] [-1.83153944e-03 9.99998023e-01 -7.74124158e-04 -4.95335740e-01] [ 2.38663635e-03 7.78494476e-04 9.99996849e-01 -3.01005165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.775898227 meters Centerline goodness [0,1] 0.6083452378414107 Centerline is valid? [False, False] Translation: X:71.62, Y:-0.49, Z:-0.30 [[ 9.99994537e-01 1.99536331e-03 -2.63535489e-03 7.16185021e+01] [-2.00245002e-03 9.99994379e-01 -2.68919725e-03 -4.94959461e-01] [ 2.62997416e-03 2.69445972e-03 9.99992912e-01 -3.01861985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.805898227 meters Centerline goodness [0,1] 0.5948400852878465 Centerline is valid? [False, False] Translation: X:71.62, Y:-0.49, Z:-0.30 [[ 9.99994784e-01 1.93390774e-03 -2.58706646e-03 7.16185046e+01] [-1.94261945e-03 9.99992438e-01 -3.36914587e-03 -4.91192792e-01] [ 2.58053128e-03 3.37415398e-03 9.99990978e-01 -3.02194422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.835898227 meters Centerline goodness [0,1] 0.5633313689173262 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.49, Z:-0.30 [[ 9.99990174e-01 4.02389367e-03 -1.85991137e-03 7.16415519e+01] [-4.00582378e-03 9.99945711e-01 9.61916407e-03 -4.90321831e-01] [ 1.89851689e-03 -9.61161908e-03 9.99952005e-01 -3.04512743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.865898227 meters Centerline goodness [0,1] 0.5129756138829551 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.49, Z:-0.30 [[ 9.99964997e-01 8.16749643e-03 -1.81555783e-03 7.16414749e+01] [-8.14298051e-03 9.99880724e-01 1.31236565e-02 -4.86112481e-01] [ 1.92252870e-03 -1.31084131e-02 9.99912233e-01 -3.04664013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.895898227 meters Centerline goodness [0,1] 0.5888701301476716 Centerline is valid? [False, False] Translation: X:71.62, Y:-0.48, Z:-0.30 [[ 9.99949983e-01 9.09940928e-03 -4.15126632e-03 7.16176585e+01] [-9.08970291e-03 9.99955924e-01 2.35107795e-03 -4.81558991e-01] [ 4.17247677e-03 -2.31322658e-03 9.99988620e-01 -3.00737275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.925898227 meters Centerline goodness [0,1] 0.4620002121115707 Centerline is valid? [False, False] Translation: X:71.62, Y:-0.48, Z:-0.30 [[ 9.99951251e-01 8.95048619e-03 -4.16955408e-03 7.16176752e+01] [-8.94379780e-03 9.99958691e-01 1.61999657e-03 -4.77762526e-01] [ 4.18388160e-03 -1.58262595e-03 9.99989995e-01 -3.00815326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.955898227 meters Centerline goodness [0,1] 0.5019963854915311 Centerline is valid? [False, False] Translation: X:71.62, Y:-0.48, Z:-0.30 [[ 9.99923846e-01 1.12986586e-02 -4.96408655e-03 7.16228469e+01] [-1.12792179e-02 9.99928677e-01 3.92696793e-03 -4.75228968e-01] [ 5.00810197e-03 -3.87067786e-03 9.99979968e-01 -3.03847474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.985898227 meters Centerline goodness [0,1] 0.48796489673649346 Centerline is valid? [False, False] Translation: X:71.62, Y:-0.47, Z:-0.30 [[ 9.99963092e-01 7.18257168e-03 -4.71430903e-03 7.16217068e+01] [-7.18935476e-03 9.99973143e-01 -1.42346327e-03 -4.68496614e-01] [ 4.70395829e-03 1.45730358e-03 9.99987874e-01 -3.03555724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.015898227 meters Centerline goodness [0,1] 0.5601295778203159 Centerline is valid? [False, False] Translation: X:71.62, Y:-0.47, Z:-0.30 [[ 9.99964935e-01 6.94520079e-03 -4.67908373e-03 7.16214383e+01] [-6.95452197e-03 9.99973859e-01 -1.97877896e-03 -4.65901302e-01] [ 4.66521840e-03 2.01125036e-03 9.99987095e-01 -3.03364430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.045898227 meters Centerline goodness [0,1] 0.5832873690016547 Centerline is valid? [False, False] Translation: X:71.62, Y:-0.46, Z:-0.30 [[ 9.99968240e-01 6.40973595e-03 -4.73638469e-03 7.16215737e+01] [-6.42426713e-03 9.99974685e-01 -3.05916982e-03 -4.61008904e-01] [ 4.71665632e-03 3.08950046e-03 9.99984104e-01 -3.03438647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.075898227 meters Centerline goodness [0,1] 0.49086289041821074 Centerline is valid? [False, False] Translation: X:71.62, Y:-0.46, Z:-0.30 [[ 9.99969446e-01 6.09309989e-03 -4.89696600e-03 7.16220726e+01] [-6.11117840e-03 9.99974536e-01 -3.68533242e-03 -4.58117514e-01] [ 4.87438621e-03 3.71514605e-03 9.99981219e-01 -3.03490871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.105898227 meters Centerline goodness [0,1] 0.46751618968038433 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.45, Z:-0.30 [[ 9.99979917e-01 3.80633169e-03 -5.06720172e-03 7.16452034e+01] [-3.78286861e-03 9.99982117e-01 4.63194144e-03 -4.53679973e-01] [ 5.08474181e-03 -4.61267986e-03 9.99976434e-01 -3.04922668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.135898227 meters Centerline goodness [0,1] 0.559794648943422 Centerline is valid? [False, False] Translation: X:71.60, Y:-0.45, Z:-0.30 [[ 9.99985519e-01 -3.45107062e-05 -5.38158124e-03 7.16018718e+01] [ 2.50572895e-05 9.99998457e-01 -1.75668189e-03 -4.48939834e-01] [ 5.38163356e-03 1.75652161e-03 9.99983976e-01 -3.04881690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.165898227 meters Centerline goodness [0,1] 0.6372245070125488 Centerline is valid? [False, False] Translation: X:71.62, Y:-0.45, Z:-0.31 [[ 9.99992832e-01 -2.88946745e-03 -2.44681857e-03 7.16246084e+01] [ 2.90426086e-03 9.99977395e-01 6.06416394e-03 -4.47282181e-01] [ 2.42924106e-03 -6.07122667e-03 9.99978619e-01 -3.08950493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19589822700001 meters Centerline goodness [0,1] 0.6482363953537846 Centerline is valid? [False, False] Translation: X:71.62, Y:-0.45, Z:-0.30 [[ 9.99985773e-01 -5.07694031e-03 -1.63684147e-03 7.16183259e+01] [ 5.08328311e-03 9.99979497e-01 3.89443580e-03 -4.45905829e-01] [ 1.61703609e-03 -3.90270092e-03 9.99991077e-01 -3.04283414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22589822700002 meters Centerline goodness [0,1] 0.6442676159564443 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.44, Z:-0.30 [[ 9.99971579e-01 -7.53753620e-03 1.61611655e-04 7.16562290e+01] [ 7.53703808e-03 9.99967425e-01 2.88835959e-03 -4.41703422e-01] [-1.83377506e-04 -2.88705943e-03 9.99995816e-01 -3.01255794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.255898227 meters Centerline goodness [0,1] 0.6918398378104409 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.44, Z:-0.30 [[ 9.99927278e-01 -1.20583744e-02 1.85728380e-04 7.16556085e+01] [ 1.20587034e-02 9.99925512e-01 -1.88605257e-03 -4.39563885e-01] [-1.62971818e-04 1.88815505e-03 9.99998204e-01 -3.00191897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.285898227 meters Centerline goodness [0,1] 0.7203797522244455 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.44, Z:-0.30 [[ 9.99923808e-01 -1.23441882e-02 -9.24478065e-06 7.16562066e+01] [ 1.23441617e-02 9.99922751e-01 -1.45368756e-03 -4.42759719e-01] [ 2.71886592e-05 1.45346268e-03 9.99998943e-01 -3.00070512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.315898227 meters Centerline goodness [0,1] 0.8195784284560792 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.45, Z:-0.30 [[ 9.99856212e-01 -1.69523614e-02 -4.15315156e-04 7.16582129e+01] [ 1.69499884e-02 9.99842962e-01 -5.17196259e-03 -4.46981445e-01] [ 5.02926915e-04 5.16417934e-03 9.99986539e-01 -3.00929595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.345898227 meters Centerline goodness [0,1] 0.84657240698334 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.45, Z:-0.30 [[ 9.99855231e-01 -1.70033907e-02 -6.34456586e-04 7.16590101e+01] [ 1.70003992e-02 9.99845557e-01 -4.45511955e-03 -4.51249394e-01] [ 7.10110737e-04 4.44368857e-03 9.99989875e-01 -3.01095220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.375898227 meters Centerline goodness [0,1] 0.8205894736842105 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.46, Z:-0.30 [[ 9.99857104e-01 -1.68933067e-02 -6.22442133e-04 7.16587901e+01] [ 1.68909174e-02 9.99850631e-01 -3.66244474e-03 -4.55540915e-01] [ 6.84219962e-04 3.65140777e-03 9.99993100e-01 -3.00651007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.405898227 meters Centerline goodness [0,1] 0.940679588927424 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.46, Z:-0.30 [[ 9.99860632e-01 -1.66862078e-02 -5.34968787e-04 7.16583135e+01] [ 1.66846383e-02 9.99856839e-01 -2.81511153e-03 -4.59903833e-01] [ 5.81865736e-04 2.80579343e-03 9.99995894e-01 -3.00150105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.435898227 meters Centerline goodness [0,1] 0.8528092243186582 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.46, Z:-0.30 [[ 9.99785257e-01 -2.07199719e-02 -3.51521826e-04 7.16575771e+01] [ 2.07170068e-02 9.99760895e-01 -6.99702940e-03 -4.59972755e-01] [ 4.96416027e-04 6.98824435e-03 9.99975459e-01 -2.99413393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.465898227 meters Centerline goodness [0,1] 0.8553437998488792 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.47, Z:-0.30 [[ 9.99863969e-01 -1.64821459e-02 -6.18914763e-04 7.16583837e+01] [ 1.64813174e-02 9.99863302e-01 -1.32070765e-03 -4.68117728e-01] [ 6.40598255e-04 1.31032746e-03 9.99998936e-01 -2.99617539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.495898227 meters Centerline goodness [0,1] 0.969704684317719 Centerline is valid? [False, True] Translation: X:71.64, Y:-0.47, Z:-0.30 [[ 9.99859482e-01 -1.59318047e-02 -5.21480890e-03 7.16401848e+01] [ 1.58719394e-02 9.99809876e-01 -1.13266912e-02 -4.73100185e-01] [ 5.39427207e-03 1.12423304e-02 9.99922253e-01 -2.97174965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.525898227 meters Centerline goodness [0,1] 0.9571949190031809 Centerline is valid? [True, True] Translation: X:71.67, Y:-0.48, Z:-0.30 [[ 9.99864414e-01 -1.42009470e-02 -8.33589948e-03 7.16698537e+01] [ 1.41964488e-02 9.99899046e-01 -5.98538119e-04 -4.75134265e-01] [ 8.34355775e-03 4.80116795e-04 9.99965077e-01 -3.03439267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.555898227 meters Centerline goodness [0,1] 0.9486485334242838 Centerline is valid? [True, False] Translation: X:71.67, Y:-0.48, Z:-0.30 [[ 9.99867599e-01 -1.39242711e-02 -8.42017296e-03 7.16707076e+01] [ 1.39228784e-02 9.99903047e-01 -2.23993880e-04 -4.76573073e-01] [ 8.42247555e-03 1.06731179e-04 9.99964525e-01 -3.04405929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.585898227 meters Centerline goodness [0,1] 0.8760306055403658 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.48, Z:-0.30 [[ 9.99872453e-01 -1.35731969e-02 -8.41705353e-03 7.16709898e+01] [ 1.35739500e-02 9.99907869e-01 3.23449929e-05 -4.77102251e-01] [ 8.41583904e-03 -1.46593531e-04 9.99964575e-01 -3.04925259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.615898227 meters Centerline goodness [0,1] 0.8432227608543788 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.48, Z:-0.30 [[ 9.99935837e-01 -8.28281485e-03 -7.72772032e-03 7.16865915e+01] [ 8.24366758e-03 9.99953096e-01 -5.08399880e-03 -4.77572968e-01] [ 7.76946769e-03 5.01996783e-03 9.99957217e-01 -2.99824709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.645898227 meters Centerline goodness [0,1] 0.7636989210772237 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.48, Z:-0.30 [[ 9.99963881e-01 -3.65400333e-03 -7.67363743e-03 7.16864422e+01] [ 3.65419940e-03 9.99993323e-01 1.15312880e-05 -4.81433300e-01] [ 7.67354406e-03 -3.95718729e-05 9.99970557e-01 -2.99908238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.675898227 meters Centerline goodness [0,1] 0.6699390091068593 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.48, Z:-0.30 [[ 9.99991378e-01 1.60073188e-03 -3.83161208e-03 7.17066061e+01] [-1.61974449e-03 9.99986367e-01 -4.96409039e-03 -4.81539965e-01] [ 3.82361367e-03 4.97025382e-03 9.99980338e-01 -3.01766873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.705898227 meters Centerline goodness [0,1] 0.68853591160221 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.48, Z:-0.30 [[ 9.99991072e-01 1.75787332e-03 -3.84255221e-03 7.17067761e+01] [-1.77627170e-03 9.99986951e-01 -4.78990629e-03 -4.82146014e-01] [ 3.83408202e-03 4.79668894e-03 9.99981146e-01 -3.01992516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.735898227 meters Centerline goodness [0,1] 0.6882329494199342 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.48, Z:-0.30 [[ 9.99990379e-01 1.91620817e-03 -3.94594852e-03 7.17072372e+01] [-1.93412107e-03 9.99987820e-01 -4.54076559e-03 -4.83210495e-01] [ 3.93719941e-03 4.54835385e-03 9.99981905e-01 -3.02198455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.765898227 meters Centerline goodness [0,1] 0.6942391350255522 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.48, Z:-0.30 [[ 9.99989751e-01 2.03813105e-03 -4.04269424e-03 7.17078283e+01] [-2.05555866e-03 9.99988593e-01 -4.31142746e-03 -4.84273396e-01] [ 4.03386087e-03 4.31969327e-03 9.99982534e-01 -3.02656232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.795898227 meters Centerline goodness [0,1] 0.6361362728820328 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.48, Z:-0.30 [[ 9.99989118e-01 2.13413894e-03 -4.14837616e-03 7.17085203e+01] [-2.15136201e-03 9.99989067e-01 -4.15174305e-03 -4.84906459e-01] [ 4.13947041e-03 4.16062253e-03 9.99982777e-01 -3.03232033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.825898227 meters Centerline goodness [0,1] 0.6309881655560927 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.49, Z:-0.30 [[ 9.99989032e-01 2.23324306e-03 -4.11691750e-03 7.17086780e+01] [-2.24964256e-03 9.99989537e-01 -3.98312311e-03 -4.85632947e-01] [ 4.10797914e-03 3.99234102e-03 9.99983593e-01 -3.03648826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.855898227 meters Centerline goodness [0,1] 0.6365131232212502 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.49, Z:-0.30 [[ 9.99990238e-01 2.43422271e-03 -3.68757218e-03 7.17069127e+01] [-2.44804326e-03 9.99989980e-01 -3.74800641e-03 -4.86537774e-01] [ 3.67841174e-03 3.75699716e-03 9.99986177e-01 -3.02961464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.885898227 meters Centerline goodness [0,1] 0.7153177028788817 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.49, Z:-0.30 [[ 9.99993985e-01 2.86739827e-03 -1.95153134e-03 7.16610193e+01] [-2.87504060e-03 9.99988166e-01 -3.92459440e-03 -4.89988718e-01] [ 1.94025487e-03 3.93018153e-03 9.99990394e-01 -3.03016932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.915898227 meters Centerline goodness [0,1] 0.6055555555555556 Centerline is valid? [False, False] Translation: X:71.70, Y:-0.49, Z:-0.30 [[ 9.99991339e-01 4.03066465e-03 -1.03706960e-03 7.17024952e+01] [-4.03283190e-03 9.99989671e-01 -2.09624950e-03 -4.87419143e-01] [ 1.02860960e-03 2.10041367e-03 9.99997265e-01 -3.02214259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94589822700001 meters Centerline goodness [0,1] 0.6881266265625667 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.49, Z:-0.30 [[ 9.99992149e-01 3.81623789e-03 -1.06678961e-03 7.16588980e+01] [-3.82002721e-03 9.99986321e-01 -3.57290129e-03 -4.89596155e-01] [ 1.05313997e-03 3.57694840e-03 9.99993048e-01 -3.02278117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97589822700002 meters Centerline goodness [0,1] 0.6486509454004674 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.49, Z:-0.30 [[ 9.99991703e-01 3.90579369e-03 -1.15659627e-03 7.16592813e+01] [-3.90985748e-03 9.99986117e-01 -3.53240815e-03 -4.89560735e-01] [ 1.14278336e-03 3.53690097e-03 9.99993092e-01 -3.02437329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.005898227 meters Centerline goodness [0,1] 0.5997230498090722 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.49, Z:-0.31 [[ 9.99991944e-01 3.94454209e-03 7.43637204e-04 7.16816737e+01] [-3.95016963e-03 9.99962364e-01 7.72443242e-03 -4.91468730e-01] [-7.13139868e-04 -7.72730769e-03 9.99969890e-01 -3.05557100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.035898227 meters Centerline goodness [0,1] 0.6063836471401345 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.49, Z:-0.31 [[ 9.99999379e-01 2.36369485e-04 1.08881399e-03 7.16805386e+01] [-2.39803908e-04 9.99994994e-01 3.15522868e-03 -4.88427351e-01] [-1.08806274e-03 -3.15548783e-03 9.99994429e-01 -3.05566853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.065898227 meters Centerline goodness [0,1] 0.6383230997247512 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.49, Z:-0.30 [[ 9.99998603e-01 1.44636644e-03 8.37323109e-04 7.16584448e+01] [-1.44051804e-03 9.99974855e-01 -6.94361208e-03 -4.88698479e-01] [-8.47345062e-04 6.94239621e-03 9.99975542e-01 -3.04965753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.095898227 meters Centerline goodness [0,1] 0.6532891663481548 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.49, Z:-0.30 [[ 9.99998505e-01 1.48882134e-03 8.79957211e-04 7.16581819e+01] [-1.48281794e-03 9.99975888e-01 -6.78409786e-03 -4.89487632e-01] [-8.90036303e-04 6.78278289e-03 9.99976601e-01 -3.04764121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.125898227 meters Centerline goodness [0,1] 0.6808920704845816 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.49, Z:-0.30 [[ 9.99998709e-01 1.45024612e-03 6.91233277e-04 7.16584437e+01] [-1.44602877e-03 9.99980573e-01 -6.06314699e-03 -4.93712105e-01] [-7.00012904e-04 6.06213962e-03 9.99981380e-01 -3.04192492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.155898227 meters Centerline goodness [0,1] 0.7025618299991558 Centerline is valid? [False, False] Translation: X:71.66, Y:-0.50, Z:-0.30 [[ 9.99998674e-01 1.57014905e-03 4.32649227e-04 7.16594037e+01] [-1.56783377e-03 9.99984722e-01 -5.30077870e-03 -4.97769362e-01] [-4.40965629e-04 5.30009334e-03 9.99985857e-01 -3.04420531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.185898227 meters Centerline goodness [0,1] 0.6582021861349718 Centerline is valid? [False, False] Translation: X:71.68, Y:-0.50, Z:-0.31 [[ 9.99996521e-01 -2.30905414e-03 1.27553497e-03 7.16825697e+01] [ 2.30638141e-03 9.99995150e-01 2.09289502e-03 -5.00131528e-01] [-1.28036139e-03 -2.08994586e-03 9.99996996e-01 -3.06888719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.215898227 meters Centerline goodness [0,1] 0.7282802547770701 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.51, Z:-0.31 [[ 9.99994937e-01 -3.06321306e-03 -8.62150479e-04 7.16438646e+01] [ 3.06504478e-03 9.99993031e-01 2.13135820e-03 -5.07645508e-01] [ 8.55615667e-04 -2.13398993e-03 9.99997357e-01 -3.08919636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.245898227 meters Centerline goodness [0,1] 0.7282802547770701 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.51, Z:-0.31 [[ 9.99994937e-01 -3.06321306e-03 -8.62150479e-04 7.16438646e+01] [ 3.06504478e-03 9.99993031e-01 2.13135820e-03 -5.07645508e-01] [ 8.55615667e-04 -2.13398993e-03 9.99997357e-01 -3.08919636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.275898227 meters Centerline goodness [0,1] 0.720472189726683 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.51, Z:-0.31 [[ 9.99995271e-01 -2.87138111e-03 -1.10102495e-03 7.16450866e+01] [ 2.87441982e-03 9.99992037e-01 2.76831958e-03 -5.10892187e-01] [ 1.09306728e-03 -2.77147129e-03 9.99995562e-01 -3.09635964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.305898227 meters Centerline goodness [0,1] 0.6522460117548279 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.51, Z:-0.31 [[ 9.99997336e-01 -1.32557499e-03 1.88956208e-03 7.16659609e+01] [ 1.33724111e-03 9.99979972e-01 -6.18614174e-03 -5.10008714e-01] [-1.88132404e-03 6.18865206e-03 9.99979080e-01 -3.11334668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.335898227 meters Centerline goodness [0,1] 0.7334925600270544 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.51, Z:-0.31 [[ 9.99997449e-01 -1.24809196e-03 1.88267932e-03 7.16657618e+01] [ 1.25963429e-03 9.99980344e-01 -6.14212622e-03 -5.10041052e-01] [-1.87497637e-03 6.14448204e-03 9.99979365e-01 -3.10952944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.365898227 meters Centerline goodness [0,1] 0.667706905640485 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.51, Z:-0.31 [[ 9.99997448e-01 -1.20625726e-03 1.91036373e-03 7.16655974e+01] [ 1.21811386e-03 9.99979929e-01 -6.21750880e-03 -5.09440471e-01] [-1.90282547e-03 6.21981997e-03 9.99978846e-01 -3.10861299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.395898227 meters Centerline goodness [0,1] 0.6809895833333333 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.51, Z:-0.31 [[ 9.99997513e-01 -1.17996412e-03 1.89249169e-03 7.16656333e+01] [ 1.19186400e-03 9.99979450e-01 -6.29918951e-03 -5.08807020e-01] [-1.88501998e-03 6.30142944e-03 9.99978369e-01 -3.10843303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.425898227 meters Centerline goodness [0,1] 0.6568711643591731 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.51, Z:-0.31 [[ 9.99997762e-01 -1.15792950e-03 1.77077536e-03 7.16661637e+01] [ 1.16918569e-03 9.99979035e-01 -6.36887341e-03 -5.08297046e-01] [-1.76336353e-03 6.37092952e-03 9.99978151e-01 -3.11054852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.455898227 meters Centerline goodness [0,1] 0.6473906023944813 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.51, Z:-0.31 [[ 9.99998000e-01 -1.17343314e-03 1.61989171e-03 7.16668752e+01] [ 1.18378161e-03 9.99978805e-01 -6.40226796e-03 -5.08096108e-01] [-1.61234474e-03 6.40417275e-03 9.99978193e-01 -3.11441433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.485898227 meters Centerline goodness [0,1] 0.6886066286392841 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.51, Z:-0.31 [[ 9.99989042e-01 -2.81474273e-03 -3.74068202e-03 7.16478631e+01] [ 2.82370134e-03 9.99993153e-01 2.39179431e-03 -5.12525252e-01] [ 3.73392412e-03 -2.40233067e-03 9.99990143e-01 -3.08861659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.515898227 meters Centerline goodness [0,1] 0.6667158174120026 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.51, Z:-0.31 [[ 9.99968032e-01 -7.13529943e-03 -3.60867657e-03 7.16471632e+01] [ 7.12581178e-03 9.99971139e-01 -2.63518056e-03 -5.08365429e-01] [ 3.62737522e-03 2.60938157e-03 9.99990017e-01 -3.08388746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.545898227 meters Centerline goodness [0,1] 0.6586941784594527 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.51, Z:-0.31 [[ 9.99967973e-01 -7.17623213e-03 -3.54331052e-03 7.16465337e+01] [ 7.16690097e-03 9.99970835e-01 -2.63917101e-03 -5.08447911e-01] [ 3.56214649e-03 2.61369193e-03 9.99990240e-01 -3.07689466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.575898227 meters Centerline goodness [0,1] 0.7411315147011994 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.51, Z:-0.31 [[ 9.99968121e-01 -7.23649064e-03 -3.37492221e-03 7.16454480e+01] [ 7.22714999e-03 9.99970043e-01 -2.77169312e-03 -5.07808341e-01] [ 3.39487844e-03 2.74721370e-03 9.99990464e-01 -3.06738383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.605898227 meters Centerline goodness [0,1] 0.7410366163756569 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.51, Z:-0.31 [[ 9.99988983e-01 -3.12295547e-03 -3.50449696e-03 7.16454889e+01] [ 3.12947108e-03 9.99993382e-01 1.85527299e-03 -5.10128952e-01] [ 3.49867983e-03 -1.86621978e-03 9.99992138e-01 -3.06192865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.635898227 meters Centerline goodness [0,1] 0.7432140488973498 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.51, Z:-0.31 [[ 9.99988288e-01 -3.33153971e-03 -3.51078366e-03 7.16453641e+01] [ 3.33610872e-03 9.99993595e-01 1.29636859e-03 -5.07456721e-01] [ 3.50644227e-03 -1.30806577e-03 9.99992997e-01 -3.05994094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.665898227 meters Centerline goodness [0,1] 0.6987576982497725 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.50, Z:-0.31 [[ 9.99986277e-01 -3.54450933e-03 -3.85763461e-03 7.16467552e+01] [ 3.54582609e-03 9.99993658e-01 3.34553067e-04 -5.02417555e-01] [ 3.85642432e-03 -3.48226978e-04 9.99992503e-01 -3.06719019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69589822700001 meters Centerline goodness [0,1] 0.7397462189182261 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.50, Z:-0.31 [[ 9.99985943e-01 -3.64942040e-03 -3.84638573e-03 7.16469319e+01] [ 3.64969309e-03 9.99993338e-01 6.38791927e-05 -5.01107870e-01] [ 3.84612698e-03 -7.79164222e-05 9.99992601e-01 -3.07115657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72589822700002 meters Centerline goodness [0,1] 0.7343979246847689 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.50, Z:-0.31 [[ 9.99985823e-01 -3.64717409e-03 -3.87978512e-03 7.16470732e+01] [ 3.64748071e-03 9.99993345e-01 7.19572308e-05 -5.01139646e-01] [ 3.87949686e-03 -8.61076520e-05 9.99992471e-01 -3.07182445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.755898227 meters Centerline goodness [0,1] 0.6645879825640812 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.50, Z:-0.31 [[ 9.99991891e-01 -3.01262007e-03 -2.67261467e-03 7.16879771e+01] [ 3.01795441e-03 9.99993458e-01 1.99414276e-03 -4.99857940e-01] [ 2.66658959e-03 -2.00219242e-03 9.99994440e-01 -3.06438093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.785898227 meters Centerline goodness [0,1] 0.6886256624648972 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.51, Z:-0.31 [[ 9.99990191e-01 -4.39033494e-03 5.84715166e-04 7.16408324e+01] [ 4.38951124e-03 9.99989382e-01 1.40262690e-03 -5.06080751e-01] [-5.90866960e-04 -1.40004653e-03 9.99998845e-01 -3.06018261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.815898227 meters Centerline goodness [0,1] 0.6947384079221386 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.51, Z:-0.31 [[ 9.99990524e-01 -4.32617006e-03 4.86869393e-04 7.16409645e+01] [ 4.32535036e-03 9.99989247e-01 1.67225075e-03 -5.07544809e-01] [-4.94098599e-04 -1.67012902e-03 9.99998483e-01 -3.05672193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.845898227 meters Centerline goodness [0,1] 0.682807433935875 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.51, Z:-0.31 [[ 9.99990773e-01 -4.28337197e-03 3.25827488e-04 7.16416223e+01] [ 4.28277618e-03 9.99989195e-01 1.80778999e-03 -5.08170947e-01] [-3.33567404e-04 -1.80637786e-03 9.99998313e-01 -3.05867186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.875898227 meters Centerline goodness [0,1] 0.7827559759682986 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.51, Z:-0.31 [[ 9.99990808e-01 -4.28419102e-03 1.74706256e-04 7.16423837e+01] [ 4.28388328e-03 9.99989336e-01 1.72536860e-03 -5.07681459e-01] [-1.82096202e-04 -1.72460431e-03 9.99998496e-01 -3.06378344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.905898227 meters Centerline goodness [0,1] 0.6520259559087739 Centerline is valid? [False, False] Translation: X:71.64, Y:-0.51, Z:-0.31 [[ 9.99990809e-01 -4.28673422e-03 7.69238434e-05 7.16430524e+01] [ 4.28661931e-03 9.99989781e-01 1.43639162e-03 -5.05968106e-01] [-8.30804864e-05 -1.43604868e-03 9.99998965e-01 -3.07041907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.935898227 meters Centerline goodness [0,1] 0.6996693414207789 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.51, Z:-0.31 [[ 9.99996768e-01 -2.44429414e-03 -6.99925226e-04 7.16485664e+01] [ 2.44641540e-03 9.99992368e-01 3.04605144e-03 -5.05746919e-01] [ 6.92474439e-04 -3.04775390e-03 9.99995116e-01 -3.10712239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.965898227 meters Centerline goodness [0,1] 0.6841825676766818 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.51, Z:-0.31 [[ 9.99994791e-01 3.03651430e-03 -1.09467587e-03 7.16284998e+01] [-3.03977395e-03 9.99990914e-01 -2.98847408e-03 -5.05350807e-01] [ 1.08559138e-03 2.99178608e-03 9.99994935e-01 -3.11973624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.995898227 meters Centerline goodness [0,1] 0.6912690312154461 Centerline is valid? [False, False] Translation: X:71.63, Y:-0.50, Z:-0.31 [[ 9.99994879e-01 2.98585412e-03 -1.15166503e-03 7.16287013e+01] [-2.98963003e-03 9.99990116e-01 -3.29098255e-03 -5.03744005e-01] [ 1.14182725e-03 3.29440875e-03 9.99993922e-01 -3.12067190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.025898227 meters Centerline goodness [0,1] 0.5492940042736834 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.50, Z:-0.31 [[ 9.99991228e-01 4.18135203e-03 -2.45266995e-04 7.16697483e+01] [-4.18168839e-03 9.99990294e-01 -1.38729767e-03 -5.00774860e-01] [ 2.39463835e-04 1.38831113e-03 9.99999008e-01 -3.11099154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.055898227 meters Centerline goodness [0,1] 0.5876323166394711 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.50, Z:-0.31 [[ 9.99991513e-01 4.11245610e-03 -2.48152895e-04 7.16696075e+01] [-4.11284603e-03 9.99990275e-01 -1.59181680e-03 -4.99805965e-01] [ 2.41604205e-04 1.59282391e-03 9.99998702e-01 -3.10867256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.085898227 meters Centerline goodness [0,1] 0.595515037200042 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.50, Z:-0.31 [[ 9.99991895e-01 4.02191221e-03 -1.85297116e-04 7.16692911e+01] [-4.02223815e-03 9.99990302e-01 -1.79359101e-03 -4.98905625e-01] [ 1.78081654e-04 1.79432178e-03 9.99998374e-01 -3.10704576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.115898227 meters Centerline goodness [0,1] 0.5445125819412138 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.50, Z:-0.31 [[ 9.99992105e-01 3.96810086e-03 -2.09839626e-04 7.16693539e+01] [-3.96849275e-03 9.99990318e-01 -1.90135976e-03 -4.98420898e-01] [ 2.02292807e-04 1.90217750e-03 9.99998170e-01 -3.10724954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.145898227 meters Centerline goodness [0,1] 0.6462049556698195 Centerline is valid? [False, False] Translation: X:71.67, Y:-0.50, Z:-0.31 [[ 9.99992846e-01 3.77560335e-03 -2.29822172e-04 7.16696023e+01] [-3.77609839e-03 9.99990466e-01 -2.19311033e-03 -4.97218959e-01] [ 2.21539666e-04 2.19396247e-03 9.99997569e-01 -3.11075209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.175898227 meters Centerline goodness [0,1] 0.6795124459106294 Centerline is valid? [False, False] Translation: X:71.65, Y:-0.50, Z:-0.31 [[ 9.99998564e-01 9.38622934e-04 -1.41082448e-03 7.16511514e+01] [-9.30362403e-04 9.99982489e-01 5.84440582e-03 -4.98482452e-01] [ 1.41628546e-03 -5.84308485e-03 9.99981926e-01 -3.13781903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.205898227 meters Centerline goodness [0,1] 0.57327396080573 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.49, Z:-0.31 [[ 9.99999568e-01 -6.39260144e-04 -6.74544803e-04 7.16928344e+01] [ 6.41893828e-04 9.99992144e-01 3.91142010e-03 -4.92836901e-01] [ 6.72039089e-04 -3.91185140e-03 9.99992123e-01 -3.13109044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.235898227 meters Centerline goodness [0,1] 0.6246512807506974 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.49, Z:-0.31 [[ 9.99999450e-01 -7.22487764e-04 -7.60518651e-04 7.16930248e+01] [ 7.25357653e-04 9.99992592e-01 3.78010654e-03 -4.92334797e-01] [ 7.57781937e-04 -3.78065611e-03 9.99992566e-01 -3.12966865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.265898227 meters Centerline goodness [0,1] 0.6377061958834559 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.49, Z:-0.31 [[ 9.99999293e-01 -8.31967477e-04 -8.50026534e-04 7.16933942e+01] [ 8.35007585e-04 9.99993235e-01 3.58241203e-03 -4.91528578e-01] [ 8.47040333e-04 -3.58311927e-03 9.99993222e-01 -3.13110966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.295898227 meters Centerline goodness [0,1] 0.6871945259042034 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.49, Z:-0.31 [[ 9.99986734e-01 -5.08836769e-03 -8.00176502e-04 7.16932054e+01] [ 5.08718905e-03 9.99985982e-01 -1.46817242e-03 -4.87086453e-01] [ 8.07635887e-04 1.46408229e-03 9.99998602e-01 -3.13089998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.325898227 meters Centerline goodness [0,1] 0.6188214338726437 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.49, Z:-0.31 [[ 9.99986261e-01 -5.12977707e-03 -1.07839663e-03 7.16943320e+01] [ 5.12838375e-03 9.99986017e-01 -1.29084447e-03 -4.88206959e-01] [ 1.08500330e-03 1.28529631e-03 9.99998585e-01 -3.13498685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.355898227 meters Centerline goodness [0,1] 0.6454882048027082 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.49, Z:-0.31 [[ 9.99986497e-01 -5.08655996e-03 -1.06468146e-03 7.16942302e+01] [ 5.08550132e-03 9.99986574e-01 -9.94688926e-04 -4.89774455e-01] [ 1.06972672e-03 9.89261055e-04 9.99998939e-01 -3.13360475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.385898227 meters Centerline goodness [0,1] 0.738074440207086 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.49, Z:-0.31 [[ 9.99986939e-01 -4.99959720e-03 -1.06128010e-03 7.16938735e+01] [ 4.99893681e-03 9.99987311e-01 -6.24004395e-04 -4.91661728e-01] [ 1.06438641e-03 6.18690972e-04 9.99999242e-01 -3.12687334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.415898227 meters Centerline goodness [0,1] 0.6800176611580674 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.49, Z:-0.31 [[ 9.99981247e-01 -5.31515788e-03 3.04227131e-03 7.17114900e+01] [ 5.35007441e-03 9.99918562e-01 -1.15864264e-02 -4.88280584e-01] [-2.98043987e-03 1.16024855e-02 9.99928247e-01 -3.12722434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44589822700001 meters Centerline goodness [0,1] 0.7630810879404425 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.49, Z:-0.31 [[ 9.99995118e-01 -1.26574823e-03 2.85698600e-03 7.17121138e+01] [ 1.28412244e-03 9.99978447e-01 -6.43868237e-03 -4.93802562e-01] [-2.84877467e-03 6.44231965e-03 9.99975190e-01 -3.12812373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47589822700002 meters Centerline goodness [0,1] 0.742216397877872 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.50, Z:-0.31 [[ 9.99995820e-01 -9.87460878e-04 2.71750685e-03 7.17129703e+01] [ 1.00301995e-03 9.99983080e-01 -5.73010243e-03 -4.97165716e-01] [-2.71180262e-03 5.73280419e-03 9.99979890e-01 -3.13465259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.505898227 meters Centerline goodness [0,1] 0.7237580809799251 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.50, Z:-0.31 [[ 9.99995914e-01 -8.96849066e-04 2.71434087e-03 7.17131386e+01] [ 9.11915705e-04 9.99984157e-01 -5.55461609e-03 -4.97899659e-01] [-2.70931621e-03 5.55706865e-03 9.99980889e-01 -3.13730299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.535898227 meters Centerline goodness [0,1] 0.725623151668779 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.50, Z:-0.31 [[ 9.99996104e-01 -8.92355159e-04 2.64480509e-03 7.17133720e+01] [ 9.07208070e-04 9.99983796e-01 -5.62001200e-03 -4.97521843e-01] [-2.63974719e-03 5.62238949e-03 9.99980710e-01 -3.13734962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.565898227 meters Centerline goodness [0,1] 0.7161412384940796 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.50, Z:-0.31 [[ 9.99993943e-01 1.01002523e-03 3.33077333e-03 7.17082905e+01] [-9.98059667e-04 9.99993050e-01 -3.59213581e-03 -4.98738244e-01] [-3.33437833e-03 3.58878974e-03 9.99988001e-01 -3.10354990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.595898227 meters Centerline goodness [0,1] 0.7278145414439636 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.50, Z:-0.31 [[ 9.99994005e-01 9.05530503e-04 3.34222477e-03 7.17081143e+01] [-8.91820057e-04 9.99991192e-01 -4.10140456e-03 -4.96020792e-01] [-3.34590928e-03 4.09839931e-03 9.99986004e-01 -3.10179694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.625898227 meters Centerline goodness [0,1] 0.6972490737980667 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.49, Z:-0.31 [[ 9.99994083e-01 7.41981117e-04 3.35905244e-03 7.17080689e+01] [-7.25952735e-04 9.99988358e-01 -4.77040467e-03 -4.92558280e-01] [-3.36255289e-03 4.76793793e-03 9.99982980e-01 -3.10254550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.655898227 meters Centerline goodness [0,1] 0.5931490769394943 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.49, Z:-0.31 [[ 9.99995096e-01 9.42982472e-04 2.98658515e-03 7.17098878e+01] [-9.25364645e-04 9.99982197e-01 -5.89488538e-03 -4.85066312e-01] [-2.99209075e-03 5.89209278e-03 9.99978165e-01 -3.11626523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.685898227 meters Centerline goodness [0,1] 0.5873955799936554 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.48, Z:-0.32 [[ 9.99993372e-01 2.96303677e-03 2.11559879e-03 7.17157724e+01] [-2.95464592e-03 9.99987801e-01 -3.95835513e-03 -4.83131848e-01] [-2.12730173e-03 3.95207805e-03 9.99989928e-01 -3.15409883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.715898227 meters Centerline goodness [0,1] 0.5827354926348856 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.48, Z:-0.31 [[ 9.99993737e-01 2.81730310e-03 2.14215369e-03 7.17153987e+01] [-2.80803954e-03 9.99986747e-01 -4.31519097e-03 -4.81473535e-01] [-2.15428250e-03 4.30914870e-03 9.99988395e-01 -3.14973567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.745898227 meters Centerline goodness [0,1] 0.5884487829297291 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.48, Z:-0.31 [[ 9.99989157e-01 3.19067017e-03 3.39185883e-03 7.17555881e+01] [-3.18181897e-03 9.99991527e-01 -2.61174323e-03 -4.78462846e-01] [-3.40016330e-03 2.60092263e-03 9.99990837e-01 -3.13487842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.775898227 meters Centerline goodness [0,1] 0.6668917778152963 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.48, Z:-0.32 [[ 9.99956174e-01 -2.87654185e-03 8.90935235e-03 7.17334477e+01] [ 2.89872977e-03 9.99992727e-01 -2.47849631e-03 -4.75457666e-01] [-8.90215805e-03 2.50421350e-03 9.99957239e-01 -3.16098580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.805898227 meters Centerline goodness [0,1] 0.6822187772091146 Centerline is valid? [False, False] Translation: X:71.73, Y:-0.48, Z:-0.32 [[ 9.99956842e-01 -3.04562706e-03 8.77716281e-03 7.17338605e+01] [ 3.06680011e-03 9.99992418e-01 -2.39984009e-03 -4.76274901e-01] [-8.76978724e-03 2.42665432e-03 9.99958600e-01 -3.16108883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.835898227 meters Centerline goodness [0,1] 0.7228811413135235 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.48, Z:-0.32 [[ 9.99960828e-01 -3.23167638e-03 8.24005572e-03 7.17359435e+01] [ 3.24984351e-03 9.99992316e-01 -2.19229784e-03 -4.77889375e-01] [-8.23290760e-03 2.21899086e-03 9.99963647e-01 -3.16853755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.865898227 meters Centerline goodness [0,1] 0.6950428999979021 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.48, Z:-0.32 [[ 9.99964482e-01 -3.30013186e-03 7.75525079e-03 7.17382148e+01] [ 3.31425084e-03 9.99992873e-01 -1.80842422e-03 -4.80186741e-01] [-7.74922747e-03 1.83406284e-03 9.99968292e-01 -3.18148606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.895898227 meters Centerline goodness [0,1] 0.8891836385418449 Centerline is valid? [False, False] Translation: X:71.70, Y:-0.49, Z:-0.32 [[ 9.99979551e-01 -3.38501568e-03 5.42578495e-03 7.16998019e+01] [ 3.39261153e-03 9.99993277e-01 -1.39136331e-03 -4.86101235e-01] [-5.42103868e-03 1.40974244e-03 9.99984312e-01 -3.19675844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.925898227 meters Centerline goodness [0,1] 0.7932144886662598 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.49, Z:-0.32 [[ 9.99981490e-01 -2.60323864e-03 5.49936302e-03 7.17421364e+01] [ 2.59446451e-03 9.99995351e-01 1.60201381e-03 -4.87563352e-01] [-5.50350787e-03 -1.58771625e-03 9.99983595e-01 -3.19335323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.955898227 meters Centerline goodness [0,1] 0.8236167684996606 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.49, Z:-0.32 [[ 9.99980868e-01 -2.27813434e-03 5.75095405e-03 7.17404111e+01] [ 2.26516809e-03 9.99994880e-01 2.26013308e-03 -4.90593648e-01] [-5.75607349e-03 -2.24706297e-03 9.99980909e-01 -3.17659642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.985898227 meters Centerline goodness [0,1] 0.8024137200931611 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.49, Z:-0.32 [[ 9.99981475e-01 -2.12327581e-03 5.70443934e-03 7.17404048e+01] [ 2.10918835e-03 9.99994714e-01 2.47444427e-03 -4.91415677e-01] [-5.70966312e-03 -2.46236670e-03 9.99980668e-01 -3.17372472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.015898227 meters Centerline goodness [0,1] 0.7136876478345509 Centerline is valid? [False, False] Translation: X:71.74, Y:-0.49, Z:-0.32 [[ 9.99982200e-01 -1.99995007e-03 5.62137458e-03 7.17409512e+01] [ 1.98540722e-03 9.99994671e-01 2.59145318e-03 -4.91742948e-01] [-5.62652741e-03 -2.58024633e-03 9.99980842e-01 -3.17814467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.045898227 meters Centerline goodness [0,1] 0.7761988217656624 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.49, Z:-0.32 [[ 9.99996503e-01 4.11578133e-04 2.61242963e-03 7.17197526e+01] [-3.95486248e-04 9.99980966e-01 -6.15726979e-03 -4.92031782e-01] [-2.61491410e-03 6.15621508e-03 9.99977631e-01 -3.15126204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.075898227 meters Centerline goodness [0,1] 0.8184276649205741 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.50, Z:-0.32 [[ 9.99985038e-01 4.84186400e-03 2.54560558e-03 7.17204774e+01] [-4.83914030e-03 9.99987713e-01 -1.07503366e-03 -4.96195330e-01] [-2.55077947e-03 1.06269903e-03 9.99996182e-01 -3.15920881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.105898227 meters Centerline goodness [0,1] 0.745075195933065 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.50, Z:-0.32 [[ 9.99983930e-01 4.97749264e-03 2.71358476e-03 7.17198851e+01] [-4.97484246e-03 9.99987143e-01 -9.82511374e-04 -4.96432276e-01] [-2.71844031e-03 9.68995928e-04 9.99995836e-01 -3.15834868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.135898227 meters Centerline goodness [0,1] 0.6573898376554923 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.50, Z:-0.31 [[ 9.99979346e-01 5.52065841e-03 3.29079562e-03 7.17170476e+01] [-5.51813213e-03 9.99984474e-01 -7.76266764e-04 -4.96178891e-01] [-3.29503003e-03 7.58091686e-04 9.99994284e-01 -3.14032531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.165898227 meters Centerline goodness [0,1] 0.6535244669362865 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.49, Z:-0.31 [[ 9.99979123e-01 5.48156692e-03 3.42139664e-03 7.17165206e+01] [-5.47751200e-03 9.99984286e-01 -1.19341265e-03 -4.93895467e-01] [-3.42788465e-03 1.17464700e-03 9.99993435e-01 -3.13880834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19589822700001 meters Centerline goodness [0,1] 0.6535244669362865 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.49, Z:-0.31 [[ 9.99979123e-01 5.48156692e-03 3.42139664e-03 7.17165206e+01] [-5.47751200e-03 9.99984286e-01 -1.19341265e-03 -4.93895467e-01] [-3.42788465e-03 1.17464700e-03 9.99993435e-01 -3.13880834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22589822700002 meters Centerline goodness [0,1] 0.6070837609701946 Centerline is valid? [False, False] Translation: X:71.72, Y:-0.49, Z:-0.32 [[ 9.99967604e-01 7.64549543e-03 2.51751064e-03 7.17230096e+01] [-7.64761549e-03 9.99970409e-01 8.33580462e-04 -4.92380655e-01] [-2.51106301e-03 -8.52806410e-04 9.99996484e-01 -3.18274824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.255898227 meters Centerline goodness [0,1] 0.6364524487108695 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.49, Z:-0.32 [[ 9.99961330e-01 8.79377193e-03 -8.48293732e-05 7.16865034e+01] [-8.79371973e-03 9.99961156e-01 5.97224943e-04 -4.92539393e-01] [ 9.00779381e-05 -5.96455883e-04 9.99999818e-01 -3.21941400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.285898227 meters Centerline goodness [0,1] 0.619598863588178 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.49, Z:-0.32 [[ 9.99962582e-01 8.64735076e-03 -2.39316896e-04 7.16877074e+01] [-8.64733790e-03 9.99962610e-01 5.47188866e-05 -4.89816318e-01] [ 2.39781121e-04 -5.26473851e-05 9.99999970e-01 -3.23259609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.315898227 meters Centerline goodness [0,1] 0.6095234083777352 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.49, Z:-0.32 [[ 9.99963936e-01 8.48876422e-03 -2.58961015e-04 7.16880243e+01] [-8.48887013e-03 9.99963885e-01 -4.10670287e-04 -4.87504874e-01] [ 2.55465579e-04 4.12853763e-04 9.99999882e-01 -3.23738649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.345898227 meters Centerline goodness [0,1] 0.6510968512162364 Centerline is valid? [False, False] Translation: X:71.69, Y:-0.49, Z:-0.32 [[ 9.99966431e-01 8.19368479e-03 -3.21736863e-05 7.16867525e+01] [-8.19371041e-03 9.99966027e-01 -8.99114805e-04 -4.85510607e-01] [ 2.48055299e-05 8.99348244e-04 9.99999595e-01 -3.22874674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.375898227 meters Centerline goodness [0,1] 0.6240946045824094 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.48, Z:-0.32 [[ 9.99988148e-01 4.15095591e-03 -2.54433989e-03 7.17060259e+01] [-4.13777517e-03 9.99978106e-01 5.16396837e-03 -4.84591343e-01] [ 2.56571959e-03 -5.15337926e-03 9.99983430e-01 -3.18468071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.405898227 meters Centerline goodness [0,1] 0.630586045724679 Centerline is valid? [False, False] Translation: X:71.71, Y:-0.48, Z:-0.32 [[ 9.99996649e-01 -2.49126815e-04 -2.57674509e-03 7.17059503e+01] [ 2.50608490e-04 9.99999803e-01 5.74711104e-04 -4.83132415e-01] [ 2.57660141e-03 -5.75354933e-04 9.99996515e-01 -3.18261816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.435898227 meters Centerline goodness [0,1] 0.6481132470578381 Centerline is valid? [False, False] Translation: X:71.75, Y:-0.48, Z:-0.32 [[ 9.99992825e-01 -2.05685276e-03 -3.18113899e-03 7.17489443e+01] [ 2.06037567e-03 9.99997267e-01 1.10455441e-03 -4.83175728e-01] [ 3.17885839e-03 -1.11110083e-03 9.99994330e-01 -3.17579670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.465898227 meters Centerline goodness [0,1] 0.6922430985619817 Centerline is valid? [False, False] Translation: X:71.75, Y:-0.49, Z:-0.32 [[ 9.99991811e-01 -2.25903024e-03 -3.35782531e-03 7.17497064e+01] [ 2.26469992e-03 9.99996015e-01 1.68565671e-03 -4.87001971e-01] [ 3.35400398e-03 -1.69324737e-03 9.99992942e-01 -3.17831594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.495898227 meters Centerline goodness [0,1] 0.7951627476937948 Centerline is valid? [False, False] Translation: X:71.75, Y:-0.49, Z:-0.32 [[ 9.99990059e-01 -2.87617681e-03 -3.40714990e-03 7.17499337e+01] [ 2.88421953e-03 9.99993061e-01 2.35798542e-03 -4.92770880e-01] [ 3.40034427e-03 -2.36778895e-03 9.99991416e-01 -3.17821529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.525898227 meters Centerline goodness [0,1] 0.8139165009940358 Centerline is valid? [False, False] Translation: X:71.75, Y:-0.49, Z:-0.32 [[ 9.99990104e-01 -2.80265927e-03 -3.45490452e-03 7.17501222e+01] [ 2.81219705e-03 9.99992240e-01 2.75888944e-03 -4.94886144e-01] [ 3.44714548e-03 -2.76857801e-03 9.99990226e-01 -3.17822406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.555898227 meters Centerline goodness [0,1] 0.8651033840553639 Centerline is valid? [False, False] Translation: X:71.75, Y:-0.49, Z:-0.32 [[ 9.99969226e-01 -7.11143862e-03 -3.31273989e-03 7.17496632e+01] [ 7.10439780e-03 9.99972490e-01 -2.13231910e-03 -4.91505818e-01] [ 3.32781261e-03 2.10871846e-03 9.99992239e-01 -3.17743893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.585898227 meters Centerline goodness [0,1] 0.806151780281572 Centerline is valid? [False, False] Translation: X:71.75, Y:-0.49, Z:-0.32 [[ 9.99968841e-01 -7.09766677e-03 -3.45549953e-03 7.17502801e+01] [ 7.09073122e-03 9.99972830e-01 -2.01523731e-03 -4.92143683e-01] [ 3.46970913e-03 1.99067250e-03 9.99991999e-01 -3.18007549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.615898227 meters Centerline goodness [0,1] 0.9617745120941197 Centerline is valid? [False, True] Translation: X:71.75, Y:-0.49, Z:-0.32 [[ 9.99929283e-01 -1.13735499e-02 -3.47441894e-03 7.17504418e+01] [ 1.13494643e-02 9.99911958e-01 -6.87506816e-03 -4.88878593e-01] [ 3.55230698e-03 6.83514918e-03 9.99970330e-01 -3.18031228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.645898227 meters Centerline goodness [0,1] 0.8713025210084033 Centerline is valid? [True, False] Translation: X:71.75, Y:-0.49, Z:-0.32 [[ 9.99929343e-01 -1.13284778e-02 -3.60204374e-03 7.17511538e+01] [ 1.13043066e-02 9.99913915e-01 -6.66141591e-03 -4.89968507e-01] [ 3.67719736e-03 6.62022662e-03 9.99971325e-01 -3.18538140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.675898227 meters Centerline goodness [0,1] 0.8888114546376077 Centerline is valid? [False, False] Translation: X:71.75, Y:-0.49, Z:-0.32 [[ 9.99932654e-01 -1.10247845e-02 -3.62500417e-03 7.17512052e+01] [ 1.10035833e-02 9.99922536e-01 -5.81741428e-03 -4.94138126e-01] [ 3.68885910e-03 5.77713446e-03 9.99976508e-01 -3.18409809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.705898227 meters Centerline goodness [0,1] 0.9098032607321902 Centerline is valid? [False, False] Translation: X:71.75, Y:-0.50, Z:-0.32 [[ 9.99968996e-01 -6.90521627e-03 -3.78496062e-03 7.17516039e+01] [ 6.90321799e-03 9.99976026e-01 -5.40764246e-04 -5.00250879e-01] [ 3.78860398e-03 5.14619072e-04 9.99992691e-01 -3.18331974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.735898227 meters Centerline goodness [0,1] 0.9534212870657107 Centerline is valid? [False, True] Translation: X:71.75, Y:-0.50, Z:-0.32 [[ 9.99970081e-01 -6.79674326e-03 -3.69330854e-03 7.17512037e+01] [ 6.79600205e-03 9.99976884e-01 -2.13203623e-04 -5.01859414e-01] [ 3.69467226e-03 1.88097512e-04 9.99993157e-01 -3.18107042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.765898227 meters Centerline goodness [0,1] 0.9575444877329683 Centerline is valid? [True, True] Translation: X:71.78, Y:-0.50, Z:-0.32 [[ 9.99970355e-01 -6.87772589e-03 -3.46216048e-03 7.17820726e+01] [ 6.87697686e-03 9.99976327e-01 -2.28204440e-04 -5.01126456e-01] [ 3.46364805e-03 2.04388478e-04 9.99993981e-01 -3.17000497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.795898227 meters Centerline goodness [0,1] 0.8179315019168449 Centerline is valid? [True, False] Translation: X:71.78, Y:-0.50, Z:-0.32 [[ 9.99970835e-01 -6.81351637e-03 -3.45043322e-03 7.17820671e+01] [ 6.81299592e-03 9.99976778e-01 -1.62565608e-04 -5.01297059e-01] [ 3.45146074e-03 1.39053079e-04 9.99994034e-01 -3.17059729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.825898227 meters Centerline goodness [0,1] 0.9736162951903594 Centerline is valid? [False, True] Translation: X:71.78, Y:-0.50, Z:-0.32 [[ 9.99971269e-01 -6.75568521e-03 -3.43832855e-03 7.17821547e+01] [ 6.75504804e-03 9.99977165e-01 -1.96893024e-04 -5.00924267e-01] [ 3.43958018e-03 1.73661292e-04 9.99994070e-01 -3.17286487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.855898227 meters Centerline goodness [0,1] 0.9096094684669287 Centerline is valid? [True, False] Translation: X:71.78, Y:-0.50, Z:-0.32 [[ 9.99991780e-01 -2.27934902e-03 -3.35332241e-03 7.17816052e+01] [ 2.29432242e-03 9.99987386e-01 4.46819319e-03 -5.02574136e-01] [ 3.34309554e-03 -4.47585006e-03 9.99984395e-01 -3.16851511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.885898227 meters Centerline goodness [0,1] 0.7565562970204446 Centerline is valid? [False, False] Translation: X:71.78, Y:-0.50, Z:-0.32 [[ 9.99992432e-01 -2.21749841e-03 -3.19664289e-03 7.17808514e+01] [ 2.23070489e-03 9.99988968e-01 4.13372915e-03 -5.00414848e-01] [ 3.18744108e-03 -4.14082863e-03 9.99986347e-01 -3.16488472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.915898227 meters Centerline goodness [0,1] 0.6690655029163695 Centerline is valid? [False, False] Translation: X:71.80, Y:-0.49, Z:-0.32 [[ 9.99999280e-01 -2.29850246e-04 1.17779662e-03 7.18003409e+01] [ 2.35226767e-04 9.99989544e-01 -4.56679401e-03 -4.94541572e-01] [-1.17673462e-03 4.56706778e-03 9.99988879e-01 -3.18299752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94589822700001 meters Centerline goodness [0,1] 0.7750983519404572 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.50, Z:-0.32 [[ 9.99998322e-01 1.71298110e-03 6.49764555e-04 7.17585319e+01] [-1.71073187e-03 9.99992597e-01 -3.44651120e-03 -4.96347471e-01] [-6.55663554e-04 3.44539384e-03 9.99993850e-01 -3.19636965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97589822700002 meters Centerline goodness [0,1] 0.7614812280851792 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.49, Z:-0.32 [[ 9.99998518e-01 1.60286152e-03 6.28786609e-04 7.17588249e+01] [-1.60037664e-03 9.99990986e-01 -3.93266521e-03 -4.93831569e-01] [-6.35084459e-04 3.93165309e-03 9.99992069e-01 -3.20131421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.005898227 meters Centerline goodness [0,1] 0.7281186267845003 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.49, Z:-0.32 [[ 9.99992783e-01 3.78496025e-03 -3.29194183e-04 7.17646607e+01] [-3.78560868e-03 9.99990851e-01 -1.99196665e-03 -4.89953487e-01] [ 3.21651657e-04 1.99319848e-03 9.99997962e-01 -3.23637972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.035898227 meters Centerline goodness [0,1] 0.7272957568081064 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.49, Z:-0.32 [[ 9.99993408e-01 3.61111036e-03 -3.78272415e-04 7.17646321e+01] [-3.61202823e-03 9.99990464e-01 -2.45458188e-03 -4.87666889e-01] [ 3.69405042e-04 2.45593203e-03 9.99996916e-01 -3.23355607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.065898227 meters Centerline goodness [0,1] 0.7261088151335691 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.49, Z:-0.32 [[ 9.99994039e-01 3.43083452e-03 -3.88901084e-04 7.17642753e+01] [-3.43195479e-03 9.99989855e-01 -2.91751058e-03 -4.85409996e-01] [ 3.78887642e-04 2.91882788e-03 9.99995668e-01 -3.22728957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.095898227 meters Centerline goodness [0,1] 0.7142344775206229 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.48, Z:-0.32 [[ 9.99980578e-01 6.07319420e-03 -1.40023921e-03 7.17689328e+01] [-6.07301246e-03 9.99981550e-01 1.34012406e-04 -4.84794813e-01] [ 1.40102726e-03 -1.25506133e-04 9.99999011e-01 -3.24567418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.125898227 meters Centerline goodness [0,1] 0.6987535792487789 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.48, Z:-0.32 [[ 9.99981714e-01 5.85000105e-03 -1.53261892e-03 7.17693257e+01] [-5.85059087e-03 9.99982813e-01 -3.80648138e-04 -4.82382374e-01] [ 1.53036578e-03 3.89607903e-04 9.99998753e-01 -3.24557585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.155898227 meters Centerline goodness [0,1] 0.6953917922208914 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.48, Z:-0.32 [[ 9.99982683e-01 5.62920807e-03 -1.71648909e-03 7.17700274e+01] [-5.63074402e-03 9.99983750e-01 -8.91308274e-04 -4.79996109e-01] [ 1.71144384e-03 9.00957950e-04 9.99998130e-01 -3.24777695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.185898227 meters Centerline goodness [0,1] 0.6555924695459578 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.48, Z:-0.33 [[ 9.99951491e-01 9.66086288e-03 -1.91913727e-03 7.17713418e+01] [-9.65492794e-03 9.99948653e-01 3.07806650e-03 -4.78707250e-01] [ 1.94877551e-03 -3.05938805e-03 9.99993421e-01 -3.25769541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.215898227 meters Centerline goodness [0,1] 0.6271107929422663 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.48, Z:-0.33 [[ 9.99902179e-01 1.38385275e-02 -2.03150482e-03 7.17719005e+01] [-1.38229946e-02 9.99876550e-01 7.47063778e-03 -4.79511851e-01] [ 2.13463665e-03 -7.44182552e-03 9.99970031e-01 -3.25878994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.245898227 meters Centerline goodness [0,1] 0.635722903041463 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.47, Z:-0.33 [[ 9.99948949e-01 9.98787634e-03 -1.53049816e-03 7.17698029e+01] [-9.98451208e-03 9.99947755e-01 2.19024797e-03 -4.72132122e-01] [ 1.55229412e-03 -2.17485488e-03 9.99996430e-01 -3.25158068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.275898227 meters Centerline goodness [0,1] 0.6166961488459326 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.47, Z:-0.32 [[ 9.99952027e-01 9.68239313e-03 -1.48180217e-03 7.17694334e+01] [-9.68055748e-03 9.99952372e-01 1.24099811e-03 -4.67493915e-01] [ 1.49374743e-03 -1.22659391e-03 9.99998132e-01 -3.24953851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.305898227 meters Centerline goodness [0,1] 0.5854978126254835 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.46, Z:-0.33 [[ 9.99909668e-01 1.33354329e-02 -1.68014618e-03 7.17702032e+01] [-1.33284797e-02 9.99902832e-01 4.08381471e-03 -4.60653189e-01] [ 1.73444236e-03 -4.06105202e-03 9.99990250e-01 -3.25075553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.335898227 meters Centerline goodness [0,1] 0.5854978126254835 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.46, Z:-0.32 [[ 9.99955094e-01 9.33432069e-03 -1.63732171e-03 7.17698037e+01] [-9.33532171e-03 9.99956242e-01 -6.04807725e-04 -4.57274378e-01] [ 1.63160460e-03 6.20065491e-04 9.99998477e-01 -3.24919636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.365898227 meters Centerline goodness [0,1] 0.5843025688226926 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.45, Z:-0.32 [[ 9.99914949e-01 1.29466889e-02 -1.57418400e-03 7.17691564e+01] [-1.29430789e-02 9.99913630e-01 2.28218950e-03 -4.50778716e-01] [ 1.60359483e-03 -2.26162061e-03 9.99996157e-01 -3.24130132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.395898227 meters Centerline goodness [0,1] 0.5956162642947904 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.45, Z:-0.32 [[ 9.99920533e-01 1.25311470e-02 -1.37745854e-03 7.17680792e+01] [-1.25293555e-02 9.99920657e-01 1.30161344e-03 -4.46169080e-01] [ 1.39365995e-03 -1.28425134e-03 9.99998204e-01 -3.23477070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.425898227 meters Centerline goodness [0,1] 0.5994653644572607 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.44, Z:-0.32 [[ 9.99925390e-01 1.21450464e-02 -1.30845087e-03 7.17676314e+01] [-1.21444672e-02 9.99926152e-01 4.49671282e-04 -4.42204428e-01] [ 1.31381552e-03 -4.33747293e-04 9.99999043e-01 -3.23165591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.455898227 meters Centerline goodness [0,1] 0.6447938801529962 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.44, Z:-0.32 [[ 9.99929752e-01 1.17701980e-02 -1.39768838e-03 7.17681148e+01] [-1.17706325e-02 9.99930678e-01 -3.03026506e-04 -4.38815815e-01] [ 1.39402481e-03 3.19456895e-04 9.99998977e-01 -3.23588820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.485898227 meters Centerline goodness [0,1] 0.5971130544726584 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.44, Z:-0.32 [[ 9.99933601e-01 1.13996275e-02 -1.68578632e-03 7.17693741e+01] [-1.14012858e-02 9.99934526e-01 -9.77396302e-04 -4.35796870e-01] [ 1.67453399e-03 9.96551536e-04 9.99998101e-01 -3.24239930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.515898227 meters Centerline goodness [0,1] 0.6462619378181665 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.43, Z:-0.32 [[ 9.99936642e-01 1.10876202e-02 -1.94353243e-03 7.17704789e+01] [-1.10903378e-02 9.99937530e-01 -1.39312705e-03 -4.34129687e-01] [ 1.92796456e-03 1.41459322e-03 9.99997141e-01 -3.24770685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.545898227 meters Centerline goodness [0,1] 0.7126532352627651 Centerline is valid? [False, False] Translation: X:71.75, Y:-0.43, Z:-0.33 [[ 9.99979722e-01 5.41290636e-03 3.35494491e-03 7.17509814e+01] [-5.40802340e-03 9.99984307e-01 -1.46281984e-03 -4.30407755e-01] [-3.36281037e-03 1.44464655e-03 9.99993302e-01 -3.29014264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.575898227 meters Centerline goodness [0,1] 0.6362207364869112 Centerline is valid? [False, False] Translation: X:71.79, Y:-0.43, Z:-0.33 [[ 9.99984299e-01 4.03668095e-03 3.88670138e-03 7.17925540e+01] [-4.03417529e-03 9.99991650e-01 -6.52298883e-04 -4.28272665e-01] [-3.88930205e-03 6.36609007e-04 9.99992234e-01 -3.28427825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.605898227 meters Centerline goodness [0,1] 0.7560701009028147 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.43, Z:-0.33 [[ 9.99999609e-01 -7.66470951e-04 4.41569840e-04 7.17731007e+01] [ 7.64197644e-04 9.99986572e-01 5.12560716e-03 -4.29914249e-01] [-4.45492540e-04 -5.12526771e-03 9.99986766e-01 -3.27379547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.635898227 meters Centerline goodness [0,1] 0.7872313527180783 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.43, Z:-0.33 [[ 9.99986254e-01 -5.22867671e-03 3.91062078e-04 7.17732303e+01] [ 5.22856533e-03 9.99986290e-01 2.85288009e-04 -4.27161830e-01] [-3.92548395e-04 -2.83239394e-04 9.99999883e-01 -3.27304446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.665898227 meters Centerline goodness [0,1] 0.838807424987286 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.43, Z:-0.33 [[ 9.99985931e-01 -5.29678000e-03 2.85280856e-04 7.17739239e+01] [ 5.29664568e-03 9.99985862e-01 4.69553902e-04 -4.28315464e-01] [-2.87763947e-04 -4.68036265e-04 9.99999849e-01 -3.27883139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69589822700001 meters Centerline goodness [0,1] 0.7057630736392743 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.43, Z:-0.33 [[ 9.99985700e-01 -5.34439623e-03 1.91460625e-04 7.17743506e+01] [ 5.34429298e-03 9.99985576e-01 5.35800159e-04 -4.28822608e-01] [-1.94321391e-04 -5.34769275e-04 9.99999838e-01 -3.28057991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72589822700002 meters Centerline goodness [0,1] 0.9107623223401327 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.43, Z:-0.33 [[ 9.99984932e-01 -5.48587560e-03 2.01469844e-04 7.17737996e+01] [ 5.48574720e-03 9.99984753e-01 6.32437234e-04 -4.29700643e-01] [-2.04936244e-04 -6.31322492e-04 9.99999780e-01 -3.27159449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.755898227 meters Centerline goodness [0,1] 0.8258023648648649 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.43, Z:-0.33 [[ 9.99985310e-01 -5.41939131e-03 9.86017530e-05 7.17741047e+01] [ 5.41930687e-03 9.99984965e-01 8.37388184e-04 -4.30620124e-01] [-1.03138405e-04 -8.36841530e-04 9.99999645e-01 -3.27093567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.785898227 meters Centerline goodness [0,1] 0.9732131386236136 Centerline is valid? [False, True] Translation: X:71.75, Y:-0.43, Z:-0.32 [[ 9.99979083e-01 -5.48837511e-03 -3.42223126e-03 7.17511441e+01] [ 5.45286357e-03 9.99932074e-01 -1.03011160e-02 -4.28906880e-01] [ 3.47853519e-03 1.02822396e-02 9.99941086e-01 -3.22116569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.815898227 meters Centerline goodness [0,1] 0.9649373652873514 Centerline is valid? [True, True] Translation: X:71.78, Y:-0.43, Z:-0.33 [[ 9.99957154e-01 -6.30057591e-03 -6.78180623e-03 7.17810446e+01] [ 6.29778157e-03 9.99980075e-01 -4.33311739e-04 -4.28375069e-01] [ 6.78440122e-03 3.90582839e-04 9.99976909e-01 -3.29012064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.845898227 meters Centerline goodness [0,1] 0.9599780817298573 Centerline is valid? [True, True] Translation: X:71.81, Y:-0.43, Z:-0.33 [[ 9.99949875e-01 -7.22353326e-03 -6.93316916e-03 7.18098581e+01] [ 7.22063325e-03 9.99973833e-01 -4.43220358e-04 -4.25341954e-01] [ 6.93618935e-03 3.93136269e-04 9.99975867e-01 -3.28432576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.875898227 meters Centerline goodness [0,1] 0.9791728589019575 Centerline is valid? [True, True] Translation: X:71.84, Y:-0.43, Z:-0.33 [[ 9.99947065e-01 -8.48002606e-03 -5.82723271e-03 7.18399522e+01] [ 8.47799789e-03 9.99963992e-01 -3.72665080e-04 -4.27766332e-01] [ 5.83018309e-03 3.23242086e-04 9.99982952e-01 -3.25842025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.905898227 meters Centerline goodness [0,1] 0.9466350931348712 Centerline is valid? [True, False] Translation: X:71.84, Y:-0.43, Z:-0.32 [[ 9.99947694e-01 -8.39787999e-03 -5.83818803e-03 7.18394738e+01] [ 8.39762694e-03 9.99964737e-01 -6.78567439e-05 -4.29338106e-01] [ 5.83855201e-03 1.88262695e-05 9.99982955e-01 -3.24925278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.935898227 meters Centerline goodness [0,1] 0.9927264244968934 Centerline is valid? [False, True] Translation: X:71.84, Y:-0.43, Z:-0.32 [[ 9.99949387e-01 -8.24246309e-03 -5.76925768e-03 7.18389509e+01] [ 8.24464091e-03 9.99965950e-01 3.53805251e-04 -4.31431084e-01] [ 5.76614501e-03 -4.01352801e-04 9.99983295e-01 -3.24361315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.965898227 meters Centerline goodness [0,1] 0.9803298274059693 Centerline is valid? [True, True] Translation: X:71.87, Y:-0.43, Z:-0.33 [[ 9.99949629e-01 -8.30784168e-03 -5.63202300e-03 7.18684891e+01] [ 8.30600351e-03 9.99965443e-01 -3.49688988e-04 -4.26363049e-01] [ 5.63473353e-03 3.02891771e-04 9.99984079e-01 -3.25400125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.995898227 meters Centerline goodness [0,1] 0.9624391177659144 Centerline is valid? [True, True] Translation: X:71.90, Y:-0.43, Z:-0.32 [[ 9.99967979e-01 -5.47781797e-03 -5.83398185e-03 7.18982249e+01] [ 5.47579741e-03 9.99984942e-01 -3.62260208e-04 -4.25310351e-01] [ 5.83587840e-03 3.30302905e-04 9.99982917e-01 -3.23903653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.025898227 meters Centerline goodness [0,1] 0.8909548793284365 Centerline is valid? [True, False] Translation: X:71.92, Y:-0.42, Z:-0.32 [[ 9.99988704e-01 -3.42193283e-03 -3.29869217e-03 7.19173255e+01] [ 3.39192965e-03 9.99953218e-01 -9.05856196e-03 -4.21494869e-01] [ 3.32953564e-03 9.04727071e-03 9.99953529e-01 -3.23198522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.055898227 meters Centerline goodness [0,1] 0.8909548793284365 Centerline is valid? [False, False] Translation: X:71.92, Y:-0.42, Z:-0.32 [[ 9.99995632e-01 4.85394812e-04 -2.91545755e-03 7.19163580e+01] [-4.98322526e-04 9.99990041e-01 -4.43510875e-03 -4.24854315e-01] [ 2.91327574e-03 4.43654222e-03 9.99985915e-01 -3.23377089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.085898227 meters Centerline goodness [0,1] 0.9048338047338537 Centerline is valid? [False, False] Translation: X:71.87, Y:-0.43, Z:-0.32 [[ 9.99992709e-01 2.44843976e-03 -2.93031438e-03 7.18734533e+01] [-2.45983048e-03 9.99989409e-01 -3.88992876e-03 -4.26517217e-01] [ 2.92075908e-03 3.89710847e-03 9.99988141e-01 -3.24431862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.115898227 meters Centerline goodness [0,1] 0.7838719241031722 Centerline is valid? [False, False] Translation: X:71.87, Y:-0.42, Z:-0.32 [[ 9.99992616e-01 2.44474381e-03 -2.96490638e-03 7.18734267e+01] [-2.45745272e-03 9.99987777e-01 -4.29040279e-03 -4.24169038e-01] [ 2.95438121e-03 4.29765722e-03 9.99986401e-01 -3.24288732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.145898227 meters Centerline goodness [0,1] 0.8089459157659651 Centerline is valid? [False, False] Translation: X:71.88, Y:-0.42, Z:-0.33 [[ 9.99985070e-01 4.05269006e-03 -3.66538320e-03 7.18785809e+01] [-4.06341739e-03 9.99987469e-01 -2.92396231e-03 -4.23344874e-01] [ 3.65348735e-03 2.93881264e-03 9.99989008e-01 -3.27660837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.175898227 meters Centerline goodness [0,1] 0.6670851117248305 Centerline is valid? [False, False] Translation: X:71.88, Y:-0.42, Z:-0.33 [[ 9.99957893e-01 8.33960443e-03 -3.82938209e-03 7.18800331e+01] [-8.33497097e-03 9.99964514e-01 1.22434444e-03 -4.22452689e-01] [ 3.83945675e-03 -1.19237510e-03 9.99991918e-01 -3.29092976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.205898227 meters Centerline goodness [0,1] 0.7073753985568048 Centerline is valid? [False, False] Translation: X:71.88, Y:-0.42, Z:-0.33 [[ 9.99958886e-01 8.23096083e-03 -3.80487534e-03 7.18799579e+01] [-8.22822053e-03 9.99965877e-01 7.35301028e-04 -4.19933681e-01] [ 3.81079775e-03 -7.03963444e-04 9.99992491e-01 -3.29194976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.235898227 meters Centerline goodness [0,1] 0.731066460587326 Centerline is valid? [False, False] Translation: X:71.88, Y:-0.42, Z:-0.33 [[ 9.99960481e-01 8.08598400e-03 -3.69490376e-03 7.18794428e+01] [-8.08491798e-03 9.99967271e-01 3.03358235e-04 -4.17775609e-01] [ 3.69723578e-03 -2.73473253e-04 9.99993128e-01 -3.28962742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.265898227 meters Centerline goodness [0,1] 0.7239500855133971 Centerline is valid? [False, False] Translation: X:71.88, Y:-0.42, Z:-0.33 [[ 9.99961523e-01 7.99216344e-03 -3.61631055e-03 7.18789256e+01] [-7.99183858e-03 9.99968059e-01 1.04275205e-04 -4.16875063e-01] [ 3.61702843e-03 -7.53702228e-05 9.99993456e-01 -3.28563450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.295898227 meters Centerline goodness [0,1] 0.7140538033395176 Centerline is valid? [False, False] Translation: X:71.88, Y:-0.41, Z:-0.33 [[ 9.99986651e-01 3.75180945e-03 -3.55264911e-03 7.18782559e+01] [-3.76880437e-03 9.99981430e-01 -4.78918043e-03 -4.13270615e-01] [ 3.53461505e-03 4.80250574e-03 9.99982221e-01 -3.27952646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.325898227 meters Centerline goodness [0,1] 0.754005734525215 Centerline is valid? [False, False] Translation: X:71.88, Y:-0.41, Z:-0.33 [[ 9.99986255e-01 3.79036674e-03 -3.62250681e-03 7.18784985e+01] [-3.80672662e-03 9.99982539e-01 -4.52000050e-03 -4.14756865e-01] [ 3.60531110e-03 4.53372827e-03 9.99983223e-01 -3.27960827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.355898227 meters Centerline goodness [0,1] 0.7469609994934999 Centerline is valid? [False, False] Translation: X:71.88, Y:-0.42, Z:-0.33 [[ 9.99985542e-01 3.81623825e-03 -3.78853441e-03 7.18793701e+01] [-3.83086203e-03 9.99985211e-01 -3.86028581e-03 -4.18558440e-01] [ 3.77374661e-03 3.87474335e-03 9.99985372e-01 -3.28490811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.385898227 meters Centerline goodness [0,1] 0.7706622879036672 Centerline is valid? [False, False] Translation: X:71.88, Y:-0.42, Z:-0.33 [[ 9.99983958e-01 3.92862459e-03 -4.08035490e-03 7.18806307e+01] [-3.94285765e-03 9.99986151e-01 -3.48602592e-03 -4.20356103e-01] [ 4.06660310e-03 3.50205826e-03 9.99985599e-01 -3.28995120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.415898227 meters Centerline goodness [0,1] 0.7434235210739151 Centerline is valid? [False, False] Translation: X:71.90, Y:-0.42, Z:-0.33 [[ 9.99977515e-01 2.43713476e-03 -6.24737136e-03 7.19027314e+01] [-2.40161664e-03 9.99980948e-01 5.68650213e-03 -4.22431749e-01] [ 6.26111111e-03 -5.67137047e-03 9.99964316e-01 -3.27701399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44589822700001 meters Centerline goodness [0,1] 0.732933979637195 Centerline is valid? [False, False] Translation: X:71.86, Y:-0.42, Z:-0.33 [[ 9.99979971e-01 7.14109237e-04 -6.28874769e-03 7.18593500e+01] [-7.04463183e-04 9.99998572e-01 1.53594085e-03 -4.23633929e-01] [ 6.28983554e-03 -1.53147990e-03 9.99979046e-01 -3.27810324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47589822700002 meters Centerline goodness [0,1] 0.7048963665352018 Centerline is valid? [False, False] Translation: X:71.86, Y:-0.43, Z:-0.33 [[ 9.99979911e-01 1.15410034e-03 -6.23268848e-03 7.18590448e+01] [-1.13987430e-03 9.99996738e-01 2.28555819e-03 -4.26874086e-01] [ 6.23530592e-03 -2.27840779e-03 9.99977965e-01 -3.27537973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.505898227 meters Centerline goodness [0,1] 0.7603757979343838 Centerline is valid? [False, False] Translation: X:71.82, Y:-0.43, Z:-0.33 [[ 9.99984437e-01 9.29164094e-04 -5.50120741e-03 7.18150675e+01] [-9.26845294e-04 9.99999481e-01 4.24041933e-04 -4.29633948e-01] [ 5.50159856e-03 -4.18936565e-04 9.99984778e-01 -3.28422274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.535898227 meters Centerline goodness [0,1] 0.7534552413353179 Centerline is valid? [False, False] Translation: X:71.81, Y:-0.43, Z:-0.33 [[ 9.99984441e-01 1.01890000e-03 -5.48456171e-03 7.18149640e+01] [-1.01627134e-03 9.99999367e-01 4.82049985e-04 -4.29743704e-01] [ 5.48504940e-03 -4.76468681e-04 9.99984843e-01 -3.28326616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.565898227 meters Centerline goodness [0,1] 0.6583616379401278 Centerline is valid? [False, False] Translation: X:71.82, Y:-0.43, Z:-0.33 [[ 9.99984046e-01 1.13604763e-03 -5.53319722e-03 7.18152389e+01] [-1.13344647e-03 9.99999246e-01 4.73213604e-04 -4.29334557e-01] [ 5.53373064e-03 -4.66934472e-04 9.99984580e-01 -3.28528860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.595898227 meters Centerline goodness [0,1] 0.6926326461642447 Centerline is valid? [False, False] Translation: X:71.82, Y:-0.43, Z:-0.33 [[ 9.99983969e-01 1.17785638e-03 -5.53844653e-03 7.18152915e+01] [-1.17584983e-03 9.99999242e-01 3.65535924e-04 -4.28609404e-01] [ 5.53887288e-03 -3.59017683e-04 9.99984596e-01 -3.28592567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.625898227 meters Centerline goodness [0,1] 0.6891136377913185 Centerline is valid? [False, False] Translation: X:71.82, Y:-0.43, Z:-0.33 [[ 9.99983595e-01 1.24030196e-03 -5.59201158e-03 7.18155855e+01] [-1.23921079e-03 9.99999212e-01 1.98590558e-04 -4.27433586e-01] [ 5.59225349e-03 -1.91657619e-04 9.99984345e-01 -3.28831791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.655898227 meters Centerline goodness [0,1] 0.5851884644573742 Centerline is valid? [False, False] Translation: X:71.82, Y:-0.42, Z:-0.33 [[ 9.99983519e-01 1.21180594e-03 -5.61191686e-03 7.18157225e+01] [-1.21403441e-03 9.99999186e-01 -3.93707149e-04 -4.24069256e-01] [ 5.61143519e-03 4.00513720e-04 9.99984176e-01 -3.29019545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.685898227 meters Centerline goodness [0,1] 0.5836166729631029 Centerline is valid? [False, False] Translation: X:71.82, Y:-0.42, Z:-0.33 [[ 9.99983541e-01 1.08671539e-03 -5.63355729e-03 7.18158642e+01] [-1.09126071e-03 9.99999082e-01 -8.03817694e-04 -4.21937449e-01] [ 5.63267860e-03 8.09952144e-04 9.99983808e-01 -3.29185398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.715898227 meters Centerline goodness [0,1] 0.5712036609429447 Centerline is valid? [False, False] Translation: X:71.82, Y:-0.42, Z:-0.33 [[ 9.99983497e-01 9.44162845e-04 -5.66700701e-03 7.18158527e+01] [-9.50733072e-04 9.99998879e-01 -1.15680034e-03 -4.20231414e-01] [ 5.66590845e-03 1.16216906e-03 9.99983273e-01 -3.29015973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.745898227 meters Centerline goodness [0,1] 0.7259894824245778 Centerline is valid? [False, False] Translation: X:71.77, Y:-0.42, Z:-0.33 [[ 9.99987959e-01 8.29175184e-04 -4.83686015e-03 7.17713513e+01] [-8.41637961e-04 9.99996330e-01 -2.57515940e-03 -4.22307779e-01] [ 4.83470715e-03 2.57919928e-03 9.99984987e-01 -3.29224660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.775898227 meters Centerline goodness [0,1] 0.6999936986704194 Centerline is valid? [False, False] Translation: X:71.79, Y:-0.42, Z:-0.33 [[ 9.99998197e-01 -1.39430682e-03 -1.28902324e-03 7.17941501e+01] [ 1.40173548e-03 9.99982312e-01 5.78018760e-03 -4.22154946e-01] [ 1.28094108e-03 -5.78198405e-03 9.99982464e-01 -3.33946436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.805898227 meters Centerline goodness [0,1] 0.7153620496802651 Centerline is valid? [False, False] Translation: X:71.79, Y:-0.42, Z:-0.33 [[ 9.99992555e-01 -3.82948391e-03 -4.74710247e-04 7.17873615e+01] [ 3.83120296e-03 9.99985909e-01 3.67484575e-03 -4.23934349e-01] [ 4.60630795e-04 -3.67663710e-03 9.99993135e-01 -3.28611277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.835898227 meters Centerline goodness [0,1] 0.7431959440826457 Centerline is valid? [False, False] Translation: X:71.78, Y:-0.43, Z:-0.32 [[ 9.99982586e-01 -5.89251937e-03 3.24550424e-04 7.17814927e+01] [ 5.89192855e-03 9.99981036e-01 1.79225319e-03 -4.25418408e-01] [-3.35105156e-04 -1.79030976e-03 9.99998341e-01 -3.24508977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.865898227 meters Centerline goodness [0,1] 0.7269892767606969 Centerline is valid? [False, False] Translation: X:71.78, Y:-0.43, Z:-0.32 [[ 9.99983136e-01 -5.80514706e-03 1.67154442e-04 7.17822197e+01] [ 5.80471772e-03 9.99980118e-01 2.46363340e-03 -4.29041323e-01] [-1.81452873e-04 -2.46262157e-03 9.99996951e-01 -3.24836286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.895898227 meters Centerline goodness [0,1] 0.7972142826671217 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.43, Z:-0.32 [[ 9.99968888e-01 -7.11836366e-03 -3.39890655e-03 7.17596809e+01] [ 7.08508816e-03 9.99927817e-01 -9.70374101e-03 -4.29447702e-01] [ 3.46773596e-03 9.67935755e-03 9.99947141e-01 -3.20237511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.925898227 meters Centerline goodness [0,1] 0.725346564170269 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.44, Z:-0.32 [[ 9.99987701e-01 -2.97837832e-03 -3.96563504e-03 7.17621199e+01] [ 2.96113026e-03 9.99986162e-01 -4.34817361e-03 -4.36039957e-01] [ 3.97853067e-03 4.33637737e-03 9.99982683e-01 -3.21533470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.955898227 meters Centerline goodness [0,1] 0.815785043975929 Centerline is valid? [False, False] Translation: X:71.81, Y:-0.44, Z:-0.32 [[ 9.99987221e-01 -1.25157896e-03 -4.89813205e-03 7.18058275e+01] [ 1.25411597e-03 9.99999081e-01 5.14918463e-04 -4.40209949e-01] [ 4.89748309e-03 -5.21054708e-04 9.99987872e-01 -3.21466223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.985898227 meters Centerline goodness [0,1] 0.882385623010022 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.44, Z:-0.32 [[ 9.99988086e-01 -1.12780864e-03 -4.74932674e-03 7.17624314e+01] [ 1.12636486e-03 9.99999319e-01 -3.06661205e-04 -4.43890982e-01] [ 4.74966936e-03 3.01308077e-04 9.99988675e-01 -3.22079541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.015898227 meters Centerline goodness [0,1] 0.8049692360280294 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.45, Z:-0.32 [[ 9.99988132e-01 -9.69465969e-04 -4.77441157e-03 7.17626562e+01] [ 9.69562583e-04 9.99999530e-01 1.79212718e-05 -4.45380814e-01] [ 4.77439195e-03 -2.25501499e-05 9.99988602e-01 -3.22279584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.045898227 meters Centerline goodness [0,1] 0.7721702574881766 Centerline is valid? [False, False] Translation: X:71.80, Y:-0.45, Z:-0.32 [[ 9.99990423e-01 -7.88494592e-04 -4.30496608e-03 7.18048074e+01] [ 7.95654696e-04 9.99998303e-01 1.66176021e-03 -4.45255882e-01] [ 4.30364849e-03 -1.66516956e-03 9.99989353e-01 -3.21828430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.075898227 meters Centerline goodness [0,1] 0.7915174002047083 Centerline is valid? [False, False] Translation: X:71.76, Y:-0.45, Z:-0.32 [[ 9.99988860e-01 -1.20793787e-03 -4.56299656e-03 7.17622196e+01] [ 1.20855571e-03 9.99999261e-01 1.32646403e-04 -4.49195533e-01] [ 4.56283296e-03 -1.38159561e-04 9.99989581e-01 -3.22827855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.105898227 meters Centerline goodness [0,1] 0.7884054910242873 Centerline is valid? [False, False] Translation: X:71.79, Y:-0.45, Z:-0.33 [[ 9.99993107e-01 -3.66394327e-03 -6.01161454e-04 7.17860513e+01] [ 3.66880554e-03 9.99958850e-01 8.29685074e-03 -4.54554361e-01] [ 5.70737526e-04 -8.29899909e-03 9.99965400e-01 -3.28170738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.135898227 meters Centerline goodness [0,1] 0.8188616711636109 Centerline is valid? [False, False] Translation: X:71.79, Y:-0.45, Z:-0.33 [[ 9.99969620e-01 -7.77843853e-03 -5.03999336e-04 7.17855966e+01] [ 7.78044230e-03 9.99961311e-01 4.10388156e-03 -4.54734860e-01] [ 4.72058046e-04 -4.10767823e-03 9.99991452e-01 -3.27747630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.165898227 meters Centerline goodness [0,1] 0.8178805168652459 Centerline is valid? [False, False] Translation: X:71.79, Y:-0.46, Z:-0.33 [[ 9.99929029e-01 -1.19053003e-02 -4.48264145e-04 7.17852822e+01] [ 1.19053021e-02 9.99929129e-01 1.36840690e-06 -4.55515948e-01] [ 4.48216085e-04 -6.70502985e-06 9.99999900e-01 -3.27294989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19589822700001 meters Centerline goodness [0,1] 0.8530838973311199 Centerline is valid? [False, False] Translation: X:71.78, Y:-0.46, Z:-0.33 [[ 9.99871436e-01 -1.60309729e-02 -3.46525442e-04 7.17849720e+01] [ 1.60294738e-02 9.99863656e-01 -3.96553814e-03 -4.57117084e-01] [ 4.10049629e-04 3.95947369e-03 9.99992077e-01 -3.26937679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22589822700002 meters Centerline goodness [0,1] 0.9126675041876047 Centerline is valid? [False, False] Translation: X:71.83, Y:-0.46, Z:-0.33 [[ 9.99871266e-01 -1.60418036e-02 -3.33752334e-04 7.18268630e+01] [ 1.60416916e-02 9.99871267e-01 -3.35654378e-04 -4.62319702e-01] [ 3.39093871e-04 3.30257216e-04 9.99999888e-01 -3.26826314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.255898227 meters Centerline goodness [0,1] 0.9480621304909834 Centerline is valid? [False, False] Translation: X:71.83, Y:-0.46, Z:-0.33 [[ 9.99799023e-01 -2.00455518e-02 -2.97650846e-04 7.18270817e+01] [ 2.00441820e-02 9.99790881e-01 -4.05268096e-03 -4.64971455e-01] [ 3.78826828e-04 4.04590029e-03 9.99991744e-01 -3.26888040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.285898227 meters Centerline goodness [0,1] 0.9963567442350216 Centerline is valid? [False, True] Translation: X:71.83, Y:-0.48, Z:-0.33 [[ 9.99731812e-01 -2.31470782e-02 -7.18928588e-04 7.18304251e+01] [ 2.31425347e-02 9.99715409e-01 -5.78999389e-03 -4.76203281e-01] [ 8.52745429e-04 5.77180326e-03 9.99982979e-01 -3.29025540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.315898227 meters Centerline goodness [0,1] 0.9972655587586908 Centerline is valid? [True, True] Translation: X:71.86, Y:-0.48, Z:-0.33 [[ 9.99707805e-01 -2.40353168e-02 -2.57063307e-03 7.18628867e+01] [ 2.40349267e-02 9.99711103e-01 -1.82536832e-04 -4.84779180e-01] [ 2.57427775e-03 1.20698518e-04 9.99996679e-01 -3.32578369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.345898227 meters Centerline goodness [0,1] 0.9940823417921449 Centerline is valid? [True, True] Translation: X:71.89, Y:-0.48, Z:-0.34 [[ 9.99712932e-01 -2.37086292e-02 -3.45745944e-03 7.18933435e+01] [ 2.37079212e-02 9.99718898e-01 -2.45625154e-04 -4.83446476e-01] [ 3.46231097e-03 1.63585468e-04 9.99993993e-01 -3.35013788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.375898227 meters Centerline goodness [0,1] 0.9969768081013086 Centerline is valid? [True, True] Translation: X:71.92, Y:-0.49, Z:-0.33 [[ 9.99744436e-01 -2.22761509e-02 -3.85170374e-03 7.19247417e+01] [ 2.22752618e-02 9.99751838e-01 -2.73592533e-04 -4.91615260e-01] [ 3.85684249e-03 1.87724904e-04 9.99992545e-01 -3.34629536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.405898227 meters Centerline goodness [0,1] 0.9836072473222365 Centerline is valid? [True, True] Translation: X:71.95, Y:-0.49, Z:-0.33 [[ 9.99795648e-01 -2.00026932e-02 -2.92473221e-03 7.19546626e+01] [ 2.00021712e-02 9.99799915e-01 -2.07611758e-04 -4.85257518e-01] [ 2.92829981e-03 1.49068337e-04 9.99995701e-01 -3.34315615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.435898227 meters Centerline goodness [0,1] 0.9942020335514676 Centerline is valid? [True, True] Translation: X:71.99, Y:-0.50, Z:-0.33 [[ 9.99845702e-01 -1.74281653e-02 -2.19818813e-03 7.19867267e+01] [ 1.74278642e-02 9.99848111e-01 -1.56037572e-04 -4.95782067e-01] [ 2.20057369e-03 1.17703771e-04 9.99997572e-01 -3.31020514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.465898227 meters Centerline goodness [0,1] 0.9679317570857058 Centerline is valid? [True, True] Translation: X:72.02, Y:-0.49, Z:-0.33 [[ 9.99894671e-01 -1.44667004e-02 -1.16645941e-03 7.20164063e+01] [ 1.44666136e-02 9.99895350e-01 -8.28686809e-05 -4.90173150e-01] [ 1.16753618e-03 6.59852349e-05 9.99999316e-01 -3.29615681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.495898227 meters Centerline goodness [0,1] 0.8997473152242578 Centerline is valid? [True, False] Translation: X:72.02, Y:-0.50, Z:-0.33 [[ 9.99912958e-01 -1.31617105e-02 -9.19470662e-04 7.20160863e+01] [ 1.31633417e-02 9.99911755e-01 1.79118182e-03 -4.97564442e-01] [ 8.95814507e-04 -1.80312922e-03 9.99997973e-01 -3.30108641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.525898227 meters Centerline goodness [0,1] 0.8963406859620043 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.50, Z:-0.33 [[ 9.99919184e-01 -1.26925131e-02 -7.24436833e-04 7.20157337e+01] [ 1.26943581e-02 9.99916039e-01 2.60176002e-03 -5.01010269e-01] [ 6.91353136e-04 -2.61074601e-03 9.99996353e-01 -3.30456558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.555898227 meters Centerline goodness [0,1] 0.8702165529516463 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.50, Z:-0.33 [[ 9.99924124e-01 -1.23031246e-02 -6.15694924e-04 7.20156471e+01] [ 1.23050721e-02 9.99918956e-01 3.26611702e-03 -5.03847982e-01] [ 5.75461581e-04 -3.27344537e-03 9.99994477e-01 -3.30828929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.585898227 meters Centerline goodness [0,1] 0.6951615947652104 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.51, Z:-0.33 [[ 9.99928337e-01 -1.19543282e-02 -6.44342779e-04 7.20160057e+01] [ 1.19567454e-02 9.99920957e-01 3.88803120e-03 -5.06567204e-01] [ 5.97813047e-04 -3.89545682e-03 9.99992234e-01 -3.31224874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.615898227 meters Centerline goodness [0,1] 0.7512032424216837 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.51, Z:-0.33 [[ 9.99931863e-01 -1.16527520e-02 -6.94924111e-04 7.20163446e+01] [ 1.16557499e-02 9.99922040e-01 4.47848583e-03 -5.09225245e-01] [ 6.42683250e-04 -4.48628054e-03 9.99989730e-01 -3.31457474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.645898227 meters Centerline goodness [0,1] 0.706901292273852 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.51, Z:-0.33 [[ 9.99936879e-01 -1.11997439e-02 -8.96641578e-04 7.20174297e+01] [ 1.12045436e-02 9.99921880e-01 5.53999839e-03 -5.14331006e-01] [ 8.34524970e-04 -5.54969516e-03 9.99984252e-01 -3.32002476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.675898227 meters Centerline goodness [0,1] 0.7167044310171198 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.52, Z:-0.33 [[ 9.99938646e-01 -1.10264792e-02 -1.05920679e-03 7.20182348e+01] [ 1.10325754e-02 9.99921537e-01 5.93321427e-03 -5.16170150e-01] [ 9.93701216e-04 -5.94453602e-03 9.99981837e-01 -3.32443130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.705898227 meters Centerline goodness [0,1] 0.7548108335967962 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.52, Z:-0.33 [[ 9.99939784e-01 -1.09201228e-02 -1.08576321e-03 7.20183264e+01] [ 1.09266229e-02 9.99921250e-01 6.17272529e-03 -5.17291133e-01] [ 1.01827079e-03 -6.18421732e-03 9.99980359e-01 -3.32393880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.735898227 meters Centerline goodness [0,1] 0.6491261198883783 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.52, Z:-0.33 [[ 9.99940887e-01 -1.08221763e-02 -1.05006054e-03 7.20181696e+01] [ 1.08286137e-02 9.99921322e-01 6.33172921e-03 -5.17947098e-01] [ 9.81454838e-04 -6.34272563e-03 9.99979403e-01 -3.32302705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.765898227 meters Centerline goodness [0,1] 0.7638613755937547 Centerline is valid? [False, False] Translation: X:71.98, Y:-0.52, Z:-0.33 [[ 9.99974303e-01 -7.08545838e-03 1.09068312e-03 7.19775743e+01] [ 7.09283859e-03 9.99950913e-01 -6.91837259e-03 -5.19550506e-01] [-1.04160974e-03 6.92593085e-03 9.99975473e-01 -3.33119723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.795898227 meters Centerline goodness [0,1] 0.6915255661526827 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.52, Z:-0.33 [[ 9.99992799e-01 -3.54382178e-03 1.35757856e-03 7.20192308e+01] [ 3.54555790e-03 9.99992897e-01 -1.27857082e-03 -5.21453016e-01] [-1.35303789e-03 1.28337498e-03 9.99998261e-01 -3.32024539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.825898227 meters Centerline goodness [0,1] 0.8315722334431805 Centerline is valid? [False, False] Translation: X:71.98, Y:-0.53, Z:-0.33 [[ 9.99994007e-01 -3.45661994e-03 -1.93576277e-04 7.19792134e+01] [ 3.45643828e-03 9.99993593e-01 -9.31007375e-04 -5.25071319e-01] [ 1.96793176e-04 9.30332711e-04 9.99999548e-01 -3.33490359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.855898227 meters Centerline goodness [0,1] 0.8315722334431805 Centerline is valid? [False, False] Translation: X:71.98, Y:-0.53, Z:-0.33 [[ 9.99994007e-01 -3.45661994e-03 -1.93576277e-04 7.19792134e+01] [ 3.45643828e-03 9.99993593e-01 -9.31007375e-04 -5.25071319e-01] [ 1.96793176e-04 9.30332711e-04 9.99999548e-01 -3.33490359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.885898227 meters Centerline goodness [0,1] 0.7427346655739772 Centerline is valid? [False, False] Translation: X:72.03, Y:-0.52, Z:-0.33 [[ 9.99988808e-01 -2.87722291e-03 -3.75564479e-03 7.20261702e+01] [ 2.87789123e-03 9.99995844e-01 1.72556839e-04 -5.23960107e-01] [ 3.75513270e-03 -1.83363245e-04 9.99992933e-01 -3.32929930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.915898227 meters Centerline goodness [0,1] 0.7249763182822861 Centerline is valid? [False, False] Translation: X:72.03, Y:-0.53, Z:-0.33 [[ 9.99988589e-01 -2.76247397e-03 -3.89747087e-03 7.20268734e+01] [ 2.76431915e-03 9.99996070e-01 4.68123254e-04 -5.25345816e-01] [ 3.89616238e-03 -4.78891766e-04 9.99992295e-01 -3.33301774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94589822700001 meters Centerline goodness [0,1] 0.7540668034607493 Centerline is valid? [False, False] Translation: X:72.03, Y:-0.53, Z:-0.33 [[ 9.99988755e-01 -2.64592864e-03 -3.93552653e-03 7.20269914e+01] [ 2.64880445e-03 9.99996229e-01 7.25697458e-04 -5.26549577e-01] [ 3.93359154e-03 -7.36113738e-04 9.99991992e-01 -3.33284539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97589822700002 meters Centerline goodness [0,1] 0.8611941573417613 Centerline is valid? [False, False] Translation: X:72.03, Y:-0.53, Z:-0.33 [[ 9.99989208e-01 -2.58569801e-03 -3.85967481e-03 7.20267001e+01] [ 2.58922192e-03 9.99996235e-01 9.08290045e-04 -5.27502951e-01] [ 3.85731172e-03 -9.18273798e-04 9.99992139e-01 -3.33177177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.005898227 meters Centerline goodness [0,1] 0.8611941573417613 Centerline is valid? [False, False] Translation: X:72.03, Y:-0.53, Z:-0.33 [[ 9.99989208e-01 -2.58569801e-03 -3.85967481e-03 7.20267001e+01] [ 2.58922192e-03 9.99996235e-01 9.08290045e-04 -5.27502951e-01] [ 3.85731172e-03 -9.18273798e-04 9.99992139e-01 -3.33177177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.035898227 meters Centerline goodness [0,1] 0.6519119302781369 Centerline is valid? [False, False] Translation: X:72.07, Y:-0.53, Z:-0.33 [[ 9.99993926e-01 -2.27978791e-03 -2.63643572e-03 7.20675934e+01] [ 2.28412889e-03 9.99996039e-01 1.64469749e-03 -5.26076305e-01] [ 2.63267571e-03 -1.65070946e-03 9.99995172e-01 -3.32162250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.065898227 meters Centerline goodness [0,1] 0.8463315879846522 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.53, Z:-0.33 [[ 9.99994917e-01 -2.97205330e-03 -1.15490207e-03 7.20220919e+01] [ 2.97335923e-03 9.99994940e-01 1.13070875e-03 -5.29721060e-01] [ 1.15153570e-03 -1.13413694e-03 9.99998694e-01 -3.32610661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.095898227 meters Centerline goodness [0,1] 0.8014537107880643 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.53, Z:-0.33 [[ 9.99995677e-01 -2.77943225e-03 -9.59477024e-04 7.20209888e+01] [ 2.78118650e-03 9.99994455e-01 1.83186696e-03 -5.33251899e-01] [ 9.54380153e-04 -1.83452752e-03 9.99997862e-01 -3.31694296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.125898227 meters Centerline goodness [0,1] 0.8515052021149583 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.54, Z:-0.33 [[ 9.99996050e-01 -2.67249038e-03 -8.70198575e-04 7.20203185e+01] [ 2.67443224e-03 9.99993919e-01 2.23806001e-03 -5.35332012e-01] [ 8.64212090e-04 -2.24037846e-03 9.99997117e-01 -3.30986702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.155898227 meters Centerline goodness [0,1] 0.8834408234741383 Centerline is valid? [False, False] Translation: X:72.02, Y:-0.54, Z:-0.33 [[ 9.99996441e-01 -2.54853433e-03 -7.88784558e-04 7.20197128e+01] [ 2.55065194e-03 9.99993114e-01 2.69539415e-03 -5.37692709e-01] [ 7.81909822e-04 -2.69739647e-03 9.99996056e-01 -3.30312143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.185898227 meters Centerline goodness [0,1] 0.8162062769025032 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.54, Z:-0.33 [[ 9.99996839e-01 -2.51449397e-03 9.67369004e-06 7.20612081e+01] [ 2.51444319e-03 9.99990424e-01 3.58172534e-03 -5.37486238e-01] [-1.86798242e-05 -3.58168969e-03 9.99993586e-01 -3.29413245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.215898227 meters Centerline goodness [0,1] 0.8353044791142425 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.54, Z:-0.33 [[ 9.99997011e-01 -2.44354918e-03 -8.31997628e-05 7.20615820e+01] [ 2.44385547e-03 9.99989388e-01 3.90524139e-03 -5.39252837e-01] [ 7.36562305e-05 -3.90543305e-03 9.99992371e-01 -3.29497401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.245898227 meters Centerline goodness [0,1] 0.892533675163385 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.54, Z:-0.33 [[ 9.99997319e-01 -2.30740532e-03 -1.95160739e-04 7.20622367e+01] [ 2.30822765e-03 9.99987988e-01 4.32392200e-03 -5.41370346e-01] [ 1.85181354e-04 -4.32436088e-03 9.99990633e-01 -3.29945264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.275898227 meters Centerline goodness [0,1] 0.9027686987326824 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.54, Z:-0.33 [[ 9.99997538e-01 -2.20474319e-03 -2.50873738e-04 7.20626378e+01] [ 2.20589508e-03 9.99986579e-01 4.68781762e-03 -5.43230992e-01] [ 2.40534937e-04 -4.68835948e-03 9.99988981e-01 -3.30270278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.305898227 meters Centerline goodness [0,1] 0.8588691195466478 Centerline is valid? [False, False] Translation: X:72.08, Y:-0.54, Z:-0.33 [[ 9.99996880e-01 -1.57338514e-03 1.94033899e-03 7.20812320e+01] [ 1.58467416e-03 9.99981748e-01 -5.83032072e-03 -5.40898389e-01] [-1.93113024e-03 5.83337734e-03 9.99981121e-01 -3.29623538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.335898227 meters Centerline goodness [0,1] 0.9380297847931848 Centerline is valid? [False, False] Translation: X:72.04, Y:-0.55, Z:-0.33 [[ 9.99999576e-01 -4.81358569e-04 7.84449769e-04 7.20401568e+01] [ 4.83056587e-04 9.99997538e-01 -2.16584791e-03 -5.49899154e-01] [-7.83405288e-04 2.16622593e-03 9.99997347e-01 -3.29949874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.365898227 meters Centerline goodness [0,1] 0.9478301506043291 Centerline is valid? [False, False] Translation: X:72.04, Y:-0.55, Z:-0.33 [[ 9.99999745e-01 -3.47603451e-04 6.23728963e-04 7.20408233e+01] [ 3.48672216e-04 9.99998470e-01 -1.71421864e-03 -5.52150366e-01] [-6.23132140e-04 1.71443568e-03 9.99998336e-01 -3.30234464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.395898227 meters Centerline goodness [0,1] 0.9792533777293975 Centerline is valid? [False, True] Translation: X:72.04, Y:-0.55, Z:-0.33 [[ 9.99999872e-01 -2.08745983e-04 4.61303731e-04 7.20414908e+01] [ 2.09324844e-04 9.99999190e-01 -1.25514550e-03 -5.54424082e-01] [-4.61041351e-04 1.25524190e-03 9.99999106e-01 -3.30466145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.425898227 meters Centerline goodness [0,1] 0.9315931030169089 Centerline is valid? [True, False] Translation: X:72.09, Y:-0.55, Z:-0.33 [[ 9.99999979e-01 1.41386972e-04 1.45502859e-04 7.20853510e+01] [-1.41352266e-04 9.99999962e-01 -2.38509125e-04 -5.54379633e-01] [-1.45536575e-04 2.38488552e-04 9.99999961e-01 -3.30679550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.455898227 meters Centerline goodness [0,1] 0.9103694374475231 Centerline is valid? [False, False] Translation: X:72.09, Y:-0.56, Z:-0.33 [[ 9.99999980e-01 2.00006669e-04 -3.50335386e-06 7.20861559e+01] [-2.00006993e-04 9.99999976e-01 -9.25848605e-05 -5.55094119e-01] [ 3.48483618e-06 9.25855593e-05 9.99999996e-01 -3.31195936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.485898227 meters Centerline goodness [0,1] 0.9777801425987017 Centerline is valid? [False, True] Translation: X:72.05, Y:-0.56, Z:-0.33 [[ 9.99998912e-01 2.58413370e-04 -1.45254852e-03 7.20461534e+01] [-2.58578669e-04 9.99999960e-01 -1.13612770e-04 -5.57717256e-01] [ 1.45251910e-03 1.13988244e-04 9.99998939e-01 -3.33198865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.515898227 meters Centerline goodness [0,1] 0.9705034140548794 Centerline is valid? [True, True] Translation: X:72.08, Y:-0.56, Z:-0.33 [[ 9.99988797e-01 4.16270038e-03 -2.25336564e-03 7.20766834e+01] [-4.16300912e-03 9.99991326e-01 -1.32337218e-04 -5.56260244e-01] [ 2.25279521e-03 1.41716517e-04 9.99997452e-01 -3.34446527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.545898227 meters Centerline goodness [0,1] 0.8378157425846348 Centerline is valid? [True, False] Translation: X:72.10, Y:-0.56, Z:-0.33 [[ 9.99992148e-01 3.84463102e-03 -9.61087659e-04 7.20967065e+01] [-3.83423337e-03 9.99936510e-01 1.05959684e-02 -5.58353489e-01] [ 1.00176423e-03 -1.05922002e-02 9.99943399e-01 -3.34378217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.575898227 meters Centerline goodness [0,1] 0.8663324627180049 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.56, Z:-0.33 [[ 9.99999793e-01 9.90996375e-05 -6.35296709e-04 7.20956407e+01] [-9.52834771e-05 9.99981971e-01 6.00411318e-03 -5.55221803e-01] [ 6.35880261e-04 -6.00405141e-03 9.99981773e-01 -3.34343798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.605898227 meters Centerline goodness [0,1] 0.8209772983074604 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.56, Z:-0.33 [[ 9.99999758e-01 2.67553716e-04 -6.41935309e-04 7.20955922e+01] [-2.63535826e-04 9.99980428e-01 6.25096811e-03 -5.56254512e-01] [ 6.43595214e-04 -6.25079743e-03 9.99980256e-01 -3.34210132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.635898227 meters Centerline goodness [0,1] 0.7521708816631806 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.56, Z:-0.33 [[ 9.99999645e-01 5.05566766e-04 -6.74480667e-04 7.20956851e+01] [-5.01121793e-04 9.99978264e-01 6.57418782e-03 -5.57538060e-01] [ 6.77789697e-04 -6.57384749e-03 9.99978162e-01 -3.34147257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.665898227 meters Centerline goodness [0,1] 0.6459212970781962 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.56, Z:-0.33 [[ 9.99999418e-01 7.77460219e-04 -7.48428978e-04 7.20959025e+01] [-7.72235365e-04 9.99975507e-01 6.95625234e-03 -5.59131721e-01] [ 7.53818856e-04 -6.95567033e-03 9.99975525e-01 -3.34076536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69589822700001 meters Centerline goodness [0,1] 0.7096924018831676 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.56, Z:-0.33 [[ 9.99996268e-01 -2.69211797e-03 -4.65948995e-04 7.20951350e+01] [ 2.69338553e-03 9.99992615e-01 2.74147682e-03 -5.57354515e-01] [ 4.58565175e-04 -2.74272157e-03 9.99996134e-01 -3.34239209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72589822700002 meters Centerline goodness [0,1] 0.707743669424264 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.56, Z:-0.33 [[ 9.99996963e-01 -2.42186365e-03 -4.57016664e-04 7.20950250e+01] [ 2.42325138e-03 9.99992380e-01 3.06077575e-03 -5.58516802e-01] [ 4.49600400e-04 -3.06187392e-03 9.99995211e-01 -3.34056234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.755898227 meters Centerline goodness [0,1] 0.6638044353983802 Centerline is valid? [False, False] Translation: X:72.09, Y:-0.56, Z:-0.33 [[ 9.99998221e-01 -1.88595658e-03 2.41166654e-05 7.20929111e+01] [ 1.88585143e-03 9.99991016e-01 3.79632925e-03 -5.61295873e-01] [-3.12761609e-05 -3.79627701e-03 9.99992794e-01 -3.32990717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.785898227 meters Centerline goodness [0,1] 0.6517562420651715 Centerline is valid? [False, False] Translation: X:72.09, Y:-0.56, Z:-0.33 [[ 9.99998679e-01 -1.60711446e-03 2.44220643e-04 7.20917011e+01] [ 1.60603461e-03 9.99989208e-01 4.35932133e-03 -5.63830405e-01] [-2.51223936e-04 -4.35892335e-03 9.99990468e-01 -3.32073986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.815898227 meters Centerline goodness [0,1] 0.6619733175715612 Centerline is valid? [False, False] Translation: X:72.09, Y:-0.57, Z:-0.33 [[ 9.99999111e-01 -1.29218961e-03 3.30449799e-04 7.20912255e+01] [ 1.29049122e-03 9.99986217e-01 5.08920235e-03 -5.67294115e-01] [-3.37021458e-04 -5.08877138e-03 9.99986995e-01 -3.31654634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.845898227 meters Centerline goodness [0,1] 0.6644452906829145 Centerline is valid? [False, False] Translation: X:72.09, Y:-0.57, Z:-0.33 [[ 9.99999500e-01 -9.47735791e-04 3.18796929e-04 7.20912879e+01] [ 9.45822479e-04 9.99981856e-01 5.94920588e-03 -5.71442994e-01] [-3.24429420e-04 -5.94890138e-03 9.99982253e-01 -3.31597475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.875898227 meters Centerline goodness [0,1] 0.6554355137043888 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.57, Z:-0.34 [[ 9.99995905e-01 -2.84066014e-03 -3.47364431e-04 7.20966452e+01] [ 2.84202035e-03 9.99988041e-01 3.98009424e-03 -5.72846181e-01] [ 3.36054182e-04 -3.98106516e-03 9.99992019e-01 -3.35343792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.905898227 meters Centerline goodness [0,1] 0.6467749479144522 Centerline is valid? [False, False] Translation: X:72.09, Y:-0.58, Z:-0.34 [[ 9.99978339e-01 -6.46674513e-03 1.22558665e-03 7.20931824e+01] [ 6.46672766e-03 9.99979090e-01 1.82175871e-05 -5.76176678e-01] [-1.22567883e-03 -1.02916574e-05 9.99999249e-01 -3.37188754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.935898227 meters Centerline goodness [0,1] 0.6423302120103997 Centerline is valid? [False, False] Translation: X:72.09, Y:-0.58, Z:-0.34 [[ 9.99980074e-01 -6.21252845e-03 1.12036167e-03 7.20935874e+01] [ 6.21176805e-03 9.99980475e-01 6.80921760e-04 -5.79339359e-01] [-1.12457004e-03 -6.73948766e-04 9.99999141e-01 -3.37251267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.965898227 meters Centerline goodness [0,1] 0.6472308077854816 Centerline is valid? [False, False] Translation: X:72.09, Y:-0.58, Z:-0.34 [[ 9.99981445e-01 -5.99988848e-03 1.05395264e-03 7.20938960e+01] [ 5.99851456e-03 9.99981161e-01 1.30195321e-03 -5.82427242e-01] [-1.06174436e-03 -1.29560691e-03 9.99998597e-01 -3.37365475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.995898227 meters Centerline goodness [0,1] 0.6414833705238551 Centerline is valid? [False, False] Translation: X:72.05, Y:-0.59, Z:-0.34 [[ 9.99980752e-01 -6.19424356e-03 -3.57391828e-04 7.20529630e+01] [ 6.19514914e-03 9.99977453e-01 2.59096193e-03 -5.89441140e-01] [ 3.41334721e-04 -2.59312615e-03 9.99996580e-01 -3.38042541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.025898227 meters Centerline goodness [0,1] 0.6222577209797657 Centerline is valid? [False, False] Translation: X:72.05, Y:-0.59, Z:-0.34 [[ 9.99982094e-01 -5.96604758e-03 -4.67811189e-04 7.20537006e+01] [ 5.96747257e-03 9.99977370e-01 3.10625691e-03 -5.91872979e-01] [ 4.49268526e-04 -3.10899294e-03 9.99995066e-01 -3.38651152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.055898227 meters Centerline goodness [0,1] 0.6075437333220381 Centerline is valid? [False, False] Translation: X:72.05, Y:-0.59, Z:-0.34 [[ 9.99983015e-01 -5.78642191e-03 -6.97658219e-04 7.20548794e+01] [ 5.78882289e-03 9.99977154e-01 3.49003844e-03 -5.93643001e-01] [ 6.77447446e-04 -3.49401778e-03 9.99993666e-01 -3.39381978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.085898227 meters Centerline goodness [0,1] 0.5927658050517179 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.60, Z:-0.34 [[ 9.99984107e-01 -5.56914119e-03 -8.77926955e-04 7.20559731e+01] [ 5.57252694e-03 9.99976859e-01 3.90244386e-03 -5.95514386e-01] [ 8.56173378e-04 -3.90727410e-03 9.99992000e-01 -3.40217302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.115898227 meters Centerline goodness [0,1] 0.5652237803342011 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.60, Z:-0.34 [[ 9.99986699e-01 -5.00981392e-03 -1.22625936e-03 7.20580051e+01] [ 5.01612174e-03 9.99973919e-01 5.19608809e-03 -6.01707890e-01] [ 1.20019594e-03 -5.20217005e-03 9.99985748e-01 -3.41557495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.145898227 meters Centerline goodness [0,1] 0.5557739869363942 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.60, Z:-0.34 [[ 9.99958258e-01 -9.05810394e-03 -1.19713028e-03 7.20581843e+01] [ 9.05926061e-03 9.99958499e-01 9.64342866e-04 -6.01536853e-01] [ 1.18834549e-03 -9.75147728e-04 9.99998818e-01 -3.41926653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.175898227 meters Centerline goodness [0,1] 0.6486958718396734 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.61, Z:-0.34 [[ 9.99960916e-01 -8.73755452e-03 -1.34997375e-03 7.20585146e+01] [ 8.74019160e-03 9.99959883e-01 1.96003354e-03 -6.06498168e-01] [ 1.33279369e-03 -1.97175596e-03 9.99997168e-01 -3.41532757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.205898227 meters Centerline goodness [0,1] 0.6859132117540649 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.61, Z:-0.34 [[ 9.99962878e-01 -8.48750590e-03 -1.48457840e-03 7.20586618e+01] [ 8.49168357e-03 9.99959938e-01 2.83074667e-03 -6.10925665e-01] [ 1.46049295e-03 -2.84324816e-03 9.99994891e-01 -3.40954417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.235898227 meters Centerline goodness [0,1] 0.6762068387529333 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.62, Z:-0.34 [[ 9.99964488e-01 -8.26233628e-03 -1.66033716e-03 7.20589341e+01] [ 8.26837476e-03 9.99959105e-01 3.66355641e-03 -6.15164935e-01] [ 1.62999972e-03 -3.67715460e-03 9.99991911e-01 -3.40384116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.265898227 meters Centerline goodness [0,1] 0.7231009650919689 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.61, Z:-0.34 [[ 9.99921573e-01 -1.24338762e-02 -1.49898974e-03 7.20586767e+01] [ 1.24328028e-02 9.99922448e-01 -7.23321984e-04 -6.14381533e-01] [ 1.50786719e-03 7.04628612e-04 9.99998615e-01 -3.40624353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.295898227 meters Centerline goodness [0,1] 0.7866090897430416 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.62, Z:-0.34 [[ 9.99924273e-01 -1.22056469e-02 -1.57183666e-03 7.20590585e+01] [ 1.22056283e-02 9.99925508e-01 -2.14340405e-05 -6.17840535e-01] [ 1.57198118e-03 2.24716342e-06 9.99998764e-01 -3.40803688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.325898227 meters Centerline goodness [0,1] 0.8542802385008518 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.62, Z:-0.34 [[ 9.99928859e-01 -1.17926255e-02 -1.79168511e-03 7.20599190e+01] [ 1.17948483e-02 9.99929675e-01 1.23517607e-03 -6.24123557e-01] [ 1.77699314e-03 -1.25622085e-03 9.99997632e-01 -3.40944409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.355898227 meters Centerline goodness [0,1] 0.8378917862906651 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.63, Z:-0.34 [[ 9.99932068e-01 -1.15129332e-02 -1.82004771e-03 7.20597617e+01] [ 1.15163619e-02 9.99931908e-01 1.88476198e-03 -6.27141412e-01] [ 1.79822464e-03 -1.90559427e-03 9.99996568e-01 -3.40441537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.385898227 meters Centerline goodness [0,1] 0.6566491836562051 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.63, Z:-0.34 [[ 9.99935082e-01 -1.12488311e-02 -1.81549902e-03 7.20595112e+01] [ 1.12531907e-02 9.99933778e-01 2.40924532e-03 -6.29534271e-01] [ 1.78827760e-03 -2.42951907e-03 9.99995450e-01 -3.39987530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.415898227 meters Centerline goodness [0,1] 0.7918935011908812 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.63, Z:-0.34 [[ 9.99937061e-01 -1.10845000e-02 -1.73438849e-03 7.20592165e+01] [ 1.10892147e-02 9.99934778e-01 2.73281111e-03 -6.30975554e-01] [ 1.70398353e-03 -2.75187212e-03 9.99994762e-01 -3.39905919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44589822700001 meters Centerline goodness [0,1] 0.7423609352578712 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.63, Z:-0.34 [[ 9.99938640e-01 -1.09436069e-02 -1.71834802e-03 7.20594376e+01] [ 1.09486169e-02 9.99935758e-01 2.93376081e-03 -6.31769905e-01] [ 1.68613171e-03 -2.95239433e-03 9.99994220e-01 -3.40337731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47589822700002 meters Centerline goodness [0,1] 0.7240958532326272 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.63, Z:-0.34 [[ 9.99939603e-01 -1.08598133e-02 -1.68934633e-03 7.20596160e+01] [ 1.08648783e-02 9.99936419e-01 3.01850875e-03 -6.32038917e-01] [ 1.65645848e-03 -3.03668098e-03 9.99994017e-01 -3.40751951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.505898227 meters Centerline goodness [0,1] 0.6859031586107214 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.63, Z:-0.34 [[ 9.99942078e-01 -1.06561960e-02 -1.51176144e-03 7.20591409e+01] [ 1.06610599e-02 9.99937899e-01 3.24662153e-03 -6.32801763e-01] [ 1.47707092e-03 -3.26255046e-03 9.99993587e-01 -3.40899103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.535898227 meters Centerline goodness [0,1] 0.677207409605358 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.63, Z:-0.34 [[ 9.99943676e-01 -1.05082161e-02 -1.49097778e-03 7.20588406e+01] [ 1.05132810e-02 9.99938848e-01 3.43087429e-03 -6.33476535e-01] [ 1.45483424e-03 -3.44635612e-03 9.99993003e-01 -3.40494477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.565898227 meters Centerline goodness [0,1] 0.6566346032679464 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.63, Z:-0.34 [[ 9.99944904e-01 -1.03945459e-02 -1.46355047e-03 7.20584267e+01] [ 1.03997156e-02 9.99939548e-01 3.57009368e-03 -6.33998544e-01] [ 1.42635249e-03 -3.58511749e-03 9.99992556e-01 -3.39984317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.595898227 meters Centerline goodness [0,1] 0.6214934558560077 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.63, Z:-0.34 [[ 9.99945696e-01 -1.03239042e-02 -1.42198446e-03 7.20581373e+01] [ 1.03290279e-02 9.99940014e-01 3.64421342e-03 -6.34217205e-01] [ 1.38427665e-03 -3.65870325e-03 9.99992349e-01 -3.39733023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.625898227 meters Centerline goodness [0,1] 0.6471088797174829 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.63, Z:-0.34 [[ 9.99946057e-01 -1.02949709e-02 -1.37701431e-03 7.20580051e+01] [ 1.02999603e-02 9.99940231e-01 3.66669261e-03 -6.34280590e-01] [ 1.33918352e-03 -3.68067801e-03 9.99992330e-01 -3.39728394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.655898227 meters Centerline goodness [0,1] 0.6135789093535573 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.64, Z:-0.34 [[ 9.99946567e-01 -1.02279341e-02 -1.50071938e-03 7.20584561e+01] [ 1.02336105e-02 9.99940320e-01 3.82483598e-03 -6.35044284e-01] [ 1.46150965e-03 -3.83998939e-03 9.99991559e-01 -3.39818906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.685898227 meters Centerline goodness [0,1] 0.6587094999259306 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.64, Z:-0.34 [[ 9.99947370e-01 -1.01261562e-02 -1.64858318e-03 7.20592015e+01] [ 1.01329981e-02 9.99939856e-01 4.19612973e-03 -6.36911161e-01] [ 1.60599336e-03 -4.21261398e-03 9.99989837e-01 -3.40258747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.715898227 meters Centerline goodness [0,1] 0.6109426940687002 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.64, Z:-0.34 [[ 9.99927867e-01 -1.17734530e-02 -2.37644424e-03 7.20645957e+01] [ 1.17794998e-02 9.99927376e-01 2.54671164e-03 -6.36823233e-01] [ 2.34628806e-03 -2.57452126e-03 9.99993933e-01 -3.43691528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.745898227 meters Centerline goodness [0,1] 0.8257722110179386 Centerline is valid? [False, False] Translation: X:72.06, Y:-0.64, Z:-0.34 [[ 9.99870411e-01 -1.59343021e-02 -2.29320928e-03 7.20649716e+01] [ 1.59308290e-02 9.99871934e-01 -1.52487218e-03 -6.37850614e-01] [ 2.31721337e-03 1.48814185e-03 9.99996208e-01 -3.44441949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.775898227 meters Centerline goodness [0,1] 0.630406043437205 Centerline is valid? [False, False] Translation: X:72.07, Y:-0.64, Z:-0.34 [[ 9.99871228e-01 -1.58495471e-02 -2.51373251e-03 7.20657674e+01] [ 1.58464773e-02 9.99873672e-01 -1.23644863e-03 -6.39307259e-01] [ 2.53301211e-03 1.19645561e-03 9.99996076e-01 -3.44553151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.805898227 meters Centerline goodness [0,1] 0.8479273454282493 Centerline is valid? [False, False] Translation: X:72.07, Y:-0.64, Z:-0.34 [[ 9.99871408e-01 -1.58168883e-02 -2.64452810e-03 7.20663968e+01] [ 1.58137928e-02 9.99874249e-01 -1.18736947e-03 -6.39478472e-01] [ 2.66297604e-03 1.14539677e-03 9.99995798e-01 -3.44916737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.835898227 meters Centerline goodness [0,1] 0.7530059798101035 Centerline is valid? [False, False] Translation: X:72.07, Y:-0.64, Z:-0.34 [[ 9.99930413e-01 -1.14359440e-02 -2.89624183e-03 7.20671019e+01] [ 1.14467971e-02 9.99927418e-01 3.75885583e-03 -6.42981820e-01] [ 2.85304555e-03 -3.79174696e-03 9.99988741e-01 -3.44939147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.865898227 meters Centerline goodness [0,1] 0.7530059798101035 Centerline is valid? [False, False] Translation: X:72.07, Y:-0.64, Z:-0.34 [[ 9.99930413e-01 -1.14359440e-02 -2.89624183e-03 7.20671019e+01] [ 1.14467971e-02 9.99927418e-01 3.75885583e-03 -6.42981820e-01] [ 2.85304555e-03 -3.79174696e-03 9.99988741e-01 -3.44939147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.895898227 meters Centerline goodness [0,1] 0.5618168111571806 Centerline is valid? [False, False] Translation: X:72.13, Y:-0.64, Z:-0.34 [[ 9.99963922e-01 -7.09405746e-03 -4.67221962e-03 7.21276735e+01] [ 7.07996655e-03 9.99970360e-01 -3.02555933e-03 -6.36877183e-01] [ 4.69354462e-03 2.99237102e-03 9.99984508e-01 -3.41823724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.925898227 meters Centerline goodness [0,1] 0.7399742088239647 Centerline is valid? [False, False] Translation: X:72.13, Y:-0.64, Z:-0.34 [[ 9.99963882e-01 -7.13441208e-03 -4.61897575e-03 7.21277084e+01] [ 7.11898594e-03 9.99969056e-01 -3.34760226e-03 -6.35095281e-01] [ 4.64271600e-03 3.31459893e-03 9.99983729e-01 -3.42200760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.955898227 meters Centerline goodness [0,1] 0.6748821806139345 Centerline is valid? [False, False] Translation: X:72.12, Y:-0.63, Z:-0.34 [[ 9.99980695e-01 -4.76107849e-03 -3.99260922e-03 7.21230618e+01] [ 4.75720055e-03 9.99988204e-01 -9.80214875e-04 -6.33916957e-01] [ 3.99722900e-03 9.61202310e-04 9.99991549e-01 -3.39378285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.985898227 meters Centerline goodness [0,1] 0.6405279666547377 Centerline is valid? [False, False] Translation: X:72.12, Y:-0.63, Z:-0.34 [[ 9.99979946e-01 -4.83318013e-03 -4.09234342e-03 7.21236442e+01] [ 4.82800134e-03 9.99987533e-01 -1.27441707e-03 -6.32371010e-01] [ 4.09845189e-03 1.25463368e-03 9.99990814e-01 -3.39867054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.015898227 meters Centerline goodness [0,1] 0.6569906340514599 Centerline is valid? [False, False] Translation: X:72.12, Y:-0.63, Z:-0.34 [[ 9.99979211e-01 -4.93987994e-03 -4.14423064e-03 7.21239482e+01] [ 4.93348977e-03 9.99986628e-01 -1.55075228e-03 -6.31010734e-01] [ 4.15183575e-03 1.53027452e-03 9.99990210e-01 -3.40134056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.045898227 meters Centerline goodness [0,1] 0.6469069983921469 Centerline is valid? [False, False] Translation: X:72.12, Y:-0.63, Z:-0.34 [[ 9.99978749e-01 -5.03343306e-03 -4.14322248e-03 7.21241015e+01] [ 5.02615645e-03 9.99985811e-01 -1.76480947e-03 -6.29993124e-01] [ 4.15204675e-03 1.74394749e-03 9.99989860e-01 -3.40444013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.075898227 meters Centerline goodness [0,1] 0.7517997137547263 Centerline is valid? [False, False] Translation: X:72.12, Y:-0.63, Z:-0.34 [[ 9.99978425e-01 -5.11892471e-03 -4.11653320e-03 7.21238129e+01] [ 5.11104738e-03 9.99985092e-01 -1.92183156e-03 -6.29315372e-01] [ 4.12630954e-03 1.90075030e-03 9.99989680e-01 -3.40105056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.105898227 meters Centerline goodness [0,1] 0.5891039670229268 Centerline is valid? [False, False] Translation: X:72.12, Y:-0.63, Z:-0.34 [[ 9.99977593e-01 -5.24113413e-03 -4.16456412e-03 7.21238380e+01] [ 5.23250921e-03 9.99984149e-01 -2.07922862e-03 -6.28666698e-01] [ 4.17539562e-03 2.05739091e-03 9.99989167e-01 -3.39930934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.135898227 meters Centerline goodness [0,1] 0.7329424759962614 Centerline is valid? [False, False] Translation: X:72.13, Y:-0.63, Z:-0.34 [[ 9.99986509e-01 -1.99476945e-03 -4.79617197e-03 7.21256878e+01] [ 2.00417452e-03 9.99996077e-01 1.95694745e-03 -6.30288292e-01] [ 4.79224949e-03 -1.96653341e-03 9.99986583e-01 -3.39754556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.165898227 meters Centerline goodness [0,1] 0.6681241985326578 Centerline is valid? [False, False] Translation: X:72.15, Y:-0.63, Z:-0.34 [[ 9.99998215e-01 -1.00259523e-03 -1.60160599e-03 7.21469017e+01] [ 9.89373838e-04 9.99965605e-01 -8.23465373e-03 -6.25343747e-01] [ 1.60980692e-03 8.23305444e-03 9.99964812e-01 -3.42409983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19589822700001 meters Centerline goodness [0,1] 0.6324371785759084 Centerline is valid? [False, False] Translation: X:72.15, Y:-0.63, Z:-0.34 [[ 9.99993850e-01 2.84877731e-03 -2.04554841e-03 7.21481650e+01] [-2.85606057e-03 9.99989561e-01 -3.56649322e-03 -6.28692072e-01] [ 2.03536692e-03 3.57231350e-03 9.99991548e-01 -3.42110849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22589822700002 meters Centerline goodness [0,1] 0.8786960141756154 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.63, Z:-0.34 [[ 9.99995773e-01 2.50963519e-03 -1.46803092e-03 7.21024858e+01] [-2.51346506e-03 9.99993428e-01 -2.61284629e-03 -6.31758290e-01] [ 1.46146398e-03 2.61652509e-03 9.99995509e-01 -3.41056995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.255898227 meters Centerline goodness [0,1] 0.722455916719779 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.63, Z:-0.34 [[ 9.99995857e-01 2.48181026e-03 -1.45845437e-03 7.21021364e+01] [-2.48578478e-03 9.99993185e-01 -2.72969914e-03 -6.31126766e-01] [ 1.45166984e-03 2.73331323e-03 9.99995211e-01 -3.40538346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.285898227 meters Centerline goodness [0,1] 0.6919501012901161 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.63, Z:-0.34 [[ 9.99996087e-01 2.43782850e-03 -1.37221949e-03 7.21015877e+01] [-2.44183824e-03 9.99992732e-01 -2.92803062e-03 -6.30096170e-01] [ 1.36507148e-03 2.93136990e-03 9.99994772e-01 -3.40094750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.315898227 meters Centerline goodness [0,1] 0.7670735590701624 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.63, Z:-0.34 [[ 9.99996217e-01 2.45194530e-03 -1.24691927e-03 7.21010132e+01] [-2.45578206e-03 9.99992226e-01 -3.08482531e-03 -6.29119545e-01] [ 1.23934576e-03 3.08787580e-03 9.99994465e-01 -3.39848231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.345898227 meters Centerline goodness [0,1] 0.6860872871688707 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.63, Z:-0.34 [[ 9.99996005e-01 2.52225016e-03 -1.27579807e-03 7.21012357e+01] [-2.52604598e-03 9.99992362e-01 -2.98244296e-03 -6.29527458e-01] [ 1.26826585e-03 2.98565377e-03 9.99994739e-01 -3.40088470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.375898227 meters Centerline goodness [0,1] 0.7506434390487737 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.63, Z:-0.34 [[ 9.99995961e-01 2.54019561e-03 -1.27461919e-03 7.21012891e+01] [-2.54385424e-03 9.99992626e-01 -2.87700317e-03 -6.30121684e-01] [ 1.26730164e-03 2.88023399e-03 9.99995049e-01 -3.40190393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.405898227 meters Centerline goodness [0,1] 0.6937451281943245 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.63, Z:-0.34 [[ 9.99977889e-01 6.42239839e-03 -1.72469739e-03 7.21026134e+01] [-6.41886616e-03 9.99977306e-01 2.04581660e-03 -6.34933801e-01] [ 1.73779730e-03 -2.03470076e-03 9.99996420e-01 -3.39880842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.435898227 meters Centerline goodness [0,1] 0.8034446098235168 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.64, Z:-0.34 [[ 9.99977378e-01 6.47841876e-03 -1.80909504e-03 7.21027186e+01] [-6.47403986e-03 9.99976125e-01 2.41594864e-03 -6.36952058e-01] [ 1.82470337e-03 -2.40418184e-03 9.99995445e-01 -3.39604416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.465898227 meters Centerline goodness [0,1] 0.6052079399051575 Centerline is valid? [False, False] Translation: X:72.12, Y:-0.64, Z:-0.34 [[ 9.99995783e-01 2.55731324e-03 -1.37653581e-03 7.21225922e+01] [-2.54463114e-03 9.99955016e-01 9.13728072e-03 -6.37983223e-01] [ 1.39984078e-03 -9.13373941e-03 9.99957307e-01 -3.37942700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.495898227 meters Centerline goodness [0,1] 0.8999188415702021 Centerline is valid? [False, False] Translation: X:72.08, Y:-0.65, Z:-0.34 [[ 9.99993214e-01 -2.71614023e-03 -2.48879590e-03 7.20811133e+01] [ 2.73119792e-03 9.99977866e-01 6.06690080e-03 -6.45555866e-01] [ 2.47226226e-03 -6.07365703e-03 9.99978499e-01 -3.38619196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.525898227 meters Centerline goodness [0,1] 0.9283747140072875 Centerline is valid? [False, False] Translation: X:72.08, Y:-0.65, Z:-0.34 [[ 9.99973095e-01 -6.90732212e-03 -2.46946698e-03 7.20814014e+01] [ 6.91172532e-03 9.99974531e-01 1.77899194e-03 -6.45356921e-01] [ 2.45711602e-03 -1.79601235e-03 9.99995368e-01 -3.39120339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.555898227 meters Centerline goodness [0,1] 0.9418289010476312 Centerline is valid? [False, False] Translation: X:72.08, Y:-0.65, Z:-0.34 [[ 9.99974257e-01 -6.68488439e-03 -2.60720936e-03 7.20819099e+01] [ 6.69140719e-03 9.99974484e-01 2.50118448e-03 -6.48979367e-01] [ 2.59042270e-03 -2.51856600e-03 9.99993473e-01 -3.39209340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.585898227 meters Centerline goodness [0,1] 0.9403171776279523 Centerline is valid? [False, False] Translation: X:72.08, Y:-0.65, Z:-0.34 [[ 9.99975578e-01 -6.45308632e-03 -2.68350434e-03 7.20822289e+01] [ 6.46129384e-03 9.99974440e-01 3.06117138e-03 -6.51627996e-01] [ 2.66368175e-03 -3.07843553e-03 9.99991714e-01 -3.39287381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.615898227 meters Centerline goodness [0,1] 0.918603423891246 Centerline is valid? [False, False] Translation: X:72.08, Y:-0.65, Z:-0.34 [[ 9.99976552e-01 -6.22792370e-03 -2.84758240e-03 7.20829358e+01] [ 6.23798451e-03 9.99974285e-01 3.53798107e-03 -6.53811366e-01] [ 2.82547490e-03 -3.55566128e-03 9.99989687e-01 -3.39555442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.645898227 meters Centerline goodness [0,1] 0.8481809159821787 Centerline is valid? [False, False] Translation: X:72.08, Y:-0.66, Z:-0.34 [[ 9.99977618e-01 -6.01670448e-03 -2.92623957e-03 7.20832652e+01] [ 6.02827762e-03 9.99973980e-01 3.96234411e-03 -6.55729550e-01] [ 2.90232317e-03 -3.97989561e-03 9.99987868e-01 -3.39640058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.675898227 meters Centerline goodness [0,1] 0.9259346293527024 Centerline is valid? [False, False] Translation: X:72.08, Y:-0.65, Z:-0.34 [[ 9.99946404e-01 -1.00079910e-02 -2.65127160e-03 7.20829156e+01] [ 1.00062805e-02 9.99949720e-01 -6.57628164e-04 -6.53085671e-01] [ 2.65771983e-03 6.31063551e-04 9.99996269e-01 -3.40369925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.705898227 meters Centerline goodness [0,1] 0.8499179821478026 Centerline is valid? [False, False] Translation: X:72.08, Y:-0.65, Z:-0.34 [[ 9.99947359e-01 -9.88149991e-03 -2.76306211e-03 7.20834550e+01] [ 9.88016262e-03 9.99951066e-01 -4.97223113e-04 -6.53672542e-01] [ 2.76784022e-03 4.69897436e-04 9.99996059e-01 -3.40689916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.735898227 meters Centerline goodness [0,1] 0.8997275552339193 Centerline is valid? [False, False] Translation: X:72.09, Y:-0.66, Z:-0.34 [[ 9.99980232e-01 -5.39569456e-03 -3.22818111e-03 7.20850531e+01] [ 5.41049279e-03 9.99974815e-01 4.59304152e-03 -6.57898169e-01] [ 3.20331716e-03 -4.61041678e-03 9.99984241e-01 -3.41007050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.765898227 meters Centerline goodness [0,1] 0.7234912843748034 Centerline is valid? [False, False] Translation: X:72.11, Y:-0.65, Z:-0.34 [[ 9.99992814e-01 -3.78277393e-03 2.50576644e-04 7.21069387e+01] [ 3.78395539e-03 9.99980858e-01 -4.89544201e-03 -6.54306157e-01] [-2.32053497e-04 4.89635500e-03 9.99987986e-01 -3.44865128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.795898227 meters Centerline goodness [0,1] 0.78337690815552 Centerline is valid? [False, False] Translation: X:72.11, Y:-0.65, Z:-0.34 [[ 9.99993198e-01 -3.68105666e-03 2.31130627e-04 7.21068958e+01] [ 3.68211078e-03 9.99981991e-01 -4.73921362e-03 -6.54923308e-01] [-2.13681150e-04 4.74003243e-03 9.99988743e-01 -3.44670653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.825898227 meters Centerline goodness [0,1] 0.7939654990392939 Centerline is valid? [False, False] Translation: X:72.11, Y:-0.66, Z:-0.34 [[ 9.99993531e-01 -3.58684049e-03 2.69657544e-04 7.21066411e+01] [ 3.58804095e-03 9.99983022e-01 -4.59158373e-03 -6.55482403e-01] [-2.53183687e-04 4.59252157e-03 9.99989422e-01 -3.44467823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.855898227 meters Centerline goodness [0,1] 0.7933043754635025 Centerline is valid? [False, False] Translation: X:72.11, Y:-0.66, Z:-0.34 [[ 9.99993813e-01 -3.49857140e-03 3.65429264e-04 7.21061209e+01] [ 3.50017277e-03 9.99983850e-01 -4.47752166e-03 -6.55889816e-01] [-3.49758433e-04 4.47877302e-03 9.99989909e-01 -3.44120148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.885898227 meters Centerline goodness [0,1] 0.7998212880028934 Centerline is valid? [False, False] Translation: X:72.11, Y:-0.66, Z:-0.34 [[ 9.99994600e-01 -3.24520693e-03 5.18147146e-04 7.21050840e+01] [ 3.24725803e-03 9.99986695e-01 -4.00801820e-03 -6.57879371e-01] [-5.05133404e-04 4.00967911e-03 9.99991834e-01 -3.43180950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.915898227 meters Centerline goodness [0,1] 0.891850398737686 Centerline is valid? [False, False] Translation: X:72.10, Y:-0.66, Z:-0.34 [[ 9.99995150e-01 -3.07390186e-03 5.01384577e-04 7.21048870e+01] [ 3.07566891e-03 9.99988924e-01 -3.56247539e-03 -6.59951762e-01] [-4.90428324e-04 3.56400021e-03 9.99993529e-01 -3.42738360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94589822700001 meters Centerline goodness [0,1] 0.7732272161118031 Centerline is valid? [False, False] Translation: X:72.15, Y:-0.66, Z:-0.34 [[ 9.99997911e-01 -1.50901244e-03 1.37876496e-03 7.21458475e+01] [ 1.51125944e-03 9.99997529e-01 -1.63013035e-03 -6.61563669e-01] [-1.37630167e-03 1.63221062e-03 9.99997721e-01 -3.41384576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97589822700002 meters Centerline goodness [0,1] 0.8392582121985696 Centerline is valid? [False, False] Translation: X:72.15, Y:-0.67, Z:-0.34 [[ 9.99998348e-01 -1.27449735e-03 1.29593066e-03 7.21458272e+01] [ 1.27564315e-03 9.99998796e-01 -8.83703621e-04 -6.65232730e-01] [-1.29480283e-03 8.85355306e-04 9.99998770e-01 -3.40838092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.005898227 meters Centerline goodness [0,1] 0.8235643144734054 Centerline is valid? [False, False] Translation: X:72.15, Y:-0.67, Z:-0.34 [[ 9.99998702e-01 -9.90505886e-04 1.27104307e-03 7.21455164e+01] [ 9.90505387e-04 9.99999509e-01 1.02273226e-06 -6.69552714e-01] [-1.27104346e-03 2.36244075e-07 9.99999192e-01 -3.40102873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.035898227 meters Centerline goodness [0,1] 0.9096342135379138 Centerline is valid? [False, False] Translation: X:72.15, Y:-0.67, Z:-0.34 [[ 9.99998981e-01 -6.96655193e-04 1.24637903e-03 7.21451704e+01] [ 6.95535544e-04 9.99999354e-01 8.98529369e-04 -6.73946039e-01] [-1.24700419e-03 -8.97661552e-04 9.99998820e-01 -3.39328803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.065898227 meters Centerline goodness [0,1] 0.8925185075196742 Centerline is valid? [False, False] Translation: X:72.14, Y:-0.68, Z:-0.34 [[ 9.99999160e-01 -1.94800261e-04 1.28153524e-03 7.21448572e+01] [ 1.91816769e-04 9.99997272e-01 2.32777206e-03 -6.80962370e-01] [-1.28198519e-03 -2.32752428e-03 9.99996470e-01 -3.38845722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.095898227 meters Centerline goodness [0,1] 0.889211706900235 Centerline is valid? [False, False] Translation: X:72.15, Y:-0.68, Z:-0.34 [[ 9.99999265e-01 1.97062029e-05 1.21203639e-03 7.21453780e+01] [-2.31764796e-05 9.99995901e-01 2.86323126e-03 -6.83565722e-01] [-1.21197500e-03 -2.86325725e-03 9.99995166e-01 -3.39321871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.125898227 meters Centerline goodness [0,1] 0.7170538575947378 Centerline is valid? [False, False] Translation: X:72.19, Y:-0.68, Z:-0.34 [[ 9.99999905e-01 4.12439315e-05 4.34777523e-04 7.21902108e+01] [-4.18317810e-05 9.99999085e-01 1.35214729e-03 -6.82869056e-01] [-4.34721357e-04 -1.35216535e-03 9.99998991e-01 -3.40229696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.155898227 meters Centerline goodness [0,1] 0.8872132268124919 Centerline is valid? [False, False] Translation: X:72.15, Y:-0.69, Z:-0.34 [[ 9.99999150e-01 -4.80714251e-04 -1.21189730e-03 7.21501764e+01] [ 4.84600611e-04 9.99994735e-01 3.20858759e-03 -6.89895940e-01] [ 1.21034851e-03 -3.20917215e-03 9.99994118e-01 -3.41237784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.185898227 meters Centerline goodness [0,1] 0.89980366077649 Centerline is valid? [False, False] Translation: X:72.17, Y:-0.69, Z:-0.34 [[ 9.99998245e-01 8.28972621e-04 1.68025822e-03 7.21713052e+01] [-8.17991249e-04 9.99978373e-01 -6.52571055e-03 -6.90135226e-01] [-1.68563152e-03 6.52432466e-03 9.99977296e-01 -3.43977460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.215898227 meters Centerline goodness [0,1] 0.8920208517257325 Centerline is valid? [False, False] Translation: X:72.17, Y:-0.69, Z:-0.34 [[ 9.99998084e-01 1.19266105e-03 1.55237796e-03 7.21715620e+01] [-1.18399945e-03 9.99983794e-01 -5.56858360e-03 -6.94809392e-01] [-1.55899424e-03 5.56673491e-03 9.99983290e-01 -3.43690331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.245898227 meters Centerline goodness [0,1] 0.9615594902637002 Centerline is valid? [False, True] Translation: X:72.17, Y:-0.71, Z:-0.34 [[ 9.99997297e-01 1.86032765e-03 1.39463008e-03 7.21715398e+01] [-1.85563625e-03 9.99992641e-01 -3.35768861e-03 -7.05986403e-01] [-1.40086622e-03 3.35509161e-03 9.99993390e-01 -3.42736258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.275898227 meters Centerline goodness [0,1] 0.9706730668014063 Centerline is valid? [True, True] Translation: X:72.20, Y:-0.71, Z:-0.34 [[ 9.99998322e-01 2.80983686e-04 1.80999390e-03 7.22024745e+01] [-2.81189769e-04 9.99999954e-01 1.13604814e-04 -7.12667499e-01] [-1.80996190e-03 -1.14113576e-04 9.99998356e-01 -3.41480453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.305898227 meters Centerline goodness [0,1] 0.938790095430277 Centerline is valid? [True, False] Translation: X:72.20, Y:-0.72, Z:-0.34 [[ 9.99998439e-01 6.65033938e-04 1.63695394e-03 7.22027935e+01] [-6.67224313e-04 9.99998882e-01 1.33789739e-03 -7.18883131e-01] [-1.63606237e-03 -1.33898752e-03 9.99997765e-01 -3.40994450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.335898227 meters Centerline goodness [0,1] 0.9823173569101908 Centerline is valid? [False, True] Translation: X:72.20, Y:-0.72, Z:-0.34 [[ 9.99997419e-01 -6.77223094e-04 2.16881931e-03 7.21987766e+01] [ 6.76309986e-04 9.99999682e-01 4.21721905e-04 -7.21729641e-01] [-2.16910422e-03 -4.20254022e-04 9.99997559e-01 -3.38280828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.365898227 meters Centerline goodness [0,1] 0.9763382549198212 Centerline is valid? [True, True] Translation: X:72.23, Y:-0.72, Z:-0.34 [[ 9.99999242e-01 -3.14852140e-04 1.19051769e-03 7.22294818e+01] [ 3.14765175e-04 9.99999948e-01 7.32342756e-05 -7.21941650e-01] [-1.19054069e-03 -7.28594866e-05 9.99999289e-01 -3.39571704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.395898227 meters Centerline goodness [0,1] 0.9621824664162475 Centerline is valid? [True, True] Translation: X:72.26, Y:-0.72, Z:-0.34 [[ 9.99992883e-01 3.49117263e-03 -1.43038218e-03 7.22603077e+01] [-3.49130192e-03 9.99993902e-01 -8.79007552e-05 -7.22693511e-01] [ 1.43006658e-03 9.28940257e-05 9.99998973e-01 -3.42823337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.425898227 meters Centerline goodness [0,1] 0.9406657631712688 Centerline is valid? [True, False] Translation: X:72.26, Y:-0.72, Z:-0.34 [[ 9.99992149e-01 3.60161188e-03 -1.65214437e-03 7.22614206e+01] [-3.60167014e-03 9.99993513e-01 -3.22886161e-05 -7.22881359e-01] [ 1.65201737e-03 3.82388417e-05 9.99998635e-01 -3.43530156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.455898227 meters Centerline goodness [0,1] 0.9202609411615682 Centerline is valid? [False, False] Translation: X:72.26, Y:-0.72, Z:-0.34 [[ 9.99991484e-01 3.75340249e-03 -1.71603020e-03 7.22618750e+01] [-3.75326830e-03 9.99992953e-01 8.14082562e-05 -7.23216273e-01] [ 1.71632366e-03 -7.49668412e-05 9.99998524e-01 -3.43951448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.485898227 meters Centerline goodness [0,1] 0.9084328168656337 Centerline is valid? [False, False] Translation: X:72.26, Y:-0.72, Z:-0.34 [[ 9.99991241e-01 3.88397571e-03 -1.55969187e-03 7.22613398e+01] [-3.88356732e-03 9.99992424e-01 2.64781333e-04 -7.23984700e-01] [ 1.56070846e-03 -2.58721845e-04 9.99998749e-01 -3.43866810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.515898227 meters Centerline goodness [0,1] 0.8867177522349936 Centerline is valid? [False, False] Translation: X:72.26, Y:-0.73, Z:-0.34 [[ 9.99990950e-01 4.02485230e-03 -1.37837253e-03 7.22603142e+01] [-4.02413659e-03 9.99991767e-01 5.21625510e-04 -7.25140195e-01] [ 1.38046064e-03 -5.16074031e-04 9.99998914e-01 -3.43097410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.545898227 meters Centerline goodness [0,1] 0.8118084279925253 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.72, Z:-0.34 [[ 9.99988300e-01 4.54419516e-03 1.65864275e-03 7.22962590e+01] [-4.54340900e-03 9.99989565e-01 -4.77436427e-04 -7.24202714e-01] [-1.66079501e-03 4.69894948e-04 9.99998510e-01 -3.40265775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.575898227 meters Centerline goodness [0,1] 0.8962967711605445 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.73, Z:-0.34 [[ 9.99994920e-01 2.97529447e-03 1.14364619e-03 7.22529476e+01] [-2.97653517e-03 9.99994982e-01 1.08469970e-03 -7.31072249e-01] [-1.14041315e-03 -1.08809829e-03 9.99998758e-01 -3.39261555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.605898227 meters Centerline goodness [0,1] 0.8674887040243233 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.73, Z:-0.34 [[ 9.99995888e-01 2.84947618e-03 3.22146509e-04 7.22963906e+01] [-2.84911268e-03 9.99995310e-01 -1.12325723e-03 -7.29299305e-01] [-3.25345693e-04 1.12233478e-03 9.99999317e-01 -3.39277586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.635898227 meters Centerline goodness [0,1] 0.8863726992255546 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.73, Z:-0.34 [[ 9.99995487e-01 2.99770916e-03 1.97551714e-04 7.22970858e+01] [-2.99757297e-03 9.99995272e-01 -6.86123632e-04 -7.31517294e-01] [-1.99607579e-04 6.85528360e-04 9.99999745e-01 -3.39738698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.665898227 meters Centerline goodness [0,1] 0.8448414037455712 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.73, Z:-0.34 [[ 9.99994719e-01 3.24538369e-03 1.73570495e-04 7.22970661e+01] [-3.24536236e-03 9.99994726e-01 -1.23048290e-04 -7.34206657e-01] [-1.73968919e-04 1.22484341e-04 9.99999977e-01 -3.39569251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69589822700001 meters Centerline goodness [0,1] 0.9164709118997736 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.74, Z:-0.34 [[ 9.99993704e-01 3.54263805e-03 2.02310168e-04 7.22967494e+01] [-3.54274924e-03 9.99993572e-01 5.51919007e-04 -7.37438379e-01] [-2.00353619e-04 -5.52632266e-04 9.99999827e-01 -3.39142191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72589822700002 meters Centerline goodness [0,1] 0.8920529519431319 Centerline is valid? [False, False] Translation: X:72.29, Y:-0.74, Z:-0.34 [[ 9.99997566e-01 2.05899470e-03 7.93268056e-04 7.22920939e+01] [-2.05839169e-03 9.99997593e-01 -7.60231866e-04 -7.38915100e-01] [-7.94831459e-04 7.58597159e-04 9.99999396e-01 -3.35955373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.755898227 meters Centerline goodness [0,1] 0.7302222222222222 Centerline is valid? [False, False] Translation: X:72.29, Y:-0.75, Z:-0.34 [[ 9.99996202e-01 2.67855168e-03 6.49561317e-04 7.22926413e+01] [-2.67891229e-03 9.99996258e-01 5.54929863e-04 -7.45066749e-01] [-6.48072478e-04 -5.56667873e-04 9.99999635e-01 -3.36001149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.785898227 meters Centerline goodness [0,1] 0.7302222222222222 Centerline is valid? [False, False] Translation: X:72.29, Y:-0.75, Z:-0.34 [[ 9.99996202e-01 2.67855168e-03 6.49561317e-04 7.22926413e+01] [-2.67891229e-03 9.99996258e-01 5.54929863e-04 -7.45066749e-01] [-6.48072478e-04 -5.56667873e-04 9.99999635e-01 -3.36001149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.815898227 meters Centerline goodness [0,1] 0.8805042159952304 Centerline is valid? [False, False] Translation: X:72.29, Y:-0.75, Z:-0.34 [[ 9.99995461e-01 2.95404143e-03 5.93406931e-04 7.22929348e+01] [-2.95474415e-03 9.99994930e-01 1.18685767e-03 -7.48095003e-01] [-5.89897896e-04 -1.18860565e-03 9.99999120e-01 -3.36167583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.845898227 meters Centerline goodness [0,1] 0.8691468212004568 Centerline is valid? [False, False] Translation: X:72.29, Y:-0.75, Z:-0.34 [[ 9.99994539e-01 3.27173400e-03 4.67580784e-04 7.22934229e+01] [-3.27259838e-03 9.99992915e-01 1.85997563e-03 -7.51288492e-01] [-4.61492126e-04 -1.86149567e-03 9.99998161e-01 -3.36257312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.875898227 meters Centerline goodness [0,1] 0.8228647461350005 Centerline is valid? [False, False] Translation: X:72.29, Y:-0.75, Z:-0.34 [[ 9.99993649e-01 3.54670695e-03 3.49340474e-04 7.22938676e+01] [-3.54754483e-03 9.99990760e-01 2.42779375e-03 -7.54013580e-01] [-3.40726574e-04 -2.42901764e-03 9.99996992e-01 -3.36276159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.905898227 meters Centerline goodness [0,1] 0.8392614312425632 Centerline is valid? [False, False] Translation: X:72.29, Y:-0.76, Z:-0.34 [[ 9.99992700e-01 3.80988787e-03 2.91757130e-04 7.22940901e+01] [-3.81073000e-03 9.99988410e-01 2.94241440e-03 -7.56350422e-01] [-2.80543479e-04 -2.94350473e-03 9.99995629e-01 -3.36311180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.935898227 meters Centerline goodness [0,1] 0.6231263834721197 Centerline is valid? [False, False] Translation: X:72.29, Y:-0.76, Z:-0.34 [[ 9.99991861e-01 4.02983120e-03 1.95156767e-04 7.22944259e+01] [-4.03046199e-03 9.99986275e-01 3.34750744e-03 -7.58186062e-01] [-1.81664199e-04 -3.34826677e-03 9.99994378e-01 -3.36316039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.965898227 meters Centerline goodness [0,1] 0.8176963171836281 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.76, Z:-0.34 [[ 9.99989723e-01 4.36761237e-03 -1.21547946e-03 7.22536668e+01] [-4.35942552e-03 9.99968329e-01 6.65855136e-03 -7.64977022e-01] [ 1.24452293e-03 -6.65318414e-03 9.99977093e-01 -3.36640167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.995898227 meters Centerline goodness [0,1] 0.603253272334477 Centerline is valid? [False, False] Translation: X:72.28, Y:-0.76, Z:-0.34 [[ 9.99977090e-01 6.15040238e-03 2.82707229e-03 7.22758401e+01] [-6.14271233e-03 9.99977432e-01 -2.72083090e-03 -7.62531837e-01] [-2.84374269e-03 2.70340267e-03 9.99992302e-01 -3.41801883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.025898227 meters Centerline goodness [0,1] 0.7203353852685205 Centerline is valid? [False, False] Translation: X:72.28, Y:-0.76, Z:-0.34 [[ 9.99975584e-01 6.38191754e-03 2.84647831e-03 7.22756611e+01] [-6.37540811e-03 9.99977055e-01 -2.29007840e-03 -7.64494110e-01] [-2.86102808e-03 2.27187503e-03 9.99993327e-01 -3.41596636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.055898227 meters Centerline goodness [0,1] 0.660507346530864 Centerline is valid? [False, False] Translation: X:72.28, Y:-0.77, Z:-0.34 [[ 9.99973111e-01 6.73100392e-03 2.91035868e-03 7.22751424e+01] [-6.72652895e-03 9.99976184e-01 -1.54466477e-03 -7.67939656e-01] [-2.92068651e-03 1.52504663e-03 9.99994572e-01 -3.41030061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.085898227 meters Centerline goodness [0,1] 0.6625853792636766 Centerline is valid? [False, False] Translation: X:72.27, Y:-0.77, Z:-0.34 [[ 9.99971758e-01 6.92554328e-03 2.91877348e-03 7.22748221e+01] [-6.92258114e-03 9.99975515e-01 -1.02374432e-03 -7.70504159e-01] [-2.92579200e-03 1.00350996e-03 9.99995216e-01 -3.40517527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.115898227 meters Centerline goodness [0,1] 0.6541456228956228 Centerline is valid? [False, False] Translation: X:72.27, Y:-0.77, Z:-0.34 [[ 9.99970488e-01 7.13596447e-03 2.84636343e-03 7.22745779e+01] [-7.13501966e-03 9.99974487e-01 -3.41952464e-04 -7.73918443e-01] [-2.84873097e-03 3.21633513e-04 9.99995891e-01 -3.39695366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.145898227 meters Centerline goodness [0,1] 0.6614076383145662 Centerline is valid? [False, False] Translation: X:72.27, Y:-0.78, Z:-0.34 [[ 9.99968290e-01 7.43659892e-03 2.84875978e-03 7.22740179e+01] [-7.43817208e-03 9.99972190e-01 5.42028495e-04 -7.78257868e-01] [-2.84464971e-03 -5.63200873e-04 9.99995795e-01 -3.38718749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.175898227 meters Centerline goodness [0,1] 0.7708892032856811 Centerline is valid? [False, False] Translation: X:72.27, Y:-0.78, Z:-0.34 [[ 9.99966806e-01 7.66137734e-03 2.77301482e-03 7.22738953e+01] [-7.66496341e-03 9.99969798e-01 1.28489196e-03 -7.82015324e-01] [-2.76308703e-03 -1.30610437e-03 9.99995330e-01 -3.38069804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.205898227 meters Centerline goodness [0,1] 0.6374787775891342 Centerline is valid? [False, False] Translation: X:72.27, Y:-0.78, Z:-0.34 [[ 9.99988664e-01 3.79561254e-03 2.87501967e-03 7.22742222e+01] [-3.78776218e-03 9.99989097e-01 -2.73108134e-03 -7.82696761e-01] [-2.88535445e-03 2.72016049e-03 9.99992138e-01 -3.39310141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.235898227 meters Centerline goodness [0,1] 0.5933921730480243 Centerline is valid? [False, False] Translation: X:72.28, Y:-0.78, Z:-0.34 [[ 9.99988731e-01 3.90353832e-03 2.70180103e-03 7.22751370e+01] [-3.89672339e-03 9.99989225e-01 -2.52304727e-03 -7.83719865e-01] [-2.71162073e-03 2.51249067e-03 9.99993167e-01 -3.39907374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.265898227 meters Centerline goodness [0,1] 0.5801158094912502 Centerline is valid? [False, False] Translation: X:72.28, Y:-0.79, Z:-0.34 [[ 9.99962417e-01 8.34548405e-03 2.34901919e-03 7.22760117e+01] [-8.35175259e-03 9.99961555e-01 2.67154115e-03 -7.88485694e-01] [-2.32663358e-03 -2.69105918e-03 9.99993672e-01 -3.39296505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.295898227 meters Centerline goodness [0,1] 0.5344330591032466 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.78, Z:-0.34 [[ 9.99961462e-01 8.03570510e-03 3.53585350e-03 7.23160472e+01] [-8.02894481e-03 9.99965920e-01 -1.92198374e-03 -7.83002284e-01] [-3.55117750e-03 1.89352050e-03 9.99991902e-01 -3.40138851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.325898227 meters Centerline goodness [0,1] 0.49847363358842467 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.78, Z:-0.34 [[ 9.99960463e-01 8.11485831e-03 3.63621165e-03 7.23156740e+01] [-8.10760611e-03 9.99965123e-01 -2.00476241e-03 -7.82310878e-01] [-3.65235319e-03 1.97520218e-03 9.99991379e-01 -3.40064953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.355898227 meters Centerline goodness [0,1] 0.4699727406164814 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.78, Z:-0.34 [[ 9.99959542e-01 8.15538762e-03 3.79532455e-03 7.23152579e+01] [-8.14709586e-03 9.99964403e-01 -2.19508783e-03 -7.81112997e-01] [-3.81309124e-03 2.16407814e-03 9.99990389e-01 -3.40238277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.385898227 meters Centerline goodness [0,1] 0.4320063727648157 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.78, Z:-0.34 [[ 9.99958899e-01 8.22430317e-03 3.81603558e-03 7.23154389e+01] [-8.21465809e-03 9.99963043e-01 -2.53634005e-03 -7.79051483e-01] [-3.83675418e-03 2.50488838e-03 9.99989502e-01 -3.40710961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.415898227 meters Centerline goodness [0,1] 0.4220189314528937 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.78, Z:-0.34 [[ 9.99959038e-01 8.22267430e-03 3.78286173e-03 7.23155735e+01] [-8.21300758e-03 9.99962986e-01 -2.56387514e-03 -7.78874295e-01] [-3.80380362e-03 2.53270145e-03 9.99989558e-01 -3.40777792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44589822700001 meters Centerline goodness [0,1] 0.4217429688485307 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.78, Z:-0.34 [[ 9.99960237e-01 8.12204721e-03 3.68185316e-03 7.23159386e+01] [-8.11236881e-03 9.99963620e-01 -2.63603378e-03 -7.78804589e-01] [-3.70312920e-03 2.60606042e-03 9.99989748e-01 -3.40815497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47589822700002 meters Centerline goodness [0,1] 0.41267250333877425 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.78, Z:-0.34 [[ 9.99961037e-01 8.06190884e-03 3.59577452e-03 7.23161186e+01] [-8.05246611e-03 9.99964112e-01 -2.63285436e-03 -7.79025508e-01] [-3.61687130e-03 2.60379692e-03 9.99990069e-01 -3.40677014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.505898227 meters Centerline goodness [0,1] 0.4224443187294403 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.78, Z:-0.34 [[ 9.99927565e-01 1.16538997e-02 3.00851717e-03 7.23177594e+01] [-1.16599467e-02 9.99930020e-01 2.00030619e-03 -7.83022128e-01] [-2.98499527e-03 -2.03524044e-03 9.99993474e-01 -3.39939592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.535898227 meters Centerline goodness [0,1] 0.4322223630296118 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.78, Z:-0.34 [[ 9.99927449e-01 1.16660546e-02 2.99996096e-03 7.23175049e+01] [-1.16728561e-02 9.99929316e-01 2.25976621e-03 -7.84513648e-01] [-2.97338636e-03 -2.29462037e-03 9.99992947e-01 -3.39456960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.565898227 meters Centerline goodness [0,1] 0.4479292320064334 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.78, Z:-0.34 [[ 9.99968154e-01 7.31796739e-03 3.18421793e-03 7.23169292e+01] [-7.31008036e-03 9.99970202e-01 -2.48154066e-03 -7.82157851e-01] [-3.20228288e-03 2.45818474e-03 9.99991851e-01 -3.39736367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.595898227 meters Centerline goodness [0,1] 0.4540438844966812 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.78, Z:-0.34 [[ 9.99968741e-01 7.32310802e-03 2.98129960e-03 7.23172005e+01] [-7.31659517e-03 9.99970836e-01 -2.18964535e-03 -7.83829848e-01] [-2.99724766e-03 2.16776394e-03 9.99993159e-01 -3.39106111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.625898227 meters Centerline goodness [0,1] 0.6364496195720711 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.78, Z:-0.34 [[ 9.99969582e-01 7.25869953e-03 2.85408725e-03 7.23175467e+01] [-7.25279499e-03 9.99971548e-01 -2.07373963e-03 -7.84731639e-01] [-2.86905870e-03 2.05297644e-03 9.99993777e-01 -3.39005583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.655898227 meters Centerline goodness [0,1] 0.7909917952642095 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.79, Z:-0.33 [[ 9.99981376e-01 5.93406693e-03 -1.42666664e-03 7.22953045e+01] [-5.92224165e-03 9.99949212e-01 8.15481223e-03 -7.88876847e-01] [ 1.47498538e-03 -8.14621128e-03 9.99965731e-01 -3.33123501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.685898227 meters Centerline goodness [0,1] 0.7546192849776555 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.79, Z:-0.33 [[ 9.99990347e-01 3.70913584e-03 -2.35525562e-03 7.22537220e+01] [-3.69118528e-03 9.99964454e-01 7.58063916e-03 -7.89942488e-01] [ 2.38328952e-03 -7.57187230e-03 9.99968493e-01 -3.34043758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.715898227 meters Centerline goodness [0,1] 0.6496359661225617 Centerline is valid? [False, False] Translation: X:72.28, Y:-0.78, Z:-0.34 [[ 9.99988648e-01 4.33612699e-03 1.97510148e-03 7.22778279e+01] [-4.33054185e-03 9.99986638e-01 -2.82332591e-03 -7.83210264e-01] [-1.98731739e-03 2.81474060e-03 9.99994064e-01 -3.40515838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.745898227 meters Centerline goodness [0,1] 0.4315791674507098 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.78, Z:-0.34 [[ 9.99989374e-01 4.60934428e-03 -7.26613210e-05 7.22977240e+01] [-4.60875927e-03 9.99967274e-01 6.64910649e-03 -7.83931495e-01] [ 1.03306964e-04 -6.64870096e-03 9.99977892e-01 -3.35978275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.775898227 meters Centerline goodness [0,1] 0.7652926943159146 Centerline is valid? [False, False] Translation: X:72.26, Y:-0.78, Z:-0.34 [[ 9.99996721e-01 2.47405919e-03 -6.60440445e-04 7.22558651e+01] [-2.47025415e-03 9.99980696e-01 5.70131275e-03 -7.83649788e-01] [ 6.74533081e-04 -5.69966260e-03 9.99983529e-01 -3.37168447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.805898227 meters Centerline goodness [0,1] 0.6343416748098738 Centerline is valid? [False, False] Translation: X:72.26, Y:-0.78, Z:-0.34 [[ 9.99996989e-01 2.37088035e-03 -6.32830527e-04 7.22556200e+01] [-2.36742678e-03 9.99982599e-01 5.40340869e-03 -7.82181294e-01] [ 6.45630351e-04 -5.40189424e-03 9.99985201e-01 -3.36953475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.835898227 meters Centerline goodness [0,1] 0.5783248752254331 Centerline is valid? [False, False] Translation: X:72.29, Y:-0.77, Z:-0.34 [[ 9.99997860e-01 1.46671897e-03 1.45923185e-03 7.22932924e+01] [-1.46720541e-03 9.99998868e-01 3.32337136e-04 -7.74539546e-01] [-1.45874275e-03 -3.34477418e-04 9.99998880e-01 -3.36351097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.865898227 meters Centerline goodness [0,1] 0.7659365945116755 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99999306e-01 1.90104930e-05 1.17826785e-03 7.22501255e+01] [-2.05924777e-05 9.99999098e-01 1.34263833e-03 -7.77307500e-01] [-1.17824126e-03 -1.34266166e-03 9.99998405e-01 -3.35892817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.895898227 meters Centerline goodness [0,1] 0.7337507138475856 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99999388e-01 -8.48562241e-05 1.10307266e-03 7.22504841e+01] [ 8.34917894e-05 9.99999232e-01 1.23692722e-03 -7.77054085e-01] [-1.10317677e-03 -1.23683437e-03 9.99998627e-01 -3.36097270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.925898227 meters Centerline goodness [0,1] 0.7439961169965812 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99999568e-01 -1.69180608e-04 9.14272346e-04 7.22512030e+01] [ 1.68073858e-04 9.99999253e-01 1.21046760e-03 -7.77171893e-01] [-9.14476451e-04 -1.21031341e-03 9.99998849e-01 -3.36262340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.955898227 meters Centerline goodness [0,1] 0.6127168857646483 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99999657e-01 -1.28417760e-04 8.18297629e-04 7.22515553e+01] [ 1.27290212e-04 9.99999043e-01 1.37782176e-03 -7.78088945e-01] [-8.18473782e-04 -1.37771713e-03 9.99998716e-01 -3.36349275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.985898227 meters Centerline goodness [0,1] 0.8175854968476023 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99999763e-01 -2.97358016e-05 6.87749719e-04 7.22517426e+01] [ 2.86260146e-05 9.99998698e-01 1.61360307e-03 -7.79241231e-01] [-6.87796806e-04 -1.61358300e-03 9.99998462e-01 -3.35897499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.015898227 meters Centerline goodness [0,1] 0.7090770823211305 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99999859e-01 9.17519931e-06 5.31022149e-04 7.22523389e+01] [-1.00038448e-05 9.99998782e-01 1.56049102e-03 -7.78935614e-01] [-5.31007184e-04 -1.56049611e-03 9.99998641e-01 -3.36042322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.045898227 meters Centerline goodness [0,1] 0.6554634290790642 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99999896e-01 5.70497141e-05 4.51426202e-04 7.22528996e+01] [-5.77235261e-05 9.99998884e-01 1.49275709e-03 -7.78464569e-01] [-4.51340537e-04 -1.49278299e-03 9.99998784e-01 -3.36532841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.075898227 meters Centerline goodness [0,1] 0.7727582970736285 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99999937e-01 1.03777978e-04 3.39390544e-04 7.22535002e+01] [-1.04256732e-04 9.99998999e-01 1.41091625e-03 -7.77864904e-01] [-3.39243782e-04 -1.41095154e-03 9.99998947e-01 -3.36954080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.105898227 meters Centerline goodness [0,1] 0.5091810464052426 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99999945e-01 1.67485048e-04 2.87486024e-04 7.22538894e+01] [-1.67882291e-04 9.99999031e-01 1.38231525e-03 -7.77605776e-01] [-2.87254228e-04 -1.38236344e-03 9.99999003e-01 -3.37336568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.135898227 meters Centerline goodness [0,1] 0.495987942599983 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99999924e-01 2.45197866e-04 3.01792616e-04 7.22538857e+01] [-2.45631379e-04 9.99998937e-01 1.43726140e-03 -7.77757536e-01] [-3.01439882e-04 -1.43733542e-03 9.99998922e-01 -3.37371198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.165898227 meters Centerline goodness [0,1] 0.6233552631578947 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99999851e-01 4.92841583e-04 2.35332872e-04 7.22538551e+01] [-4.93339348e-04 9.99997632e-01 2.11979693e-03 -7.81178624e-01] [-2.34287591e-04 -2.11991272e-03 9.99997726e-01 -3.36920757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19589822700001 meters Centerline goodness [0,1] 0.6212546717624949 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99999785e-01 6.48834184e-04 9.99982055e-05 7.22540206e+01] [-6.49103155e-04 9.99996107e-01 2.71361502e-03 -7.84324688e-01] [-9.82371301e-05 -2.71367934e-03 9.99996313e-01 -3.36416293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22589822700002 meters Centerline goodness [0,1] 0.7246812502665132 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.78, Z:-0.34 [[ 9.99993814e-01 -3.50491977e-03 2.94493152e-04 7.22537463e+01] [ 3.50538410e-03 9.99992590e-01 -1.59128495e-03 -7.83967908e-01] [-2.88913643e-04 1.59230742e-03 9.99998691e-01 -3.36965171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.255898227 meters Centerline goodness [0,1] 0.5164040739086986 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.79, Z:-0.34 [[ 9.99994658e-01 -3.26430699e-03 1.66051095e-04 7.22539555e+01] [ 3.26444847e-03 9.99994303e-01 -8.58979932e-04 -7.87601665e-01] [-1.63246175e-04 8.59517409e-04 9.99999617e-01 -3.36570498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.285898227 meters Centerline goodness [0,1] 0.7773152081563297 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.79, Z:-0.34 [[ 9.99995439e-01 -3.01823525e-03 1.09209372e-04 7.22540105e+01] [ 3.01825564e-03 9.99995428e-01 -1.86985161e-04 -7.90898200e-01] [-1.08644508e-04 1.87313930e-04 9.99999977e-01 -3.36323619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.315898227 meters Centerline goodness [0,1] 0.47779031381889603 Centerline is valid? [False, False] Translation: X:72.29, Y:-0.79, Z:-0.34 [[ 9.99998008e-01 -1.59977086e-03 1.19357143e-03 7.22947998e+01] [ 1.60062896e-03 9.99998461e-01 -7.18326369e-04 -7.90569361e-01] [-1.19242043e-03 7.20235403e-04 9.99999030e-01 -3.35631522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.345898227 meters Centerline goodness [0,1] 0.5275921129584761 Centerline is valid? [False, False] Translation: X:72.29, Y:-0.79, Z:-0.34 [[ 9.99998325e-01 -1.39016827e-03 1.19035249e-03 7.22946663e+01] [ 1.39053436e-03 9.99998986e-01 -3.06778436e-04 -7.92457925e-01] [-1.18992481e-03 3.08433148e-04 9.99999244e-01 -3.35345496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.375898227 meters Centerline goodness [0,1] 0.6521785154761401 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.80, Z:-0.34 [[ 9.99999570e-01 -7.00229243e-04 -6.08388435e-04 7.22549371e+01] [ 7.02612523e-04 9.99992046e-01 3.92602322e-03 -8.00832759e-01] [ 6.05634480e-04 -3.92644900e-03 9.99992108e-01 -3.35744135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.405898227 meters Centerline goodness [0,1] 0.4161827660746832 Centerline is valid? [False, False] Translation: X:72.26, Y:-0.80, Z:-0.34 [[ 9.99999590e-01 -5.56434549e-04 -7.14813500e-04 7.22554662e+01] [ 5.59401527e-04 9.99991202e-01 4.15722951e-03 -8.01924706e-01] [ 7.12493985e-04 -4.15762767e-03 9.99991103e-01 -3.36058113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.435898227 meters Centerline goodness [0,1] 0.40883583093381537 Centerline is valid? [False, False] Translation: X:72.26, Y:-0.80, Z:-0.34 [[ 9.99999644e-01 -4.04979039e-04 -7.39601957e-04 7.22556737e+01] [ 4.08226530e-04 9.99990254e-01 4.39600263e-03 -8.03013657e-01] [ 7.37814460e-04 -4.39630299e-03 9.99990064e-01 -3.36257102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.465898227 meters Centerline goodness [0,1] 0.558559518986802 Centerline is valid? [False, False] Translation: X:72.24, Y:-0.80, Z:-0.34 [[ 9.99999169e-01 -1.28043269e-05 -1.28925051e-03 7.22358234e+01] [ 5.88526863e-06 9.99985600e-01 -5.36658991e-03 -8.03369501e-01] [ 1.28930066e-03 5.36657786e-03 9.99984769e-01 -3.38972713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.495898227 meters Centerline goodness [0,1] 0.5477817873063044 Centerline is valid? [False, False] Translation: X:72.24, Y:-0.81, Z:-0.34 [[ 9.99999071e-01 1.56799547e-04 -1.35420869e-03 7.22359529e+01] [-1.63496932e-04 9.99987751e-01 -4.94691373e-03 -8.05390588e-01] [ 1.35341643e-03 4.94713055e-03 9.99986847e-01 -3.38840989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.525898227 meters Centerline goodness [0,1] 0.5350661883483332 Centerline is valid? [False, False] Translation: X:72.26, Y:-0.81, Z:-0.34 [[ 9.99999914e-01 -2.84701127e-04 -3.01855832e-04 7.22551049e+01] [ 2.86205548e-04 9.99987481e-01 4.99563269e-03 -8.08574511e-01] [ 3.00429791e-04 -4.99571866e-03 9.99987476e-01 -3.36335962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.555898227 meters Centerline goodness [0,1] 0.5321306098106455 Centerline is valid? [False, False] Translation: X:72.25, Y:-0.81, Z:-0.34 [[ 9.99966005e-01 -8.23195400e-03 4.73769473e-04 7.22533721e+01] [ 8.23358467e-03 9.99959804e-01 -3.54952891e-03 -8.06986408e-01] [-4.44530870e-04 3.55330907e-03 9.99993588e-01 -3.37441939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.585898227 meters Centerline goodness [0,1] 0.5554458565276756 Centerline is valid? [False, False] Translation: X:72.29, Y:-0.81, Z:-0.34 [[ 9.99977415e-01 -6.66254723e-03 8.83356969e-04 7.22946924e+01] [ 6.66484114e-03 9.99974358e-01 -2.61980854e-03 -8.08692186e-01] [-8.65879720e-04 2.62563680e-03 9.99996178e-01 -3.36231319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.615898227 meters Centerline goodness [0,1] 0.5856209150326797 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.81, Z:-0.34 [[ 9.99978646e-01 -6.49994384e-03 6.77267058e-04 7.22952698e+01] [ 6.50119376e-03 9.99977137e-01 -1.85997112e-03 -8.12730307e-01] [-6.65161866e-04 1.86433444e-03 9.99998041e-01 -3.36052447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.645898227 meters Centerline goodness [0,1] 0.6358402151757759 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.82, Z:-0.34 [[ 9.99979465e-01 -6.39554630e-03 4.07191841e-04 7.22960825e+01] [ 6.39601054e-03 9.99978885e-01 -1.14917600e-03 -8.16656061e-01] [-3.99833635e-04 1.15175681e-03 9.99999257e-01 -3.35909621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.675898227 meters Centerline goodness [0,1] 0.6700556097975124 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.82, Z:-0.34 [[ 9.99981015e-01 -6.15466536e-03 3.01190327e-04 7.22962243e+01] [ 6.15475253e-03 9.99981017e-01 -2.89366995e-04 -8.21020389e-01] [-2.99403653e-04 2.91215253e-04 9.99999913e-01 -3.35510406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.705898227 meters Centerline goodness [0,1] 0.6700556097975124 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.82, Z:-0.34 [[ 9.99981015e-01 -6.15466536e-03 3.01190327e-04 7.22962243e+01] [ 6.15475253e-03 9.99981017e-01 -2.89366995e-04 -8.21020389e-01] [-2.99403653e-04 2.91215253e-04 9.99999913e-01 -3.35510406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.735898227 meters Centerline goodness [0,1] 0.7295711930808588 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.83, Z:-0.33 [[ 9.99982538e-01 -5.90817206e-03 1.27310709e-04 7.22964049e+01] [ 5.90809946e-03 9.99982388e-01 5.63244260e-04 -8.25315325e-01] [-1.30636210e-04 -5.62482261e-04 9.99999833e-01 -3.34887069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.765898227 meters Centerline goodness [0,1] 0.9101324969596108 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.83, Z:-0.33 [[ 9.99984468e-01 -5.56019659e-03 -3.83839888e-04 7.22979893e+01] [ 5.56097117e-03 9.99982442e-01 2.04728659e-03 -8.33247063e-01] [ 3.72449832e-04 -2.04938931e-03 9.99997831e-01 -3.34702807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.795898227 meters Centerline goodness [0,1] 0.9294573809472805 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.84, Z:-0.33 [[ 9.99986270e-01 -5.20772450e-03 -5.82933004e-04 7.22985750e+01] [ 5.20941901e-03 9.99982097e-01 2.94411918e-03 -8.37611151e-01] [ 5.67590406e-04 -2.94711550e-03 9.99995496e-01 -3.34592482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.825898227 meters Centerline goodness [0,1] 0.7051732160230109 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.84, Z:-0.34 [[ 9.99987154e-01 -4.15966421e-03 2.89639311e-03 7.23215903e+01] [ 4.18066122e-03 9.99964751e-01 -7.28144441e-03 -8.36841112e-01] [-2.86600265e-03 7.29345971e-03 9.99969295e-01 -3.40377707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.855898227 meters Centerline goodness [0,1] 0.7048112509252406 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.84, Z:-0.34 [[ 9.99997509e-01 -7.87327605e-05 2.23083202e-03 7.23232749e+01] [ 8.28595412e-05 9.99998286e-01 -1.84985208e-03 -8.44976802e-01] [-2.23068255e-03 1.85003232e-03 9.99995801e-01 -3.39438892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.885898227 meters Centerline goodness [0,1] 0.694608637118997 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.85, Z:-0.34 [[ 9.99997662e-01 3.28497986e-04 2.13719137e-03 7.23232949e+01] [-3.26706116e-04 9.99999595e-01 -8.38718149e-04 -8.49884437e-01] [-2.13746602e-03 8.38017955e-04 9.99997364e-01 -3.38877805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.915898227 meters Centerline goodness [0,1] 0.6589690201274528 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.85, Z:-0.34 [[ 9.99997435e-01 7.74862748e-04 2.12805661e-03 7.23230270e+01] [-7.75260956e-04 9.99999682e-01 1.86304264e-04 -8.54755762e-01] [-2.12791157e-03 -1.87953586e-04 9.99997718e-01 -3.38325227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94589822700001 meters Centerline goodness [0,1] 0.5955244035753328 Centerline is valid? [False, False] Translation: X:72.28, Y:-0.87, Z:-0.33 [[ 9.99996242e-01 1.04656220e-03 2.53372420e-03 7.22792135e+01] [-1.06376691e-03 9.99976324e-01 6.79848967e-03 -8.69317463e-01] [-2.52654917e-03 -6.80115942e-03 9.99973680e-01 -3.34685572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.975898227 meters Centerline goodness [0,1] 0.5663150831428632 Centerline is valid? [False, False] Translation: X:72.32, Y:-0.87, Z:-0.34 [[ 9.99992890e-01 4.96323433e-04 3.73810296e-03 7.23194723e+01] [-5.05543449e-04 9.99996832e-01 2.46595516e-03 -8.68160420e-01] [-3.73686721e-03 -2.46782740e-03 9.99989973e-01 -3.35304710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.005898227 meters Centerline goodness [0,1] 0.5500837378898051 Centerline is valid? [False, False] Translation: X:72.30, Y:-0.87, Z:-0.34 [[ 9.99988006e-01 6.39474709e-04 4.85579128e-03 7.23001949e+01] [-6.07401344e-04 9.99978010e-01 -6.60378227e-03 -8.70522074e-01] [-4.85990746e-03 6.60075365e-03 9.99966405e-01 -3.39972901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.035898227 meters Centerline goodness [0,1] 0.5142112236611531 Centerline is valid? [False, False] Translation: X:72.28, Y:-0.88, Z:-0.33 [[ 9.99999891e-01 3.87307289e-04 2.61303027e-04 7.22763013e+01] [-3.88571546e-04 9.99988136e-01 4.85570241e-03 -8.80984433e-01] [-2.59419278e-04 -4.85580342e-03 9.99988177e-01 -3.32507850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.065898227 meters Centerline goodness [0,1] 0.7402898674101347 Centerline is valid? [False, False] Translation: X:72.28, Y:-0.88, Z:-0.33 [[ 9.99999700e-01 7.57927666e-04 1.62640127e-04 7.22766285e+01] [-7.58840778e-04 9.99983526e-01 5.68968388e-03 -8.84991947e-01] [-1.58325079e-04 -5.68980558e-03 9.99983800e-01 -3.32415498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.095898227 meters Centerline goodness [0,1] 0.4759146862711575 Centerline is valid? [False, False] Translation: X:72.27, Y:-0.89, Z:-0.33 [[ 9.99998695e-01 -1.36286591e-03 8.68041260e-04 7.22719569e+01] [ 1.35977035e-03 9.99992750e-01 3.55679997e-03 -8.86677136e-01] [-8.72882408e-04 -3.55561499e-03 9.99993298e-01 -3.29682774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.125898227 meters Centerline goodness [0,1] 0.4341952751259194 Centerline is valid? [False, False] Translation: X:72.31, Y:-0.89, Z:-0.33 [[ 9.99997743e-01 -7.56692923e-04 1.98523928e-03 7.23120981e+01] [ 7.55452455e-04 9.99999519e-01 6.25520811e-04 -8.88102665e-01] [-1.98571165e-03 -6.24019646e-04 9.99997834e-01 -3.29528985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.155898227 meters Centerline goodness [0,1] 0.8390631941946813 Centerline is valid? [False, False] Translation: X:72.31, Y:-0.89, Z:-0.33 [[ 9.99997917e-01 -4.89709511e-04 1.98130529e-03 7.23118409e+01] [ 4.87380053e-04 9.99999190e-01 1.17603103e-03 -8.90619959e-01] [-1.98187960e-03 -1.17506293e-03 9.99997346e-01 -3.29033239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.185898227 meters Centerline goodness [0,1] 0.40345839714139864 Centerline is valid? [False, False] Translation: X:72.31, Y:-0.89, Z:-0.33 [[ 9.99997997e-01 -2.67169632e-04 1.98352470e-03 7.23118712e+01] [ 2.63902618e-04 9.99998609e-01 1.64715419e-03 -8.92784146e-01] [-1.98396201e-03 -1.64662743e-03 9.99996676e-01 -3.29054518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.215898227 meters Centerline goodness [0,1] 0.7660058088142442 Centerline is valid? [False, False] Translation: X:72.35, Y:-0.89, Z:-0.33 [[ 9.99997518e-01 4.36126021e-04 2.18472666e-03 7.23531320e+01] [-4.32051199e-04 9.99998167e-01 -1.86526501e-03 -8.90215599e-01] [-2.18553615e-03 1.86431646e-03 9.99995874e-01 -3.29412445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.245898227 meters Centerline goodness [0,1] 0.3731419349358702 Centerline is valid? [False, False] Translation: X:72.35, Y:-0.89, Z:-0.33 [[ 9.99997522e-01 6.46932277e-04 2.13027991e-03 7.23534536e+01] [-6.43735889e-04 9.99998667e-01 -1.50079840e-03 -8.91787346e-01] [-2.13124799e-03 1.49942335e-03 9.99996605e-01 -3.29654734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.275898227 meters Centerline goodness [0,1] 0.7873478381789787 Centerline is valid? [False, False] Translation: X:72.35, Y:-0.89, Z:-0.33 [[ 9.99997570e-01 7.72366560e-04 2.06499838e-03 7.23538034e+01] [-7.69700271e-04 9.99998870e-01 -1.29166532e-03 -8.92701999e-01] [-2.06599368e-03 1.29007275e-03 9.99997034e-01 -3.29887935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.305898227 meters Centerline goodness [0,1] 0.337884975327548 Centerline is valid? [False, False] Translation: X:72.36, Y:-0.89, Z:-0.33 [[ 9.99992422e-01 3.65756489e-03 1.33378307e-03 7.23586805e+01] [-3.65990562e-03 9.99991759e-01 1.75676074e-03 -8.94099151e-01] [-1.32734661e-03 -1.76162895e-03 9.99997567e-01 -3.32796073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.335898227 meters Centerline goodness [0,1] 0.6912617220801365 Centerline is valid? [False, False] Translation: X:72.36, Y:-0.89, Z:-0.33 [[ 9.99992542e-01 3.60302716e-03 1.39059756e-03 7.23587573e+01] [-3.60528341e-03 9.99992183e-01 1.62341924e-03 -8.93554331e-01] [-1.38473747e-03 -1.62842063e-03 9.99997715e-01 -3.33205335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.365898227 meters Centerline goodness [0,1] 0.7950588484784222 Centerline is valid? [False, False] Translation: X:72.36, Y:-0.89, Z:-0.33 [[ 9.99992729e-01 3.56356104e-03 1.35763557e-03 7.23588686e+01] [-3.56568120e-03 9.99992422e-01 1.56245418e-03 -8.93411229e-01] [-1.35205738e-03 -1.56728372e-03 9.99997858e-01 -3.33224619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.395898227 meters Centerline goodness [0,1] 0.44467178887589776 Centerline is valid? [False, False] Translation: X:72.40, Y:-0.89, Z:-0.33 [[ 9.99992110e-01 3.46525035e-03 1.94217505e-03 7.24000279e+01] [-3.45935275e-03 9.99989421e-01 -3.03177285e-03 -8.88674581e-01] [-1.95266036e-03 3.02503026e-03 9.99993518e-01 -3.33954834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.425898227 meters Centerline goodness [0,1] 0.745425921198196 Centerline is valid? [False, False] Translation: X:72.36, Y:-0.89, Z:-0.33 [[ 9.99996508e-01 2.50711904e-03 8.36244300e-04 7.23587443e+01] [-2.50770881e-03 9.99996607e-01 7.04963294e-04 -8.94231957e-01] [-8.34474036e-04 -7.07057889e-04 9.99999402e-01 -3.32682459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.455898227 meters Centerline goodness [0,1] 0.6566941697633895 Centerline is valid? [False, False] Translation: X:72.40, Y:-0.89, Z:-0.33 [[ 9.99994874e-01 2.81628863e-03 1.52357255e-03 7.23997553e+01] [-2.81162835e-03 9.99991389e-01 -3.05233004e-03 -8.89742484e-01] [-1.53215567e-03 3.04803068e-03 9.99994181e-01 -3.33362259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.485898227 meters Centerline goodness [0,1] 0.6820507399577167 Centerline is valid? [False, False] Translation: X:72.40, Y:-0.89, Z:-0.33 [[ 9.99995347e-01 2.67816089e-03 1.46065922e-03 7.24003489e+01] [-2.67377941e-03 9.99991945e-01 -2.99340816e-03 -8.90558332e-01] [-1.46866428e-03 2.98948875e-03 9.99994453e-01 -3.34009090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.515898227 meters Centerline goodness [0,1] 0.8373534620899047 Centerline is valid? [False, False] Translation: X:72.40, Y:-0.89, Z:-0.33 [[ 9.99995712e-01 2.62957705e-03 1.28863560e-03 7.24008763e+01] [-2.62592108e-03 9.99992546e-01 -2.83061189e-03 -8.91704579e-01] [-1.29606931e-03 2.82721589e-03 9.99995164e-01 -3.33995053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.545898227 meters Centerline goodness [0,1] 0.8728039502405324 Centerline is valid? [False, False] Translation: X:72.40, Y:-0.89, Z:-0.33 [[ 9.99995634e-01 2.68886682e-03 1.22591127e-03 7.24009789e+01] [-2.68586217e-03 9.99993401e-01 -2.44604176e-03 -8.93786300e-01] [-1.23248026e-03 2.44273845e-03 9.99996257e-01 -3.33856379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.575898227 meters Centerline goodness [0,1] 0.799028588470879 Centerline is valid? [False, False] Translation: X:72.40, Y:-0.90, Z:-0.33 [[ 9.99995401e-01 2.80574149e-03 1.15178372e-03 7.24009998e+01] [-2.80353245e-03 9.99994236e-01 -1.91509028e-03 -8.96541428e-01] [-1.15715033e-03 1.91185241e-03 9.99997503e-01 -3.33519798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.605898227 meters Centerline goodness [0,1] 0.9377959946482044 Centerline is valid? [False, False] Translation: X:72.40, Y:-0.90, Z:-0.33 [[ 9.99995334e-01 2.88638806e-03 1.00035982e-03 7.24010631e+01] [-2.88499583e-03 9.99994872e-01 -1.39039040e-03 -8.99420935e-01] [-1.00436790e-03 1.38749788e-03 9.99998533e-01 -3.32827335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.635898227 meters Centerline goodness [0,1] 0.736358691103858 Centerline is valid? [False, False] Translation: X:72.44, Y:-0.90, Z:-0.33 [[ 9.99992641e-01 3.33482159e-03 1.89633564e-03 7.24413406e+01] [-3.32837608e-03 9.99988708e-01 -3.39199003e-03 -8.99626095e-01] [-1.90762590e-03 3.38565335e-03 9.99992449e-01 -3.31855175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.665898227 meters Centerline goodness [0,1] 0.88146049732452 Centerline is valid? [False, False] Translation: X:72.44, Y:-0.91, Z:-0.33 [[ 9.99993161e-01 3.45079810e-03 1.33028555e-03 7.24428022e+01] [-3.44791296e-03 9.99991712e-01 -2.16503932e-03 -9.06786478e-01] [-1.33774563e-03 2.16043781e-03 9.99996771e-01 -3.31150854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69589822700001 meters Centerline goodness [0,1] 0.902 Centerline is valid? [False, False] Translation: X:72.44, Y:-0.91, Z:-0.33 [[ 9.99992707e-01 3.65108325e-03 1.12055344e-03 7.24433798e+01] [-3.64930723e-03 9.99992088e-01 -1.58292298e-03 -9.09706361e-01] [-1.12632396e-03 1.57882219e-03 9.99998119e-01 -3.30980371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.725898227 meters Centerline goodness [0,1] 0.8817393490008797 Centerline is valid? [False, False] Translation: X:72.44, Y:-0.91, Z:-0.33 [[ 9.99992242e-01 3.80892357e-03 1.00385560e-03 7.24438536e+01] [-3.80767607e-03 9.99991980e-01 -1.24170467e-03 -9.11370680e-01] [-1.00857710e-03 1.23787268e-03 9.99998725e-01 -3.31097344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.755898227 meters Centerline goodness [0,1] 0.9206602429115351 Centerline is valid? [False, False] Translation: X:72.40, Y:-0.92, Z:-0.33 [[ 9.99992826e-01 3.77240670e-03 3.42939500e-04 7.24021036e+01] [-3.77347086e-03 9.99987896e-01 3.15726026e-03 -9.16597379e-01] [-3.31024880e-04 -3.15853168e-03 9.99994957e-01 -3.30070611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.785898227 meters Centerline goodness [0,1] 0.9028707008956245 Centerline is valid? [False, False] Translation: X:72.40, Y:-0.92, Z:-0.33 [[ 9.99992472e-01 3.86307636e-03 3.64340075e-04 7.24018254e+01] [-3.86419027e-03 9.99987705e-01 3.10784953e-03 -9.16057111e-01] [-3.52329736e-04 -3.10923402e-03 9.99995104e-01 -3.29704626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.815898227 meters Centerline goodness [0,1] 0.7888119495408046 Centerline is valid? [False, False] Translation: X:72.44, Y:-0.91, Z:-0.33 [[ 9.99973622e-01 6.99765741e-03 1.94622307e-03 7.24391578e+01] [-6.99921406e-03 9.99975190e-01 7.94174474e-04 -9.11003057e-01] [-1.94061742e-03 -8.07775557e-04 9.99997791e-01 -3.28962686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.845898227 meters Centerline goodness [0,1] 0.7272210406620481 Centerline is valid? [False, False] Translation: X:72.44, Y:-0.91, Z:-0.33 [[ 9.99973908e-01 6.96062186e-03 1.93186432e-03 7.24394836e+01] [-6.96135933e-03 9.99975699e-01 3.75278490e-04 -9.08778074e-01] [-1.92920520e-03 -3.88717100e-04 9.99998064e-01 -3.29400915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.875898227 meters Centerline goodness [0,1] 0.7216293433049031 Centerline is valid? [False, False] Translation: X:72.44, Y:-0.91, Z:-0.33 [[ 9.99975265e-01 6.80891515e-03 1.76273253e-03 7.24404572e+01] [-6.80874153e-03 9.99976815e-01 -1.04482414e-04 -9.06565498e-01] [-1.76340308e-03 9.24778399e-05 9.99998441e-01 -3.30152041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.905898227 meters Centerline goodness [0,1] 0.7779362916276297 Centerline is valid? [False, False] Translation: X:72.42, Y:-0.91, Z:-0.32 [[ 9.99974829e-01 6.32981500e-03 -3.20553881e-03 7.24162443e+01] [-6.29560873e-03 9.99924307e-01 1.05709583e-02 -9.11893210e-01] [ 3.27220839e-03 -1.05505114e-02 9.99938988e-01 -3.22184627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.935898227 meters Centerline goodness [0,1] 0.7041096473492668 Centerline is valid? [False, False] Translation: X:72.42, Y:-0.91, Z:-0.32 [[ 9.99993764e-01 1.96952318e-03 -2.93130764e-03 7.24158697e+01] [-1.95307627e-03 9.99982395e-01 5.60310229e-03 -9.08310884e-01] [ 2.94229147e-03 -5.59734228e-03 9.99980006e-01 -3.23248577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.965898227 meters Centerline goodness [0,1] 0.701703591809332 Centerline is valid? [False, False] Translation: X:72.45, Y:-0.90, Z:-0.32 [[ 9.99999715e-01 3.93146411e-04 -6.44404786e-04 7.24532726e+01] [-3.93149924e-04 9.99999923e-01 -5.32544949e-06 -9.04118507e-01] [ 6.44402643e-04 5.57879567e-06 9.99999792e-01 -3.22838461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.995898227 meters Centerline goodness [0,1] 0.7647257740674205 Centerline is valid? [False, False] Translation: X:72.45, Y:-0.90, Z:-0.32 [[ 9.99992305e-01 -3.91207129e-03 -2.91144568e-04 7.24521645e+01] [ 3.91075075e-03 9.99982647e-01 -4.40586991e-03 -9.03441867e-01] [ 3.08375593e-04 4.40469741e-03 9.99990252e-01 -3.22933952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.025898227 meters Centerline goodness [0,1] 0.829062367416207 Centerline is valid? [False, False] Translation: X:72.45, Y:-0.91, Z:-0.32 [[ 9.99991888e-01 -4.00893538e-03 -3.89431939e-04 7.24520894e+01] [ 4.00741568e-03 9.99984644e-01 -3.82774127e-03 -9.07026473e-01] [ 4.04771127e-04 3.82614961e-03 9.99992598e-01 -3.22202920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.055898227 meters Centerline goodness [0,1] 0.9075087335325561 Centerline is valid? [False, False] Translation: X:72.47, Y:-0.91, Z:-0.32 [[ 9.99961372e-01 -8.76344779e-03 6.75093825e-04 7.24707495e+01] [ 8.76216510e-03 9.99959844e-01 1.88010683e-03 -9.11628716e-01] [-6.91542934e-04 -1.87411892e-03 9.99998005e-01 -3.19168765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.085898227 meters Centerline goodness [0,1] 0.926390323056498 Centerline is valid? [False, False] Translation: X:72.47, Y:-0.91, Z:-0.32 [[ 9.99962258e-01 -8.67481758e-03 4.80079184e-04 7.24711831e+01] [ 8.67361762e-03 9.99959388e-01 2.44756311e-03 -9.14712448e-01] [-5.01291850e-04 -2.44330671e-03 9.99996889e-01 -3.18813786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.115898227 meters Centerline goodness [0,1] 0.9364644954843055 Centerline is valid? [False, False] Translation: X:72.47, Y:-0.92, Z:-0.32 [[ 9.99963663e-01 -8.51719630e-03 3.61184827e-04 7.24714253e+01] [ 8.51609995e-03 9.99959429e-01 2.93545862e-03 -9.17187986e-01] [-3.86172050e-04 -2.93227606e-03 9.99995626e-01 -3.18547733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.145898227 meters Centerline goodness [0,1] 0.925986981148026 Centerline is valid? [False, False] Translation: X:72.47, Y:-0.92, Z:-0.32 [[ 9.99964909e-01 -8.37208866e-03 2.99626287e-04 7.24716005e+01] [ 8.37108730e-03 9.99959841e-01 3.20031389e-03 -9.18365763e-01] [-3.26407566e-04 -3.19769339e-03 9.99994834e-01 -3.18527214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.175898227 meters Centerline goodness [0,1] 0.9476439790575917 Centerline is valid? [False, False] Translation: X:72.47, Y:-0.92, Z:-0.32 [[ 9.99966596e-01 -8.16343090e-03 4.05841583e-04 7.24717642e+01] [ 8.16212642e-03 9.99961827e-01 3.11822021e-03 -9.17313962e-01] [-4.31281466e-04 -3.11480352e-03 9.99995056e-01 -3.19360708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.205898227 meters Centerline goodness [0,1] 0.9237126912995688 Centerline is valid? [False, False] Translation: X:72.47, Y:-0.92, Z:-0.32 [[ 9.99966941e-01 -8.12320029e-03 3.62133068e-04 7.24722174e+01] [ 8.12210489e-03 9.99962722e-01 2.93013219e-03 -9.16172711e-01] [-3.85921620e-04 -2.92709404e-03 9.99995642e-01 -3.19943595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.235898227 meters Centerline goodness [0,1] 0.7766224983621801 Centerline is valid? [False, False] Translation: X:72.47, Y:-0.92, Z:-0.32 [[ 9.99967615e-01 -8.03861193e-03 3.87564374e-04 7.24720896e+01] [ 8.03746563e-03 9.99963570e-01 2.87370060e-03 -9.15585114e-01] [-4.10650819e-04 -2.87049249e-03 9.99995796e-01 -3.19898949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.265898227 meters Centerline goodness [0,1] 0.7210558392703277 Centerline is valid? [False, False] Translation: X:72.47, Y:-0.91, Z:-0.32 [[ 9.99968103e-01 -7.97208333e-03 4.89346435e-04 7.24715290e+01] [ 7.97067579e-03 9.99964275e-01 2.81390076e-03 -9.14968485e-01] [-5.11761604e-04 -2.80991058e-03 9.99995921e-01 -3.19555206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.295898227 meters Centerline goodness [0,1] 0.6863536862686758 Centerline is valid? [False, False] Translation: X:72.47, Y:-0.91, Z:-0.32 [[ 9.99968114e-01 -7.96229130e-03 6.10912654e-04 7.24709086e+01] [ 7.96056880e-03 9.99964472e-01 2.77199298e-03 -9.14677484e-01] [-6.32962365e-04 -2.76704138e-03 9.99995971e-01 -3.19147263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.325898227 meters Centerline goodness [0,1] 0.9637289009148305 Centerline is valid? [False, True] Translation: X:72.47, Y:-0.91, Z:-0.32 [[ 9.99968126e-01 -7.95865920e-03 6.38224081e-04 7.24708408e+01] [ 7.95682428e-03 9.99964346e-01 2.82781883e-03 -9.14916565e-01] [-6.60706971e-04 -2.82265046e-03 9.99995798e-01 -3.19221326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.355898227 meters Centerline goodness [0,1] 0.6880266965172028 Centerline is valid? [True, False] Translation: X:72.51, Y:-0.91, Z:-0.32 [[ 9.99973638e-01 -7.22384289e-03 7.34837731e-04 7.25128350e+01] [ 7.22399314e-03 9.99973886e-01 -2.02030002e-04 -9.12133187e-01] [-7.33359109e-04 2.07333139e-04 9.99999710e-01 -3.20064370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.385898227 meters Centerline goodness [0,1] 0.9650440131509174 Centerline is valid? [False, True] Translation: X:72.51, Y:-0.91, Z:-0.32 [[ 9.99974818e-01 -7.07577308e-03 5.44189992e-04 7.25133305e+01] [ 7.07560800e-03 9.99974921e-01 3.04683229e-04 -9.14730343e-01] [-5.46332214e-04 -3.00825081e-04 9.99999806e-01 -3.19913669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.415898227 meters Centerline goodness [0,1] 0.9711089805049536 Centerline is valid? [True, True] Translation: X:72.54, Y:-0.92, Z:-0.32 [[ 9.99960885e-01 -8.83625531e-03 3.86373418e-04 7.25438970e+01] [ 8.83624440e-03 9.99960959e-01 2.99588667e-05 -9.15733585e-01] [-3.86623057e-04 -2.65436049e-05 9.99999925e-01 -3.19934629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44589822700001 meters Centerline goodness [0,1] 0.8924990481025511 Centerline is valid? [True, False] Translation: X:72.54, Y:-0.92, Z:-0.32 [[ 9.99961726e-01 -8.74878705e-03 7.49806046e-05 7.25446044e+01] [ 8.74874177e-03 9.99961558e-01 5.84217424e-04 -9.18829570e-01] [-8.00889161e-05 -5.83539078e-04 9.99999827e-01 -3.19429276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.475898227 meters Centerline goodness [0,1] 0.9847791378392762 Centerline is valid? [False, True] Translation: X:72.55, Y:-0.92, Z:-0.32 [[ 9.99963194e-01 -8.57781907e-03 -1.80560120e-04 7.25452708e+01] [ 8.57802562e-03 9.99962516e-01 1.17604561e-03 -9.21889892e-01] [ 1.70465446e-04 -1.17755118e-03 9.99999292e-01 -3.19153431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.505898227 meters Centerline goodness [0,1] 0.9893485314207651 Centerline is valid? [True, True] Translation: X:72.58, Y:-0.93, Z:-0.32 [[ 9.99935124e-01 -1.11653374e-02 -2.25457231e-03 7.25758528e+01] [ 1.11649917e-02 9.99937656e-01 -1.65835087e-04 -9.28026961e-01] [ 2.25628336e-03 1.40652047e-04 9.99997445e-01 -3.21812744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.535898227 meters Centerline goodness [0,1] 0.9534957026078551 Centerline is valid? [True, True] Translation: X:72.60, Y:-0.92, Z:-0.32 [[ 9.99933890e-01 -1.12220823e-02 -2.50613032e-03 7.26023902e+01] [ 1.12216551e-02 9.99937018e-01 -1.84471463e-04 -9.18376458e-01] [ 2.50804264e-03 1.56336338e-04 9.99996843e-01 -3.22411974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.565898227 meters Centerline goodness [0,1] 0.9472402253568857 Centerline is valid? [True, False] Translation: X:72.60, Y:-0.92, Z:-0.32 [[ 9.99935284e-01 -1.10972026e-02 -2.50610014e-03 7.26023305e+01] [ 1.10972014e-02 9.99938424e-01 -1.43749975e-05 -9.19011289e-01] [ 2.50610535e-03 -1.34366309e-05 9.99996860e-01 -3.22289851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.595898227 meters Centerline goodness [0,1] 0.9472402253568857 Centerline is valid? [False, False] Translation: X:72.60, Y:-0.92, Z:-0.32 [[ 9.99968678e-01 -7.22868114e-03 -3.22307951e-03 7.26039475e+01] [ 7.24305357e-03 9.99963778e-01 4.47007412e-03 -9.21940941e-01] [ 3.19065003e-03 -4.49327904e-03 9.99984815e-01 -3.21463235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.625898227 meters Centerline goodness [0,1] 0.9783808057480113 Centerline is valid? [False, True] Translation: X:72.60, Y:-0.92, Z:-0.32 [[ 9.99934904e-01 -1.11082100e-02 -2.60688947e-03 7.26028748e+01] [ 1.11073623e-02 9.99938254e-01 -3.39413838e-04 -9.17533540e-01] [ 2.61049878e-03 3.10436077e-04 9.99996544e-01 -3.22923002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.655898227 meters Centerline goodness [0,1] 0.9330666780137016 Centerline is valid? [True, False] Translation: X:72.60, Y:-0.92, Z:-0.32 [[ 9.99934859e-01 -1.10996748e-02 -2.65970234e-03 7.26033212e+01] [ 1.10980636e-02 9.99938223e-01 -6.19775400e-04 -9.15897659e-01] [ 2.66641734e-03 5.90217481e-04 9.99996271e-01 -3.23469313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.685898227 meters Centerline goodness [0,1] 0.9555461830451286 Centerline is valid? [False, True] Translation: X:72.60, Y:-0.91, Z:-0.32 [[ 9.99934556e-01 -1.11148080e-02 -2.71005642e-03 7.26038260e+01] [ 1.11123218e-02 9.99937823e-01 -9.30734051e-04 -9.14211207e-01] [ 2.72023284e-03 9.00558121e-04 9.99995895e-01 -3.24099269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.715898227 meters Centerline goodness [0,1] 0.8715371621621621 Centerline is valid? [True, False] Translation: X:72.60, Y:-0.92, Z:-0.32 [[ 9.99972640e-01 -6.71760124e-03 -3.09712503e-03 7.26045482e+01] [ 6.72949912e-03 9.99969956e-01 3.84730917e-03 -9.16788632e-01] [ 3.07118729e-03 -3.86804601e-03 9.99987803e-01 -3.23400050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.745898227 meters Centerline goodness [0,1] 0.9519994859382698 Centerline is valid? [False, True] Translation: X:72.60, Y:-0.91, Z:-0.32 [[ 9.99937401e-01 -1.08836293e-02 -2.59627289e-03 7.26038814e+01] [ 1.08808995e-02 9.99940236e-01 -1.06325516e-03 -9.12777040e-01] [ 2.60768980e-03 1.03493882e-03 9.99996064e-01 -3.24841850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.775898227 meters Centerline goodness [0,1] 0.9252790213758749 Centerline is valid? [True, False] Translation: X:72.64, Y:-0.91, Z:-0.33 [[ 9.99948581e-01 -1.00328793e-02 -1.47563198e-03 7.26438864e+01] [ 1.00260452e-02 9.99939304e-01 -4.56796801e-03 -9.08398316e-01] [ 1.52137229e-03 4.55293838e-03 9.99988478e-01 -3.25407699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.805898227 meters Centerline goodness [0,1] 0.947230952178714 Centerline is valid? [False, False] Translation: X:72.64, Y:-0.91, Z:-0.33 [[ 9.99948802e-01 -1.00076006e-02 -1.49680755e-03 7.26438003e+01] [ 1.00007788e-02 9.99939876e-01 -4.49767790e-03 -9.08675418e-01] [ 1.54172852e-03 4.48247839e-03 9.99988765e-01 -3.25193797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.835898227 meters Centerline goodness [0,1] 0.920874247703516 Centerline is valid? [False, False] Translation: X:72.64, Y:-0.91, Z:-0.32 [[ 9.99980145e-01 -5.97767424e-03 -1.99400974e-03 7.26444890e+01] [ 5.97830127e-03 9.99982082e-01 3.08644158e-04 -9.12519882e-01] [ 1.99212904e-03 -3.20558821e-04 9.99997964e-01 -3.23744890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.865898227 meters Centerline goodness [0,1] 0.9239581568693884 Centerline is valid? [False, False] Translation: X:72.64, Y:-0.91, Z:-0.32 [[ 9.99980484e-01 -5.95406033e-03 -1.89254284e-03 7.26439537e+01] [ 5.95477867e-03 9.99982200e-01 3.74155581e-04 -9.12722651e-01] [ 1.89028141e-03 -3.85417953e-04 9.99998139e-01 -3.23403562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.895898227 meters Centerline goodness [0,1] 0.9726903209416546 Centerline is valid? [False, True] Translation: X:72.64, Y:-0.91, Z:-0.32 [[ 9.99981786e-01 -5.77542202e-03 -1.75288167e-03 7.26431173e+01] [ 5.77676685e-03 9.99983023e-01 7.63120385e-04 -9.14342804e-01] [ 1.74844457e-03 -7.73232474e-04 9.99998173e-01 -3.22791016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.925898227 meters Centerline goodness [0,1] 0.9798509052183173 Centerline is valid? [True, True] Translation: X:72.67, Y:-0.91, Z:-0.32 [[ 9.99979338e-01 -6.28036190e-03 -1.37144329e-03 7.26721723e+01] [ 6.28022635e-03 9.99980274e-01 -1.03122840e-04 -9.14728431e-01] [ 1.37206389e-03 9.45077355e-05 9.99999054e-01 -3.22526520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.955898227 meters Centerline goodness [0,1] 0.9693335871243365 Centerline is valid? [True, True] Translation: X:72.70, Y:-0.91, Z:-0.32 [[ 9.99975229e-01 -6.85925151e-03 -1.57892021e-03 7.27004837e+01] [ 6.85907205e-03 9.99976469e-01 -1.19042214e-04 -9.12085429e-01] [ 1.57969960e-03 1.08209337e-04 9.99998746e-01 -3.22403665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.985898227 meters Centerline goodness [0,1] 0.9797545881802522 Centerline is valid? [True, True] Translation: X:72.73, Y:-0.91, Z:-0.32 [[ 9.99969621e-01 -7.58947578e-03 -1.77697624e-03 7.27297686e+01] [ 7.58924903e-03 9.99971192e-01 -1.34311520e-04 -9.14079572e-01] [ 1.77794441e-03 1.20821524e-04 9.99998412e-01 -3.22729158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.015898227 meters Centerline goodness [0,1] 0.9142538506859692 Centerline is valid? [True, False] Translation: X:72.75, Y:-0.91, Z:-0.32 [[ 9.99985609e-01 -4.79017909e-03 -2.41569280e-03 7.27505612e+01] [ 4.76708962e-03 9.99943748e-01 -9.47497113e-03 -9.13016304e-01] [ 2.46094372e-03 9.46331896e-03 9.99952194e-01 -3.22512592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.045898227 meters Centerline goodness [0,1] 0.9675540057832965 Centerline is valid? [False, True] Translation: X:72.71, Y:-0.92, Z:-0.32 [[ 9.99989232e-01 -2.80607838e-03 -3.69619137e-03 7.27114103e+01] [ 2.80278825e-03 9.99995672e-01 -8.95020161e-04 -9.21887708e-01] [ 3.69868687e-03 8.84650881e-04 9.99992769e-01 -3.19783737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.075898227 meters Centerline goodness [0,1] 0.9504072475171724 Centerline is valid? [True, True] Translation: X:72.74, Y:-0.92, Z:-0.32 [[ 9.99988434e-01 -4.06944206e-03 -2.56360106e-03 7.27400879e+01] [ 4.06899067e-03 9.99991705e-01 -1.81265514e-04 -9.15858822e-01] [ 2.56431744e-03 1.70832148e-04 9.99996698e-01 -3.17750564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.105898227 meters Centerline goodness [0,1] 0.9848400852878465 Centerline is valid? [True, True] Translation: X:72.77, Y:-0.92, Z:-0.32 [[ 9.99981730e-01 -5.55059890e-03 -2.39376802e-03 7.27703578e+01] [ 5.55020945e-03 9.99984583e-01 -1.69305672e-04 -9.22640728e-01] [ 2.39467086e-03 1.56016665e-04 9.99997121e-01 -3.17659363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.135898227 meters Centerline goodness [0,1] 0.9858006169969995 Centerline is valid? [True, True] Translation: X:72.80, Y:-0.92, Z:-0.32 [[ 9.99968818e-01 -7.41148461e-03 -2.72632065e-03 7.27996191e+01] [ 7.41098612e-03 9.99972520e-01 -1.92901652e-04 -9.22538226e-01] [ 2.72767542e-03 1.72690912e-04 9.99996265e-01 -3.17550557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.165898227 meters Centerline goodness [0,1] 0.9789002557544757 Centerline is valid? [True, True] Translation: X:72.83, Y:-0.92, Z:-0.32 [[ 9.99946474e-01 -9.98551331e-03 -2.70906251e-03 7.28290346e+01] [ 9.98503033e-03 9.99950130e-01 -1.91752372e-04 -9.21445223e-01] [ 2.71084215e-03 1.64692037e-04 9.99996312e-01 -3.17491235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19589822700001 meters Centerline goodness [0,1] 0.9904366960054164 Centerline is valid? [True, True] Translation: X:72.86, Y:-0.93, Z:-0.32 [[ 9.99904447e-01 -1.35190070e-02 -2.88690492e-03 7.28596339e+01] [ 1.35184730e-02 9.99908600e-01 -2.04396563e-04 -9.26014728e-01] [ 2.88940429e-03 1.65350486e-04 9.99995812e-01 -3.17738225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.225898227 meters Centerline goodness [0,1] 0.9806164268986283 Centerline is valid? [True, True] Translation: X:72.89, Y:-0.92, Z:-0.32 [[ 9.99839518e-01 -1.76233175e-02 -3.21831427e-03 7.28883247e+01] [ 1.76226751e-02 9.99844683e-01 -2.27851300e-04 -9.24564230e-01] [ 3.22182990e-03 1.71099427e-04 9.99994795e-01 -3.18224695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.255898227 meters Centerline goodness [0,1] 0.9997681232740994 Centerline is valid? [True, True] Translation: X:72.92, Y:-0.95, Z:-0.32 [[ 9.99677440e-01 -2.49999033e-02 -4.47455103e-03 7.29210569e+01] [ 2.49987345e-02 9.99687433e-01 -3.16942114e-04 -9.52317989e-01] [ 4.48107596e-03 2.04981768e-04 9.99989939e-01 -3.19952771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.285898227 meters Centerline goodness [0,1] 0.9998718770019218 Centerline is valid? [True, True] Translation: X:72.95, Y:-0.96, Z:-0.32 [[ 9.99595612e-01 -2.79139298e-02 -5.42447219e-03 7.29510427e+01] [ 2.79122547e-02 9.99610303e-01 -3.84275674e-04 -9.57256775e-01] [ 5.43308493e-03 2.32711028e-04 9.99985214e-01 -3.20567100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.315898227 meters Centerline goodness [0,1] 0.9999147757537019 Centerline is valid? [True, True] Translation: X:72.98, Y:-0.96, Z:-0.32 [[ 9.99526443e-01 -3.01419834e-02 -6.19280747e-03 7.29815763e+01] [ 3.01398420e-02 9.99545595e-01 -4.38835528e-04 -9.60862112e-01] [ 6.20322081e-03 2.51977475e-04 9.99980728e-01 -3.21050317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.345898227 meters Centerline goodness [0,1] 0.9993910249679763 Centerline is valid? [True, True] Translation: X:73.01, Y:-0.95, Z:-0.32 [[ 9.99490946e-01 -3.12602037e-02 -6.37558114e-03 7.30094013e+01] [ 3.12579539e-02 9.99511248e-01 -4.52241710e-04 -9.53396794e-01] [ 6.38660224e-03 2.52723874e-04 9.99979574e-01 -3.22657935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.375898227 meters Centerline goodness [0,1] 0.9998524234182953 Centerline is valid? [True, True] Translation: X:73.04, Y:-0.96, Z:-0.32 [[ 9.99480888e-01 -3.15640836e-02 -6.45466664e-03 7.30380985e+01] [ 3.15617769e-02 9.99501698e-01 -4.58954352e-04 -9.60176352e-01] [ 6.46593674e-03 2.54995355e-04 9.99979063e-01 -3.22629113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.405898227 meters Centerline goodness [0,1] 0.9998731822793372 Centerline is valid? [True, True] Translation: X:73.07, Y:-0.96, Z:-0.32 [[ 9.99505963e-01 -3.08391383e-02 -6.06447951e-03 7.30668731e+01] [ 3.08370826e-02 9.99524331e-01 -4.32212052e-04 -9.60774903e-01] [ 6.07492387e-03 2.44987667e-04 9.99981517e-01 -3.22357254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.435898227 meters Centerline goodness [0,1] 0.9954452910186177 Centerline is valid? [True, True] Translation: X:73.10, Y:-0.96, Z:-0.32 [[ 9.99575056e-01 -2.84368454e-02 -6.40729719e-03 7.30953328e+01] [ 2.84344968e-02 9.99595553e-01 -4.57373512e-04 -9.56342562e-01] [ 6.41771204e-03 2.74990883e-04 9.99979368e-01 -3.22506142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.465898227 meters Centerline goodness [0,1] 0.9993827029098108 Centerline is valid? [True, True] Translation: X:73.12, Y:-0.97, Z:-0.32 [[ 9.99598096e-01 -2.76125089e-02 -6.41841171e-03 7.31246170e+01] [ 2.76101317e-02 9.99618662e-01 -4.58699205e-04 -9.65363806e-01] [ 6.42862997e-03 2.81301659e-04 9.99979297e-01 -3.21439179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.495898227 meters Centerline goodness [0,1] 0.9990973213535981 Centerline is valid? [True, True] Translation: X:73.15, Y:-0.97, Z:-0.32 [[ 9.99627983e-01 -2.66924954e-02 -5.60416654e-03 7.31523299e+01] [ 2.66906651e-02 9.99643660e-01 -4.01139689e-04 -9.65462244e-01] [ 5.61287697e-03 2.51411526e-04 9.99984216e-01 -3.20444081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.525898227 meters Centerline goodness [0,1] 0.9994540223850822 Centerline is valid? [True, True] Translation: X:73.18, Y:-0.97, Z:-0.32 [[ 9.99647172e-01 -2.62089363e-02 -4.31536127e-03 7.31797546e+01] [ 2.62078457e-02 9.99656468e-01 -3.09085838e-04 -9.65773147e-01] [ 4.32197961e-03 1.95880462e-04 9.99990641e-01 -3.18266659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.555898227 meters Centerline goodness [0,1] 0.9993710823672459 Centerline is valid? [True, True] Translation: X:73.21, Y:-0.97, Z:-0.32 [[ 9.99646357e-01 -2.64414547e-02 -2.83032716e-03 7.32076354e+01] [ 2.64409865e-02 9.99650355e-01 -2.02706319e-04 -9.67575953e-01] [ 2.83469740e-03 1.27797991e-04 9.99995974e-01 -3.16382863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.585898227 meters Centerline goodness [0,1] 0.9997255241433186 Centerline is valid? [True, True] Translation: X:73.24, Y:-0.97, Z:-0.31 [[ 9.99628466e-01 -2.71820465e-02 -2.01675148e-03 7.32370687e+01] [ 2.71818099e-02 9.99630496e-01 -1.44642013e-04 -9.69940267e-01] [ 2.01993795e-03 8.97693182e-05 9.99997956e-01 -3.14285360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.615898227 meters Centerline goodness [0,1] 0.9997017723244717 Centerline is valid? [True, True] Translation: X:73.27, Y:-0.98, Z:-0.31 [[ 9.99588686e-01 -2.85562835e-02 -2.64542350e-03 7.32673584e+01] [ 2.85558796e-02 9.99592180e-01 -1.90337404e-04 -9.81129294e-01] [ 2.64977997e-03 1.14716721e-04 9.99996483e-01 -3.13741720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.645898227 meters Centerline goodness [0,1] 0.9999150652935556 Centerline is valid? [True, True] Translation: X:73.30, Y:-0.98, Z:-0.31 [[ 9.99572968e-01 -2.90698917e-02 -2.97047311e-03 7.32961248e+01] [ 2.90693832e-02 9.99577373e-01 -2.14224738e-04 -9.82859890e-01] [ 2.97544520e-03 1.27783436e-04 9.99995565e-01 -3.14498375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.675898227 meters Centerline goodness [0,1] 0.9991938392345716 Centerline is valid? [True, True] Translation: X:73.32, Y:-0.98, Z:-0.31 [[ 9.99562186e-01 -2.94235939e-02 -3.11272872e-03 7.33237282e+01] [ 2.94230353e-02 9.99567023e-01 -2.25087431e-04 -9.78507898e-01] [ 3.11800386e-03 1.33402958e-04 9.99995130e-01 -3.14394566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.705898227 meters Centerline goodness [0,1] 0.9995353552420376 Centerline is valid? [True, True] Translation: X:73.35, Y:-0.98, Z:-0.31 [[ 9.99545134e-01 -3.00231405e-02 -2.85232116e-03 7.33528401e+01] [ 3.00226738e-02 9.99549197e-01 -2.06300322e-04 -9.84120546e-01] [ 2.85722910e-03 1.20572176e-04 9.99995911e-01 -3.14042447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.735898227 meters Centerline goodness [0,1] 0.9997675843563143 Centerline is valid? [True, True] Translation: X:73.38, Y:-0.99, Z:-0.31 [[ 9.99515875e-01 -3.10355575e-02 -2.19301868e-03 7.33824270e+01] [ 3.10352836e-02 9.99518277e-01 -1.58813000e-04 -9.88301604e-01] [ 2.19689110e-03 9.06751576e-05 9.99997583e-01 -3.12636974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.765898227 meters Centerline goodness [0,1] 0.9997251411294585 Centerline is valid? [True, True] Translation: X:73.41, Y:-0.99, Z:-0.31 [[ 9.99475392e-01 -3.23682254e-02 -1.11268707e-03 7.34105207e+01] [ 3.23681558e-02 9.99476011e-01 -8.04590569e-05 -9.85288290e-01] [ 1.11470835e-03 4.44012191e-05 9.99999378e-01 -3.10890723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.795898227 meters Centerline goodness [0,1] 0.9998312307497574 Centerline is valid? [True, True] Translation: X:73.44, Y:-0.99, Z:-0.31 [[ 9.99420968e-01 -3.40253252e-02 -8.21563273e-05 7.34396529e+01] [ 3.40253249e-02 9.99420971e-01 -5.82378095e-06 -9.87874286e-01] [ 8.23069125e-05 3.02501306e-06 9.99999997e-01 -3.09966209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.825898227 meters Centerline goodness [0,1] 0.9998952374965953 Centerline is valid? [True, True] Translation: X:73.47, Y:-1.00, Z:-0.31 [[ 9.99290342e-01 -3.76667320e-02 -1.72189096e-04 7.34708772e+01] [ 3.76667304e-02 9.99290357e-01 -1.25105756e-05 -9.99003844e-01] [ 1.72538136e-04 6.01589713e-06 9.99999985e-01 -3.12347056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.855898227 meters Centerline goodness [0,1] 0.9999790343208168 Centerline is valid? [True, True] Translation: X:73.50, Y:-1.00, Z:-0.31 [[ 9.99231264e-01 -3.91882111e-02 -1.07927676e-03 7.35002391e+01] [ 3.91881490e-02 9.99231846e-01 -7.85593068e-05 -1.00141601e+00] [ 1.08152631e-03 3.62040568e-05 9.99999414e-01 -3.14486271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.885898227 meters Centerline goodness [0,1] 0.9999788864725629 Centerline is valid? [True, True] Translation: X:73.53, Y:-1.01, Z:-0.32 [[ 9.99167622e-01 -4.07499923e-02 -1.87092247e-03 7.35293457e+01] [ 4.07498087e-02 9.99169372e-01 -1.36152543e-04 -1.00786513e+00] [ 1.87491665e-03 5.97994793e-05 9.99998241e-01 -3.15468568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.915898227 meters Centerline goodness [0,1] 0.9999574802814806 Centerline is valid? [True, True] Translation: X:73.56, Y:-1.01, Z:-0.32 [[ 9.99112545e-01 -4.20559189e-02 -2.32847773e-03 7.35579772e+01] [ 4.20556369e-02 9.99115256e-01 -1.69988203e-04 -1.00790565e+00] [ 2.33356663e-03 7.19117320e-05 9.99997275e-01 -3.16219044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94589822700001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.59, Y:-1.01, Z:-0.32 [[ 9.99080136e-01 -4.28121185e-02 -2.45022690e-03 7.35873394e+01] [ 4.28118071e-02 9.99083138e-01 -1.79427112e-04 -1.00715883e+00] [ 2.45566204e-03 7.43634224e-05 9.99996982e-01 -3.16246866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.975898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.62, Y:-1.00, Z:-0.32 [[ 9.99040946e-01 -4.37428664e-02 -1.93625198e-03 7.36152660e+01] [ 4.37426735e-02 9.99042821e-01 -1.41872564e-04 -1.00498329e+00] [ 1.94060456e-03 5.70396619e-05 9.99998115e-01 -3.15875758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.005898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.64, Y:-1.00, Z:-0.31 [[ 9.99027890e-01 -4.40650481e-02 -1.24351403e-03 7.36425920e+01] [ 4.40649687e-02 9.99028663e-01 -9.11788485e-05 -1.00102790e+00] [ 1.24632396e-03 3.62948058e-05 9.99999223e-01 -3.14601622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.035898227 meters Centerline goodness [0,1] 0.9999788458283974 Centerline is valid? [True, True] Translation: X:73.67, Y:-1.00, Z:-0.31 [[ 9.99031198e-01 -4.40063215e-02 -3.31141177e-04 7.36718979e+01] [ 4.40063161e-02 9.99031253e-01 -2.37670249e-05 -1.00109200e+00] [ 3.31866284e-04 9.17169607e-06 9.99999945e-01 -3.13380305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.065898227 meters Centerline goodness [0,1] 0.9997006500171057 Centerline is valid? [True, True] Translation: X:73.70, Y:-1.00, Z:-0.31 [[ 9.99047001e-01 -4.36414043e-02 -7.19888612e-04 7.37007002e+01] [ 4.36413778e-02 9.99047260e-01 -5.25143991e-05 -9.99103445e-01] [ 7.21494547e-04 2.10474221e-05 9.99999740e-01 -3.13955865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.095898227 meters Centerline goodness [0,1] 0.999978931844517 Centerline is valid? [True, True] Translation: X:73.73, Y:-0.99, Z:-0.31 [[ 9.99137027e-01 -4.15320162e-02 -5.42024187e-04 7.37284400e+01] [ 4.15320007e-02 9.99137173e-01 -3.98610730e-05 -9.93130461e-01] [ 5.43212024e-04 1.73153250e-05 9.99999852e-01 -3.12881627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.125898227 meters Centerline goodness [0,1] 0.9999576423745685 Centerline is valid? [True, True] Translation: X:73.76, Y:-0.98, Z:-0.31 [[ 9.99280981e-01 -3.79140419e-02 2.14243449e-04 7.37567623e+01] [ 3.79140393e-02 9.99281004e-01 1.59201283e-05 -9.84284698e-01] [-2.14693005e-04 -7.78584690e-06 9.99999977e-01 -3.09978008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.155898227 meters Centerline goodness [0,1] 0.9999786539159391 Centerline is valid? [True, True] Translation: X:73.79, Y:-0.98, Z:-0.31 [[ 9.99341128e-01 -3.62946882e-02 7.88073499e-05 7.37861664e+01] [ 3.62946879e-02 9.99341131e-01 5.91602807e-06 -9.83235270e-01] [-7.89701466e-05 -3.05184200e-06 9.99999997e-01 -3.10193825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.185898227 meters Centerline goodness [0,1] 0.999893141843517 Centerline is valid? [True, True] Translation: X:73.82, Y:-0.98, Z:-0.31 [[ 9.99382728e-01 -3.51246943e-02 -6.47559113e-04 7.38151127e+01] [ 3.51246709e-02 9.99382937e-01 -4.73439445e-05 -9.77761708e-01] [ 6.48822470e-04 2.45694197e-05 9.99999789e-01 -3.11026228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.215898227 meters Centerline goodness [0,1] 0.999915865637423 Centerline is valid? [True, True] Translation: X:73.84, Y:-0.97, Z:-0.31 [[ 9.99438621e-01 -3.34942551e-02 -7.60168776e-04 7.38428841e+01] [ 3.34942220e-02 9.99438910e-01 -5.61737017e-05 -9.70644092e-01] [ 7.61623749e-04 3.06809052e-05 9.99999709e-01 -3.11298480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.245898227 meters Centerline goodness [0,1] 0.9997863293519369 Centerline is valid? [True, True] Translation: X:73.87, Y:-0.97, Z:-0.31 [[ 9.99475582e-01 -3.23626065e-02 -1.10554686e-03 7.38714673e+01] [ 3.23625361e-02 9.99476193e-01 -8.15105410e-05 -9.68657637e-01] [ 1.10760566e-03 4.56894952e-05 9.99999386e-01 -3.11286672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.275898227 meters Centerline goodness [0,1] 0.9997898055701524 Centerline is valid? [True, True] Translation: X:73.90, Y:-0.96, Z:-0.31 [[ 9.99566335e-01 -2.94378291e-02 -7.45695129e-04 7.39006382e+01] [ 2.94377960e-02 9.99566613e-01 -5.53648891e-05 -9.62865609e-01] [ 7.47001776e-04 3.33892582e-05 9.99999720e-01 -3.10713539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.305898227 meters Centerline goodness [0,1] 0.9997259869738423 Centerline is valid? [True, True] Translation: X:73.93, Y:-0.96, Z:-0.31 [[ 9.99596437e-01 -2.84054895e-02 -3.00632806e-04 7.39275240e+01] [ 2.84054841e-02 9.99596483e-01 -2.19817895e-05 -9.55490699e-01] [ 3.01135899e-04 1.34332981e-05 9.99999955e-01 -3.10655804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.335898227 meters Centerline goodness [0,1] 0.9998305264272852 Centerline is valid? [True, True] Translation: X:73.96, Y:-0.96, Z:-0.31 [[ 9.99637325e-01 -2.69294623e-02 1.51287557e-04 7.39572761e+01] [ 2.69294609e-02 9.99637336e-01 1.13497623e-05 -9.58828289e-01] [-1.51538333e-04 -7.27155366e-06 9.99999988e-01 -3.10758877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.365898227 meters Centerline goodness [0,1] 0.9995354631643405 Centerline is valid? [True, True] Translation: X:73.98, Y:-0.95, Z:-0.31 [[ 9.99680105e-01 -2.52648267e-02 1.17276223e-03 7.39848212e+01] [ 2.52647413e-02 9.99680792e-01 8.75608445e-05 -9.49846021e-01] [-1.17460009e-03 -5.79032998e-05 9.99999308e-01 -3.08871600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.395898227 meters Centerline goodness [0,1] 0.9997024189091528 Centerline is valid? [True, True] Translation: X:74.01, Y:-0.95, Z:-0.31 [[ 9.99715169e-01 -2.38154584e-02 1.55050825e-03 7.40142237e+01] [ 2.38153074e-02 9.99716369e-01 1.15754471e-04 -9.52980744e-01] [-1.55282523e-03 -7.87956697e-05 9.99998791e-01 -3.08557327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.425898227 meters Centerline goodness [0,1] 0.9984282331244629 Centerline is valid? [True, True] Translation: X:74.04, Y:-0.94, Z:-0.31 [[ 9.99735919e-01 -2.29125916e-02 1.76201569e-03 7.40417645e+01] [ 2.29123951e-02 9.99737468e-01 1.31650816e-04 -9.44389189e-01] [-1.76456957e-03 -9.12440503e-05 9.99998439e-01 -3.08136434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.455898227 meters Centerline goodness [0,1] 0.9997450442985532 Centerline is valid? [True, True] Translation: X:74.07, Y:-0.95, Z:-0.31 [[ 9.99754968e-01 -2.20937812e-02 1.36695415e-03 7.40708447e+01] [ 2.20936618e-02 9.99755900e-01 1.02425222e-04 -9.52468126e-01] [-1.36888344e-03 -7.21991018e-05 9.99999060e-01 -3.09985917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.485898227 meters Centerline goodness [0,1] 0.9994279297412971 Centerline is valid? [True, True] Translation: X:74.10, Y:-0.95, Z:-0.31 [[ 9.99752425e-01 -2.22086266e-02 1.36600336e-03 7.40972922e+01] [ 2.22085068e-02 9.99753355e-01 1.02773989e-04 -9.49935318e-01] [-1.36794891e-03 -7.24116497e-05 9.99999062e-01 -3.10450134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.515898227 meters Centerline goodness [0,1] 0.9994279297412971 Centerline is valid? [True, True] Translation: X:74.12, Y:-0.95, Z:-0.31 [[ 9.99748290e-01 -2.23939967e-02 1.36597263e-03 7.41248240e+01] [ 2.23938765e-02 9.99749220e-01 1.03183480e-04 -9.47747803e-01] [-1.36794076e-03 -7.25680857e-05 9.99999062e-01 -3.10343404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.545898227 meters Centerline goodness [0,1] 0.9985455005375324 Centerline is valid? [True, True] Translation: X:74.15, Y:-0.94, Z:-0.31 [[ 9.99753004e-01 -2.21442831e-02 1.88709102e-03 7.41519364e+01] [ 2.21440546e-02 9.99754780e-01 1.41885480e-04 -9.40239957e-01] [-1.88977022e-03 -1.00062588e-04 9.99998209e-01 -3.08933963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.575898227 meters Centerline goodness [0,1] 0.9990551857418939 Centerline is valid? [True, True] Translation: X:74.18, Y:-0.94, Z:-0.31 [[ 9.99751749e-01 -2.21390580e-02 2.51046179e-03 7.41807592e+01] [ 2.21386518e-02 9.99754892e-01 1.89461131e-04 -9.40441297e-01] [-2.51404095e-03 -1.33835857e-04 9.99996831e-01 -3.07978179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.605898227 meters Centerline goodness [0,1] 0.9998068379370292 Centerline is valid? [True, True] Translation: X:74.21, Y:-0.94, Z:-0.31 [[ 9.99755772e-01 -2.19066658e-02 2.91445961e-03 7.42099972e+01] [ 2.19061162e-02 9.99760008e-01 2.20344791e-04 -9.42503496e-01] [-2.91858719e-03 -1.56446485e-04 9.99995729e-01 -3.07480166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.635898227 meters Centerline goodness [0,1] 0.9991480116722401 Centerline is valid? [True, True] Translation: X:74.24, Y:-0.93, Z:-0.31 [[ 9.99766153e-01 -2.13862574e-02 3.20438078e-03 7.42367533e+01] [ 2.13855904e-02 9.99771273e-01 2.42289142e-04 -9.34370089e-01] [-3.20882951e-03 -1.73704909e-04 9.99994837e-01 -3.06455294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.665898227 meters Centerline goodness [0,1] 0.999233651226158 Centerline is valid? [True, True] Translation: X:74.27, Y:-0.93, Z:-0.31 [[ 9.99773055e-01 -2.11088532e-02 2.87305375e-03 7.42661482e+01] [ 2.11083138e-02 9.99777171e-01 2.17960595e-04 -9.34034847e-01] [-2.87701445e-03 -1.57265810e-04 9.99995849e-01 -3.07429922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69589822700001 meters Centerline goodness [0,1] 0.9987432904490074 Centerline is valid? [True, True] Translation: X:74.29, Y:-0.93, Z:-0.31 [[ 9.99783880e-01 -2.06888398e-02 2.04067394e-03 7.42938286e+01] [ 2.06885667e-02 9.99785957e-01 1.54876975e-04 -9.27180193e-01] [-2.04344137e-03 -1.12624884e-04 9.99997906e-01 -3.08949629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.725898227 meters Centerline goodness [0,1] 0.9988653150356462 Centerline is valid? [True, True] Translation: X:74.32, Y:-0.92, Z:-0.31 [[ 9.99780657e-01 -2.08158508e-02 2.31031895e-03 7.43214556e+01] [ 2.08154993e-02 9.99783319e-01 1.76089445e-04 -9.23120399e-01] [-2.31348380e-03 -1.27960379e-04 9.99997316e-01 -3.08191746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.755898227 meters Centerline goodness [0,1] 0.9985997963340122 Centerline is valid? [True, True] Translation: X:74.35, Y:-0.92, Z:-0.31 [[ 9.99777073e-01 -2.09317664e-02 2.76874506e-03 7.43482928e+01] [ 2.09312629e-02 9.99780895e-01 2.10714242e-04 -9.17475618e-01] [-2.77254904e-03 -1.52713938e-04 9.99996145e-01 -3.06810885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.785898227 meters Centerline goodness [0,1] 0.997593921485859 Centerline is valid? [True, True] Translation: X:74.38, Y:-0.91, Z:-0.31 [[ 9.99754020e-01 -2.20027997e-02 2.78874934e-03 7.43763036e+01] [ 2.20022931e-02 9.99757898e-01 2.12225205e-04 -9.11846076e-01] [-2.79274373e-03 -1.50814121e-04 9.99996089e-01 -3.06663031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.815898227 meters Centerline goodness [0,1] 0.9995982577071088 Centerline is valid? [True, True] Translation: X:74.41, Y:-0.92, Z:-0.31 [[ 9.99717083e-01 -2.36907533e-02 2.12190482e-03 7.44068655e+01] [ 2.36904636e-02 9.99719329e-01 1.61531224e-04 -9.15676675e-01] [-2.12513606e-03 -1.11216615e-04 9.99997736e-01 -3.08189213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.845898227 meters Centerline goodness [0,1] 0.9987049382191839 Centerline is valid? [True, True] Translation: X:74.44, Y:-0.91, Z:-0.31 [[ 9.99660540e-01 -2.60189222e-02 1.34907179e-03 7.44354696e+01] [ 2.60188072e-02 9.99661448e-01 1.02760042e-04 -9.08563080e-01] [-1.35128876e-03 -6.76239207e-05 9.99999085e-01 -3.09584379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.875898227 meters Centerline goodness [0,1] 0.9989639934879591 Centerline is valid? [True, True] Translation: X:74.46, Y:-0.90, Z:-0.31 [[ 9.99523237e-01 -3.08672783e-02 7.14508078e-04 7.44641425e+01] [ 3.08672472e-02 9.99523492e-01 5.45015370e-05 -9.02934762e-01] [-7.15849923e-04 -3.24206552e-05 9.99999743e-01 -3.11268846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.905898227 meters Centerline goodness [0,1] 0.9998508925148042 Centerline is valid? [True, True] Translation: X:74.49, Y:-0.91, Z:-0.31 [[ 9.99436926e-01 -3.35075323e-02 1.75405502e-03 7.44948360e+01] [ 3.35073493e-02 9.99438462e-01 1.33591141e-04 -9.12468060e-01] [-1.75754636e-03 -7.47421855e-05 9.99998453e-01 -3.11096732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.935898227 meters Centerline goodness [0,1] 0.9997451255256786 Centerline is valid? [True, True] Translation: X:74.52, Y:-0.90, Z:-0.31 [[ 9.99338552e-01 -3.62528924e-02 2.86125455e-03 7.45231145e+01] [ 3.62524164e-02 9.99342641e-01 2.18076081e-04 -9.04976838e-01] [-2.86727957e-03 -1.14204443e-04 9.99995883e-01 -3.07757044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.965898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:-0.91, Z:-0.31 [[ 9.99254117e-01 -3.83652211e-02 4.39548336e-03 7.45527658e+01] [ 3.83641135e-02 9.99263770e-01 3.36049801e-04 -9.08936589e-01] [-4.40513990e-03 -1.67170324e-04 9.99990283e-01 -3.06379253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.995898227 meters Centerline goodness [0,1] 0.999915897479027 Centerline is valid? [True, True] Translation: X:74.58, Y:-0.90, Z:-0.30 [[ 9.99152154e-01 -4.07873142e-02 5.60067793e-03 7.45798905e+01] [ 4.07855539e-02 9.99167831e-01 4.28213419e-04 -8.99438110e-01] [-5.61348290e-03 -1.99423608e-04 9.99984224e-01 -3.03130077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.025898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.61, Y:-0.90, Z:-0.30 [[ 9.99070810e-01 -4.26595365e-02 6.13843950e-03 7.46087831e+01] [ 4.26574566e-02 9.99089646e-01 4.69421554e-04 -8.95819537e-01] [-6.15287665e-03 -2.07135156e-04 9.99981049e-01 -3.02185125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.055898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.64, Y:-0.90, Z:-0.30 [[ 9.98937772e-01 -4.56720546e-02 6.11478103e-03 7.46386588e+01] [ 4.56700467e-02 9.98956470e-01 4.67674682e-04 -8.96241760e-01] [-6.12975973e-03 -1.87915570e-04 9.99981195e-01 -3.03829965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.085898227 meters Centerline goodness [0,1] 0.9999791175057949 Centerline is valid? [True, True] Translation: X:74.67, Y:-0.89, Z:-0.30 [[ 9.98861843e-01 -4.72385208e-02 6.59857348e-03 7.46656785e+01] [ 4.72362134e-02 9.98883619e-01 5.05181010e-04 -8.86687221e-01] [-6.61507096e-03 -1.92914410e-04 9.99978102e-01 -3.00875783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.115898227 meters Centerline goodness [0,1] 0.99993653211475 Centerline is valid? [True, True] Translation: X:74.69, Y:-0.89, Z:-0.30 [[ 9.98756277e-01 -4.93201111e-02 7.30925065e-03 7.46946740e+01] [ 4.93173337e-02 9.98783003e-01 5.59846661e-04 -8.87315168e-01] [-7.32796702e-03 -1.98677613e-04 9.99973130e-01 -3.00145340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.72, Y:-0.89, Z:-0.30 [[ 9.98678606e-01 -5.07842404e-02 7.87412657e-03 7.47232367e+01] [ 5.07810488e-02 9.98709627e-01 6.04855970e-04 -8.87216273e-01] [-7.89468316e-03 -2.04200311e-04 9.99968816e-01 -2.99845211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.175898227 meters Centerline goodness [0,1] 0.999978813559322 Centerline is valid? [True, True] Translation: X:74.75, Y:-0.88, Z:-0.30 [[ 9.98560788e-01 -5.30088093e-02 8.14975291e-03 7.47520480e+01] [ 5.30054536e-02 9.98594026e-01 6.27351984e-04 -8.83929017e-01] [-8.17154975e-03 -1.94467743e-04 9.99966593e-01 -2.99146828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.78, Y:-0.88, Z:-0.30 [[ 9.98272902e-01 -5.82724902e-02 7.45190410e-03 7.47820101e+01] [ 5.82698345e-02 9.98300705e-01 5.73183861e-04 -8.82568608e-01] [-7.47264197e-03 -1.37972697e-04 9.99972070e-01 -3.00808720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.235898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.81, Y:-0.88, Z:-0.30 [[ 9.98068697e-01 -6.17103650e-02 7.12084468e-03 7.48102591e+01] [ 6.17080241e-02 9.98094093e-01 5.48193513e-04 -8.80153348e-01] [-7.14110224e-03 -1.07721530e-04 9.99974496e-01 -3.00995401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.84, Y:-0.88, Z:-0.30 [[ 9.97807571e-01 -6.58016251e-02 7.08506746e-03 7.48390959e+01] [ 6.57994084e-02 9.97832721e-01 5.45775227e-04 -8.82230156e-01] [-7.10562505e-03 -7.83854062e-05 9.99974752e-01 -3.02811621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.295898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.87, Y:-0.88, Z:-0.30 [[ 9.97514675e-01 -7.01190579e-02 6.91306699e-03 7.48685228e+01] [ 7.01170398e-02 9.97538629e-01 5.34156824e-04 -8.84281288e-01] [-6.93350594e-03 -4.81054771e-05 9.99975962e-01 -3.03478635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.325898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.90, Y:-0.89, Z:-0.30 [[ 9.97202191e-01 -7.43962712e-02 7.27902686e-03 7.48969879e+01] [ 7.43941478e-02 9.97228757e-01 5.62416638e-04 -8.86995401e-01] [-7.30069662e-03 -1.93261028e-05 9.99973349e-01 -3.03225932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.355898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.92, Y:-0.89, Z:-0.30 [[ 9.96917503e-01 -7.80938217e-02 7.53967806e-03 7.49240997e+01] [ 7.80916398e-02 9.96946014e-01 5.83792475e-04 -8.89710474e-01] [-7.56224258e-03 6.79288780e-06 9.99971406e-01 -3.01324501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.95, Y:-0.89, Z:-0.30 [[ 9.96595670e-01 -8.20491057e-02 8.06317061e-03 7.49523983e+01] [ 8.20467387e-02 9.96628287e-01 6.24471337e-04 -8.91624889e-01] [-8.08722123e-03 3.92114211e-05 9.99967297e-01 -3.00419571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.415898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.98, Y:-0.89, Z:-0.30 [[ 9.96566296e-01 -8.23510851e-02 8.59744377e-03 7.49811072e+01] [ 8.23483893e-02 9.96603380e-01 6.67686155e-04 -8.87361425e-01] [-8.62322620e-03 4.25921279e-05 9.99962818e-01 -3.01387494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44589822700001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.01, Y:-0.88, Z:-0.30 [[ 9.96604903e-01 -8.18250913e-02 9.12811174e-03 7.50093404e+01] [ 8.18220138e-02 9.96646704e-01 7.10710458e-04 -8.81859625e-01] [-9.15565643e-03 3.85829581e-05 9.99958085e-01 -3.01268620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.475898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.04, Y:-0.88, Z:-0.30 [[ 9.96694009e-01 -8.06571635e-02 9.77108023e-03 7.50371462e+01] [ 8.06535809e-02 9.96741903e-01 7.60786551e-04 -8.75889211e-01] [-9.80060799e-03 2.98012125e-05 9.99951972e-01 -2.99404214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.07, Y:-0.87, Z:-0.30 [[ 9.96772815e-01 -7.95901634e-02 1.04576269e-02 7.50657647e+01] [ 7.95859788e-02 9.96827671e-01 8.16362557e-04 -8.68616124e-01] [-1.04894263e-02 1.85524671e-05 9.99944984e-01 -2.99541599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.535898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.09, Y:-0.86, Z:-0.30 [[ 9.96824132e-01 -7.89163094e-02 1.06707541e-02 7.50920427e+01] [ 7.89119079e-02 9.96881245e-01 8.33541803e-04 -8.61714404e-01] [-1.07032547e-02 1.11549790e-05 9.99942718e-01 -2.98199134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.12, Y:-0.85, Z:-0.30 [[ 9.96811262e-01 -7.90301716e-02 1.10245319e-02 7.51192532e+01] [ 7.90254528e-02 9.96872224e-01 8.63672125e-04 -8.51032965e-01] [-1.10583058e-02 1.03005277e-05 9.99938855e-01 -2.99732935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.595898227 meters Centerline goodness [0,1] 0.9998946214803575 Centerline is valid? [True, True] Translation: X:75.15, Y:-0.85, Z:-0.30 [[ 9.96719846e-01 -8.02237477e-02 1.06629864e-02 7.51468418e+01] [ 8.02193797e-02 9.96776881e-01 8.37402044e-04 -8.45274298e-01] [-1.06957978e-02 2.07229178e-05 9.99942798e-01 -2.99528631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.17, Y:-0.84, Z:-0.30 [[ 9.96625443e-01 -8.14109199e-02 1.04875682e-02 7.51741532e+01] [ 8.14067390e-02 9.96680621e-01 8.25638726e-04 -8.40694517e-01] [-1.05199720e-02 3.09061625e-05 9.99944663e-01 -3.00634374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.655898227 meters Centerline goodness [0,1] 0.9998516854884845 Centerline is valid? [True, True] Translation: X:75.20, Y:-0.84, Z:-0.30 [[ 9.96469126e-01 -8.33663179e-02 9.96679867e-03 7.52005154e+01] [ 8.33626353e-02 9.96518969e-01 7.85086723e-04 -8.36258527e-01] [-9.99755372e-03 4.85439215e-05 9.99950022e-01 -3.00394825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.685898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.23, Y:-0.83, Z:-0.30 [[ 9.96367284e-01 -8.46031854e-02 9.72301685e-03 7.52280092e+01] [ 8.45997348e-02 9.96414722e-01 7.66374160e-04 -8.32041316e-01] [-9.75299482e-03 5.89745062e-05 9.99952437e-01 -3.00330815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.715898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.26, Y:-0.82, Z:-0.30 [[ 9.96132044e-01 -8.73702528e-02 9.34827387e-03 7.52563301e+01] [ 8.73671662e-02 9.96175904e-01 7.38835152e-04 -8.22929593e-01] [-9.37707739e-03 8.07548269e-05 9.99956031e-01 -3.04492325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.745898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.28, Y:-0.82, Z:-0.31 [[ 9.96044522e-01 -8.84389933e-02 8.59383632e-03 7.52839723e+01] [ 8.84364092e-02 9.96081592e-01 6.80991371e-04 -8.18061172e-01] [-8.62038836e-03 8.17103008e-05 9.99962840e-01 -3.05760593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.775898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.31, Y:-0.81, Z:-0.31 [[ 9.95960157e-01 -8.94405798e-02 7.98426987e-03 7.53107770e+01] [ 8.94383790e-02 9.95992156e-01 6.32987733e-04 -8.13932440e-01] [-8.00888496e-03 8.36695932e-05 9.99967925e-01 -3.05947422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.805898227 meters Centerline goodness [0,1] 0.9999158125144697 Centerline is valid? [True, True] Translation: X:75.34, Y:-0.81, Z:-0.31 [[ 9.95861679e-01 -9.05635661e-02 7.59980144e-03 7.53387303e+01] [ 9.05615995e-02 9.95890673e-01 6.03211495e-04 -8.09207934e-01] [-7.62320036e-03 8.75349626e-05 9.99970939e-01 -3.06187495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.835898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.37, Y:-0.80, Z:-0.31 [[ 9.95825558e-01 -9.09770787e-02 7.39111955e-03 7.53667371e+01] [ 9.09752166e-02 9.95852983e-01 5.88452777e-04 -8.02916970e-01] [-7.41400417e-03 8.64123872e-05 9.99972512e-01 -3.08603865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.865898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.40, Y:-0.80, Z:-0.31 [[ 9.95828871e-01 -9.09873232e-02 6.79459514e-03 7.53952595e+01] [ 9.09857418e-02 9.95852048e-01 5.42133190e-04 -7.95780889e-01] [-6.81573873e-03 7.83393961e-05 9.99976770e-01 -3.11333848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.895898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.42, Y:-0.79, Z:-0.31 [[ 9.95995566e-01 -8.92119367e-02 5.83627618e-03 7.54227359e+01] [ 8.92107393e-02 9.96012664e-01 4.65690715e-04 -7.87730512e-01] [-5.85455016e-03 5.68326254e-05 9.99982860e-01 -3.12013784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.925898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.45, Y:-0.78, Z:-0.31 [[ 9.96185553e-01 -8.70626846e-02 5.86796697e-03 7.54498854e+01] [ 8.70614333e-02 9.96202834e-01 4.68837053e-04 -7.80424925e-01] [-5.88650354e-03 4.38249159e-05 9.99982673e-01 -3.11475569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.955898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.48, Y:-0.77, Z:-0.31 [[ 9.96445426e-01 -8.40354497e-02 5.87840268e-03 7.54782270e+01] [ 8.40341335e-02 9.96462765e-01 4.70974613e-04 -7.70306699e-01] [-5.89718795e-03 2.46859771e-05 9.99982611e-01 -3.12296044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.985898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.51, Y:-0.76, Z:-0.31 [[ 9.96776667e-01 -7.99881783e-02 6.17798151e-03 7.55051756e+01] [ 7.99866390e-02 9.96795812e-01 4.96227123e-04 -7.59405540e-01] [-6.19787840e-03 -4.71641291e-07 9.99980793e-01 -3.11418864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.015898227 meters Centerline goodness [0,1] 0.9999574983530611 Centerline is valid? [True, True] Translation: X:75.53, Y:-0.75, Z:-0.31 [[ 9.97121336e-01 -7.55723328e-02 6.15332589e-03 7.55322206e+01] [ 7.55707226e-02 9.97140322e-01 4.94102269e-04 -7.47779925e-01] [-6.17306982e-03 -2.76686305e-05 9.99980946e-01 -3.10175348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.045898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:-0.74, Z:-0.31 [[ 9.97487242e-01 -7.05772538e-02 6.16871276e-03 7.55588806e+01] [ 7.05755377e-02 9.97506315e-01 4.95700581e-04 -7.35880250e-01] [-6.18831511e-03 -5.90947862e-05 9.99980850e-01 -3.09840332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.075898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.59, Y:-0.71, Z:-0.31 [[ 9.98070086e-01 -6.17099690e-02 6.92695964e-03 7.55862455e+01] [ 6.17075926e-02 9.98094115e-01 5.56481743e-04 -7.11409498e-01] [-6.94809813e-03 -1.27961778e-04 9.99975853e-01 -3.08700599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.105898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.62, Y:-0.70, Z:-0.31 [[ 9.98310918e-01 -5.76304864e-02 7.35109428e-03 7.56153442e+01] [ 5.76276978e-02 9.98337969e-01 5.90780519e-04 -7.01586678e-01] [-7.37292350e-03 -1.66156002e-04 9.99972806e-01 -3.10090768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.135898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-0.69, Z:-0.31 [[ 9.98524191e-01 -5.37238972e-02 7.94871854e-03 7.56426793e+01] [ 5.37205084e-02 9.98555806e-01 6.39380543e-04 -6.86446170e-01] [-7.97158907e-03 -2.11427738e-04 9.99968204e-01 -3.08358711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.165898227 meters Centerline goodness [0,1] 0.9997872204608805 Centerline is valid? [True, True] Translation: X:75.67, Y:-0.68, Z:-0.31 [[ 9.98667015e-01 -5.09379618e-02 8.33772419e-03 7.56714961e+01] [ 5.09341330e-02 9.98701789e-01 6.71053726e-04 -6.78426160e-01] [-8.36108217e-03 -2.45484469e-04 9.99965015e-01 -3.09071151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19589822700001 meters Centerline goodness [0,1] 0.9996226731510984 Centerline is valid? [True, True] Translation: X:75.70, Y:-0.67, Z:-0.31 [[ 9.98763259e-01 -4.89327612e-02 8.80555122e-03 7.56994817e+01] [ 4.89284090e-02 9.98802036e-01 7.09130441e-04 -6.66733124e-01] [-8.82970221e-03 -2.77411818e-04 9.99960979e-01 -3.07345653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.225898227 meters Centerline goodness [0,1] 0.999598495414395 Centerline is valid? [True, True] Translation: X:75.73, Y:-0.66, Z:-0.31 [[ 9.98790621e-01 -4.83261450e-02 9.04872725e-03 7.57269774e+01] [ 4.83215194e-02 9.98831567e-01 7.29248143e-04 -6.56488008e-01] [-9.07339617e-03 -2.91117955e-04 9.99958794e-01 -3.05961046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.255898227 meters Centerline goodness [0,1] 0.9997884582839736 Centerline is valid? [True, True] Translation: X:75.76, Y:-0.65, Z:-0.31 [[ 9.98689251e-01 -5.01453634e-02 1.02577993e-02 7.57557226e+01] [ 5.01394938e-02 9.98741881e-01 8.28737603e-04 -6.50183721e-01] [-1.02864511e-02 -3.13330473e-04 9.99947044e-01 -3.07066420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.285898227 meters Centerline goodness [0,1] 0.9997280220929746 Centerline is valid? [True, True] Translation: X:75.78, Y:-0.65, Z:-0.31 [[ 9.98570953e-01 -5.22688248e-02 1.11364916e-02 7.57849384e+01] [ 5.22620324e-02 9.98633000e-01 9.00270325e-04 -6.46290725e-01] [-1.11683241e-02 -3.16968112e-04 9.99937582e-01 -3.06632287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.315898227 meters Centerline goodness [0,1] 0.9997890918294174 Centerline is valid? [True, True] Translation: X:75.81, Y:-0.64, Z:-0.31 [[ 9.98452379e-01 -5.43482382e-02 1.17947358e-02 7.58139676e+01] [ 5.43407378e-02 9.98521993e-01 9.55696300e-04 -6.43542948e-01] [-1.18292435e-02 -3.13282600e-04 9.99929983e-01 -3.06066374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.345898227 meters Centerline goodness [0,1] 0.9999574341293151 Centerline is valid? [True, True] Translation: X:75.84, Y:-0.64, Z:-0.31 [[ 9.98313916e-01 -5.70527639e-02 1.06915011e-02 7.58436399e+01] [ 5.70467604e-02 9.98371132e-01 8.65903809e-04 -6.38474213e-01] [-1.07234883e-02 -2.54528320e-04 9.99942469e-01 -3.08701365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.375898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:-0.63, Z:-0.31 [[ 9.98271425e-01 -5.79000733e-02 1.00867536e-02 7.58717572e+01] [ 5.78947504e-02 9.98322356e-01 8.19155082e-04 -6.33654887e-01] [-1.01172607e-02 -2.33769031e-04 9.99948792e-01 -3.10084257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.405898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.90, Y:-0.63, Z:-0.31 [[ 9.98260725e-01 -5.80842889e-02 1.00865952e-02 7.58992123e+01] [ 5.80789557e-02 9.98311655e-01 8.21104014e-04 -6.31269723e-01] [-1.01172588e-02 -2.33856973e-04 9.99948792e-01 -3.09977687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.435898227 meters Centerline goodness [0,1] 0.9999789743697567 Centerline is valid? [True, True] Translation: X:75.93, Y:-0.63, Z:-0.31 [[ 9.98206879e-01 -5.90462143e-02 9.82705881e-03 7.59282086e+01] [ 5.90411834e-02 9.98255226e-01 8.01517935e-04 -6.27295117e-01] [-9.85723942e-03 -2.19879535e-04 9.99951392e-01 -3.10955052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.465898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.96, Y:-0.62, Z:-0.31 [[ 9.98178581e-01 -5.95730034e-02 9.51724121e-03 7.59569618e+01] [ 5.95682932e-02 9.98223929e-01 7.77876173e-04 -6.23972585e-01] [-9.54667834e-03 -2.09533520e-04 9.99954407e-01 -3.12447418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.495898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.98, Y:-0.62, Z:-0.31 [[ 9.98172879e-01 -5.97513464e-02 8.98222183e-03 7.59845071e+01] [ 5.97471567e-02 9.98213273e-01 7.34302096e-04 -6.17564468e-01] [-9.01004859e-03 -1.96298222e-04 9.99959389e-01 -3.12327306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.525898227 meters Centerline goodness [0,1] 0.9998731205988708 Centerline is valid? [True, True] Translation: X:76.01, Y:-0.61, Z:-0.31 [[ 9.98180634e-01 -5.97999093e-02 7.70669280e-03 7.60131374e+01] [ 5.97968136e-02 9.98210370e-01 6.31698695e-04 -6.12476774e-01] [-7.73067619e-03 -1.69713731e-04 9.99970103e-01 -3.13726463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.555898227 meters Centerline goodness [0,1] 0.9998303071440693 Centerline is valid? [True, True] Translation: X:76.04, Y:-0.61, Z:-0.32 [[ 9.98317000e-01 -5.76780394e-02 6.03413395e-03 7.60416297e+01] [ 5.76760958e-02 9.98335225e-01 4.95757990e-04 -6.05932017e-01] [-6.05268283e-03 -1.46898341e-04 9.99981672e-01 -3.17396503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.585898227 meters Centerline goodness [0,1] 0.999894659222585 Centerline is valid? [True, True] Translation: X:76.07, Y:-0.60, Z:-0.32 [[ 9.98410103e-01 -5.60719771e-02 5.76196113e-03 7.60688232e+01] [ 5.60701768e-02 9.98426718e-01 4.73638468e-04 -5.98235782e-01] [-5.77945378e-03 -1.49811253e-04 9.99983288e-01 -3.17345126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.615898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.10, Y:-0.59, Z:-0.32 [[ 9.98487647e-01 -5.46508094e-02 5.97560938e-03 7.60960056e+01] [ 5.46488446e-02 9.98505514e-01 4.91703903e-04 -5.89708179e-01] [-5.99355094e-03 -1.64400124e-04 9.99982025e-01 -3.17504126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.645898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.12, Y:-0.59, Z:-0.32 [[ 9.98545292e-01 -5.35648728e-02 6.17291663e-03 7.61246995e+01] [ 5.35627474e-02 9.98564356e-01 5.09230048e-04 -5.87343145e-01] [-6.19133136e-03 -1.77850893e-04 9.99980818e-01 -3.19085516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.675898227 meters Centerline goodness [0,1] 0.9999790043880828 Centerline is valid? [True, True] Translation: X:76.15, Y:-0.58, Z:-0.32 [[ 9.98566690e-01 -5.31414514e-02 6.36797021e-03 7.61524640e+01] [ 5.31391814e-02 9.98586977e-01 5.25262975e-04 -5.80035641e-01] [-6.38688536e-03 -1.86121387e-04 9.99979586e-01 -3.18838301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.705898227 meters Centerline goodness [0,1] 0.9999153922626224 Centerline is valid? [True, True] Translation: X:76.18, Y:-0.58, Z:-0.32 [[ 9.98583365e-01 -5.28490134e-02 6.18423624e-03 7.61813014e+01] [ 5.28468583e-02 9.98602497e-01 5.11486000e-04 -5.77378622e-01] [-6.20262528e-03 -1.83943955e-04 9.99980747e-01 -3.19390328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.735898227 meters Centerline goodness [0,1] 0.9997911663360134 Centerline is valid? [True, True] Translation: X:76.21, Y:-0.57, Z:-0.32 [[ 9.98620572e-01 -5.22470171e-02 5.21567380e-03 7.62087436e+01] [ 5.22454760e-02 9.98634179e-01 4.31373594e-04 -5.74164719e-01] [-5.23108811e-03 -1.58283184e-04 9.99986305e-01 -3.21327138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.765898227 meters Centerline goodness [0,1] 0.9999158196014059 Centerline is valid? [True, True] Translation: X:76.24, Y:-0.58, Z:-0.32 [[ 9.98626325e-01 -5.21900418e-02 4.65421824e-03 7.62372210e+01] [ 5.21888075e-02 9.98637161e-01 3.86326986e-04 -5.76807053e-01] [-4.66803771e-03 -1.42898198e-04 9.99989094e-01 -3.23358739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.795898227 meters Centerline goodness [0,1] 0.9999577774024658 Centerline is valid? [True, True] Translation: X:76.27, Y:-0.58, Z:-0.32 [[ 9.98644569e-01 -5.18510654e-02 4.52684184e-03 7.62659160e+01] [ 5.18498913e-02 9.98654819e-01 3.76420781e-04 -5.75159125e-01] [-4.54027023e-03 -1.41194312e-04 9.99989683e-01 -3.23703710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.825898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.29, Y:-0.57, Z:-0.32 [[ 9.98677281e-01 -5.12095344e-02 4.61216443e-03 7.62938156e+01] [ 5.12083095e-02 9.98687920e-01 3.83363635e-04 -5.71920329e-01] [-4.62574478e-03 -1.46675409e-04 9.99989290e-01 -3.23461348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.855898227 meters Centerline goodness [0,1] 0.9999154530658833 Centerline is valid? [True, True] Translation: X:76.32, Y:-0.57, Z:-0.32 [[ 9.98733898e-01 -5.00853222e-02 4.69692688e-03 7.63222349e+01] [ 5.00840340e-02 9.98744931e-01 3.91563135e-04 -5.68688358e-01] [-4.71064347e-03 -1.55826331e-04 9.99988893e-01 -3.23156640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.885898227 meters Centerline goodness [0,1] 0.999743353936309 Centerline is valid? [True, True] Translation: X:76.35, Y:-0.56, Z:-0.32 [[ 9.98924120e-01 -4.60957868e-02 5.07752190e-03 7.63516447e+01] [ 4.60942327e-02 9.98937007e-01 4.22721214e-04 -5.62207889e-01] [-5.09161019e-03 -1.88221940e-04 9.99987020e-01 -3.23321797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.915898227 meters Centerline goodness [0,1] 0.999767559800524 Centerline is valid? [True, True] Translation: X:76.38, Y:-0.56, Z:-0.32 [[ 9.99034174e-01 -4.37033498e-02 4.55364251e-03 7.63812296e+01] [ 4.37020744e-02 9.99044536e-01 3.79260960e-04 -5.57584657e-01] [-4.56586665e-03 -1.79891036e-04 9.99989560e-01 -3.24436012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94589822700001 meters Centerline goodness [0,1] 0.9995762532310691 Centerline is valid? [True, True] Translation: X:76.41, Y:-0.55, Z:-0.33 [[ 9.99134733e-01 -4.14185906e-02 3.77969529e-03 7.64089265e+01] [ 4.14176945e-02 9.99141869e-01 3.15077277e-04 -5.49180451e-01] [-3.78950188e-03 -1.58258386e-04 9.99992807e-01 -3.25586405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.975898227 meters Centerline goodness [0,1] 0.9997651128525976 Centerline is valid? [True, True] Translation: X:76.44, Y:-0.54, Z:-0.33 [[ 9.99208436e-01 -3.96709495e-02 2.95240272e-03 7.64380786e+01] [ 3.96703951e-02 9.99212790e-01 2.46128645e-04 -5.43926579e-01] [-2.95984272e-03 -1.28810835e-04 9.99995611e-01 -3.27746887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.005898227 meters Centerline goodness [0,1] 0.999659378792072 Centerline is valid? [True, True] Translation: X:76.47, Y:-0.54, Z:-0.33 [[ 9.99257116e-01 -3.84863996e-02 2.00319416e-03 7.64670336e+01] [ 3.84861402e-02 9.99259120e-01 1.67887160e-04 -5.42305732e-01] [-2.00817141e-03 -9.06672279e-05 9.99997980e-01 -3.30120773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.035898227 meters Centerline goodness [0,1] 0.9996590739596429 Centerline is valid? [True, True] Translation: X:76.50, Y:-0.54, Z:-0.33 [[ 9.99273977e-01 -3.80894656e-02 8.43938864e-04 7.64957299e+01] [ 3.80894190e-02 9.99274332e-01 7.12427095e-05 -5.40713112e-01] [-8.46040042e-04 -3.90458446e-05 9.99999641e-01 -3.31604074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.065898227 meters Centerline goodness [0,1] 0.9996842836395782 Centerline is valid? [True, True] Translation: X:76.52, Y:-0.53, Z:-0.33 [[ 9.99260353e-01 -3.84418613e-02 9.84917404e-04 7.65226031e+01] [ 3.84417985e-02 9.99260837e-01 8.26840256e-05 -5.31506046e-01] [-9.87367918e-04 -4.47608723e-05 9.99999512e-01 -3.31807681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.095898227 meters Centerline goodness [0,1] 0.9995154936698195 Centerline is valid? [True, True] Translation: X:76.55, Y:-0.53, Z:-0.33 [[ 9.99202557e-01 -3.99070912e-02 1.29353794e-03 7.65501012e+01] [ 3.99069840e-02 9.99203393e-01 1.08588585e-04 -5.26597623e-01] [-1.29684096e-03 -5.68807937e-05 9.99999157e-01 -3.29872358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.125898227 meters Centerline goodness [0,1] 0.9997450172113382 Centerline is valid? [True, True] Translation: X:76.58, Y:-0.53, Z:-0.33 [[ 9.99142562e-01 -4.13364908e-02 2.33121469e-03 7.65790067e+01] [ 4.13361451e-02 9.99145277e-01 1.96305732e-04 -5.27192860e-01] [-2.33733674e-03 -9.97739833e-05 9.99997263e-01 -3.28743860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.155898227 meters Centerline goodness [0,1] 0.9998513863530211 Centerline is valid? [True, True] Translation: X:76.61, Y:-0.53, Z:-0.33 [[ 9.99073221e-01 -4.28900735e-02 3.62508417e-03 7.66077693e+01] [ 4.28892500e-02 9.99079786e-01 3.04636439e-04 -5.25730097e-01] [-3.63481420e-03 -1.48876967e-04 9.99993383e-01 -3.27660388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.185898227 meters Centerline goodness [0,1] 0.9996823312649569 Centerline is valid? [True, True] Translation: X:76.64, Y:-0.52, Z:-0.33 [[ 9.98993965e-01 -4.46354293e-02 4.32844435e-03 7.66355012e+01] [ 4.46342704e-02 9.99003328e-01 3.64002639e-04 -5.21352566e-01] [-4.34037773e-03 -1.70439484e-04 9.99990566e-01 -3.26264718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.215898227 meters Centerline goodness [0,1] 0.999894213477203 Centerline is valid? [True, True] Translation: X:76.66, Y:-0.52, Z:-0.33 [[ 9.98931584e-01 -4.59629636e-02 4.80590018e-03 7.66630171e+01] [ 4.59615481e-02 9.98943128e-01 4.04633238e-04 -5.18142634e-01] [-4.81941910e-03 -1.83314309e-04 9.99988370e-01 -3.26597961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.245898227 meters Centerline goodness [0,1] 0.9997274347415872 Centerline is valid? [True, True] Translation: X:76.69, Y:-0.51, Z:-0.33 [[ 9.98838488e-01 -4.80216304e-02 3.94931394e-03 7.66911720e+01] [ 4.80206906e-02 9.98846286e-01 3.32511914e-04 -5.12789164e-01] [-3.96072533e-03 -1.42476914e-04 9.99992146e-01 -3.28421087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.275898227 meters Centerline goodness [0,1] 0.9997016833581931 Centerline is valid? [True, True] Translation: X:76.72, Y:-0.51, Z:-0.33 [[ 9.98783457e-01 -4.91474902e-02 4.01613259e-03 7.67191626e+01] [ 4.91465231e-02 9.98791522e-01 3.39210200e-04 -5.07787988e-01] [-4.02795051e-03 -1.41418584e-04 9.99991878e-01 -3.27860163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.305898227 meters Centerline goodness [0,1] 0.9997087217043942 Centerline is valid? [True, True] Translation: X:76.75, Y:-0.51, Z:-0.33 [[ 9.98760784e-01 -4.95892019e-02 4.21983559e-03 7.67478078e+01] [ 4.95881355e-02 9.98769688e-01 3.57041807e-04 -5.07325240e-01] [-4.23234930e-03 -1.47345576e-04 9.99991033e-01 -3.27606154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.335898227 meters Centerline goodness [0,1] 0.9998117981639866 Centerline is valid? [True, True] Translation: X:76.78, Y:-0.50, Z:-0.33 [[ 9.98763522e-01 -4.95785304e-02 3.66000741e-03 7.67754736e+01] [ 4.95777251e-02 9.98770220e-01 3.10487394e-04 -5.03536693e-01] [-3.67089991e-03 -1.28648643e-04 9.99993254e-01 -3.28027117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.365898227 meters Centerline goodness [0,1] 0.9999155030735757 Centerline is valid? [True, True] Translation: X:76.80, Y:-0.50, Z:-0.33 [[ 9.98796338e-01 -4.89486220e-02 3.14749289e-03 7.68045688e+01] [ 4.89480216e-02 9.98801291e-01 2.67554431e-04 -5.01837599e-01] [-3.15681638e-03 -1.13168837e-04 9.99995011e-01 -3.29861849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.395898227 meters Centerline goodness [0,1] 0.9997901187927632 Centerline is valid? [True, True] Translation: X:76.83, Y:-0.49, Z:-0.33 [[ 9.98858207e-01 -4.77189538e-02 2.27672787e-03 7.68318293e+01] [ 4.77186367e-02 9.98860798e-01 1.93436469e-04 -4.94453678e-01] [-2.28336480e-03 -8.45732549e-05 9.99997390e-01 -3.31069365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.425898227 meters Centerline goodness [0,1] 0.9995996460027814 Centerline is valid? [True, True] Translation: X:76.86, Y:-0.48, Z:-0.33 [[ 9.98999934e-01 -4.46734969e-02 1.84675032e-03 7.68596749e+01] [ 4.46732832e-02 9.99001638e-01 1.56854178e-04 -4.79858155e-01] [-1.85191382e-03 -7.41969136e-05 9.99998282e-01 -3.32213187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.455898227 meters Centerline goodness [0,1] 0.9997882791327913 Centerline is valid? [True, True] Translation: X:76.89, Y:-0.48, Z:-0.33 [[ 9.99064816e-01 -4.31863585e-02 2.10543605e-03 7.68890935e+01] [ 4.31860773e-02 9.99067030e-01 1.78863028e-04 -4.75220011e-01] [-2.11119619e-03 -8.77702342e-05 9.99997768e-01 -3.32727414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.485898227 meters Centerline goodness [0,1] 0.9997258598511208 Centerline is valid? [True, True] Translation: X:76.92, Y:-0.47, Z:-0.33 [[ 9.99131427e-01 -4.15999790e-02 2.41519093e-03 7.69180632e+01] [ 4.15996039e-02 9.99134341e-01 2.05386593e-04 -4.69146223e-01] [-2.42164428e-03 -1.04737214e-04 9.99997062e-01 -3.32504237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.515898227 meters Centerline goodness [0,1] 0.9998096527219661 Centerline is valid? [True, True] Translation: X:76.95, Y:-0.46, Z:-0.33 [[ 9.99180947e-01 -4.03595169e-02 2.92318230e-03 7.69475237e+01] [ 4.03589622e-02 9.99185214e-01 2.48511076e-04 -4.61435220e-01] [-2.93083032e-03 -1.30330928e-04 9.99995697e-01 -3.31851097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.545898227 meters Centerline goodness [0,1] 0.9995120916419177 Centerline is valid? [True, True] Translation: X:76.97, Y:-0.45, Z:-0.33 [[ 9.99222239e-01 -3.93296199e-02 2.84586824e-03 7.69745422e+01] [ 3.93290891e-02 9.99226283e-01 2.42238617e-04 -4.53974180e-01] [-2.85319350e-03 -1.30124808e-04 9.99995921e-01 -3.31816977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.575898227 meters Centerline goodness [0,1] 0.9994110346858501 Centerline is valid? [True, True] Translation: X:77.00, Y:-0.44, Z:-0.33 [[ 9.99248593e-01 -3.86950955e-02 2.22246214e-03 7.70015145e+01] [ 3.86947699e-02 9.99251059e-01 1.89348397e-04 -4.44710693e-01] [-2.22812450e-03 -1.03208458e-04 9.99997512e-01 -3.32546399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.605898227 meters Centerline goodness [0,1] 0.9994130963360442 Centerline is valid? [True, True] Translation: X:77.03, Y:-0.44, Z:-0.34 [[ 9.99242419e-01 -3.89092132e-02 8.12616604e-04 7.70298533e+01] [ 3.89091692e-02 9.99242749e-01 6.98939925e-05 -4.38734404e-01] [-8.14720770e-04 -3.82228052e-05 9.99999667e-01 -3.36170042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.635898227 meters Centerline goodness [0,1] 0.9993510843171732 Centerline is valid? [True, True] Translation: X:77.06, Y:-0.43, Z:-0.34 [[ 9.99216683e-01 -3.95670541e-02 6.84367072e-04 7.70571442e+01] [ 3.95670232e-02 9.99216917e-01 5.86034498e-05 -4.33517158e-01] [-6.86149922e-04 -3.14791770e-05 9.99999764e-01 -3.36706614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.665898227 meters Centerline goodness [0,1] 0.9997222162866728 Centerline is valid? [True, True] Translation: X:77.09, Y:-0.43, Z:-0.34 [[ 9.99170235e-01 -4.07285100e-02 1.74335316e-04 7.70863068e+01] [ 4.07285079e-02 9.99170250e-01 1.55229522e-05 -4.33201492e-01] [-1.74822888e-04 -8.40965455e-06 9.99999985e-01 -3.37851022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69589822700001 meters Centerline goodness [0,1] 0.9996599868244894 Centerline is valid? [True, True] Translation: X:77.11, Y:-0.43, Z:-0.34 [[ 9.99139174e-01 -4.14818223e-02 -4.11297158e-04 7.71142335e+01] [ 4.14818115e-02 9.99139259e-01 -3.46014387e-05 -4.26545569e-01] [ 4.12378468e-04 1.75103017e-05 9.99999915e-01 -3.37655487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.725898227 meters Centerline goodness [0,1] 0.9996003029283069 Centerline is valid? [True, True] Translation: X:77.14, Y:-0.42, Z:-0.34 [[ 9.99106739e-01 -4.22413349e-02 -1.18035327e-03 7.71421394e+01] [ 4.22412451e-02 9.99107435e-01 -1.00929048e-04 -4.23368634e-01] [ 1.18356310e-03 5.09793005e-05 9.99999298e-01 -3.38532613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.755898227 meters Centerline goodness [0,1] 0.9996834574883406 Centerline is valid? [True, True] Translation: X:77.17, Y:-0.42, Z:-0.34 [[ 9.99112803e-01 -4.20501024e-02 -2.32296574e-03 7.71710169e+01] [ 4.20497536e-02 9.99115498e-01 -1.98816803e-04 -4.19538357e-01] [ 2.32927134e-03 1.00960276e-04 9.99997282e-01 -3.39134654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.785898227 meters Centerline goodness [0,1] 0.9998520084566597 Centerline is valid? [True, True] Translation: X:77.20, Y:-0.41, Z:-0.34 [[ 9.99197906e-01 -3.99229440e-02 -3.11502400e-03 7.71997132e+01] [ 3.99223040e-02 9.99202751e-01 -2.67391592e-04 -4.14956735e-01] [ 3.12321561e-03 1.42818183e-04 9.99995113e-01 -3.41094886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.815898227 meters Centerline goodness [0,1] 0.9998520084566597 Centerline is valid? [True, True] Translation: X:77.23, Y:-0.41, Z:-0.34 [[ 9.99190579e-01 -4.01058993e-02 -3.11502433e-03 7.72271562e+01] [ 4.01052602e-02 9.99195425e-01 -2.67387883e-04 -4.12441524e-01] [ 3.12324189e-03 1.42242592e-04 9.99995113e-01 -3.40988130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.845898227 meters Centerline goodness [0,1] 0.9991971944057126 Centerline is valid? [True, True] Translation: X:77.26, Y:-0.40, Z:-0.34 [[ 9.99356572e-01 -3.57375334e-02 -3.04479809e-03 7.72562019e+01] [ 3.57369005e-02 9.99361199e-01 -2.62055899e-04 -3.98664212e-01] [ 3.05221830e-03 1.53075638e-04 9.99995330e-01 -3.40925816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.875898227 meters Centerline goodness [0,1] 0.9976131153032809 Centerline is valid? [True, True] Translation: X:77.28, Y:-0.38, Z:-0.34 [[ 9.99447903e-01 -3.30249533e-02 -3.63884159e-03 7.72837667e+01] [ 3.30240314e-02 9.99454509e-01 -3.13178219e-04 -3.82485698e-01] [ 3.64719933e-03 1.92836096e-04 9.99993330e-01 -3.41526160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.905898227 meters Centerline goodness [0,1] 0.993348255764845 Centerline is valid? [True, True] Translation: X:77.31, Y:-0.37, Z:-0.34 [[ 9.99543154e-01 -2.99062250e-02 -4.37041325e-03 7.73132543e+01] [ 2.99048649e-02 9.99552679e-01 -3.76248856e-04 -3.73065859e-01] [ 4.37971046e-03 2.45380350e-04 9.99990379e-01 -3.43014277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.935898227 meters Centerline goodness [0,1] 0.9987656948286869 Centerline is valid? [True, True] Translation: X:77.34, Y:-0.37, Z:-0.34 [[ 9.99617082e-01 -2.71585073e-02 -5.30148999e-03 7.73434812e+01] [ 2.71564672e-02 9.99631091e-01 -4.56426617e-04 -3.74393306e-01] [ 5.31193009e-03 3.12282103e-04 9.99985843e-01 -3.43343692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.965898227 meters Centerline goodness [0,1] 0.9909264462987194 Centerline is valid? [True, True] Translation: X:77.37, Y:-0.36, Z:-0.34 [[ 9.99687275e-01 -2.42686286e-02 -6.03205230e-03 7.73717895e+01] [ 2.42659347e-02 9.99705404e-01 -5.19396614e-04 -3.59589372e-01] [ 6.04288032e-03 3.72860798e-04 9.99981672e-01 -3.44439892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.995898227 meters Centerline goodness [0,1] 0.9887979135045001 Centerline is valid? [True, True] Translation: X:77.40, Y:-0.35, Z:-0.34 [[ 9.99747795e-01 -2.15856854e-02 -6.19721424e-03 7.74012258e+01] [ 2.15827902e-02 9.99766922e-01 -5.33685747e-04 -3.51089153e-01] [ 6.20728978e-03 3.99797974e-04 9.99980655e-01 -3.44969804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.025898227 meters Centerline goodness [0,1] 0.9743854837008123 Centerline is valid? [True, True] Translation: X:77.43, Y:-0.33, Z:-0.34 [[ 9.99819458e-01 -1.82772209e-02 -5.19557007e-03 7.74293141e+01] [ 1.82751413e-02 9.99832896e-01 -4.47459258e-04 -3.32277611e-01] [ 5.20288018e-03 3.52428695e-04 9.99986403e-01 -3.44313118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.055898227 meters Centerline goodness [0,1] 0.9660694667455422 Centerline is valid? [True, True] Translation: X:77.46, Y:-0.32, Z:-0.34 [[ 9.99828267e-01 -1.81183494e-02 -3.89375280e-03 7.74574348e+01] [ 1.81171800e-02 9.99835814e-01 -3.35379961e-04 -3.23162371e-01] [ 3.89919003e-03 2.64778545e-04 9.99992363e-01 -3.42071025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.085898227 meters Centerline goodness [0,1] 0.8858156480360292 Centerline is valid? [True, False] Translation: X:77.46, Y:-0.32, Z:-0.34 [[ 9.99890562e-01 -1.42488007e-02 -3.97947934e-03 7.74568343e+01] [ 1.42632265e-02 9.99891720e-01 3.62049156e-03 -3.22113573e-01] [ 3.92746078e-03 -3.67685556e-03 9.99985528e-01 -3.40946148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.115898227 meters Centerline goodness [0,1] 0.7571592449681928 Centerline is valid? [False, False] Translation: X:77.50, Y:-0.31, Z:-0.34 [[ 9.99884810e-01 -1.49781785e-02 -2.45375280e-03 7.74965293e+01] [ 1.49747782e-02 9.99886894e-01 -1.39830530e-03 -3.10636171e-01] [ 2.47441933e-03 1.36139982e-03 9.99996012e-01 -3.41139545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.145898227 meters Centerline goodness [0,1] 0.9731627897077915 Centerline is valid? [False, True] Translation: X:77.46, Y:-0.30, Z:-0.34 [[ 9.99905392e-01 -1.34667827e-02 -2.80220486e-03 7.74552648e+01] [ 1.34175832e-02 9.99767286e-01 -1.68920742e-02 -3.03653577e-01] [ 3.02903465e-03 1.68528773e-02 9.99853392e-01 -3.43011355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.175898227 meters Centerline goodness [0,1] 0.976569642591372 Centerline is valid? [True, True] Translation: X:77.48, Y:-0.30, Z:-0.34 [[ 9.99871243e-01 -1.52494249e-02 -4.99517091e-03 7.74845085e+01] [ 1.52476574e-02 9.99883671e-01 -3.91729067e-04 -3.03247024e-01] [ 5.00056347e-03 3.15513974e-04 9.99987447e-01 -3.41601575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.205898227 meters Centerline goodness [0,1] 0.9950837041746132 Centerline is valid? [True, True] Translation: X:77.51, Y:-0.30, Z:-0.35 [[ 9.99763037e-01 -2.06270803e-02 -6.95651866e-03 7.75141871e+01] [ 2.06237807e-02 9.99787158e-01 -5.45724308e-04 -2.98296899e-01] [ 6.96629472e-03 4.02125276e-04 9.99975654e-01 -3.45293586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.235898227 meters Centerline goodness [0,1] 0.9986647167291919 Centerline is valid? [True, True] Translation: X:77.54, Y:-0.30, Z:-0.35 [[ 9.99698630e-01 -2.34530157e-02 -7.25300956e-03 7.75445161e+01] [ 2.34495029e-02 9.99724861e-01 -5.68996145e-04 -3.00429018e-01] [ 7.26435865e-03 3.98745197e-04 9.99973535e-01 -3.45377037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.265898227 meters Centerline goodness [0,1] 0.9989885947923391 Centerline is valid? [True, True] Translation: X:77.57, Y:-0.30, Z:-0.34 [[ 9.99629172e-01 -2.63645723e-02 -6.81378647e-03 7.75747688e+01] [ 2.63615394e-02 9.99652331e-01 -5.34565196e-04 -2.98655643e-01] [ 6.82551111e-03 3.54745064e-04 9.99976643e-01 -3.44138768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.295898227 meters Centerline goodness [0,1] 0.999428050924651 Centerline is valid? [True, True] Translation: X:77.60, Y:-0.30, Z:-0.34 [[ 9.99546149e-01 -2.94778076e-02 -6.20933419e-03 7.76049422e+01] [ 2.94753485e-02 9.99565389e-01 -4.87191806e-04 -2.97014800e-01] [ 6.22099689e-03 3.03948404e-04 9.99980603e-01 -3.43335638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.325898227 meters Centerline goodness [0,1] 0.999428050924651 Centerline is valid? [True, True] Translation: X:77.63, Y:-0.29, Z:-0.34 [[ 9.99540678e-01 -2.96627381e-02 -6.20932398e-03 7.76323909e+01] [ 2.96602817e-02 9.99559918e-01 -4.87321919e-04 -2.94701582e-01] [ 6.22104667e-03 3.02927783e-04 9.99980603e-01 -3.43176930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.355898227 meters Centerline goodness [0,1] 0.999235506476959 Centerline is valid? [True, True] Translation: X:77.66, Y:-0.29, Z:-0.34 [[ 9.99445150e-01 -3.26776201e-02 -6.44716604e-03 7.76625319e+01] [ 3.26750274e-02 9.99465900e-01 -5.07098558e-04 -2.93457295e-01] [ 6.46029338e-03 2.96155867e-04 9.99979088e-01 -3.43562427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.385898227 meters Centerline goodness [0,1] 0.9992828819708091 Centerline is valid? [True, True] Translation: X:77.69, Y:-0.29, Z:-0.34 [[ 9.99353933e-01 -3.52791670e-02 -6.86266402e-03 7.76928627e+01] [ 3.52762904e-02 9.99377452e-01 -5.39792131e-04 -2.91485120e-01] [ 6.87743510e-03 2.97354061e-04 9.99976306e-01 -3.44053623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.415898227 meters Centerline goodness [0,1] 0.9992027526015441 Centerline is valid? [True, True] Translation: X:77.72, Y:-0.28, Z:-0.34 [[ 9.99278859e-01 -3.71727317e-02 -7.74278008e-03 7.77213168e+01] [ 3.71691258e-02 9.99308804e-01 -6.09141253e-04 -2.82220981e-01] [ 7.76007174e-03 3.20909609e-04 9.99969839e-01 -3.44455053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44589822700001 meters Centerline goodness [0,1] 0.9996389431654065 Centerline is valid? [True, True] Translation: X:77.75, Y:-0.28, Z:-0.34 [[ 9.99301343e-01 -3.66140611e-02 -7.49908910e-03 7.77499813e+01] [ 3.66106598e-02 9.99329431e-01 -5.90388512e-04 -2.82653882e-01] [ 7.51567696e-03 3.15429433e-04 9.99971707e-01 -3.42655249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.475898227 meters Centerline goodness [0,1] 0.9993242815212112 Centerline is valid? [True, True] Translation: X:77.78, Y:-0.27, Z:-0.34 [[ 9.99354486e-01 -3.53260425e-02 -6.53319073e-03 7.77779883e+01] [ 3.53234279e-02 9.99375800e-01 -5.15198238e-04 -2.73652149e-01] [ 6.54731263e-03 2.84090979e-04 9.99978526e-01 -3.41885871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.505898227 meters Centerline goodness [0,1] 0.9992967651195499 Centerline is valid? [True, True] Translation: X:77.81, Y:-0.27, Z:-0.34 [[ 9.99429711e-01 -3.30999489e-02 -6.68173014e-03 7.78073938e+01] [ 3.30971629e-02 9.99452000e-01 -5.27139815e-04 -2.66664794e-01] [ 6.69551686e-03 3.05692882e-04 9.99977538e-01 -3.40984259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.535898227 meters Centerline goodness [0,1] 0.9991886409736308 Centerline is valid? [True, True] Translation: X:77.84, Y:-0.26, Z:-0.34 [[ 9.99507753e-01 -3.04068863e-02 -7.72488180e-03 7.78358565e+01] [ 3.04030806e-02 9.99537534e-01 -6.09636248e-04 -2.56699407e-01] [ 7.73984644e-03 3.74475953e-04 9.99969977e-01 -3.42521592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.565898227 meters Centerline goodness [0,1] 0.9982323976263625 Centerline is valid? [True, True] Translation: X:77.87, Y:-0.25, Z:-0.34 [[ 9.99606957e-01 -2.67550506e-02 -8.37254139e-03 7.78659925e+01] [ 2.67504510e-02 9.99641924e-01 -6.60893895e-04 -2.46418357e-01] [ 8.38722564e-03 4.36664877e-04 9.99964731e-01 -3.44431326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.595898227 meters Centerline goodness [0,1] 0.9907716185322679 Centerline is valid? [True, True] Translation: X:77.90, Y:-0.23, Z:-0.35 [[ 9.99765188e-01 -1.92284427e-02 -9.99178429e-03 7.78953039e+01] [ 1.92215168e-02 9.99814938e-01 -7.88738298e-04 -2.28133703e-01] [ 1.00051014e-02 5.96495842e-04 9.99949770e-01 -3.47481366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.625898227 meters Centerline goodness [0,1] 0.9582318944894892 Centerline is valid? [True, True] Translation: X:77.92, Y:-0.21, Z:-0.35 [[ 9.99816151e-01 -1.59111515e-02 -1.07004668e-02 7.79240175e+01] [ 1.59030186e-02 9.99873182e-01 -8.44717028e-04 -2.13680549e-01] [ 1.07125502e-02 6.74392005e-04 9.99942392e-01 -3.48636113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.655898227 meters Centerline goodness [0,1] 0.7809571830749191 Centerline is valid? [True, False] Translation: X:77.94, Y:-0.21, Z:-0.34 [[ 9.99865937e-01 -1.10245183e-02 -1.21064956e-02 7.79429430e+01] [ 1.09346833e-02 9.99912374e-01 -7.46168262e-03 -2.07664873e-01] [ 1.21876962e-02 7.32830159e-03 9.99898873e-01 -3.44654931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.685898227 meters Centerline goodness [0,1] 0.9881607219596047 Centerline is valid? [False, True] Translation: X:77.88, Y:-0.21, Z:-0.35 [[ 9.99913309e-01 -6.56882458e-03 -1.14116356e-02 7.78797881e+01] [ 6.45256710e-03 9.99927213e-01 -1.01947464e-02 -2.09336406e-01] [ 1.14777725e-02 1.01202282e-02 9.99882914e-01 -3.46326111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.715898227 meters Centerline goodness [0,1] 0.8938370035600844 Centerline is valid? [True, False] Translation: X:77.90, Y:-0.21, Z:-0.34 [[ 9.99922674e-01 -6.13800807e-03 -1.08153282e-02 7.78989321e+01] [ 6.14329465e-03 9.99981026e-01 4.55649560e-04 -2.07575528e-01] [ 1.08123262e-02 -5.22056074e-04 9.99941409e-01 -3.43672484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.745898227 meters Centerline goodness [0,1] 0.9273588879528223 Centerline is valid? [False, False] Translation: X:77.92, Y:-0.20, Z:-0.35 [[ 9.99964089e-01 -5.79401330e-03 -6.18462348e-03 7.79222301e+01] [ 5.73178993e-03 9.99933253e-01 -1.00317299e-02 -1.97781198e-01] [ 6.24233465e-03 9.99592070e-03 9.99930555e-01 -3.48941158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.775898227 meters Centerline goodness [0,1] 0.9120311303904057 Centerline is valid? [False, False] Translation: X:77.92, Y:-0.19, Z:-0.35 [[ 9.99974634e-01 -2.43853591e-03 -6.69215172e-03 7.79242576e+01] [ 2.39299257e-03 9.99973982e-01 -6.80507553e-03 -1.94059472e-01] [ 6.70857203e-03 6.78888864e-03 9.99954452e-01 -3.49696996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.805898227 meters Centerline goodness [0,1] 0.9643571864928061 Centerline is valid? [False, True] Translation: X:77.93, Y:-0.19, Z:-0.35 [[ 9.99970592e-01 -9.59931353e-05 -7.66851504e-03 7.79299950e+01] [ 6.25553888e-05 9.99990491e-01 -4.36051482e-03 -1.91959241e-01] [ 7.66886069e-03 4.35990687e-03 9.99961089e-01 -3.52730047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.835898227 meters Centerline goodness [0,1] 0.9554343936172452 Centerline is valid? [True, True] Translation: X:77.96, Y:-0.19, Z:-0.35 [[ 9.99964689e-01 7.51590934e-06 -8.40357429e-03 7.79570912e+01] [-1.21421639e-05 9.99999848e-01 -5.50459455e-04 -1.86302654e-01] [ 8.40356888e-03 5.50542056e-04 9.99964538e-01 -3.53202508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.865898227 meters Centerline goodness [0,1] 0.9567349354300086 Centerline is valid? [True, True] Translation: X:77.99, Y:-0.18, Z:-0.35 [[ 9.99964646e-01 5.05821944e-04 -8.39347696e-03 7.79857956e+01] [-5.10464917e-04 9.99999718e-01 -5.51031382e-04 -1.80804751e-01] [ 8.39319587e-03 5.55296476e-04 9.99964622e-01 -3.52891361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.895898227 meters Centerline goodness [0,1] 0.933726285545274 Centerline is valid? [True, False] Translation: X:77.99, Y:-0.18, Z:-0.35 [[ 9.99965284e-01 1.85415513e-04 -8.33048384e-03 7.79855696e+01] [-1.97296756e-04 9.99998965e-01 -1.42543763e-03 -1.76459471e-01] [ 8.33021091e-03 1.42703172e-03 9.99964285e-01 -3.52873757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.925898227 meters Centerline goodness [0,1] 0.9284865965388531 Centerline is valid? [False, False] Translation: X:77.99, Y:-0.17, Z:-0.35 [[ 9.99965632e-01 -1.13178528e-04 -8.28992992e-03 7.79854355e+01] [ 9.36467240e-05 9.99997219e-01 -2.35643822e-03 -1.71735736e-01] [ 8.29017356e-03 2.35558091e-03 9.99962861e-01 -3.52938901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.955898227 meters Centerline goodness [0,1] 0.7829684210526315 Centerline is valid? [False, False] Translation: X:77.99, Y:-0.17, Z:-0.35 [[ 9.99958413e-01 3.46019709e-03 -8.43801558e-03 7.79861698e+01] [-3.45491801e-03 9.99993827e-01 6.40127102e-04 -1.65978505e-01] [ 8.44017846e-03 -6.10947828e-04 9.99964194e-01 -3.53319008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.985898227 meters Centerline goodness [0,1] 0.8940924009088614 Centerline is valid? [False, False] Translation: X:77.99, Y:-0.16, Z:-0.35 [[ 9.99960215e-01 2.95993160e-03 -8.41475007e-03 7.79862473e+01] [-2.96369578e-03 9.99995514e-01 -4.34896592e-04 -1.60947758e-01] [ 8.41342505e-03 4.59818048e-04 9.99964501e-01 -3.53636846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.015898227 meters Centerline goodness [0,1] 0.6429614887896175 Centerline is valid? [False, False] Translation: X:77.99, Y:-0.16, Z:-0.35 [[ 9.99960796e-01 2.49826586e-03 -8.49497584e-03 7.79866150e+01] [-2.50922408e-03 9.99996033e-01 -1.27955210e-03 -1.57208154e-01] [ 8.49174548e-03 1.30081774e-03 9.99963098e-01 -3.53875543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.045898227 meters Centerline goodness [0,1] 0.9497922072442673 Centerline is valid? [False, False] Translation: X:77.99, Y:-0.15, Z:-0.35 [[ 9.99960794e-01 2.11510586e-03 -8.59867046e-03 7.79869627e+01] [-2.13103889e-03 9.99996029e-01 -1.84422441e-03 -1.54862791e-01] [ 8.59473558e-03 1.86247621e-03 9.99961330e-01 -3.53905997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.075898227 meters Centerline goodness [0,1] 0.9549369327633768 Centerline is valid? [False, True] Translation: X:77.99, Y:-0.15, Z:-0.35 [[ 9.99960471e-01 1.77002210e-03 -8.71335453e-03 7.79871691e+01] [-1.78990511e-03 9.99995811e-01 -2.27463107e-03 -1.53227543e-01] [ 8.70929188e-03 2.29013724e-03 9.99959451e-01 -3.53644940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.105898227 meters Centerline goodness [0,1] 0.995850361521534 Centerline is valid? [True, True] Translation: X:78.02, Y:-0.16, Z:-0.35 [[ 9.99953488e-01 -4.98887389e-03 -8.25427007e-03 7.80177422e+01] [ 4.98500795e-03 9.99987455e-01 -4.88864433e-04 -1.57628841e-01] [ 8.25660541e-03 4.47694093e-04 9.99965813e-01 -3.51611539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.135898227 meters Centerline goodness [0,1] 0.9982908147116542 Centerline is valid? [True, True] Translation: X:78.05, Y:-0.16, Z:-0.35 [[ 9.99929284e-01 -8.72382742e-03 -8.08218913e-03 7.80479339e+01] [ 8.72024251e-03 9.99961863e-01 -4.78690505e-04 -1.57661486e-01] [ 8.08605692e-03 4.08178005e-04 9.99967224e-01 -3.51791516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.165898227 meters Centerline goodness [0,1] 0.9993007585710048 Centerline is valid? [True, True] Translation: X:78.08, Y:-0.16, Z:-0.35 [[ 9.99891582e-01 -1.24736669e-02 -7.82505467e-03 7.80787909e+01] [ 1.24704209e-02 9.99922134e-01 -4.63478324e-04 -1.60861572e-01] [ 7.83022664e-03 3.65846349e-04 9.99969276e-01 -3.51432646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19589822700001 meters Centerline goodness [0,1] 0.9995749473997407 Centerline is valid? [True, True] Translation: X:78.11, Y:-0.16, Z:-0.35 [[ 9.99847651e-01 -1.55152408e-02 -7.99698152e-03 7.81092403e+01] [ 1.55119470e-02 9.99879570e-01 -4.73746038e-04 -1.63461466e-01] [ 8.00336873e-03 3.49625110e-04 9.99967911e-01 -3.50730306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.225898227 meters Centerline goodness [0,1] 0.9995547073791349 Centerline is valid? [True, True] Translation: X:78.14, Y:-0.16, Z:-0.35 [[ 9.99801275e-01 -1.81385380e-02 -8.27064422e-03 7.81377783e+01] [ 1.81351023e-02 9.99835425e-01 -4.90225940e-04 -1.62340123e-01] [ 8.27817506e-03 3.40139541e-04 9.99965677e-01 -3.50991428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.255898227 meters Centerline goodness [0,1] 0.9995344802048287 Centerline is valid? [True, True] Translation: X:78.17, Y:-0.16, Z:-0.35 [[ 9.99762004e-01 -1.99766258e-02 -8.76755895e-03 7.81656032e+01] [ 1.99728319e-02 9.99800388e-01 -5.20077433e-04 -1.56760030e-01] [ 8.77619823e-03 3.44840676e-04 9.99961429e-01 -3.52112317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.285898227 meters Centerline goodness [0,1] 0.9997682161068735 Centerline is valid? [True, True] Translation: X:78.20, Y:-0.16, Z:-0.35 [[ 9.99707446e-01 -2.26836313e-02 -8.39501158e-03 7.81957146e+01] [ 2.26802464e-02 9.99742646e-01 -4.98193773e-04 -1.61319126e-01] [ 8.40415193e-03 3.07647092e-04 9.99964637e-01 -3.50434351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.315898227 meters Centerline goodness [0,1] 0.999936694169533 Centerline is valid? [True, True] Translation: X:78.22, Y:-0.16, Z:-0.35 [[ 9.99690766e-01 -2.36177876e-02 -7.78286288e-03 7.82241906e+01] [ 2.36148980e-02 9.99721022e-01 -4.62982556e-04 -1.60091507e-01] [ 7.79162626e-03 2.79047873e-04 9.99969606e-01 -3.49192301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.345898227 meters Centerline goodness [0,1] 0.9998097332036701 Centerline is valid? [True, True] Translation: X:78.25, Y:-0.16, Z:-0.35 [[ 9.99687792e-01 -2.40872519e-02 -6.64246080e-03 7.82519581e+01] [ 2.40851543e-02 9.99709832e-01 -3.95609559e-04 -1.58111674e-01] [ 6.65006252e-03 2.35501354e-04 9.99977860e-01 -3.48050072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.375898227 meters Centerline goodness [0,1] 0.9997672844207498 Centerline is valid? [True, True] Translation: X:78.28, Y:-0.16, Z:-0.35 [[ 9.99701105e-01 -2.37218951e-02 -5.91369943e-03 7.82805822e+01] [ 2.37202212e-02 9.99718574e-01 -3.53046432e-04 -1.56005323e-01] [ 5.92041009e-03 2.12666649e-04 9.99982452e-01 -3.46336500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.405898227 meters Centerline goodness [0,1] 0.9996824657592244 Centerline is valid? [True, True] Translation: X:78.31, Y:-0.15, Z:-0.35 [[ 9.99731050e-01 -2.25382862e-02 -5.46386049e-03 7.83084116e+01] [ 2.25368373e-02 9.99745960e-01 -3.26597435e-04 -1.51001604e-01] [ 5.46983340e-03 2.03371462e-04 9.99985020e-01 -3.46042624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.435898227 meters Centerline goodness [0,1] 0.9996190959878111 Centerline is valid? [True, True] Translation: X:78.34, Y:-0.15, Z:-0.35 [[ 9.99764688e-01 -2.09116063e-02 -5.76834559e-03 7.83375507e+01] [ 2.09099631e-02 9.99781303e-01 -3.45021732e-04 -1.47088528e-01] [ 5.77429903e-03 2.24324651e-04 9.99983303e-01 -3.45824983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.465898227 meters Centerline goodness [0,1] 0.9991472124506983 Centerline is valid? [True, True] Translation: X:78.37, Y:-0.14, Z:-0.35 [[ 9.99826589e-01 -1.73927832e-02 -6.65448567e-03 7.83661221e+01] [ 1.73905179e-02 9.99848694e-01 -3.98134096e-04 -1.38071609e-01] [ 6.66040347e-03 2.82340103e-04 9.99977779e-01 -3.47408545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.495898227 meters Centerline goodness [0,1] 0.9990670257204046 Centerline is valid? [True, True] Translation: X:78.40, Y:-0.13, Z:-0.35 [[ 9.99870336e-01 -1.46923530e-02 -6.59131462e-03 7.83957923e+01] [ 1.46900714e-02 9.99892017e-01 -3.94430130e-04 -1.34069103e-01] [ 6.59639797e-03 2.97552104e-04 9.99978199e-01 -3.47828206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.525898227 meters Centerline goodness [0,1] 0.9982432375227532 Centerline is valid? [True, True] Translation: X:78.42, Y:-0.13, Z:-0.35 [[ 9.99904214e-01 -1.22289661e-02 -6.48193739e-03 7.84247149e+01] [ 1.22267071e-02 9.99925176e-01 -3.88018678e-04 -1.27809530e-01] [ 6.48619745e-03 3.08728761e-04 9.99978917e-01 -3.47848956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.555898227 meters Centerline goodness [0,1] 0.996581668400603 Centerline is valid? [True, True] Translation: X:78.45, Y:-0.12, Z:-0.35 [[ 9.99931370e-01 -1.00608940e-02 -6.00279006e-03 7.84545089e+01] [ 1.00589172e-02 9.99949343e-01 -3.59412860e-04 -1.22772814e-01] [ 6.00610199e-03 2.99006625e-04 9.99981919e-01 -3.46782668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.585898227 meters Centerline goodness [0,1] 0.9970264644662503 Centerline is valid? [True, True] Translation: X:78.48, Y:-0.12, Z:-0.35 [[ 9.99951687e-01 -8.10286228e-03 -5.56485011e-03 7.84837190e+01] [ 8.10113225e-03 9.99967130e-01 -3.33357063e-04 -1.22344081e-01] [ 5.56736834e-03 2.88259370e-04 9.99984461e-01 -3.45261094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.615898227 meters Centerline goodness [0,1] 0.9811788430029829 Centerline is valid? [True, True] Translation: X:78.51, Y:-0.11, Z:-0.34 [[ 9.99982175e-01 -4.00756835e-03 -4.42589249e-03 7.85122328e+01] [ 4.00643426e-03 9.99991939e-01 -2.65076950e-04 -1.12598560e-01] [ 4.42691913e-03 2.47340177e-04 9.99990171e-01 -3.44762752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.645898227 meters Centerline goodness [0,1] 0.9235097291191577 Centerline is valid? [True, False] Translation: X:78.47, Y:-0.12, Z:-0.35 [[ 9.99982867e-01 -2.84467902e-03 -5.11596617e-03 7.84697468e+01] [ 2.85405012e-03 9.99994261e-01 1.82536985e-03 -1.15334042e-01] [ 5.11074422e-03 -1.83993980e-03 9.99985247e-01 -3.45966834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.675898227 meters Centerline goodness [0,1] 0.8822210111511696 Centerline is valid? [False, False] Translation: X:78.51, Y:-0.11, Z:-0.35 [[ 9.99987616e-01 -1.89268986e-03 -4.60274561e-03 7.85125385e+01] [ 1.89547063e-03 9.99998024e-01 5.99867202e-04 -1.11001539e-01] [ 4.60160115e-03 -6.08584143e-04 9.99989227e-01 -3.46430965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.705898227 meters Centerline goodness [0,1] 0.9728057766611068 Centerline is valid? [False, True] Translation: X:78.51, Y:-0.11, Z:-0.35 [[ 9.99987136e-01 -1.87879687e-03 -4.71148664e-03 7.85131344e+01] [ 1.88085759e-03 9.99998137e-01 4.32988711e-04 -1.09975871e-01] [ 4.71066436e-03 -4.41844776e-04 9.99988807e-01 -3.46856605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.735898227 meters Centerline goodness [0,1] 0.921906779661017 Centerline is valid? [True, False] Translation: X:78.51, Y:-0.11, Z:-0.35 [[ 9.99986305e-01 -1.86950250e-03 -4.88825160e-03 7.85141252e+01] [ 1.87145442e-03 9.99998171e-01 3.94765021e-04 -1.09766873e-01] [ 4.88750465e-03 -4.03907755e-04 9.99987975e-01 -3.47617192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.765898227 meters Centerline goodness [0,1] 0.921906779661017 Centerline is valid? [False, False] Translation: X:78.51, Y:-0.11, Z:-0.35 [[ 9.99986305e-01 -1.86950250e-03 -4.88825160e-03 7.85141252e+01] [ 1.87145442e-03 9.99998171e-01 3.94765021e-04 -1.09766873e-01] [ 4.88750465e-03 -4.03907755e-04 9.99987975e-01 -3.47617192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.795898227 meters Centerline goodness [0,1] 0.9789247402474236 Centerline is valid? [False, True] Translation: X:78.51, Y:-0.11, Z:-0.35 [[ 9.99986326e-01 -1.83140760e-03 -4.89844417e-03 7.85138868e+01] [ 1.83507172e-03 9.99998040e-01 7.43625950e-04 -1.11714040e-01] [ 4.89707268e-03 -7.52604778e-04 9.99987726e-01 -3.47140305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.825898227 meters Centerline goodness [0,1] 0.984602278777553 Centerline is valid? [True, True] Translation: X:78.54, Y:-0.11, Z:-0.35 [[ 9.99986152e-01 -3.11173041e-03 -4.24405301e-03 7.85441661e+01] [ 3.11064189e-03 9.99995127e-01 -2.63059121e-04 -1.11585359e-01] [ 4.24485090e-03 2.49853749e-04 9.99990959e-01 -3.45566558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.855898227 meters Centerline goodness [0,1] 0.9803226078878473 Centerline is valid? [True, True] Translation: X:78.57, Y:-0.11, Z:-0.34 [[ 9.99982174e-01 -4.50387580e-03 -3.92004646e-03 7.85724393e+01] [ 4.50295720e-03 9.99989832e-01 -2.43127022e-04 -1.08438103e-01] [ 3.92110161e-03 2.25470887e-04 9.99992287e-01 -3.44834326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.885898227 meters Centerline goodness [0,1] 0.9891878140304013 Centerline is valid? [True, True] Translation: X:78.60, Y:-0.11, Z:-0.34 [[ 9.99974622e-01 -5.74418014e-03 -4.21418815e-03 7.86012877e+01] [ 5.74312867e-03 9.99983474e-01 -2.61567699e-04 -1.08995345e-01] [ 4.21562100e-03 2.37358437e-04 9.99991086e-01 -3.44724579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.915898227 meters Centerline goodness [0,1] 0.9947415103902686 Centerline is valid? [True, True] Translation: X:78.63, Y:-0.11, Z:-0.35 [[ 9.99951157e-01 -8.62117365e-03 -4.83316188e-03 7.86318554e+01] [ 8.61982420e-03 9.99962804e-01 -2.99967455e-04 -1.08844187e-01] [ 4.83556817e-03 2.58291798e-04 9.99988275e-01 -3.46591468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94589822700001 meters Centerline goodness [0,1] 0.9963423862776423 Centerline is valid? [True, True] Translation: X:78.66, Y:-0.11, Z:-0.35 [[ 9.99942734e-01 -9.78681027e-03 -4.32984799e-03 7.86609958e+01] [ 9.78573716e-03 9.99952082e-01 -2.68956394e-04 -1.09606744e-01] [ 4.33227274e-03 2.26570237e-04 9.99990590e-01 -3.46253860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.975898227 meters Centerline goodness [0,1] 0.9974458303179942 Centerline is valid? [True, True] Translation: X:78.69, Y:-0.11, Z:-0.35 [[ 9.99931961e-01 -1.09605471e-02 -3.99254199e-03 7.86901983e+01] [ 1.09596432e-02 9.99939911e-01 -2.48189063e-04 -1.11193517e-01] [ 3.99502237e-03 2.04415340e-04 9.99991999e-01 -3.45577737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.005898227 meters Centerline goodness [0,1] 0.9971322357939458 Centerline is valid? [True, True] Translation: X:78.72, Y:-0.11, Z:-0.35 [[ 9.99916260e-01 -1.23193408e-02 -3.96325447e-03 7.87186226e+01] [ 1.23184601e-02 9.99924094e-01 -2.46548767e-04 -1.10248073e-01] [ 3.96599095e-03 1.97706928e-04 9.99992116e-01 -3.45293583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.035898227 meters Centerline goodness [0,1] 0.9987998231318299 Centerline is valid? [True, True] Translation: X:78.75, Y:-0.12, Z:-0.35 [[ 9.99892592e-01 -1.38400098e-02 -4.82262821e-03 7.87477950e+01] [ 1.38387223e-02 9.99904195e-01 -3.00228548e-04 -1.15904431e-01] [ 4.82632134e-03 2.33457289e-04 9.99988326e-01 -3.45734976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.065898227 meters Centerline goodness [0,1] 0.9994923213605788 Centerline is valid? [True, True] Translation: X:78.78, Y:-0.12, Z:-0.35 [[ 9.99860073e-01 -1.56525494e-02 -5.90189124e-03 7.87765433e+01] [ 1.56506512e-02 9.99877453e-01 -3.67684345e-04 -1.18114236e-01] [ 5.90692318e-03 2.75264454e-04 9.99982516e-01 -3.46553877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.095898227 meters Centerline goodness [0,1] 0.9992624902543356 Centerline is valid? [True, True] Translation: X:78.81, Y:-0.12, Z:-0.35 [[ 9.99782843e-01 -1.98630240e-02 -6.30297369e-03 7.88059064e+01] [ 1.98609421e-02 9.99802675e-01 -3.92735265e-04 -1.17917165e-01] [ 6.30953086e-03 2.67466985e-04 9.99980059e-01 -3.49474392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.125898227 meters Centerline goodness [0,1] 0.9997659674056423 Centerline is valid? [True, True] Translation: X:78.84, Y:-0.13, Z:-0.35 [[ 9.99740264e-01 -2.18855705e-02 -6.35820712e-03 7.88368146e+01] [ 2.18834912e-02 9.99760449e-01 -3.96417952e-04 -1.30081950e-01] [ 6.36535984e-03 2.57175219e-04 9.99979708e-01 -3.47276742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.155898227 meters Centerline goodness [0,1] 0.9994328445994203 Centerline is valid? [True, True] Translation: X:78.86, Y:-0.12, Z:-0.35 [[ 9.99720927e-01 -2.28423357e-02 -6.02453303e-03 7.88637970e+01] [ 2.28404828e-02 9.99739051e-01 -3.76193542e-04 -1.20467248e-01] [ 6.03155408e-03 2.38485313e-04 9.99981782e-01 -3.48354740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.185898227 meters Centerline goodness [0,1] 0.9995155549002674 Centerline is valid? [True, True] Translation: X:78.89, Y:-0.12, Z:-0.35 [[ 9.99715040e-01 -2.29997835e-02 -6.39124042e-03 7.88917481e+01] [ 2.29976932e-02 9.99735438e-01 -4.00358595e-04 -1.24820270e-01] [ 6.39875770e-03 2.53260723e-04 9.99979496e-01 -3.46840937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.215898227 meters Centerline goodness [0,1] 0.9995155549002674 Centerline is valid? [True, True] Translation: X:78.92, Y:-0.12, Z:-0.35 [[ 9.99710724e-01 -2.31866690e-02 -6.39116549e-03 7.89191999e+01] [ 2.31845749e-02 9.99731121e-01 -4.01553063e-04 -1.22925356e-01] [ 6.39875772e-03 2.53260448e-04 9.99979496e-01 -3.46860090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.245898227 meters Centerline goodness [0,1] 0.9997455740485529 Centerline is valid? [True, True] Translation: X:78.95, Y:-0.12, Z:-0.35 [[ 9.99754384e-01 -2.09029560e-02 -7.36460208e-03 7.89483246e+01] [ 2.09001126e-02 9.99781462e-01 -4.62850814e-04 -1.19336979e-01] [ 7.37266758e-03 3.08816118e-04 9.99972774e-01 -3.48295554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.275898227 meters Centerline goodness [0,1] 0.9995283928915947 Centerline is valid? [True, True] Translation: X:78.98, Y:-0.11, Z:-0.35 [[ 9.99863268e-01 -1.42962549e-02 -8.31035382e-03 7.89782417e+01] [ 1.42924068e-02 9.99897722e-01 -5.22250618e-04 -1.09823649e-01] [ 8.31697008e-03 4.03404252e-04 9.99965332e-01 -3.48958777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.305898227 meters Centerline goodness [0,1] 0.9981876804417003 Centerline is valid? [True, True] Translation: X:79.01, Y:-0.10, Z:-0.35 [[ 9.99908997e-01 -1.15356541e-02 -6.99467463e-03 7.90065117e+01] [ 1.15328603e-02 9.99933398e-01 -4.39622473e-04 -9.57301929e-02] [ 6.99928010e-03 3.58913861e-04 9.99975440e-01 -3.48596415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.335898227 meters Centerline goodness [0,1] 0.9981876804417003 Centerline is valid? [True, True] Translation: X:79.03, Y:-0.09, Z:-0.35 [[ 9.99906872e-01 -1.17185258e-02 -6.99458641e-03 7.90339736e+01] [ 1.17157267e-02 9.99931271e-01 -4.41024017e-04 -9.38276305e-02] [ 6.99927383e-03 3.59036282e-04 9.99975440e-01 -3.48615583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.365898227 meters Centerline goodness [0,1] 0.9965544377565562 Centerline is valid? [True, True] Translation: X:79.06, Y:-0.09, Z:-0.34 [[ 9.99945644e-01 -9.89039428e-03 -3.29977050e-03 7.90629870e+01] [ 9.88976114e-03 9.99951073e-01 -2.08136079e-04 -8.80074089e-02] [ 3.30166761e-03 1.75490824e-04 9.99994534e-01 -3.42280655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.395898227 meters Centerline goodness [0,1] 0.9953041712496827 Centerline is valid? [True, True] Translation: X:79.09, Y:-0.08, Z:-0.34 [[ 9.99945752e-01 -1.02197925e-02 -2.01243344e-03 7.90919290e+01] [ 1.02195568e-02 9.99947771e-01 -1.27356794e-04 -8.46994624e-02] [ 2.01362990e-03 1.06783707e-04 9.99997967e-01 -3.40587030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.425898227 meters Centerline goodness [0,1] 0.9903195390256679 Centerline is valid? [True, True] Translation: X:79.12, Y:-0.08, Z:-0.34 [[ 9.99941387e-01 -1.06934999e-02 -1.69463016e-03 7.91204001e+01] [ 1.06933335e-02 9.99942819e-01 -1.07232353e-04 -7.87937174e-02] [ 1.69567995e-03 8.91048228e-05 9.99998558e-01 -3.40560989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.455898227 meters Centerline goodness [0,1] 0.9980234634021933 Centerline is valid? [True, True] Translation: X:79.15, Y:-0.09, Z:-0.34 [[ 9.99928903e-01 -1.18327444e-02 -1.47456045e-03 7.91507216e+01] [ 1.18326196e-02 9.99929988e-01 -9.33371295e-05 -8.67909312e-02] [ 1.47556165e-03 7.58825807e-05 9.99998908e-01 -3.40562430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.485898227 meters Centerline goodness [0,1] 0.9969388824824406 Centerline is valid? [True, True] Translation: X:79.18, Y:-0.08, Z:-0.34 [[ 9.99912054e-01 -1.31957945e-02 -1.32468542e-03 7.91793102e+01] [ 1.31956949e-02 9.99912930e-01 -8.39067090e-05 -8.32065002e-02] [ 1.32567729e-03 6.64191852e-05 9.99999119e-01 -3.40972251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.515898227 meters Centerline goodness [0,1] 0.9979828966444645 Centerline is valid? [True, True] Translation: X:79.21, Y:-0.09, Z:-0.34 [[ 9.99895818e-01 -1.44086499e-02 -8.62089229e-04 7.92091774e+01] [ 1.44086082e-02 9.99896189e-01 -5.46253504e-05 -8.56941659e-02] [ 8.62786813e-04 4.21981535e-05 9.99999627e-01 -3.40421792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.545898227 meters Centerline goodness [0,1] 0.9991077308746362 Centerline is valid? [True, True] Translation: X:79.24, Y:-0.09, Z:-0.34 [[ 9.99876870e-01 -1.56853486e-02 -4.63110928e-04 7.92392128e+01] [ 1.56853366e-02 9.99876977e-01 -2.93634803e-05 -9.23639881e-02] [ 4.63514531e-04 2.20958139e-05 9.99999892e-01 -3.39480915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.575898227 meters Centerline goodness [0,1] 0.9984029587290913 Centerline is valid? [True, True] Translation: X:79.27, Y:-0.09, Z:-0.34 [[ 9.99877554e-01 -1.56361846e-02 -6.21159535e-04 7.92679459e+01] [ 1.56361631e-02 9.99877747e-01 -3.94090764e-05 -8.75938791e-02] [ 6.21699804e-04 2.96916991e-05 9.99999806e-01 -3.39266253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.605898227 meters Centerline goodness [0,1] 0.9987375065754865 Centerline is valid? [True, True] Translation: X:79.30, Y:-0.09, Z:-0.34 [[ 9.99884012e-01 -1.51843421e-02 -1.18231672e-03 7.92974624e+01] [ 1.51842640e-02 9.99884710e-01 -7.50080007e-05 -8.86815840e-02] [ 1.18331936e-03 5.70466914e-05 9.99999298e-01 -3.39454407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.635898227 meters Centerline goodness [0,1] 0.9990005528856377 Centerline is valid? [True, True] Translation: X:79.33, Y:-0.09, Z:-0.34 [[ 9.99894137e-01 -1.44681545e-02 -1.54535259e-03 7.93272155e+01] [ 1.44680202e-02 9.99895328e-01 -9.80712285e-05 -8.90077969e-02] [ 1.54660974e-03 7.57026540e-05 9.99998801e-01 -3.40473285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.665898227 meters Centerline goodness [0,1] 0.9988779269170512 Centerline is valid? [True, True] Translation: X:79.36, Y:-0.09, Z:-0.34 [[ 9.99907099e-01 -1.34927697e-02 -1.93357993e-03 7.93562368e+01] [ 1.34925568e-02 9.99908964e-01 -1.23123327e-04 -8.77754082e-02] [ 1.93506518e-03 9.70229517e-05 9.99998123e-01 -3.41155228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69589822700001 meters Centerline goodness [0,1] 0.9987427012743468 Centerline is valid? [True, True] Translation: X:79.39, Y:-0.09, Z:-0.34 [[ 9.99923261e-01 -1.22930400e-02 -1.53372855e-03 7.93861778e+01] [ 1.22929047e-02 9.99924435e-01 -9.76236568e-05 -8.57204292e-02] [ 1.53481275e-03 7.87621864e-05 9.99998819e-01 -3.40828957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.725898227 meters Centerline goodness [0,1] 0.9963345622910057 Centerline is valid? [True, True] Translation: X:79.42, Y:-0.08, Z:-0.34 [[ 9.99952914e-01 -9.70165011e-03 2.16326764e-04 7.94162606e+01] [ 9.70164736e-03 9.99952938e-01 1.37614688e-05 -8.42092763e-02] [-2.16450092e-04 -1.16620949e-05 9.99999977e-01 -3.38775114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.755898227 meters Centerline goodness [0,1] 0.9900758039654554 Centerline is valid? [True, True] Translation: X:79.45, Y:-0.08, Z:-0.34 [[ 9.99967533e-01 -8.05685746e-03 -1.42842971e-04 7.94455717e+01] [ 8.05685625e-03 9.99967543e-01 -9.10218388e-06 -7.88131808e-02] [ 1.42911670e-04 7.95102308e-06 9.99999990e-01 -3.38788483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.785898227 meters Centerline goodness [0,1] 0.9889893493128931 Centerline is valid? [True, True] Translation: X:79.47, Y:-0.08, Z:-0.34 [[ 9.99972563e-01 -7.29073523e-03 -1.31097901e-03 7.94744864e+01] [ 7.29063210e-03 9.99973420e-01 -8.34296682e-05 -7.56946047e-02] [ 1.31155243e-03 7.38695135e-05 9.99999137e-01 -3.40628851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.815898227 meters Centerline goodness [0,1] 0.9897226582940869 Centerline is valid? [True, True] Translation: X:79.50, Y:-0.07, Z:-0.34 [[ 9.99974837e-01 -6.55790964e-03 -2.70546469e-03 7.95042731e+01] [ 6.55746746e-03 9.99978485e-01 -1.72274717e-04 -7.44776811e-02] [ 2.70653625e-03 1.54529385e-04 9.99996325e-01 -3.42888522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.845898227 meters Centerline goodness [0,1] 0.9871688653793045 Centerline is valid? [True, True] Translation: X:79.53, Y:-0.07, Z:-0.34 [[ 9.99976721e-01 -5.88844722e-03 -3.44721705e-03 7.95332691e+01] [ 5.88772318e-03 9.99982643e-01 -2.20146934e-04 -7.18812536e-02] [ 3.44845354e-03 1.99845550e-04 9.99994034e-01 -3.44685356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.875898227 meters Centerline goodness [0,1] 0.9810922128086387 Centerline is valid? [True, True] Translation: X:79.56, Y:-0.07, Z:-0.34 [[ 9.99983368e-01 -4.42768479e-03 -3.69587630e-03 7.95629836e+01] [ 4.42684265e-03 9.99990174e-01 -2.36008257e-04 -7.01966975e-02] [ 3.69688495e-03 2.19643269e-04 9.99993142e-01 -3.44768397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.905898227 meters Centerline goodness [0,1] 0.9335421605147308 Centerline is valid? [True, False] Translation: X:79.58, Y:-0.07, Z:-0.34 [[ 9.99998071e-01 1.26105056e-03 -1.50606916e-03 7.95825256e+01] [-1.27007836e-03 9.99981143e-01 -6.00844548e-03 -6.88766659e-02] [ 1.49846381e-03 6.01034671e-03 9.99980815e-01 -3.44872888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.935898227 meters Centerline goodness [0,1] 0.9560968339472395 Centerline is valid? [False, True] Translation: X:79.58, Y:-0.07, Z:-0.34 [[ 9.99994362e-01 3.26684917e-03 -7.77562382e-04 7.95773743e+01] [-3.26991443e-03 9.99986757e-01 -3.97407585e-03 -6.83453926e-02] [ 7.64569379e-04 3.97659600e-03 9.99991801e-01 -3.41667543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.965898227 meters Centerline goodness [0,1] 0.8875542418715804 Centerline is valid? [True, False] Translation: X:79.60, Y:-0.07, Z:-0.34 [[ 9.99985608e-01 5.36452804e-03 7.51664314e-05 7.96004370e+01] [-5.36497591e-03 9.99948682e-01 8.59358265e-03 -6.94682808e-02] [-2.90620590e-05 -8.59386224e-03 9.99963072e-01 -3.42716677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.995898227 meters Centerline goodness [0,1] 0.893400152892211 Centerline is valid? [False, False] Translation: X:79.56, Y:-0.07, Z:-0.34 [[ 9.99991647e-01 4.08363772e-03 -1.73192437e-04 7.95576724e+01] [-4.08245785e-03 9.99971574e-01 6.33908683e-03 -6.66579012e-02] [ 1.99074048e-04 -6.33832683e-03 9.99979893e-01 -3.44230735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.025898227 meters Centerline goodness [0,1] 0.8151113388415636 Centerline is valid? [False, False] Translation: X:79.56, Y:-0.06, Z:-0.34 [[ 9.99992239e-01 3.93858477e-03 -9.80698499e-05 7.95575678e+01] [-3.93795436e-03 9.99975647e-01 5.76179113e-03 -6.37046723e-02] [ 1.20760764e-04 -5.76136022e-03 9.99983396e-01 -3.44501921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.055898227 meters Centerline goodness [0,1] 0.7783041917185409 Centerline is valid? [False, False] Translation: X:79.56, Y:-0.06, Z:-0.34 [[ 9.99993215e-01 3.68080172e-03 -1.48659321e-04 7.95577924e+01] [-3.68003301e-03 9.99981337e-01 4.87682282e-03 -5.92323697e-02] [ 1.66607165e-04 -4.87624266e-03 9.99988097e-01 -3.44694942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.085898227 meters Centerline goodness [0,1] 0.663400540167075 Centerline is valid? [False, False] Translation: X:79.60, Y:-0.05, Z:-0.34 [[ 9.99997755e-01 2.10497028e-03 2.41910623e-04 7.95997701e+01] [-2.10505230e-03 9.99997727e-01 3.39297016e-04 -5.22893007e-02] [-2.41195863e-04 -3.39805489e-04 9.99999913e-01 -3.44702664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.115898227 meters Centerline goodness [0,1] 0.7000886562249335 Centerline is valid? [False, False] Translation: X:79.60, Y:-0.05, Z:-0.34 [[ 9.99997918e-01 2.03325339e-03 1.71313652e-04 7.95999970e+01] [-2.03331604e-03 9.99997866e-01 3.66320077e-04 -5.26614307e-02] [-1.70568465e-04 -3.66667650e-04 9.99999918e-01 -3.44699425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.145898227 meters Centerline goodness [0,1] 0.8419846356266711 Centerline is valid? [False, False] Translation: X:79.60, Y:-0.05, Z:-0.34 [[ 9.99998083e-01 1.95710168e-03 6.29172866e-05 7.96002851e+01] [-1.95712889e-03 9.99997990e-01 4.35342473e-04 -5.33126409e-02] [-6.20651507e-05 -4.35464776e-04 9.99999903e-01 -3.44588111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.175898227 meters Centerline goodness [0,1] 0.8550995940517006 Centerline is valid? [False, False] Translation: X:79.60, Y:-0.05, Z:-0.34 [[ 9.99998464e-01 1.75163107e-03 -6.76700270e-05 7.96007924e+01] [-1.75160590e-03 9.99998397e-01 3.70175427e-04 -5.35377284e-02] [ 6.83183293e-05 -3.70056328e-04 9.99999929e-01 -3.44740838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.205898227 meters Centerline goodness [0,1] 0.9640363867146181 Centerline is valid? [False, True] Translation: X:79.60, Y:-0.05, Z:-0.34 [[ 9.99998691e-01 1.61056803e-03 -1.58198546e-04 7.96011541e+01] [-1.61051430e-03 9.99998646e-01 3.39124269e-04 -5.38178966e-02] [ 1.58744515e-04 -3.38869044e-04 9.99999930e-01 -3.44865043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.235898227 meters Centerline goodness [0,1] 0.9816976631272297 Centerline is valid? [True, True] Translation: X:79.63, Y:-0.05, Z:-0.35 [[ 9.99993403e-01 -3.63040306e-03 1.16027472e-04 7.96306119e+01] [ 3.63040222e-03 9.99993410e-01 7.43957992e-06 -5.25236353e-02] [-1.16053716e-04 -7.01830445e-06 9.99999993e-01 -3.45232140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.265898227 meters Centerline goodness [0,1] 0.9799618919994137 Centerline is valid? [True, True] Translation: X:79.66, Y:-0.05, Z:-0.35 [[ 9.99979561e-01 -6.37467495e-03 4.91895053e-04 7.96598342e+01] [ 6.37466015e-03 9.99979681e-01 3.16532950e-05 -4.89002679e-02] [-4.92086837e-04 -2.85169842e-05 9.99999879e-01 -3.45414800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.295898227 meters Centerline goodness [0,1] 0.9958950825193668 Centerline is valid? [True, True] Translation: X:79.69, Y:-0.05, Z:-0.35 [[ 9.99956844e-01 -9.27778184e-03 4.82336001e-04 7.96909141e+01] [ 9.27776793e-03 9.99956960e-01 3.10696034e-05 -5.48289849e-02] [-4.82603498e-04 -2.65932611e-05 9.99999883e-01 -3.45148321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.325898227 meters Centerline goodness [0,1] 0.9980313275699735 Centerline is valid? [True, True] Translation: X:79.72, Y:-0.06, Z:-0.35 [[ 9.99927902e-01 -1.20064915e-02 1.89342671e-04 7.97211111e+01] [ 1.20064895e-02 9.99927919e-01 1.21515122e-05 -5.70793789e-02] [-1.89474920e-04 -9.87729527e-06 9.99999982e-01 -3.45450922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.355898227 meters Centerline goodness [0,1] 0.998774017628781 Centerline is valid? [True, True] Translation: X:79.75, Y:-0.06, Z:-0.35 [[ 9.99892061e-01 -1.46887208e-02 3.27938049e-04 7.97505963e+01] [ 1.46887147e-02 9.99892115e-01 2.10288039e-05 -5.80392488e-02] [-3.28211555e-04 -1.62095457e-05 9.99999946e-01 -3.45702699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.385898227 meters Centerline goodness [0,1] 0.9993440125272447 Centerline is valid? [True, True] Translation: X:79.78, Y:-0.06, Z:-0.35 [[ 9.99847547e-01 -1.74559519e-02 4.14405929e-04 7.97811677e+01] [ 1.74559424e-02 9.99847633e-01 2.66529132e-05 -6.09321527e-02] [-4.14808039e-04 -1.94150038e-05 9.99999914e-01 -3.45301219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.415898227 meters Centerline goodness [0,1] 0.9995782548184386 Centerline is valid? [True, True] Translation: X:79.81, Y:-0.07, Z:-0.34 [[ 9.99754452e-01 -2.21237040e-02 1.25563728e-03 7.98108718e+01] [ 2.21236198e-02 9.99755239e-01 8.08940345e-05 -6.69165019e-02] [-1.25711962e-03 -5.30949294e-05 9.99999208e-01 -3.44542542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44589822700001 meters Centerline goodness [0,1] 0.9998293733737149 Centerline is valid? [True, True] Translation: X:79.84, Y:-0.07, Z:-0.34 [[ 9.99725723e-01 -2.33809162e-02 1.34570814e-03 7.98408340e+01] [ 2.33808206e-02 9.99726627e-01 8.66796320e-05 -6.99715288e-02] [-1.34736691e-03 -5.51920971e-05 9.99999091e-01 -3.44147762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.475898227 meters Centerline goodness [0,1] 0.9996809121657555 Centerline is valid? [True, True] Translation: X:79.87, Y:-0.07, Z:-0.34 [[ 9.99723945e-01 -2.34673417e-02 1.14771470e-03 7.98690031e+01] [ 2.34672724e-02 9.99724603e-01 7.38429834e-05 -6.84604027e-02] [-1.14913152e-03 -4.68888653e-05 9.99999339e-01 -3.44678763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.505898227 meters Centerline goodness [0,1] 0.9996411003441215 Centerline is valid? [True, True] Translation: X:79.90, Y:-0.07, Z:-0.35 [[ 9.99744026e-01 -2.25771130e-02 1.46824133e-03 7.98980752e+01] [ 2.25769983e-02 9.99745103e-01 9.46360450e-05 -6.59898579e-02] [-1.47000369e-03 -6.14633386e-05 9.99998918e-01 -3.45157887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.535898227 meters Centerline goodness [0,1] 0.9995517800734227 Centerline is valid? [True, True] Translation: X:79.93, Y:-0.06, Z:-0.34 [[ 9.99776864e-01 -2.10847315e-02 1.28691410e-03 7.99276823e+01] [ 2.10846421e-02 9.99777691e-01 8.30188684e-05 -6.25717481e-02] [-1.28837844e-03 -5.58662206e-05 9.99999168e-01 -3.44862562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.565898227 meters Centerline goodness [0,1] 0.999175266452377 Centerline is valid? [True, True] Translation: X:79.96, Y:-0.05, Z:-0.34 [[ 9.99814741e-01 -1.91953709e-02 1.42160098e-03 7.99559974e+01] [ 1.91952598e-02 9.99815750e-01 9.17068130e-05 -5.39589988e-02] [-1.42309940e-03 -6.44018233e-05 9.99998985e-01 -3.44627583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.595898227 meters Centerline goodness [0,1] 0.9991424388203305 Centerline is valid? [True, True] Translation: X:79.99, Y:-0.05, Z:-0.34 [[ 9.99847676e-01 -1.74137317e-02 1.17729331e-03 7.99858429e+01] [ 1.74136542e-02 9.99848368e-01 7.60561612e-05 -5.17737906e-02] [-1.17843922e-03 -5.55435974e-05 9.99999304e-01 -3.44110092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.625898227 meters Centerline goodness [0,1] 0.9965081301668104 Centerline is valid? [True, True] Translation: X:80.01, Y:-0.04, Z:-0.35 [[ 9.99913362e-01 -1.31573744e-02 -3.90266464e-04 8.00140807e+01] [ 1.31573656e-02 9.99913438e-01 -2.51305507e-05 -3.87409280e-02] [ 3.90563333e-04 1.99934949e-05 9.99999924e-01 -3.47089295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.655898227 meters Centerline goodness [0,1] 0.9990377419009944 Centerline is valid? [True, True] Translation: X:80.04, Y:-0.05, Z:-0.35 [[ 9.99929943e-01 -1.17397075e-02 -1.51274214e-03 8.00444846e+01] [ 1.17395727e-02 9.99931084e-01 -9.79522782e-05 -4.54183729e-02] [ 1.51378782e-03 8.01864697e-05 9.99998851e-01 -3.48112976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.685898227 meters Centerline goodness [0,1] 0.9902798971550408 Centerline is valid? [True, True] Translation: X:80.07, Y:-0.03, Z:-0.35 [[ 9.99938505e-01 -1.09991824e-02 -1.41565827e-03 8.00721670e+01] [ 1.09990634e-02 9.99939504e-01 -9.17912446e-05 -2.96580768e-02] [ 1.41658226e-03 7.62146849e-05 9.99998994e-01 -3.51160776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.715898227 meters Centerline goodness [0,1] 0.9971574159858503 Centerline is valid? [True, True] Translation: X:80.10, Y:-0.03, Z:-0.35 [[ 9.99938565e-01 -1.10022879e-02 -1.34755257e-03 8.01026134e+01] [ 1.10021802e-02 9.99939470e-01 -8.73449268e-05 -3.45523484e-02] [ 1.34843200e-03 7.25135445e-05 9.99999088e-01 -3.50798086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.745898227 meters Centerline goodness [0,1] 0.9980203499510409 Centerline is valid? [True, True] Translation: X:80.13, Y:-0.03, Z:-0.35 [[ 9.99931114e-01 -1.16149974e-02 -1.69065563e-03 8.01321987e+01] [ 1.16148286e-02 9.99932540e-01 -1.09590592e-04 -3.28574819e-02] [ 1.69181447e-03 8.99463669e-05 9.99998565e-01 -3.51567356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.775898227 meters Centerline goodness [0,1] 0.997826408086606 Centerline is valid? [True, True] Translation: X:80.16, Y:-0.03, Z:-0.35 [[ 9.99916335e-01 -1.27434574e-02 -2.21978637e-03 8.01610009e+01] [ 1.27431691e-02 9.99918792e-01 -1.43974649e-04 -2.92246852e-02] [ 2.22144084e-03 1.15675490e-04 9.99997526e-01 -3.52990707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.805898227 meters Centerline goodness [0,1] 0.9990687239401443 Centerline is valid? [True, True] Translation: X:80.19, Y:-0.03, Z:-0.35 [[ 9.99882806e-01 -1.50354826e-02 -2.88252309e-03 8.01910394e+01] [ 1.50350064e-02 9.99886950e-01 -1.86821281e-04 -3.15998166e-02] [ 2.88500617e-03 1.43460634e-04 9.99995828e-01 -3.53531361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.835898227 meters Centerline goodness [0,1] 0.9991620228767755 Centerline is valid? [True, True] Translation: X:80.22, Y:-0.03, Z:-0.35 [[ 9.99867808e-01 -1.60575291e-02 -2.55372012e-03 8.02191499e+01] [ 1.60571576e-02 9.99871062e-01 -1.65919984e-04 -3.02739881e-02] [ 2.55605512e-03 1.24892565e-04 9.99996725e-01 -3.53520741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.865898227 meters Centerline goodness [0,1] 0.9985908976192479 Centerline is valid? [True, True] Translation: X:80.25, Y:-0.03, Z:-0.35 [[ 9.99852254e-01 -1.70375840e-02 -2.27833261e-03 8.02470224e+01] [ 1.70372904e-02 9.99854844e-01 -1.48189172e-04 -2.77087604e-02] [ 2.28052669e-03 1.09350663e-04 9.99997394e-01 -3.53232821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.895898227 meters Centerline goodness [0,1] 0.9995269020687282 Centerline is valid? [True, True] Translation: X:80.28, Y:-0.04, Z:-0.35 [[ 9.99843422e-01 -1.74702756e-02 -2.81427821e-03 8.02766859e+01] [ 1.74698265e-02 9.99847374e-01 -1.84085971e-04 -3.67473118e-02] [ 2.81706471e-03 1.34892195e-04 9.99996023e-01 -3.51950485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.925898227 meters Centerline goodness [0,1] 0.9989482762247324 Centerline is valid? [True, True] Translation: X:80.30, Y:-0.03, Z:-0.35 [[ 9.99837131e-01 -1.79164567e-02 -2.17051569e-03 8.03038765e+01] [ 1.79161911e-02 9.99839482e-01 -1.41713689e-04 -2.57236017e-02] [ 2.17270629e-03 1.02803234e-04 9.99997634e-01 -3.53500692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.955898227 meters Centerline goodness [0,1] 0.9993639216351454 Centerline is valid? [True, True] Translation: X:80.33, Y:-0.03, Z:-0.35 [[ 9.99832694e-01 -1.81990850e-02 -1.83757978e-03 8.03331299e+01] [ 1.81988934e-02 9.99834379e-01 -1.20890186e-04 -2.96381524e-02] [ 1.83947553e-03 8.74280422e-05 9.99998304e-01 -3.52438891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.985898227 meters Centerline goodness [0,1] 0.9995527347077867 Centerline is valid? [True, True] Translation: X:80.36, Y:-0.03, Z:-0.35 [[ 9.99821985e-01 -1.88416293e-02 -9.95552834e-04 8.03623902e+01] [ 1.88415728e-02 9.99822480e-01 -6.60984921e-05 -3.37635264e-02] [ 9.96621507e-04 4.73289444e-05 9.99999502e-01 -3.50648169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.015898227 meters Centerline goodness [0,1] 0.9993441096817874 Centerline is valid? [True, True] Translation: X:80.39, Y:-0.03, Z:-0.35 [[ 9.99815361e-01 -1.92157129e-02 -3.18370336e-05 8.03908460e+01] [ 1.92157129e-02 9.99815361e-01 -2.28266181e-06 -3.18075631e-02] [ 3.18750183e-05 1.67046905e-06 9.99999999e-01 -3.49849396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.045898227 meters Centerline goodness [0,1] 0.9990998135328032 Centerline is valid? [True, True] Translation: X:80.42, Y:-0.04, Z:-0.35 [[ 9.99803320e-01 -1.98251950e-02 5.31914532e-04 8.04197143e+01] [ 1.98251797e-02 9.99803461e-01 3.40144694e-05 -3.62919373e-02] [-5.32484333e-04 -2.34624782e-05 9.99999858e-01 -3.48710446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.075898227 meters Centerline goodness [0,1] 0.9989072443273125 Centerline is valid? [True, True] Translation: X:80.45, Y:-0.04, Z:-0.35 [[ 9.99781699e-01 -2.08501732e-02 -1.35055418e-03 8.04493305e+01] [ 2.08500709e-02 9.99782610e-01 -8.98160609e-05 -4.32999059e-02] [ 1.35213326e-03 6.16373037e-05 9.99999084e-01 -3.51097028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.105898227 meters Centerline goodness [0,1] 0.9982633741369816 Centerline is valid? [True, True] Translation: X:80.48, Y:-0.04, Z:-0.35 [[ 9.99767215e-01 -2.14522488e-02 -2.30597663e-03 8.04766140e+01] [ 2.14519546e-02 9.99769869e-01 -1.52250915e-04 -3.98615489e-02] [ 2.30871208e-03 1.02747767e-04 9.99997330e-01 -3.54413907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.135898227 meters Centerline goodness [0,1] 0.9982633741369816 Centerline is valid? [True, True] Translation: X:80.50, Y:-0.04, Z:-0.35 [[ 9.99763393e-01 -2.16296117e-02 -2.30590564e-03 8.05040663e+01] [ 2.16293155e-02 9.99766047e-01 -1.53326504e-04 -3.78658985e-02] [ 2.30868256e-03 1.03415065e-04 9.99997330e-01 -3.54567459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.165898227 meters Centerline goodness [0,1] 0.9986979713553699 Centerline is valid? [True, True] Translation: X:80.53, Y:-0.04, Z:-0.36 [[ 9.99753603e-01 -2.20178366e-02 -2.81933707e-03 8.05320248e+01] [ 2.20173944e-02 9.99757570e-01 -1.87769887e-04 -4.38083815e-02] [ 2.82278786e-03 1.25649165e-04 9.99996008e-01 -3.56078761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19589822700001 meters Centerline goodness [0,1] 0.9992254566578455 Centerline is valid? [True, True] Translation: X:80.56, Y:-0.06, Z:-0.35 [[ 9.99744843e-01 -2.23426668e-02 -3.32465967e-03 8.05614464e+01] [ 2.23420519e-02 9.99750361e-01 -2.21976152e-04 -5.69813324e-02] [ 3.32878924e-03 1.47639794e-04 9.99994449e-01 -3.54879734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.225898227 meters Centerline goodness [0,1] 0.998425957018133 Centerline is valid? [True, True] Translation: X:80.59, Y:-0.05, Z:-0.36 [[ 9.99749888e-01 -2.21376002e-02 -3.17615403e-03 8.05891870e+01] [ 2.21370396e-02 9.99754923e-01 -2.11552462e-04 -5.01964920e-02] [ 3.18005889e-03 1.41188902e-04 9.99994934e-01 -3.56747919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.255898227 meters Centerline goodness [0,1] 0.9986713065485606 Centerline is valid? [True, True] Translation: X:80.62, Y:-0.06, Z:-0.35 [[ 9.99774117e-01 -2.11304998e-02 -2.28406760e-03 8.06184922e+01] [ 2.11302049e-02 9.99776721e-01 -1.53163537e-04 -5.94310019e-02] [ 2.28679404e-03 1.04866123e-04 9.99997380e-01 -3.53780999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.285898227 meters Centerline goodness [0,1] 0.9988742804953166 Centerline is valid? [True, True] Translation: X:80.65, Y:-0.06, Z:-0.35 [[ 9.99806248e-01 -1.95920750e-02 -1.90171769e-03 8.06486010e+01] [ 1.95918689e-02 9.99808053e-01 -1.26949843e-04 -6.25947460e-02] [ 1.90383987e-03 8.96670428e-05 9.99998184e-01 -3.52824721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.315898227 meters Centerline goodness [0,1] 0.9976085668331499 Centerline is valid? [True, True] Translation: X:80.68, Y:-0.05, Z:-0.35 [[ 9.99841664e-01 -1.77609049e-02 -1.09441868e-03 8.06769047e+01] [ 1.77608354e-02 9.99842261e-01 -7.32183022e-05 -5.49255573e-02] [ 1.09554647e-03 5.37689192e-05 9.99999398e-01 -3.53111289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.345898227 meters Centerline goodness [0,1] 0.9983431399621896 Centerline is valid? [True, True] Translation: X:80.71, Y:-0.06, Z:-0.35 [[ 9.99876879e-01 -1.56635375e-02 -9.38262643e-04 8.07064757e+01] [ 1.56634854e-02 9.99877318e-01 -6.28285737e-05 -5.99362121e-02] [ 9.39131653e-04 4.81243750e-05 9.99999558e-01 -3.51986330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.375898227 meters Centerline goodness [0,1] 0.994498828647925 Centerline is valid? [True, True] Translation: X:80.73, Y:-0.05, Z:-0.35 [[ 9.99904676e-01 -1.37552224e-02 -1.19668772e-03 8.07345356e+01] [ 1.37551363e-02 9.99905390e-01 -8.01214214e-05 -5.21318957e-02] [ 1.19767659e-03 6.36531811e-05 9.99999281e-01 -3.53896225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.405898227 meters Centerline goodness [0,1] 0.9979741544760524 Centerline is valid? [True, True] Translation: X:80.76, Y:-0.06, Z:-0.35 [[ 9.99925708e-01 -1.19933944e-02 -2.17638625e-03 8.07643642e+01] [ 1.19931057e-02 9.99928070e-01 -1.45634578e-04 -5.89142208e-02] [ 2.17797636e-03 1.19522128e-04 9.99997621e-01 -3.54155435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.435898227 meters Centerline goodness [0,1] 0.9941900059589682 Centerline is valid? [True, True] Translation: X:80.79, Y:-0.06, Z:-0.36 [[ 9.99954455e-01 -9.29197430e-03 -2.17880440e-03 8.07931536e+01] [ 9.29167864e-03 9.99956821e-01 -1.45782257e-04 -5.62693477e-02] [ 2.18006493e-03 1.25530867e-04 9.99997616e-01 -3.55586133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.465898227 meters Centerline goodness [0,1] 0.9689468566355219 Centerline is valid? [True, True] Translation: X:80.82, Y:-0.05, Z:-0.36 [[ 9.99964957e-01 -8.18840439e-03 -1.74186358e-03 8.08211199e+01] [ 8.18821350e-03 9.99966469e-01 -1.16693744e-04 -4.69758282e-02] [ 1.74276071e-03 1.02426904e-04 9.99998476e-01 -3.56600079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.495898227 meters Centerline goodness [0,1] 0.9938190314358538 Centerline is valid? [True, True] Translation: X:80.85, Y:-0.06, Z:-0.36 [[ 9.99965359e-01 -8.13763794e-03 -1.74935033e-03 8.08506725e+01] [ 8.13744357e-03 9.99966883e-01 -1.18197567e-04 -5.72837455e-02] [ 1.75025425e-03 1.03958233e-04 9.99998463e-01 -3.56051433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.525898227 meters Centerline goodness [0,1] 0.9966314072993327 Centerline is valid? [True, True] Translation: X:80.88, Y:-0.06, Z:-0.36 [[ 9.99963235e-01 -8.23814638e-03 -2.37949596e-03 8.08796599e+01] [ 8.23778685e-03 9.99966056e-01 -1.60857072e-04 -6.10854277e-02] [ 2.38074035e-03 1.41249378e-04 9.99997156e-01 -3.56327316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.555898227 meters Centerline goodness [0,1] 0.9938175869468228 Centerline is valid? [True, True] Translation: X:80.91, Y:-0.06, Z:-0.36 [[ 9.99959503e-01 -8.56047469e-03 -2.77694843e-03 8.09074212e+01] [ 8.55998789e-03 9.99963345e-01 -1.87138415e-04 -5.87815368e-02] [ 2.77844863e-03 1.63360192e-04 9.99996127e-01 -3.56436032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.585898227 meters Centerline goodness [0,1] 0.9915539454221955 Centerline is valid? [True, True] Translation: X:80.94, Y:-0.06, Z:-0.36 [[ 9.99957236e-01 -8.89661416e-03 -2.52526513e-03 8.09351817e+01] [ 8.89621165e-03 9.99960413e-01 -1.70578985e-04 -5.87226234e-02] [ 2.52668274e-03 1.48106397e-04 9.99996797e-01 -3.57453231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.615898227 meters Centerline goodness [0,1] 0.9965648854961832 Centerline is valid? [True, True] Translation: X:80.96, Y:-0.07, Z:-0.36 [[ 9.99949608e-01 -9.99223841e-03 -9.67507182e-04 8.09642400e+01] [ 9.99217972e-03 9.99950075e-01 -6.54741646e-05 -6.56315407e-02] [ 9.68113112e-04 5.58033596e-05 9.99999530e-01 -3.55369343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.645898227 meters Centerline goodness [0,1] 0.996075852706601 Centerline is valid? [True, True] Translation: X:80.99, Y:-0.07, Z:-0.36 [[ 9.99943907e-01 -1.05780585e-02 -5.35837588e-04 8.09926762e+01] [ 1.05780405e-02 9.99944050e-01 -3.63669036e-05 -6.60309319e-02] [ 5.36192300e-04 3.06967519e-05 9.99999856e-01 -3.55302922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.675898227 meters Centerline goodness [0,1] 0.9950528257588462 Centerline is valid? [True, True] Translation: X:81.02, Y:-0.06, Z:-0.36 [[ 9.99939152e-01 -1.09891786e-02 -9.63978083e-04 8.10217295e+01] [ 1.09891208e-02 9.99939616e-01 -6.52414399e-05 -6.47379405e-02] [ 9.64636824e-04 5.46441985e-05 9.99999533e-01 -3.56122320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.705898227 meters Centerline goodness [0,1] 0.9869223143285031 Centerline is valid? [True, True] Translation: X:81.05, Y:-0.06, Z:-0.36 [[ 9.99933798e-01 -1.13147354e-02 -2.09191018e-03 8.10492314e+01] [ 1.13144634e-02 9.99935979e-01 -1.41830701e-04 -5.99829114e-02] [ 2.09338103e-03 1.18152471e-04 9.99997802e-01 -3.58894527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.735898227 meters Centerline goodness [0,1] 0.9935373503136286 Centerline is valid? [True, True] Translation: X:81.08, Y:-0.06, Z:-0.36 [[ 9.99921939e-01 -1.20692922e-02 -3.23225718e-03 8.10784005e+01] [ 1.20686445e-02 9.99927147e-01 -2.19812671e-04 -6.47765690e-02] [ 3.23467468e-03 1.80786549e-04 9.99994752e-01 -3.59815799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.765898227 meters Centerline goodness [0,1] 0.9791565783102091 Centerline is valid? [True, True] Translation: X:81.11, Y:-0.06, Z:-0.36 [[ 9.99910598e-01 -1.29581131e-02 -3.29912858e-03 8.11061548e+01] [ 1.29574415e-02 9.99916024e-01 -2.24868631e-04 -5.73287213e-02] [ 3.30176540e-03 1.82100262e-04 9.99994533e-01 -3.62187489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.795898227 meters Centerline goodness [0,1] 0.9955984246993661 Centerline is valid? [True, True] Translation: X:81.14, Y:-0.07, Z:-0.36 [[ 9.99886284e-01 -1.48170451e-02 -2.80611253e-03 8.11366792e+01] [ 1.48165684e-02 9.99890210e-01 -1.90599856e-04 -6.55312681e-02] [ 2.80862858e-03 1.49001223e-04 9.99996045e-01 -3.61117056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.825898227 meters Centerline goodness [0,1] 0.9962581654440522 Centerline is valid? [True, True] Translation: X:81.17, Y:-0.07, Z:-0.36 [[ 9.99865862e-01 -1.61135350e-02 -2.93473584e-03 8.11656863e+01] [ 1.61130183e-02 9.99870157e-01 -1.99656223e-04 -6.51597956e-02] [ 2.93757196e-03 1.52341989e-04 9.99995674e-01 -3.60434737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.855898227 meters Centerline goodness [0,1] 0.9978714346530438 Centerline is valid? [True, True] Translation: X:81.19, Y:-0.07, Z:-0.36 [[ 9.99846541e-01 -1.72323634e-02 -3.15293743e-03 8.11948871e+01] [ 1.72317720e-02 9.99851499e-01 -2.14630008e-04 -6.71624084e-02] [ 3.15616780e-03 1.60266372e-04 9.99995006e-01 -3.60744796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.885898227 meters Centerline goodness [0,1] 0.9948197439353099 Centerline is valid? [True, True] Translation: X:81.22, Y:-0.06, Z:-0.36 [[ 9.99832277e-01 -1.79637462e-02 -3.56660879e-03 8.12227361e+01] [ 1.79629933e-02 9.99838623e-01 -2.43023664e-04 -6.25832575e-02] [ 3.57039884e-03 1.78915934e-04 9.99993610e-01 -3.62081163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.915898227 meters Centerline goodness [0,1] 0.9981426924554887 Centerline is valid? [True, True] Translation: X:81.25, Y:-0.07, Z:-0.36 [[ 9.99811602e-01 -1.89269700e-02 -4.30460617e-03 8.12516847e+01] [ 1.89258769e-02 9.99820846e-01 -2.94548104e-04 -6.62102876e-02] [ 4.30940988e-03 2.13024166e-04 9.99990692e-01 -3.60417968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94589822700001 meters Centerline goodness [0,1] 0.9923060663707461 Centerline is valid? [True, True] Translation: X:81.28, Y:-0.06, Z:-0.36 [[ 9.99807568e-01 -1.91052879e-02 -4.45132419e-03 8.12785107e+01] [ 1.91041223e-02 9.99817453e-01 -3.04227237e-04 -5.66120286e-02] [ 4.45632396e-03 2.19130052e-04 9.99990047e-01 -3.62881443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.975898227 meters Centerline goodness [0,1] 0.9987340957366919 Centerline is valid? [True, True] Translation: X:81.31, Y:-0.06, Z:-0.36 [[ 9.99794637e-01 -1.98662905e-02 -4.00172082e-03 8.13076186e+01] [ 1.98653494e-02 9.99802627e-01 -2.74786099e-04 -6.13869680e-02] [ 4.00638997e-03 1.95234086e-04 9.99991955e-01 -3.60855323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.005898227 meters Centerline goodness [0,1] 0.9829394934830984 Centerline is valid? [True, True] Translation: X:81.33, Y:-0.05, Z:-0.36 [[ 9.99783055e-01 -2.05540776e-02 -3.37246795e-03 8.13342111e+01] [ 2.05534139e-02 9.99788730e-01 -2.31326053e-04 -4.52786729e-02] [ 3.37651014e-03 1.61960138e-04 9.99994286e-01 -3.63241637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.035898227 meters Centerline goodness [0,1] 0.9987560091085435 Centerline is valid? [True, True] Translation: X:81.37, Y:-0.06, Z:-0.36 [[ 9.99752981e-01 -2.21465566e-02 -1.87244415e-03 8.13653436e+01] [ 2.21463547e-02 9.99754731e-01 -1.28502061e-04 -5.65020442e-02] [ 1.87483078e-03 8.70025058e-05 9.99998239e-01 -3.58642804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.065898227 meters Centerline goodness [0,1] 0.9985856027021321 Centerline is valid? [True, True] Translation: X:81.39, Y:-0.06, Z:-0.36 [[ 9.99721031e-01 -2.35663098e-02 -1.57801091e-03 8.13939767e+01] [ 2.35661679e-02 9.99722273e-01 -1.08469815e-04 -5.53067638e-02] [ 1.58012889e-03 7.12518856e-05 9.99998749e-01 -3.56894719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.095898227 meters Centerline goodness [0,1] 0.9990326989801283 Centerline is valid? [True, True] Translation: X:81.42, Y:-0.06, Z:-0.36 [[ 9.99681875e-01 -2.52100382e-02 -7.76216703e-04 8.14230074e+01] [ 2.52100043e-02 9.99682176e-01 -5.35192950e-05 -5.69336338e-02] [ 7.77319226e-04 3.39338428e-05 9.99999697e-01 -3.56660788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.125898227 meters Centerline goodness [0,1] 0.9991772151898735 Centerline is valid? [True, True] Translation: X:81.45, Y:-0.06, Z:-0.36 [[ 9.99602722e-01 -2.81848902e-02 9.84761482e-05 8.14529131e+01] [ 2.81848897e-02 9.99602727e-01 6.63057540e-06 -5.90023937e-02] [-9.86239083e-05 -3.85240184e-06 9.99999995e-01 -3.56072427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.155898227 meters Centerline goodness [0,1] 0.9992001515502326 Centerline is valid? [True, True] Translation: X:81.48, Y:-0.06, Z:-0.36 [[ 9.99505290e-01 -3.14369923e-02 9.44135029e-04 8.14821844e+01] [ 3.14369452e-02 9.99505735e-01 6.47028725e-05 -5.81889806e-02] [-9.45702440e-04 -3.49901422e-05 9.99999552e-01 -3.55651302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.185898227 meters Centerline goodness [0,1] 0.9995572142450503 Centerline is valid? [True, True] Translation: X:81.51, Y:-0.06, Z:-0.35 [[ 9.99388585e-01 -3.49060953e-02 2.00536385e-03 8.15129598e+01] [ 3.49058893e-02 9.99390594e-01 1.37661980e-04 -6.27341804e-02] [-2.00894701e-03 -6.75788024e-05 9.99997980e-01 -3.54480269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.215898227 meters Centerline goodness [0,1] 0.999530315969257 Centerline is valid? [True, True] Translation: X:81.54, Y:-0.07, Z:-0.35 [[ 9.99170262e-01 -4.05697281e-02 3.58943996e-03 8.15431476e+01] [ 4.05691042e-02 9.99176705e-01 2.46491548e-04 -6.88166367e-02] [-3.59648489e-03 -1.00666661e-04 9.99993528e-01 -3.51874228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.245898227 meters Centerline goodness [0,1] 0.9995357180542366 Centerline is valid? [True, True] Translation: X:81.57, Y:-0.07, Z:-0.35 [[ 9.99083087e-01 -4.26253853e-02 4.00759390e-03 8.15706709e+01] [ 4.26246241e-02 9.99091120e-01 2.75202530e-04 -6.84344484e-02] [-4.01568209e-03 -1.04128010e-04 9.99991932e-01 -3.51570258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.275898227 meters Centerline goodness [0,1] 0.9995187277673153 Centerline is valid? [True, True] Translation: X:81.60, Y:-0.06, Z:-0.35 [[ 9.99020095e-01 -4.41261910e-02 3.42483415e-03 8.15979549e+01] [ 4.41256434e-02 9.99025962e-01 2.35335849e-04 -6.27295863e-02] [-3.43188270e-03 -8.39822324e-05 9.99994108e-01 -3.52838284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.305898227 meters Centerline goodness [0,1] 0.9996833305184935 Centerline is valid? [True, True] Translation: X:81.63, Y:-0.07, Z:-0.35 [[ 9.98985407e-01 -4.49645270e-02 2.51940467e-03 8.16272976e+01] [ 4.49642340e-02 9.98988582e-01 1.72862766e-04 -6.59429846e-02] [-2.52462919e-03 -5.94042798e-05 9.99996811e-01 -3.53996448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.335898227 meters Centerline goodness [0,1] 0.9996425191883083 Centerline is valid? [True, True] Translation: X:81.65, Y:-0.06, Z:-0.36 [[ 9.98977219e-01 -4.51868332e-02 1.63300211e-03 8.16538126e+01] [ 4.51867103e-02 9.98978553e-01 1.12123832e-04 -6.22786738e-02] [-1.63640060e-03 -3.82191607e-05 9.99998660e-01 -3.56029537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.365898227 meters Centerline goodness [0,1] 0.9996624899801713 Centerline is valid? [True, True] Translation: X:81.68, Y:-0.06, Z:-0.36 [[ 9.98951746e-01 -4.57634557e-02 1.05596280e-03 8.16815660e+01] [ 4.57634044e-02 9.98952304e-01 7.27027035e-05 -5.90112788e-02] [-1.05818360e-03 -2.43020399e-05 9.99999440e-01 -3.56543836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.395898227 meters Centerline goodness [0,1] 0.999829689396036 Centerline is valid? [True, True] Translation: X:81.71, Y:-0.06, Z:-0.35 [[ 9.98791939e-01 -4.90883356e-02 2.23572250e-03 8.17112112e+01] [ 4.90881136e-02 9.98794440e-01 1.54091957e-04 -6.21608780e-02] [-2.24059132e-03 -4.41584043e-05 9.99997489e-01 -3.54869119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.425898227 meters Centerline goodness [0,1] 0.9999577059719168 Centerline is valid? [True, True] Translation: X:81.74, Y:-0.06, Z:-0.36 [[ 9.98626628e-01 -5.23473365e-02 2.14802046e-03 8.17389691e+01] [ 5.23471378e-02 9.98628938e-01 1.48655221e-04 -6.19173386e-02] [-2.15285709e-03 -3.60083395e-05 9.99997682e-01 -3.55609093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.455898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.77, Y:-0.06, Z:-0.36 [[ 9.98403311e-01 -5.64746808e-02 1.19959045e-03 8.17672321e+01] [ 5.64746219e-02 9.98404032e-01 8.29517137e-05 -6.46552072e-02] [-1.20236062e-03 -1.50728484e-05 9.99999277e-01 -3.57515756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.485898227 meters Centerline goodness [0,1] 0.9999789131855851 Centerline is valid? [True, True] Translation: X:81.80, Y:-0.07, Z:-0.36 [[ 9.98085902e-01 -6.18406553e-02 -5.14667408e-04 8.17962821e+01] [ 6.18406446e-02 9.98086035e-01 -3.66969130e-05 -7.09788791e-02] [ 5.15951714e-04 4.79930727e-06 9.99999867e-01 -3.60805827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.515898227 meters Centerline goodness [0,1] 0.9999573151211183 Centerline is valid? [True, True] Translation: X:81.83, Y:-0.08, Z:-0.36 [[ 9.97658828e-01 -6.83588864e-02 -1.98146403e-03 8.18254850e+01] [ 6.83587452e-02 9.97660795e-01 -1.39010020e-04 -7.84556373e-02] [ 1.98633155e-03 3.23417925e-06 9.99998027e-01 -3.63069923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.545898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:-0.09, Z:-0.36 [[ 9.97232807e-01 -7.43140972e-02 -2.03542118e-03 8.18552828e+01] [ 7.43139597e-02 9.97234885e-01 -1.43195659e-04 -8.72689257e-02] [ 2.04043446e-03 -8.46079797e-06 9.99997918e-01 -3.63827588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.575898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.89, Y:-0.11, Z:-0.36 [[ 9.96374328e-01 -8.50762461e-02 -4.79501327e-04 8.18854637e+01] [ 8.50762398e-02 9.96374444e-01 -3.36578606e-05 -1.09711023e-01] [ 4.80626352e-04 -7.25834160e-06 9.99999884e-01 -3.63483180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.605898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.92, Y:-0.11, Z:-0.36 [[ 9.96036325e-01 -8.89465091e-02 -3.97413672e-04 8.19151934e+01] [ 8.89465050e-02 9.96036404e-01 -2.79261062e-05 -1.13044975e-01] [ 3.98322414e-04 -7.53314092e-06 9.99999921e-01 -3.62413515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.635898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.94, Y:-0.12, Z:-0.36 [[ 9.95867159e-01 -9.08144560e-02 -1.15561742e-03 8.19437894e+01] [ 9.08144229e-02 9.95867830e-01 -8.12247651e-05 -1.16106797e-01] [ 1.15821860e-03 -2.40576531e-05 9.99999329e-01 -3.63544359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.665898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.97, Y:-0.12, Z:-0.37 [[ 9.95809767e-01 -9.14154286e-02 -2.47541846e-03 8.19714377e+01] [ 9.14152790e-02 9.95812842e-01 -1.73757766e-04 -1.17841346e-01] [ 2.48093763e-03 -5.32613884e-05 9.99996921e-01 -3.65516889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69589822700001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.00, Y:-0.12, Z:-0.37 [[ 9.95816694e-01 -9.12722932e-02 -4.29893082e-03 8.19994696e+01] [ 9.12718406e-02 9.95825969e-01 -3.01762508e-04 -1.18916534e-01] [ 4.30852951e-03 -9.18711856e-05 9.99990714e-01 -3.68831947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.725898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.03, Y:-0.12, Z:-0.37 [[ 9.95866494e-01 -9.06343463e-02 -5.94494100e-03 8.20273845e+01] [ 9.06334682e-02 9.95884230e-01 -4.17514619e-04 -1.22408110e-01] [ 5.95831415e-03 -1.23021801e-04 9.99982242e-01 -3.74383494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.755898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.06, Y:-0.12, Z:-0.38 [[ 9.95988388e-01 -8.91284644e-02 -7.95286141e-03 8.20561269e+01] [ 8.91268308e-02 9.96020127e-01 -5.60295641e-04 -1.16763961e-01] [ 7.97114832e-03 -1.50765381e-04 9.99968219e-01 -3.75496456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.785898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.08, Y:-0.11, Z:-0.38 [[ 9.96092579e-01 -8.79459513e-02 -8.06744685e-03 8.20840325e+01] [ 8.79442326e-02 9.96125238e-01 -5.68236322e-04 -1.14134624e-01] [ 8.08616150e-03 -1.43469439e-04 9.99967296e-01 -3.76362475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.815898227 meters Centerline goodness [0,1] 0.99997891585317 Centerline is valid? [True, True] Translation: X:82.11, Y:-0.11, Z:-0.38 [[ 9.96183690e-01 -8.69845412e-02 -7.19338830e-03 8.21118562e+01] [ 8.69831465e-02 9.96209654e-01 -5.07110717e-04 -1.14881335e-01] [ 7.21023367e-03 -1.20528123e-04 9.99973999e-01 -3.76900079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.845898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.14, Y:-0.11, Z:-0.37 [[ 9.96264604e-01 -8.61607448e-02 -5.75887384e-03 8.21406011e+01] [ 8.61598276e-02 9.96281244e-01 -4.07629972e-04 -1.06614360e-01] [ 5.77257970e-03 -9.00762643e-05 9.99983334e-01 -3.70337378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.17, Y:-0.11, Z:-0.37 [[ 9.96358107e-01 -8.51433032e-02 -4.59792042e-03 8.21683441e+01] [ 8.51427083e-02 9.96368714e-01 -3.25313852e-04 -1.08474002e-01] [ 4.60892235e-03 -6.73503036e-05 9.99989377e-01 -3.72231606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.905898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:-0.10, Z:-0.37 [[ 9.96524181e-01 -8.32403911e-02 -3.25497526e-03 8.21971160e+01] [ 8.32400791e-02 9.96529496e-01 -2.31439958e-04 -9.82522024e-02] [ 3.26294401e-03 -4.03088837e-05 9.99994676e-01 -3.66908094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.935898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.22, Y:-0.10, Z:-0.37 [[ 9.96633961e-01 -8.19192796e-02 -3.15899224e-03 8.22247014e+01] [ 8.19189801e-02 9.96638967e-01 -2.24291977e-04 -9.53030514e-02] [ 3.16674860e-03 -3.52444207e-05 9.99994985e-01 -3.67489588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.965898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:-0.09, Z:-0.37 [[ 9.96757735e-01 -8.03935601e-02 -3.30062630e-03 8.22522663e+01] [ 8.03932234e-02 9.96763199e-01 -2.34774153e-04 -9.19344842e-02] [ 3.30881716e-03 -3.13350341e-05 9.99994525e-01 -3.68223192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.995898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.28, Y:-0.09, Z:-0.37 [[ 9.96850739e-01 -7.92414544e-02 -3.06528302e-03 8.22807955e+01] [ 7.92411554e-02 9.96855452e-01 -2.19047965e-04 -8.79486723e-02] [ 3.07300177e-03 -2.45384426e-05 9.99995278e-01 -3.67409160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.025898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.31, Y:-0.09, Z:-0.37 [[ 9.96835460e-01 -7.94334260e-02 -3.06523145e-03 8.23082466e+01] [ 7.94331257e-02 9.96840173e-01 -2.19770563e-04 -8.58134894e-02] [ 3.07300298e-03 -2.44058244e-05 9.99995278e-01 -3.67562550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.055898227 meters Centerline goodness [0,1] 0.9998286827847613 Centerline is valid? [True, True] Translation: X:82.34, Y:-0.08, Z:-0.37 [[ 9.96917586e-01 -7.83465552e-02 -4.14062416e-03 8.23350721e+01] [ 7.83460006e-02 9.96926184e-01 -2.96235096e-04 -8.31712700e-02] [ 4.15110564e-03 -2.90793660e-05 9.99991384e-01 -3.68515292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.36, Y:-0.08, Z:-0.37 [[ 9.97068159e-01 -7.63786534e-02 -4.62476808e-03 8.23623991e+01] [ 7.63779385e-02 9.97078884e-01 -3.31249571e-04 -8.04008664e-02] [ 4.63655899e-03 -2.29518523e-05 9.99989251e-01 -3.70878995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.115898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.39, Y:-0.07, Z:-0.37 [[ 9.97440596e-01 -7.12998476e-02 -5.34690020e-03 8.23896493e+01] [ 7.12988110e-02 9.97454927e-01 -3.84479605e-04 -6.96075402e-02] [ 5.36070528e-03 2.26793991e-06 9.99985631e-01 -3.70347940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.42, Y:-0.06, Z:-0.37 [[ 9.97646078e-01 -6.84432838e-02 -4.22125772e-03 8.24169186e+01] [ 6.84426078e-02 9.97655009e-01 -3.04557820e-04 -6.23210195e-02] [ 4.23220385e-03 1.49270275e-05 9.99991044e-01 -3.69000915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.175898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.44, Y:-0.06, Z:-0.37 [[ 9.97820185e-01 -6.59293920e-02 -2.86241398e-03 8.24442242e+01] [ 6.59290683e-02 9.97824291e-01 -2.07406394e-04 -5.56605332e-02] [ 2.86986038e-03 1.82379998e-05 9.99995882e-01 -3.66784701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.47, Y:-0.05, Z:-0.37 [[ 9.97934118e-01 -6.42222853e-02 -1.73040540e-03 8.24721530e+01] [ 6.42221648e-02 9.97935618e-01 -1.25171762e-04 -4.95027072e-02] [ 1.73487200e-03 1.37827911e-05 9.99998495e-01 -3.66222033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.235898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.50, Y:-0.05, Z:-0.36 [[ 9.97994541e-01 -6.32982595e-02 -4.75196664e-04 8.25001544e+01] [ 6.32982499e-02 9.97994654e-01 -3.53697572e-05 -4.56518833e-02] [ 4.76482575e-04 5.21970741e-06 9.99999886e-01 -3.64581720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.53, Y:-0.04, Z:-0.36 [[ 9.98003193e-01 -6.31606200e-02 6.02842413e-04 8.25281693e+01] [ 6.31606057e-02 9.98003375e-01 4.26668302e-05 -4.45818672e-02] [-6.04333626e-04 -4.50574082e-06 9.99999817e-01 -3.62266036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.295898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.56, Y:-0.04, Z:-0.36 [[ 9.97852571e-01 -6.54879689e-02 1.25373940e-03 8.25561614e+01] [ 6.54879067e-02 9.97853359e-01 9.06637685e-05 -4.44318750e-02] [-1.25698546e-03 -8.36430575e-06 9.99999210e-01 -3.62062836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.325898227 meters Centerline goodness [0,1] 0.9999575515748366 Centerline is valid? [True, True] Translation: X:82.59, Y:-0.04, Z:-0.36 [[ 9.97687005e-01 -6.79733943e-02 5.07359991e-04 8.25855208e+01] [ 6.79733848e-02 9.97687134e-01 3.60137081e-05 -4.46993361e-02] [-5.08634510e-04 -1.44343263e-06 9.99999871e-01 -3.62776556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.355898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.61, Y:-0.05, Z:-0.36 [[ 9.97496992e-01 -7.07078193e-02 3.94802571e-04 8.26137067e+01] [ 7.07078136e-02 9.97497070e-01 2.84226533e-05 -4.68248930e-02] [-3.95824111e-04 -4.35884540e-07 9.99999922e-01 -3.64138869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.64, Y:-0.05, Z:-0.36 [[ 9.97277832e-01 -7.37332929e-02 -5.72017518e-04 8.26416099e+01] [ 7.37332805e-02 9.97277996e-01 -4.28055665e-05 -4.93086072e-02] [ 5.73616679e-04 5.12314502e-07 9.99999835e-01 -3.64662959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.415898227 meters Centerline goodness [0,1] 0.9999788842434224 Centerline is valid? [True, True] Translation: X:82.67, Y:-0.05, Z:-0.37 [[ 9.97082363e-01 -7.63187759e-02 -1.48528727e-03 8.26698368e+01] [ 7.63186982e-02 9.97083469e-01 -1.09022960e-04 -5.12300843e-02] [ 1.48927589e-03 -4.65032010e-06 9.99998891e-01 -3.66548460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44589822700001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.70, Y:-0.05, Z:-0.37 [[ 9.96872060e-01 -7.90140048e-02 -1.69789379e-03 8.26984970e+01] [ 7.90139060e-02 9.96873506e-01 -1.25282032e-04 -5.25168601e-02] [ 1.70248437e-03 -9.26706362e-06 9.99998551e-01 -3.66495558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.475898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:-0.06, Z:-0.36 [[ 9.96465780e-01 -8.39941121e-02 -9.68663711e-04 8.27262658e+01] [ 8.39940825e-02 9.96466251e-01 -7.13305773e-05 -5.73288689e-02] [ 9.71232045e-04 -1.02835404e-05 9.99999528e-01 -3.64985165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.76, Y:-0.06, Z:-0.36 [[ 9.96236343e-01 -8.66783594e-02 1.00506229e-04 8.27553707e+01] [ 8.66783592e-02 9.96236348e-01 6.43166214e-06 -5.70872747e-02] [-1.00685444e-04 2.30425942e-06 9.99999995e-01 -3.63180828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.535898227 meters Centerline goodness [0,1] 0.9998730078100196 Centerline is valid? [True, True] Translation: X:82.78, Y:-0.06, Z:-0.36 [[ 9.95978862e-01 -8.95871007e-02 5.06924987e-04 8.27835596e+01] [ 8.95870935e-02 9.95978991e-01 3.67824512e-05 -5.83951229e-02] [-5.08181871e-04 8.77939232e-06 9.99999871e-01 -3.62630772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.81, Y:-0.06, Z:-0.36 [[ 9.95741019e-01 -9.21935424e-02 -4.15813529e-04 8.28121982e+01] [ 9.21935376e-02 9.95741106e-01 -3.09457738e-05 -6.03920336e-02] [ 4.16895624e-04 -7.52134384e-06 9.99999913e-01 -3.63917230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.595898227 meters Centerline goodness [0,1] 0.9999788144570145 Centerline is valid? [True, True] Translation: X:82.84, Y:-0.06, Z:-0.37 [[ 9.95538818e-01 -9.43310473e-02 -2.02854921e-03 8.28409020e+01] [ 9.43309362e-02 9.95540884e-01 -1.50615878e-04 -6.08500083e-02] [ 2.03371143e-03 -4.14109934e-05 9.99997931e-01 -3.66950146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.87, Y:-0.06, Z:-0.37 [[ 9.95391389e-01 -9.58417592e-02 -3.21552942e-03 8.28684280e+01] [ 9.58414896e-02 9.95396580e-01 -2.38187502e-04 -6.16801607e-02] [ 3.22355529e-03 -7.10913406e-05 9.99994802e-01 -3.69337565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.655898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.90, Y:-0.06, Z:-0.37 [[ 9.95396816e-01 -9.58069022e-02 -2.49334376e-03 8.28966557e+01] [ 9.58067377e-02 9.95399937e-01 -1.85587496e-04 -5.69122732e-02] [ 2.49965478e-03 -5.41459282e-05 9.99996874e-01 -3.67360243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.685898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:-0.05, Z:-0.37 [[ 9.95415395e-01 -9.56366735e-02 -1.34807015e-03 8.29249404e+01] [ 9.56366244e-02 9.95416308e-01 -1.00990572e-04 -5.35878354e-02] [ 1.35154942e-03 -2.83973087e-05 9.99999086e-01 -3.65186751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.715898227 meters Centerline goodness [0,1] 0.9998074783947977 Centerline is valid? [True, True] Translation: X:82.95, Y:-0.05, Z:-0.36 [[ 9.95407666e-01 -9.57244594e-02 -6.36806864e-04 8.29529834e+01] [ 9.57244479e-02 9.95407870e-01 -4.85078321e-05 -4.66816953e-02] [ 6.38525950e-04 -1.26729175e-05 9.99999796e-01 -3.63114973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.745898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:-0.05, Z:-0.37 [[ 9.95434252e-01 -9.54477043e-02 -6.21320759e-04 8.29809250e+01] [ 9.54476938e-02 9.95434446e-01 -4.66255334e-05 -4.76192225e-02] [ 6.22934386e-04 -1.28909806e-05 9.99999806e-01 -3.65040466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.775898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.01, Y:-0.04, Z:-0.37 [[ 9.95412247e-01 -9.56366354e-02 -2.84476878e-03 8.30095515e+01] [ 9.56364161e-02 9.95416310e-01 -2.13328975e-04 -4.24254774e-02] [ 2.85213131e-03 -5.97132161e-05 9.99995931e-01 -3.67023032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.805898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.04, Y:-0.04, Z:-0.37 [[ 9.95297993e-01 -9.67953211e-02 -3.54560401e-03 8.30379684e+01] [ 9.67949901e-02 9.95304305e-01 -2.65257732e-04 -4.36637174e-02] [ 3.55463064e-03 -7.91862168e-05 9.99993679e-01 -3.69182163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.835898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:-0.04, Z:-0.37 [[ 9.95133759e-01 -9.84823770e-02 -3.16588608e-03 8.30665812e+01] [ 9.84821179e-02 9.95138792e-01 -2.38012411e-04 -4.09094516e-02] [ 3.17393607e-03 -7.49289810e-05 9.99994960e-01 -3.68701155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.865898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:-0.04, Z:-0.37 [[ 9.94984776e-01 -1.00000589e-01 -2.27566886e-03 8.30954009e+01] [ 1.00000458e-01 9.94987376e-01 -1.71752288e-04 -3.85525377e-02] [ 2.28143712e-03 -5.66770162e-05 9.99997396e-01 -3.67212031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.895898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:-0.04, Z:-0.37 [[ 9.94801338e-01 -1.01824971e-01 -1.40434328e-03 8.31236124e+01] [ 1.01824923e-01 9.94802329e-01 -1.06039209e-04 -4.00301509e-02] [ 1.40784141e-03 -3.75091995e-05 9.99999008e-01 -3.66671087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.925898227 meters Centerline goodness [0,1] 0.9998063099901003 Centerline is valid? [True, True] Translation: X:83.15, Y:-0.04, Z:-0.37 [[ 9.94358409e-01 -1.06060075e-01 -1.61717085e-03 8.31541699e+01] [ 1.06060017e-01 9.94359723e-01 -1.21613009e-04 -4.32925452e-02] [ 1.62094785e-03 -5.05902501e-05 9.99998685e-01 -3.66582485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.955898227 meters Centerline goodness [0,1] 0.9998730803401447 Centerline is valid? [True, True] Translation: X:83.18, Y:-0.05, Z:-0.37 [[ 9.94081160e-01 -1.08617883e-01 -2.19151988e-03 8.31830586e+01] [ 1.08617782e-01 9.94083573e-01 -1.65086361e-04 -5.41984758e-02] [ 2.19648524e-03 -7.39287879e-05 9.99997585e-01 -3.69788519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.985898227 meters Centerline goodness [0,1] 0.9998517985306883 Centerline is valid? [True, True] Translation: X:83.21, Y:-0.05, Z:-0.37 [[ 9.93778486e-01 -1.11335396e-01 -2.95819528e-03 8.32124491e+01] [ 1.11335225e-01 9.93782883e-01 -2.22681561e-04 -4.99934681e-02] [ 2.96459617e-03 -1.08055193e-04 9.99995600e-01 -3.69653554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.015898227 meters Centerline goodness [0,1] 0.9997262408659212 Centerline is valid? [True, True] Translation: X:83.24, Y:-0.05, Z:-0.37 [[ 9.93572532e-01 -1.13149966e-01 -3.27246237e-03 8.32410227e+01] [ 1.13149767e-01 9.93577913e-01 -2.46609647e-04 -5.30707493e-02] [ 3.27935021e-03 -1.25253784e-04 9.99994615e-01 -3.70999648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.045898227 meters Centerline goodness [0,1] 0.9998718715298539 Centerline is valid? [True, True] Translation: X:83.27, Y:-0.05, Z:-0.37 [[ 9.93509440e-01 -1.13703387e-01 -3.24551781e-03 8.32691002e+01] [ 1.13703193e-01 9.93514733e-01 -2.44840088e-04 -4.82222546e-02] [ 3.25230891e-03 -1.25774798e-04 9.99994703e-01 -3.70590814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.075898227 meters Centerline goodness [0,1] 0.9998732492553394 Centerline is valid? [True, True] Translation: X:83.30, Y:-0.04, Z:-0.37 [[ 9.93503764e-01 -1.13753574e-01 -3.22425583e-03 8.32971388e+01] [ 1.13753378e-01 9.93508988e-01 -2.44571479e-04 -4.40021245e-02] [ 3.23114802e-03 -1.23787308e-04 9.99994772e-01 -3.70074273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.105898227 meters Centerline goodness [0,1] 0.9997639788868387 Centerline is valid? [True, True] Translation: X:83.33, Y:-0.04, Z:-0.37 [[ 9.93757936e-01 -1.11546342e-01 -1.60579610e-03 8.33260679e+01] [ 1.11546291e-01 9.93759232e-01 -1.21449765e-04 -3.95568867e-02] [ 1.60932197e-03 -5.84289304e-05 9.99998703e-01 -3.67756060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.135898227 meters Centerline goodness [0,1] 0.9998729325059827 Centerline is valid? [True, True] Translation: X:83.35, Y:-0.04, Z:-0.37 [[ 9.93823371e-01 -1.10972517e-01 -4.55021890e-04 8.33544903e+01] [ 1.10972512e-01 9.93823475e-01 -3.53589250e-05 -3.84245799e-02] [ 4.56135305e-04 -1.53543961e-05 9.99999896e-01 -3.66889957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.165898227 meters Centerline goodness [0,1] 0.9999362366894089 Centerline is valid? [True, True] Translation: X:83.38, Y:-0.03, Z:-0.37 [[ 9.93845533e-01 -1.10772496e-01 7.15069833e-04 8.33825883e+01] [ 1.10772487e-01 9.93845790e-01 5.33526384e-05 -3.26303609e-02] [-7.16579148e-04 2.61857823e-05 9.99999743e-01 -3.65006803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19589822700001 meters Centerline goodness [0,1] 0.9996821764556318 Centerline is valid? [True, True] Translation: X:83.41, Y:-0.03, Z:-0.36 [[ 9.93800905e-01 -1.11167265e-01 1.26492974e-03 8.34104265e+01] [ 1.11167233e-01 9.93801709e-01 9.56067053e-05 -2.99714405e-02] [-1.26771767e-03 4.56047092e-05 9.99999195e-01 -3.63985542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.225898227 meters Centerline goodness [0,1] 0.9998307523059998 Centerline is valid? [True, True] Translation: X:83.44, Y:-0.03, Z:-0.37 [[ 9.93673253e-01 -1.12306765e-01 8.10954305e-04 8.34394069e+01] [ 1.12306753e-01 9.93673583e-01 6.08343674e-05 -2.93059967e-02] [-8.12655981e-04 3.06261607e-05 9.99999669e-01 -3.65157324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.255898227 meters Centerline goodness [0,1] 0.999385476044161 Centerline is valid? [True, True] Translation: X:83.47, Y:-0.03, Z:-0.37 [[ 9.93455031e-01 -1.14223167e-01 -4.10589798e-04 8.34684556e+01] [ 1.14223164e-01 9.93455116e-01 -3.14615319e-05 -3.42224277e-02] [ 4.11496171e-04 -1.56432484e-05 9.99999915e-01 -3.68151935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.285898227 meters Centerline goodness [0,1] 0.9996194020383136 Centerline is valid? [True, True] Translation: X:83.50, Y:-0.03, Z:-0.37 [[ 9.92892686e-01 -1.18966004e-01 -3.34727509e-03 8.34982616e+01] [ 1.18965819e-01 9.92898318e-01 -2.55004606e-04 -3.12433244e-02] [ 3.35384069e-03 -1.45019114e-04 9.99994365e-01 -3.72152347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.315898227 meters Centerline goodness [0,1] 0.9993897563233871 Centerline is valid? [True, True] Translation: X:83.53, Y:-0.03, Z:-0.37 [[ 9.92615021e-01 -1.21262997e-01 -3.27206384e-03 8.35274917e+01] [ 1.21262831e-01 9.92620402e-01 -2.49542883e-04 -3.15733990e-02] [ 3.27817764e-03 -1.49079712e-04 9.99994616e-01 -3.72548297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.345898227 meters Centerline goodness [0,1] 0.9960509365826875 Centerline is valid? [True, True] Translation: X:83.56, Y:-0.04, Z:-0.37 [[ 9.92418770e-01 -1.22874876e-01 -2.59797048e-03 8.35567772e+01] [ 1.22874777e-01 9.92422163e-01 -1.98265064e-04 -3.63337400e-02] [ 2.60264528e-03 -1.22463072e-04 9.99996606e-01 -3.72062293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.375898227 meters Centerline goodness [0,1] 0.9974674923918364 Centerline is valid? [True, True] Translation: X:83.59, Y:-0.03, Z:-0.37 [[ 9.92323936e-01 -1.23656266e-01 -1.52779061e-03 8.35854638e+01] [ 1.23656231e-01 9.92325109e-01 -1.17661736e-04 -3.19803221e-02] [ 1.53061460e-03 -7.21622721e-05 9.99998826e-01 -3.69856966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.405898227 meters Centerline goodness [0,1] 0.9922909582444506 Centerline is valid? [True, True] Translation: X:83.61, Y:-0.03, Z:-0.37 [[ 9.92387022e-01 -1.23154840e-01 -9.40397976e-04 8.36134662e+01] [ 1.23154827e-01 9.92387466e-01 -7.22382805e-05 -3.36240613e-02] [ 9.42135658e-04 -4.41262178e-05 9.99999555e-01 -3.68392579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.435898227 meters Centerline goodness [0,1] 0.994889804845222 Centerline is valid? [True, True] Translation: X:83.64, Y:-0.03, Z:-0.37 [[ 9.92531574e-01 -1.21985144e-01 -8.35968076e-04 8.36420207e+01] [ 1.21985133e-01 9.92531926e-01 -6.42170747e-05 -2.97584525e-02] [ 8.37558533e-04 -3.82382029e-05 9.99999649e-01 -3.68273690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.465898227 meters Centerline goodness [0,1] 0.9988873727301354 Centerline is valid? [True, True] Translation: X:83.67, Y:-0.02, Z:-0.37 [[ 9.92900396e-01 -1.18902331e-01 -3.32266721e-03 8.36708717e+01] [ 1.18902145e-01 9.92905945e-01 -2.54425497e-04 -2.27014680e-02] [ 3.32934781e-03 -1.42453081e-04 9.99994448e-01 -3.72971300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.495898227 meters Centerline goodness [0,1] 0.9996210685865858 Centerline is valid? [True, True] Translation: X:83.70, Y:-0.01, Z:-0.37 [[ 9.93035798e-01 -1.17748998e-01 -3.88287556e-03 8.36996080e+01] [ 1.17748730e-01 9.93043376e-01 -2.98599726e-04 -1.47921314e-02] [ 3.89102367e-03 -1.60683447e-04 9.99992417e-01 -3.73887678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.525898227 meters Centerline goodness [0,1] 0.9998104744456378 Centerline is valid? [True, True] Translation: X:83.73, Y:-0.01, Z:-0.37 [[ 9.93115881e-01 -1.17078181e-01 -3.68048075e-03 8.37283046e+01] [ 1.17077933e-01 9.93122690e-01 -2.83745972e-04 -9.97108922e-03] [ 3.68838940e-03 -1.49110446e-04 9.99993187e-01 -3.73213068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.555898227 meters Centerline goodness [0,1] 0.999492482395483 Centerline is valid? [True, True] Translation: X:83.76, Y:-0.01, Z:-0.37 [[ 9.93074880e-01 -1.17425975e-01 -3.66372836e-03 8.37555934e+01] [ 1.17425732e-01 9.93081627e-01 -2.82086058e-04 -7.51494882e-03] [ 3.67150555e-03 -1.50083406e-04 9.99993249e-01 -3.72834716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.585898227 meters Centerline goodness [0,1] 0.999702823179792 Centerline is valid? [True, True] Translation: X:83.78, Y:-0.00, Z:-0.37 [[ 9.92777925e-01 -1.19901915e-01 -3.93981658e-03 8.37842235e+01] [ 1.19901654e-01 9.92785728e-01 -3.03337262e-04 -9.60575883e-04] [ 3.94776439e-03 -1.71243986e-04 9.99992193e-01 -3.72575272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.615898227 meters Centerline goodness [0,1] 0.9993863213136956 Centerline is valid? [True, True] Translation: X:83.81, Y:-0.00, Z:-0.37 [[ 9.92449527e-01 -1.22587774e-01 -4.02171346e-03 8.38138500e+01] [ 1.22587524e-01 9.92457658e-01 -3.09553585e-04 -2.32925617e-03] [ 4.02932780e-03 -1.85795585e-04 9.99991865e-01 -3.74025410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.645898227 meters Centerline goodness [0,1] 0.9915543386689132 Centerline is valid? [True, True] Translation: X:83.84, Y:-0.01, Z:-0.38 [[ 9.92122980e-01 -1.25189375e-01 -4.42873335e-03 8.38434165e+01] [ 1.25189097e-01 9.92132841e-01 -3.41044760e-04 -8.20104738e-03] [ 4.43658698e-03 -2.16070787e-04 9.99990135e-01 -3.75438263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.675898227 meters Centerline goodness [0,1] 0.9856567318441646 Centerline is valid? [True, True] Translation: X:83.87, Y:-0.01, Z:-0.38 [[ 9.91849970e-01 -1.27336388e-01 -4.36821581e-03 8.38728033e+01] [ 1.27336137e-01 9.91859564e-01 -3.36593568e-04 -7.16082040e-03] [ 4.37551724e-03 -2.22381408e-04 9.99990403e-01 -3.75403542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.705898227 meters Centerline goodness [0,1] 0.98753542283681 Centerline is valid? [True, True] Translation: X:83.90, Y:-0.00, Z:-0.37 [[ 9.91585539e-01 -1.29410093e-01 -3.33869013e-03 8.39023462e+01] [ 1.29409958e-01 9.91591144e-01 -2.57330301e-04 -3.39736277e-03] [ 3.34391671e-03 -1.76894745e-04 9.99994393e-01 -3.72527187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.735898227 meters Centerline goodness [0,1] 0.8880631676730144 Centerline is valid? [True, False] Translation: X:83.90, Y:-0.01, Z:-0.37 [[ 9.92082997e-01 -1.25514876e-01 -4.16453205e-03 8.39033394e+01] [ 1.25533485e-01 9.92078921e-01 4.55604664e-03 -7.78866006e-03] [ 3.55969283e-03 -5.04276463e-03 9.99980949e-01 -3.72165022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.765898227 meters Centerline goodness [0,1] 0.9750353771094261 Centerline is valid? [False, True] Translation: X:83.90, Y:-0.01, Z:-0.37 [[ 9.92082894e-01 -1.25511576e-01 -4.28667396e-03 8.39038322e+01] [ 1.25531286e-01 9.92078588e-01 4.68746820e-03 -8.56904043e-03] [ 3.66438592e-03 -5.18846871e-03 9.99979826e-01 -3.72279692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.795898227 meters Centerline goodness [0,1] 0.905680239167965 Centerline is valid? [True, False] Translation: X:83.90, Y:-0.01, Z:-0.37 [[ 9.92084375e-01 -1.25496112e-01 -4.39523872e-03 8.39041636e+01] [ 1.25517406e-01 9.92079022e-01 4.95935934e-03 -1.01121325e-02] [ 3.73804382e-03 -5.47178188e-03 9.99978043e-01 -3.72179274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.825898227 meters Centerline goodness [0,1] 0.9369266539843585 Centerline is valid? [False, False] Translation: X:83.90, Y:-0.01, Z:-0.37 [[ 9.92099485e-01 -1.25373399e-01 -4.48576170e-03 8.39044854e+01] [ 1.25396986e-01 9.92091773e-01 5.43222680e-03 -1.25590540e-02] [ 3.76923054e-03 -5.95181041e-03 9.99975184e-01 -3.72095512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.855898227 meters Centerline goodness [0,1] 0.83197957762822 Centerline is valid? [False, False] Translation: X:83.90, Y:-0.02, Z:-0.37 [[ 9.92121398e-01 -1.25198921e-01 -4.51250887e-03 8.39044454e+01] [ 1.25224864e-01 9.92110146e-01 6.01587872e-03 -1.55447957e-02] [ 3.72372431e-03 -6.53356031e-03 9.99971723e-01 -3.71695668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.885898227 meters Centerline goodness [0,1] 0.885802990622624 Centerline is valid? [False, False] Translation: X:83.90, Y:-0.02, Z:-0.37 [[ 9.92141230e-01 -1.25042954e-01 -4.47643659e-03 8.39040212e+01] [ 1.25070478e-01 9.92126488e-01 6.51207627e-03 -1.80302975e-02] [ 3.62690206e-03 -7.02076943e-03 9.99968777e-01 -3.71024998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.915898227 meters Centerline goodness [0,1] 0.7367579284075844 Centerline is valid? [False, False] Translation: X:83.90, Y:-0.02, Z:-0.37 [[ 9.92163034e-01 -1.24875190e-01 -4.32451567e-03 8.39031572e+01] [ 1.24902632e-01 9.92145731e-01 6.79558386e-03 -1.91655288e-02] [ 3.44194994e-03 -7.28247049e-03 9.99967559e-01 -3.70391174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94589822700001 meters Centerline goodness [0,1] 0.7367579284075844 Centerline is valid? [False, False] Translation: X:83.90, Y:-0.02, Z:-0.37 [[ 9.92163034e-01 -1.24875190e-01 -4.32451567e-03 8.39031572e+01] [ 1.24902632e-01 9.92145731e-01 6.79558386e-03 -1.91655288e-02] [ 3.44194994e-03 -7.28247049e-03 9.99967559e-01 -3.70391174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.975898227 meters Centerline goodness [0,1] 0.9070545179202423 Centerline is valid? [False, False] Translation: X:83.90, Y:-0.02, Z:-0.37 [[ 9.92168798e-01 -1.24829368e-01 -4.32485747e-03 8.39030872e+01] [ 1.24856125e-01 9.92152929e-01 6.59643682e-03 -1.78795177e-02] [ 3.46749097e-03 -7.08476374e-03 9.99968891e-01 -3.70367151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.005898227 meters Centerline goodness [0,1] 0.9523198316675434 Centerline is valid? [False, True] Translation: X:83.90, Y:-0.02, Z:-0.37 [[ 9.92184046e-01 -1.24706589e-01 -4.36862704e-03 8.39029084e+01] [ 1.24732778e-01 9.92170072e-01 6.34688812e-03 -1.61062136e-02] [ 3.54292224e-03 -6.84219212e-03 9.99970316e-01 -3.70067009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.035898227 meters Centerline goodness [0,1] 0.9798126819389951 Centerline is valid? [True, True] Translation: X:83.93, Y:-0.01, Z:-0.37 [[ 9.92570710e-01 -1.21598221e-01 -4.15423483e-03 8.39316341e+01] [ 1.21598060e-01 9.92579380e-01 -2.92236014e-04 -7.33390371e-03] [ 4.15894321e-03 -2.15081988e-04 9.99991328e-01 -3.72261537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.065898227 meters Centerline goodness [0,1] 0.9995489303204743 Centerline is valid? [True, True] Translation: X:83.96, Y:0.01, Z:-0.37 [[ 9.93220345e-01 -1.16181465e-01 -3.90045481e-03 8.39603396e+01] [ 1.16181281e-01 9.93227987e-01 -2.74478099e-04 1.07861322e-02] [ 3.90593015e-03 -1.80542604e-04 9.99992356e-01 -3.70444112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.095898227 meters Centerline goodness [0,1] 0.9985377328501494 Centerline is valid? [True, True] Translation: X:83.99, Y:0.01, Z:-0.37 [[ 9.93393033e-01 -1.14702892e-01 -3.67800857e-03 8.39881687e+01] [ 1.14702717e-01 9.93399829e-01 -2.59163718e-04 8.33841011e-03] [ 3.68345991e-03 -1.64426143e-04 9.99993203e-01 -3.71332639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.125898227 meters Centerline goodness [0,1] 0.9976936586191575 Centerline is valid? [True, True] Translation: X:84.02, Y:0.01, Z:-0.37 [[ 9.93480118e-01 -1.13953701e-01 -3.43649063e-03 8.40160058e+01] [ 1.13953543e-01 9.93486050e-01 -2.42346233e-04 9.99936348e-03] [ 3.44172175e-03 -1.50834120e-04 9.99994066e-01 -3.71933953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.155898227 meters Centerline goodness [0,1] 0.9981450643957758 Centerline is valid? [True, True] Translation: X:84.04, Y:0.01, Z:-0.37 [[ 9.93441676e-01 -1.14282618e-01 -3.62211375e-03 8.40447276e+01] [ 1.14282442e-01 9.93448266e-01 -2.56283410e-04 1.48027708e-02] [ 3.62767136e-03 -1.59341384e-04 9.99993407e-01 -3.72775733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.185898227 meters Centerline goodness [0,1] 0.9949923201548594 Centerline is valid? [True, True] Translation: X:84.07, Y:0.02, Z:-0.37 [[ 9.93257699e-01 -1.15855547e-01 -4.07872930e-03 8.40740324e+01] [ 1.15855338e-01 9.93266056e-01 -2.88339184e-04 1.52972368e-02] [ 4.08466906e-03 -1.86147446e-04 9.99991640e-01 -3.74108307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.215898227 meters Centerline goodness [0,1] 0.9950785538519781 Centerline is valid? [True, True] Translation: X:84.10, Y:0.02, Z:-0.37 [[ 9.93088539e-01 -1.17286325e-01 -4.36713120e-03 8.41031740e+01] [ 1.17286098e-01 9.93098120e-01 -3.08874055e-04 1.84166167e-02] [ 4.37321649e-03 -2.05464496e-04 9.99990416e-01 -3.74017405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.245898227 meters Centerline goodness [0,1] 0.9983746701846966 Centerline is valid? [True, True] Translation: X:84.13, Y:0.02, Z:-0.37 [[ 9.92910936e-01 -1.18734976e-01 -5.46605420e-03 8.41319642e+01] [ 1.18734641e-01 9.92925947e-01 -3.86897507e-04 2.41984896e-02] [ 5.47332530e-03 -2.64855216e-04 9.99984986e-01 -3.74548268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.275898227 meters Centerline goodness [0,1] 0.9969204629924604 Centerline is valid? [True, True] Translation: X:84.16, Y:0.03, Z:-0.38 [[ 9.92736197e-01 -1.20141025e-01 -6.40143390e-03 8.41612806e+01] [ 1.20140593e-01 9.92756784e-01 -4.53272853e-04 2.55193074e-02] [ 6.40952359e-03 -3.19091697e-04 9.99979408e-01 -3.75915072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.305898227 meters Centerline goodness [0,1] 0.9966333530956213 Centerline is valid? [True, True] Translation: X:84.19, Y:0.03, Z:-0.38 [[ 9.92557733e-01 -1.21587348e-01 -6.75745763e-03 8.41903317e+01] [ 1.21586899e-01 9.92580675e-01 -4.78720443e-04 2.65280432e-02] [ 6.76552820e-03 -3.46460643e-04 9.99977054e-01 -3.76356667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.335898227 meters Centerline goodness [0,1] 0.9929339087754929 Centerline is valid? [True, True] Translation: X:84.22, Y:0.03, Z:-0.38 [[ 9.92299795e-01 -1.23700456e-01 -6.27002642e-03 8.42200593e+01] [ 1.23700111e-01 9.92319548e-01 -4.44314501e-04 2.78761368e-02] [ 6.27683168e-03 -3.34709777e-04 9.99980244e-01 -3.76167199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.365898227 meters Centerline goodness [0,1] 0.9460915307732772 Centerline is valid? [True, False] Translation: X:84.22, Y:0.03, Z:-0.38 [[ 9.92260693e-01 -1.24026023e-01 -6.02190274e-03 8.42191312e+01] [ 1.24027283e-01 9.92278794e-01 -1.65279888e-04 2.56272779e-02] [ 5.99590540e-03 -5.82879497e-04 9.99981855e-01 -3.75663883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.395898227 meters Centerline goodness [0,1] 0.9184673552584331 Centerline is valid? [False, False] Translation: X:84.22, Y:0.02, Z:-0.38 [[ 9.92254655e-01 -1.24067337e-01 -6.16411222e-03 8.42196164e+01] [ 1.24070001e-01 9.92273466e-01 5.02637404e-05 2.42322936e-02] [ 6.11024892e-03 -8.14655840e-04 9.99981000e-01 -3.75622599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.425898227 meters Centerline goodness [0,1] 0.8589965397923875 Centerline is valid? [False, False] Translation: X:84.22, Y:0.02, Z:-0.38 [[ 9.92630227e-01 -1.21006392e-01 -6.53338975e-03 8.42200019e+01] [ 1.21036404e-01 9.92638269e-01 4.41092223e-03 1.85371569e-02] [ 5.95154290e-03 -5.16919274e-03 9.99968929e-01 -3.75764616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.455898227 meters Centerline goodness [0,1] 0.8148062146415604 Centerline is valid? [False, False] Translation: X:84.22, Y:0.02, Z:-0.38 [[ 9.92637239e-01 -1.20937301e-01 -6.74401232e-03 8.42209656e+01] [ 1.20971667e-01 9.92643652e-01 4.94320352e-03 1.55607746e-02] [ 6.09658333e-03 -5.72264230e-03 9.99965041e-01 -3.76039587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.485898227 meters Centerline goodness [0,1] 0.6049878141020254 Centerline is valid? [False, False] Translation: X:84.22, Y:0.01, Z:-0.38 [[ 9.92649886e-01 -1.20828931e-01 -6.82442353e-03 8.42214309e+01] [ 1.20867971e-01 9.92652625e-01 5.63019277e-03 1.18267330e-02] [ 6.09399176e-03 -6.41366444e-03 9.99960863e-01 -3.76156054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.515898227 meters Centerline goodness [0,1] 0.7659956485921294 Centerline is valid? [False, False] Translation: X:84.22, Y:0.01, Z:-0.38 [[ 9.92662476e-01 -1.20723443e-01 -6.85991787e-03 8.42215903e+01] [ 1.20765928e-01 9.92661912e-01 6.15777245e-03 9.00318186e-03] [ 6.06619171e-03 -6.94103399e-03 9.99957511e-01 -3.76067172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.545898227 meters Centerline goodness [0,1] 0.6888005217866986 Centerline is valid? [False, False] Translation: X:84.22, Y:0.00, Z:-0.38 [[ 9.92685414e-01 -1.20526910e-01 -6.99523161e-03 8.42220779e+01] [ 1.20575088e-01 9.92680022e-01 6.92974441e-03 4.98092130e-03] [ 6.10880598e-03 -7.72250687e-03 9.99951522e-01 -3.75879184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.575898227 meters Centerline goodness [0,1] 0.7692926215112466 Centerline is valid? [False, False] Translation: X:84.22, Y:0.00, Z:-0.38 [[ 9.92706921e-01 -1.20338847e-01 -7.17845169e-03 8.42227206e+01] [ 1.20390233e-01 9.92700426e-01 7.21499129e-03 3.72151475e-03] [ 6.25780832e-03 -8.02658726e-03 9.99948206e-01 -3.75895759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.605898227 meters Centerline goodness [0,1] 0.7134796772201759 Centerline is valid? [False, False] Translation: X:84.22, Y:0.00, Z:-0.38 [[ 9.92721841e-01 -1.20207007e-01 -7.32271939e-03 8.42231972e+01] [ 1.20260294e-01 9.92715327e-01 7.33089893e-03 3.35910240e-03] [ 6.38815035e-03 -8.15817587e-03 9.99946316e-01 -3.75935450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.635898227 meters Centerline goodness [0,1] 0.7772003211222377 Centerline is valid? [False, False] Translation: X:84.23, Y:0.01, Z:-0.38 [[ 9.93293397e-01 -1.15616413e-01 -1.03573068e-03 8.42283207e+01] [ 1.15610416e-01 9.93283676e-01 -4.66593723e-03 6.29114801e-03] [ 1.56823330e-03 4.51490338e-03 9.99988578e-01 -3.82534787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.665898227 meters Centerline goodness [0,1] 0.8343001636174328 Centerline is valid? [False, False] Translation: X:84.23, Y:0.00, Z:-0.38 [[ 9.93809322e-01 -1.11089334e-01 -1.48058478e-03 8.42276847e+01] [ 1.11089901e-01 9.93810314e-01 3.06382866e-04 2.92473871e-03] [ 1.43738456e-03 -4.68964165e-04 9.99998857e-01 -3.81570819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69589822700001 meters Centerline goodness [0,1] 0.8725811253349212 Centerline is valid? [False, False] Translation: X:84.23, Y:0.00, Z:-0.38 [[ 9.94297797e-01 -1.06622137e-01 -1.90046056e-03 8.42270950e+01] [ 1.06630658e-01 9.94285320e-01 5.15807147e-03 1.15951576e-04] [ 1.33963543e-03 -5.33130646e-03 9.99984891e-01 -3.80736818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.725898227 meters Centerline goodness [0,1] 0.9908627920910725 Centerline is valid? [False, True] Translation: X:84.23, Y:0.00, Z:-0.38 [[ 9.95100452e-01 -9.88104360e-02 -3.40401250e-03 8.42251667e+01] [ 9.87828494e-02 9.95080796e-01 -7.49387265e-03 4.82846665e-03] [ 4.12774029e-03 7.12089801e-03 9.99966127e-01 -3.79070964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.755898227 meters Centerline goodness [0,1] 0.9815865516441332 Centerline is valid? [True, True] Translation: X:84.25, Y:-0.00, Z:-0.38 [[ 9.95301948e-01 -9.67336981e-02 -4.07735741e-03 8.42545096e+01] [ 9.67337703e-02 9.95310276e-01 -1.79955085e-04 -1.08507350e-03] [ 4.07564345e-03 -2.15308509e-04 9.99991671e-01 -3.78674390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.785898227 meters Centerline goodness [0,1] 0.9860458190636234 Centerline is valid? [True, True] Translation: X:84.28, Y:0.00, Z:-0.38 [[ 9.95368613e-01 -9.59869258e-02 -5.27583467e-03 8.42834861e+01] [ 9.59870287e-02 9.95382557e-01 -2.34276914e-04 1.72983460e-03] [ 5.27396132e-03 -2.73219807e-04 9.99986055e-01 -3.80517637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.815898227 meters Centerline goodness [0,1] 0.9738661592134475 Centerline is valid? [True, True] Translation: X:84.31, Y:-0.00, Z:-0.38 [[ 9.95365905e-01 -9.59605359e-02 -6.18792141e-03 8.43119393e+01] [ 9.59606778e-02 9.95385088e-01 -2.74654324e-04 -5.17972208e-04] [ 6.18572067e-03 -3.20415583e-04 9.99980817e-01 -3.82985709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.845898227 meters Centerline goodness [0,1] 0.9910691664555359 Centerline is valid? [True, True] Translation: X:84.34, Y:0.01, Z:-0.38 [[ 9.95285907e-01 -9.67061169e-02 -7.34093591e-03 8.43408601e+01] [ 9.67063252e-02 9.95312905e-01 -3.27408805e-04 6.02991412e-03] [ 7.33819069e-03 -3.84049566e-04 9.99973001e-01 -3.83107174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.875898227 meters Centerline goodness [0,1] 0.9932742086056182 Centerline is valid? [True, True] Translation: X:84.37, Y:0.01, Z:-0.38 [[ 9.95237500e-01 -9.72087172e-02 -7.26526461e-03 8.43695045e+01] [ 9.72089255e-02 9.95263944e-01 -3.25292924e-04 9.12383498e-03] [ 7.26247722e-03 -3.82504850e-04 9.99973555e-01 -3.83497496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.905898227 meters Centerline goodness [0,1] 0.9872735024515029 Centerline is valid? [True, True] Translation: X:84.40, Y:0.01, Z:-0.38 [[ 9.95189523e-01 -9.77974893e-02 -5.78485834e-03 8.43976014e+01] [ 9.77976308e-02 9.95206288e-01 -2.59089632e-04 8.49220246e-03] [ 5.78246571e-03 -3.07902153e-04 9.99983234e-01 -3.81386189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.935898227 meters Centerline goodness [0,1] 0.9834582035524876 Centerline is valid? [True, True] Translation: X:84.43, Y:0.01, Z:-0.38 [[ 9.95229660e-01 -9.74304953e-02 -5.02212606e-03 8.44260376e+01] [ 9.74305909e-02 9.95242297e-01 -2.26190461e-04 8.15014612e-03] [ 5.02027012e-03 -2.64197254e-04 9.99987363e-01 -3.80687235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.965898227 meters Centerline goodness [0,1] 0.979415937824273 Centerline is valid? [True, True] Translation: X:84.46, Y:0.01, Z:-0.38 [[ 9.95271880e-01 -9.70311922e-02 -4.33954902e-03 8.44554317e+01] [ 9.70312568e-02 9.95281315e-01 -1.96143796e-04 9.77529330e-03] [ 4.33810413e-03 -2.25855491e-04 9.99990565e-01 -3.79864897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.995898227 meters Centerline goodness [0,1] 0.992201482996676 Centerline is valid? [True, True] Translation: X:84.48, Y:0.02, Z:-0.38 [[ 9.95396866e-01 -9.57127330e-02 -4.91446936e-03 8.44838876e+01] [ 9.57128009e-02 9.95408966e-01 -2.21911453e-04 1.61697501e-02] [ 4.91314662e-03 -2.49487663e-04 9.99987899e-01 -3.79810044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.025898227 meters Centerline goodness [0,1] 0.9953845828128639 Centerline is valid? [True, True] Translation: X:84.51, Y:0.02, Z:-0.38 [[ 9.95547680e-01 -9.41003801e-02 -5.47126940e-03 8.45128397e+01] [ 9.41004387e-02 9.95562678e-01 -2.47288805e-04 1.99104827e-02] [ 5.47026158e-03 -2.68661054e-04 9.99985002e-01 -3.81253176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.055898227 meters Centerline goodness [0,1] 0.9908052733226971 Centerline is valid? [True, True] Translation: X:84.54, Y:0.02, Z:-0.38 [[ 9.95703586e-01 -9.24177019e-02 -5.77388075e-03 8.45415260e+01] [ 9.24177381e-02 9.95720289e-01 -2.61121493e-04 1.85619546e-02] [ 5.77330245e-03 -2.73609392e-04 9.99983297e-01 -3.82852823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.085898227 meters Centerline goodness [0,1] 0.9992135858360432 Centerline is valid? [True, True] Translation: X:84.57, Y:0.03, Z:-0.38 [[ 9.96043893e-01 -8.86835275e-02 -5.63880040e-03 8.45709867e+01] [ 8.86835026e-02 9.96059823e-01 -2.54944767e-04 2.92583326e-02] [ 5.63919193e-03 -2.46132392e-04 9.99984069e-01 -3.82225498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.115898227 meters Centerline goodness [0,1] 0.999745708836618 Centerline is valid? [True, True] Translation: X:84.60, Y:0.04, Z:-0.38 [[ 9.96129025e-01 -8.77405226e-02 -5.34467709e-03 8.46001112e+01] [ 8.77404793e-02 9.96143338e-01 -2.43024579e-04 3.63644350e-02] [ 5.34538757e-03 -2.26860692e-04 9.99985688e-01 -3.81195440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.145898227 meters Centerline goodness [0,1] 0.9995965944075246 Centerline is valid? [True, True] Translation: X:84.63, Y:0.04, Z:-0.38 [[ 9.96143552e-01 -8.76187816e-02 -4.57953777e-03 8.46276847e+01] [ 8.76187485e-02 9.96154060e-01 -2.08243372e-04 3.74310465e-02] [ 4.58017117e-03 -1.93813075e-04 9.99989492e-01 -3.81448053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.175898227 meters Centerline goodness [0,1] 0.998877213795441 Centerline is valid? [True, True] Translation: X:84.66, Y:0.03, Z:-0.38 [[ 9.96125411e-01 -8.78409999e-02 -4.25725203e-03 8.46560080e+01] [ 8.78409722e-02 9.96134492e-01 -1.93855643e-04 3.39590048e-02] [ 4.25782406e-03 -1.80856625e-04 9.99990919e-01 -3.81214506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.205898227 meters Centerline goodness [0,1] 0.9969310117005179 Centerline is valid? [True, True] Translation: X:84.68, Y:0.03, Z:-0.38 [[ 9.96064806e-01 -8.85356882e-02 -4.04144020e-03 8.46836375e+01] [ 8.85356648e-02 9.96072990e-01 -1.85044463e-04 3.27991444e-02] [ 4.04195246e-03 -1.73495318e-04 9.99991816e-01 -3.81027960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.235898227 meters Centerline goodness [0,1] 0.998437467007327 Centerline is valid? [True, True] Translation: X:84.71, Y:0.04, Z:-0.38 [[ 9.95982132e-01 -8.94510472e-02 -4.25485195e-03 8.47125510e+01] [ 8.94510267e-02 9.95991203e-01 -1.95512177e-04 3.75313696e-02] [ 4.25528388e-03 -1.85874241e-04 9.99990929e-01 -3.79990750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.265898227 meters Centerline goodness [0,1] 0.9988669268538336 Centerline is valid? [True, True] Translation: X:84.74, Y:0.04, Z:-0.38 [[ 9.95983266e-01 -8.94164397e-02 -4.69408271e-03 8.47407243e+01] [ 8.94164101e-02 9.95994307e-01 -2.16593913e-04 4.10645262e-02] [ 4.69464671e-03 -2.04004112e-04 9.99988959e-01 -3.80114859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.295898227 meters Centerline goodness [0,1] 0.9989210916014385 Centerline is valid? [True, True] Translation: X:84.77, Y:0.04, Z:-0.38 [[ 9.96091582e-01 -8.81720915e-02 -5.21938632e-03 8.47698057e+01] [ 8.81720407e-02 9.96105232e-01 -2.40288316e-04 4.49307653e-02] [ 5.22024475e-03 -2.20854775e-04 9.99986350e-01 -3.80513028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.325898227 meters Centerline goodness [0,1] 0.9996612322676265 Centerline is valid? [True, True] Translation: X:84.80, Y:0.05, Z:-0.38 [[ 9.96265546e-01 -8.61626308e-02 -5.56450178e-03 8.47980962e+01] [ 8.61625405e-02 9.96281060e-01 -2.56406978e-04 5.10569751e-02] [ 5.56590043e-03 -2.24002172e-04 9.99984485e-01 -3.80278427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.355898227 meters Centerline goodness [0,1] 0.9997676972461564 Centerline is valid? [True, True] Translation: X:84.83, Y:0.06, Z:-0.38 [[ 9.96489511e-01 -8.35358448e-02 -5.51515235e-03 8.48262885e+01] [ 8.35357148e-02 9.96504751e-01 -2.54324827e-04 5.78574289e-02] [ 5.51712076e-03 -2.07280171e-04 9.99984759e-01 -3.79893400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.385898227 meters Centerline goodness [0,1] 0.999872413719778 Centerline is valid? [True, True] Translation: X:84.86, Y:0.07, Z:-0.38 [[ 9.96721442e-01 -8.07459225e-02 -5.14420240e-03 8.48563139e+01] [ 8.07457716e-02 9.96734701e-01 -2.37357824e-04 6.56001849e-02] [ 5.14657072e-03 -1.78792959e-04 9.99986740e-01 -3.78462644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.415898227 meters Centerline goodness [0,1] 0.9999577756196428 Centerline is valid? [True, True] Translation: X:84.89, Y:0.08, Z:-0.38 [[ 9.97219363e-01 -7.44231640e-02 -3.83851465e-03 8.48852333e+01] [ 7.44230332e-02 9.97226745e-01 -1.77102941e-04 8.03927205e-02] [ 3.84105004e-03 -1.09063422e-04 9.99992617e-01 -3.76169098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44589822700001 meters Centerline goodness [0,1] 0.9999789593283818 Centerline is valid? [True, True] Translation: X:84.91, Y:0.09, Z:-0.38 [[ 9.97404114e-01 -7.19316154e-02 -3.29800559e-03 8.49134273e+01] [ 7.19315043e-02 9.97409563e-01 -1.52447351e-04 8.88375798e-02] [ 3.30042809e-03 -8.51788879e-05 9.99994550e-01 -3.75084249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.475898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.94, Y:0.10, Z:-0.37 [[ 9.97574557e-01 -6.95536793e-02 -2.69965710e-03 8.49406738e+01] [ 6.95535955e-02 9.97578208e-01 -1.25011309e-04 9.70344366e-02] [ 2.70181409e-03 -6.30627568e-05 9.99996348e-01 -3.74303228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.505898227 meters Centerline goodness [0,1] 0.9999368048533872 Centerline is valid? [True, True] Translation: X:84.97, Y:0.11, Z:-0.37 [[ 9.97727057e-01 -6.73617635e-02 -1.76433913e-03 8.49693889e+01] [ 6.73617241e-02 9.97728616e-01 -8.18081412e-05 1.05175878e-01] [ 1.76584238e-03 -3.72267297e-05 9.99998440e-01 -3.72842773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.535898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:0.12, Z:-0.37 [[ 9.97986770e-01 -6.34224389e-02 -4.34593070e-05 8.49973992e+01] [ 6.34224388e-02 9.97986771e-01 -2.13259817e-06 1.16948444e-01] [ 4.35070680e-05 -6.27990485e-07 9.99999999e-01 -3.69951497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.03, Y:0.12, Z:-0.37 [[ 9.98081175e-01 -6.19190343e-02 3.17064611e-05 8.50250988e+01] [ 6.19190343e-02 9.98081176e-01 1.27172692e-06 1.23476856e-01] [-3.17243661e-05 6.93946754e-07 9.99999999e-01 -3.69452731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.595898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.05, Y:0.13, Z:-0.37 [[ 9.98155873e-01 -6.07029810e-02 4.04841034e-05 8.50532689e+01] [ 6.07029810e-02 9.98155874e-01 1.33225236e-06 1.30263522e-01] [-4.04903173e-05 1.12771025e-06 9.99999999e-01 -3.69685482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:0.14, Z:-0.37 [[ 9.98250831e-01 -5.91204397e-02 -2.27435739e-04 8.50816837e+01] [ 5.91204387e-02 9.98250857e-01 -1.11639345e-05 1.37766341e-01] [ 2.27697938e-04 -2.30169382e-06 9.99999974e-01 -3.69715305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.655898227 meters Centerline goodness [0,1] 0.9998516005935977 Centerline is valid? [True, True] Translation: X:85.11, Y:0.15, Z:-0.37 [[ 9.98348172e-01 -5.74535434e-02 1.33417169e-04 8.51095012e+01] [ 5.74535431e-02 9.98348181e-01 6.03844837e-06 1.46088576e-01] [-1.33543719e-04 1.63681520e-06 9.99999991e-01 -3.69385849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.685898227 meters Centerline goodness [0,1] 0.9997876406880442 Centerline is valid? [True, True] Translation: X:85.14, Y:0.15, Z:-0.37 [[ 9.98441507e-01 -5.58061632e-02 4.79794564e-04 8.51382143e+01] [ 5.58061591e-02 9.98441622e-01 2.19482224e-05 1.53836406e-01] [-4.80271709e-04 4.86147557e-06 9.99999885e-01 -3.68276598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.715898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:0.17, Z:-0.37 [[ 9.98588278e-01 -5.31091079e-02 9.34603293e-04 8.51656870e+01] [ 5.31090903e-02 9.98588715e-01 4.36689364e-05 1.65925924e-01] [-9.35603520e-04 6.02864263e-06 9.99999562e-01 -3.68218492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.745898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:0.17, Z:-0.37 [[ 9.98625514e-01 -5.24073759e-02 7.41936482e-04 8.51935619e+01] [ 5.24073648e-02 9.98625789e-01 3.43332070e-05 1.72047730e-01] [-7.42716218e-04 4.59691943e-06 9.99999724e-01 -3.69085414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.775898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.22, Y:0.18, Z:-0.37 [[ 9.98652460e-01 -5.18906537e-02 7.89615046e-04 8.52203452e+01] [ 5.18906406e-02 9.98652773e-01 3.69854279e-05 1.77103725e-01] [-7.90470453e-04 4.03804203e-06 9.99999688e-01 -3.69483297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.805898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.25, Y:0.18, Z:-0.37 [[ 9.98623840e-01 -5.24367029e-02 9.04180334e-04 8.52478935e+01] [ 5.24366862e-02 9.98624250e-01 4.22020385e-05 1.80148915e-01] [-9.05149343e-04 5.26825869e-06 9.99999590e-01 -3.69209726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.835898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:0.18, Z:-0.37 [[ 9.98614938e-01 -5.26059776e-02 9.04173162e-04 8.52753647e+01] [ 5.26059608e-02 9.98615347e-01 4.23543193e-05 1.81668029e-01] [-9.05149286e-04 5.26924205e-06 9.99999590e-01 -3.69308407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.865898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:0.18, Z:-0.37 [[ 9.98549657e-01 -5.38354438e-02 5.73069470e-04 8.53026391e+01] [ 5.38354371e-02 9.98549821e-01 2.70396894e-05 1.83390041e-01] [-5.73694110e-04 3.85097288e-06 9.99999835e-01 -3.69557647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.895898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:0.19, Z:-0.37 [[ 9.98534631e-01 -5.41162092e-02 -1.64289817e-04 8.53306771e+01] [ 5.41162085e-02 9.98534644e-01 -8.44756758e-06 1.85928576e-01] [ 1.64506224e-04 -4.55553194e-07 9.99999986e-01 -3.71472676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.925898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:0.19, Z:-0.37 [[ 9.98526994e-01 -5.42460952e-02 -1.09656871e-03 8.53584794e+01] [ 5.42460695e-02 9.98527597e-01 -5.31440631e-05 1.88294642e-01] [ 1.09783697e-03 -6.41876065e-06 9.99999397e-01 -3.73527487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.955898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:0.19, Z:-0.38 [[ 9.98540377e-01 -5.39741069e-02 -1.97745766e-03 8.53867083e+01] [ 5.39740233e-02 9.98542335e-01 -9.56839266e-05 1.91315022e-01] [ 1.97973964e-03 -1.11870813e-05 9.99998040e-01 -3.75271442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.985898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.41, Y:0.19, Z:-0.38 [[ 9.98577894e-01 -5.32688666e-02 -2.14862442e-03 8.54148322e+01] [ 5.32687655e-02 9.98580206e-01 -1.04267443e-04 1.94757854e-01] [ 2.15112802e-03 -1.03354069e-05 9.99997686e-01 -3.75677405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.015898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.44, Y:0.20, Z:-0.38 [[ 9.98655887e-01 -5.17933693e-02 -1.96633773e-03 8.54431697e+01] [ 5.17932813e-02 9.98657823e-01 -9.56860564e-05 2.00289504e-01] [ 1.96865446e-03 -6.28563955e-06 9.99998062e-01 -3.75175650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.045898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.47, Y:0.21, Z:-0.37 [[ 9.98909552e-01 -4.66647921e-02 -1.45060977e-03 8.54712961e+01] [ 4.66647383e-02 9.98910605e-01 -7.09374433e-05 2.14929498e-01] [ 1.45233976e-03 3.16776437e-06 9.99998945e-01 -3.74711055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.075898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.50, Y:0.22, Z:-0.37 [[ 9.99024025e-01 -4.41669699e-02 -5.26387308e-04 8.54989103e+01] [ 4.41669622e-02 9.99024163e-01 -2.62350610e-05 2.23053702e-01] [ 5.27032363e-04 2.96052788e-06 9.99999861e-01 -3.73639499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.105898227 meters Centerline goodness [0,1] 0.9999788985017937 Centerline is valid? [True, True] Translation: X:85.53, Y:0.23, Z:-0.37 [[ 9.99109034e-01 -4.22021279e-02 -3.44395764e-04 8.55279465e+01] [ 4.22021245e-02 9.99109093e-01 -1.73456960e-05 2.28996519e-01] [ 3.44820965e-04 2.79600867e-06 9.99999941e-01 -3.72891995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.135898227 meters Centerline goodness [0,1] 0.9999368567279157 Centerline is valid? [True, True] Translation: X:85.56, Y:0.23, Z:-0.37 [[ 9.99160846e-01 -4.09574497e-02 -3.02755537e-04 8.55562246e+01] [ 4.09574469e-02 9.99160892e-01 -1.53539438e-05 2.33663190e-01] [ 3.03130350e-04 2.94096569e-06 9.99999954e-01 -3.73326924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.165898227 meters Centerline goodness [0,1] 0.9998525446579036 Centerline is valid? [True, True] Translation: X:85.59, Y:0.23, Z:-0.37 [[ 9.99183723e-01 -4.03859341e-02 -9.29757267e-04 8.55854846e+01] [ 4.03859085e-02 9.99184155e-01 -4.62948868e-05 2.32726354e-01] [ 9.30868392e-04 8.70800532e-06 9.99999567e-01 -3.73090078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19589822700001 meters Centerline goodness [0,1] 0.9999579142291991 Centerline is valid? [True, True] Translation: X:85.61, Y:0.24, Z:-0.38 [[ 9.99203668e-01 -3.97446873e-02 -3.51978428e-03 8.56124809e+01] [ 3.97443218e-02 9.99209867e-01 -1.73754052e-04 2.38833538e-01] [ 3.52390899e-03 3.37242472e-05 9.99993790e-01 -3.80815045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.225898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.64, Y:0.24, Z:-0.38 [[ 9.99200182e-01 -3.97724634e-02 -4.14089199e-03 8.56410165e+01] [ 3.97719549e-02 9.99208762e-01 -2.05107759e-04 2.39618023e-01] [ 4.14577320e-03 4.02523413e-05 9.99991405e-01 -3.82106155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.255898227 meters Centerline goodness [0,1] 0.9998306985799843 Centerline is valid? [True, True] Translation: X:85.67, Y:0.24, Z:-0.38 [[ 9.99193699e-01 -3.98613236e-02 -4.79870127e-03 8.56695045e+01] [ 3.98606388e-02 9.99205221e-01 -2.38302466e-04 2.41161423e-01] [ 4.80438641e-03 4.68310242e-05 9.99988458e-01 -3.82422500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.285898227 meters Centerline goodness [0,1] 0.9999788891469105 Centerline is valid? [True, True] Translation: X:85.70, Y:0.24, Z:-0.38 [[ 9.99213487e-01 -3.94229643e-02 -4.27055168e-03 8.56976843e+01] [ 3.94224136e-02 9.99222612e-01 -2.13094946e-04 2.36700131e-01] [ 4.27563264e-03 4.45718889e-05 9.99990858e-01 -3.77321956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.315898227 meters Centerline goodness [0,1] 0.9999572439446737 Centerline is valid? [True, True] Translation: X:85.73, Y:0.24, Z:-0.38 [[ 9.99258271e-01 -3.82801762e-02 -4.18761821e-03 8.57268437e+01] [ 3.82796338e-02 9.99267044e-01 -2.09634182e-04 2.37968199e-01] [ 4.19257370e-03 4.91781987e-05 9.99991210e-01 -3.75949018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.345898227 meters Centerline goodness [0,1] 0.9998955657204921 Centerline is valid? [True, True] Translation: X:85.75, Y:0.25, Z:-0.38 [[ 9.99330825e-01 -3.64068076e-02 -3.52798276e-03 8.57540419e+01] [ 3.64064113e-02 9.99337051e-01 -1.76527337e-04 2.50864345e-01] [ 3.53207069e-03 4.79680182e-05 9.99993761e-01 -3.80568840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.375898227 meters Centerline goodness [0,1] 0.9996401430960394 Centerline is valid? [True, True] Translation: X:85.78, Y:0.26, Z:-0.38 [[ 9.99486012e-01 -3.18015298e-02 -4.04662754e-03 8.57832091e+01] [ 3.18009710e-02 9.99494201e-01 -2.02383928e-04 2.61490274e-01] [ 4.05101688e-03 7.35932205e-05 9.99991792e-01 -3.81733446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.405898227 meters Centerline goodness [0,1] 0.9997895844292478 Centerline is valid? [True, True] Translation: X:85.81, Y:0.27, Z:-0.38 [[ 9.99547035e-01 -2.98956889e-02 -3.46026156e-03 8.58120050e+01] [ 2.98952656e-02 9.99553022e-01 -1.74014205e-04 2.65881697e-01] [ 3.46391717e-03 7.04899448e-05 9.99993998e-01 -3.81620384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.435898227 meters Centerline goodness [0,1] 0.9997889137501583 Centerline is valid? [True, True] Translation: X:85.84, Y:0.26, Z:-0.38 [[ 9.99590647e-01 -2.84084129e-02 -3.39115592e-03 8.58417015e+01] [ 2.84079955e-02 9.99596397e-01 -1.71199197e-04 2.55747826e-01] [ 3.39465073e-03 7.47931740e-05 9.99994235e-01 -3.77002915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.465898227 meters Centerline goodness [0,1] 0.9997877713873384 Centerline is valid? [True, True] Translation: X:85.87, Y:0.26, Z:-0.38 [[ 9.99622202e-01 -2.72587973e-02 -3.52285520e-03 8.58691192e+01] [ 2.72583405e-02 9.99628407e-01 -1.77646371e-04 2.61645776e-01] [ 3.52638856e-03 8.15520697e-05 9.99993779e-01 -3.77566282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.495898227 meters Centerline goodness [0,1] 0.9997253443758979 Centerline is valid? [True, True] Translation: X:85.90, Y:0.26, Z:-0.38 [[ 9.99642637e-01 -2.65094118e-02 -3.44243543e-03 8.58977827e+01] [ 2.65089678e-02 9.99648560e-01 -1.74551811e-04 2.61012993e-01] [ 3.44585289e-03 8.32340221e-05 9.99994060e-01 -3.76035846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.525898227 meters Centerline goodness [0,1] 0.9997691064419303 Centerline is valid? [True, True] Translation: X:85.93, Y:0.26, Z:-0.38 [[ 9.99657676e-01 -2.60028121e-02 -2.89557636e-03 8.59255706e+01] [ 2.60024957e-02 9.99661867e-01 -1.46899268e-04 2.64068317e-01] [ 2.89841706e-03 7.15567688e-05 9.99995797e-01 -3.75673209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.555898227 meters Centerline goodness [0,1] 0.999493168331468 Centerline is valid? [True, True] Translation: X:85.95, Y:0.26, Z:-0.38 [[ 9.99658185e-01 -2.59951809e-02 -2.78627857e-03 8.59532795e+01] [ 2.59948852e-02 9.99662066e-01 -1.42274595e-04 2.63223960e-01] [ 2.78903544e-03 6.97969721e-05 9.99996108e-01 -3.75199809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.585898227 meters Centerline goodness [0,1] 0.9997054863682262 Centerline is valid? [True, True] Translation: X:85.98, Y:0.26, Z:-0.38 [[ 9.99656935e-01 -2.60378615e-02 -2.83586745e-03 8.59805339e+01] [ 2.60375559e-02 9.99660955e-01 -1.44641917e-04 2.63917319e-01] [ 2.83867213e-03 7.07532385e-05 9.99995968e-01 -3.76036695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.615898227 meters Centerline goodness [0,1] 0.999768020582901 Centerline is valid? [True, True] Translation: X:86.01, Y:0.27, Z:-0.38 [[ 9.99647062e-01 -2.63756629e-02 -3.17436506e-03 8.60087558e+01] [ 2.63752815e-02 9.99652099e-01 -1.61970027e-04 2.66013863e-01] [ 3.17753276e-03 7.81880894e-05 9.99994949e-01 -3.77564324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.645898227 meters Centerline goodness [0,1] 0.9996876366589617 Centerline is valid? [True, True] Translation: X:86.04, Y:0.27, Z:-0.38 [[ 9.99633663e-01 -2.69502875e-02 -2.49427137e-03 8.60365207e+01] [ 2.69500533e-02 9.99636773e-01 -1.27454327e-04 2.73340381e-01] [ 2.49680032e-03 6.01868893e-05 9.99996881e-01 -3.76607860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.675898227 meters Centerline goodness [0,1] 0.9997465788139889 Centerline is valid? [True, True] Translation: X:86.07, Y:0.27, Z:-0.37 [[ 9.99619342e-01 -2.74795395e-02 -2.45871062e-03 8.60660121e+01] [ 2.74793117e-02 9.99622364e-01 -1.26424950e-04 2.67878565e-01] [ 2.46125623e-03 5.88131502e-05 9.99996969e-01 -3.74007877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.705898227 meters Centerline goodness [0,1] 0.9997460048682401 Centerline is valid? [True, True] Translation: X:86.09, Y:0.27, Z:-0.37 [[ 9.99607836e-01 -2.79107908e-02 -2.27190917e-03 8.60938992e+01] [ 2.79105961e-02 9.99610417e-01 -1.17389307e-04 2.68347036e-01] [ 2.27430050e-03 5.39329318e-05 9.99997412e-01 -3.72645712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.735898227 meters Centerline goodness [0,1] 0.9997485963295064 Centerline is valid? [True, True] Translation: X:86.12, Y:0.27, Z:-0.37 [[ 9.99601396e-01 -2.80879435e-02 -2.84893104e-03 8.61208570e+01] [ 2.80876380e-02 9.99605454e-01 -1.47189236e-04 2.72610194e-01] [ 2.85194125e-03 6.71108224e-05 9.99995931e-01 -3.73519312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.765898227 meters Centerline goodness [0,1] 0.9997862380026079 Centerline is valid? [True, True] Translation: X:86.15, Y:0.27, Z:-0.37 [[ 9.99597091e-01 -2.81192439e-02 -3.86821082e-03 8.61501280e+01] [ 2.81186785e-02 9.99604572e-01 -2.00481472e-04 2.72195538e-01] [ 3.87231861e-03 9.16317200e-05 9.99992498e-01 -3.73939915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.795898227 meters Centerline goodness [0,1] 0.999728499227267 Centerline is valid? [True, True] Translation: X:86.18, Y:0.28, Z:-0.37 [[ 9.99614910e-01 -2.75282523e-02 -3.49673254e-03 8.61776335e+01] [ 2.75277871e-02 9.99621022e-01 -1.81105316e-04 2.77940172e-01] [ 3.50039287e-03 8.47782659e-05 9.99993870e-01 -3.74926626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.825898227 meters Centerline goodness [0,1] 0.9997006628180457 Centerline is valid? [True, True] Translation: X:86.21, Y:0.28, Z:-0.37 [[ 9.99620619e-01 -2.75150268e-02 -1.24155290e-03 8.62052657e+01] [ 2.75149679e-02 9.99621390e-01 -6.45080841e-05 2.82351525e-01] [ 1.24285778e-03 3.03223226e-05 9.99999227e-01 -3.71585801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.855898227 meters Centerline goodness [0,1] 0.9997456010175959 Centerline is valid? [True, True] Translation: X:86.23, Y:0.28, Z:-0.37 [[ 9.99591093e-01 -2.85941628e-02 -1.40738670e-04 8.62335883e+01] [ 2.85941620e-02 9.99591103e-01 -7.88757608e-06 2.83662088e-01] [ 1.40906661e-04 3.86004646e-06 9.99999990e-01 -3.69803198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.885898227 meters Centerline goodness [0,1] 0.9997675008454515 Centerline is valid? [True, True] Translation: X:86.26, Y:0.28, Z:-0.37 [[ 9.99538828e-01 -3.03659872e-02 1.97124028e-04 8.62616084e+01] [ 3.03659858e-02 9.99538847e-01 1.00482628e-05 2.83417852e-01] [-1.97338250e-04 -4.05776337e-06 9.99999981e-01 -3.69977948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.915898227 meters Centerline goodness [0,1] 0.9997691645856505 Centerline is valid? [True, True] Translation: X:86.29, Y:0.28, Z:-0.37 [[ 9.99454474e-01 -3.30260815e-02 1.78274378e-04 8.62905389e+01] [ 3.30260804e-02 9.99454490e-01 9.11300251e-06 2.80147867e-01] [-1.78478094e-04 -3.22032719e-06 9.99999984e-01 -3.70554385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94589822700001 meters Centerline goodness [0,1] 0.9997893938755739 Centerline is valid? [True, True] Translation: X:86.32, Y:0.28, Z:-0.37 [[ 9.99354436e-01 -3.59169406e-02 -8.27874212e-04 8.63199249e+01] [ 3.59169167e-02 9.99354778e-01 -4.37646726e-05 2.77890841e-01] [ 8.28911943e-04 1.40017306e-05 9.99999656e-01 -3.72574582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.975898227 meters Centerline goodness [0,1] 0.9997890473377774 Centerline is valid? [True, True] Translation: X:86.35, Y:0.28, Z:-0.37 [[ 9.99252665e-01 -3.86103705e-02 -1.83053542e-03 8.63493329e+01] [ 3.86102587e-02 9.99254341e-01 -9.63931030e-05 2.76108585e-01] [ 1.83289223e-03 2.56436192e-05 9.99998320e-01 -3.74049049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.005898227 meters Centerline goodness [0,1] 0.9998721663541844 Centerline is valid? [True, True] Translation: X:86.38, Y:0.28, Z:-0.37 [[ 9.99126656e-01 -4.16585652e-02 -3.23881657e-03 8.63783038e+01] [ 4.16582307e-02 9.99131905e-01 -1.70714065e-04 2.75640190e-01] [ 3.24311667e-03 3.56416047e-05 9.99994740e-01 -3.74277645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.035898227 meters Centerline goodness [0,1] 0.9999369575724463 Centerline is valid? [True, True] Translation: X:86.41, Y:0.28, Z:-0.38 [[ 9.99089279e-01 -4.25184321e-02 -3.57704823e-03 8.64061646e+01] [ 4.25180304e-02 9.99095682e-01 -1.88304564e-04 2.78469024e-01] [ 3.58181986e-03 3.60440256e-05 9.99993585e-01 -3.75146966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.065898227 meters Centerline goodness [0,1] 0.9998527091004734 Centerline is valid? [True, True] Translation: X:86.43, Y:0.28, Z:-0.38 [[ 9.99040373e-01 -4.36652481e-02 -3.41743656e-03 8.64340268e+01] [ 4.36648875e-02 9.99046218e-01 -1.80108625e-04 2.80030589e-01] [ 3.42204156e-03 3.07138047e-05 9.99994144e-01 -3.75758947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.095898227 meters Centerline goodness [0,1] 0.9999156651908075 Centerline is valid? [True, True] Translation: X:86.46, Y:0.28, Z:-0.38 [[ 9.98967166e-01 -4.53540838e-02 -2.75836319e-03 8.64632419e+01] [ 4.53538529e-02 9.98970974e-01 -1.46240421e-04 2.80188633e-01] [ 2.76215736e-03 2.09869802e-05 9.99996185e-01 -3.75145363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.125898227 meters Centerline goodness [0,1] 0.9999789447088053 Centerline is valid? [True, True] Translation: X:86.49, Y:0.28, Z:-0.37 [[ 9.98765442e-01 -4.96613122e-02 -1.16030493e-03 8.64917230e+01] [ 4.96612740e-02 9.98766116e-01 -6.16742809e-05 2.78088749e-01] [ 1.16193607e-03 3.97591956e-06 9.99999325e-01 -3.73198747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.155898227 meters Centerline goodness [0,1] 0.9999577041830563 Centerline is valid? [True, True] Translation: X:86.52, Y:0.28, Z:-0.37 [[ 9.98674361e-01 -5.14564028e-02 -1.32627716e-03 8.65187158e+01] [ 5.14563545e-02 9.98675242e-01 -7.05445132e-05 2.78875284e-01] [ 1.32815013e-03 2.20560898e-06 9.99999118e-01 -3.73909733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.185898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.55, Y:0.28, Z:-0.37 [[ 9.98617886e-01 -5.24959436e-02 -2.54819427e-03 8.65472709e+01] [ 5.24957675e-02 9.98621137e-01 -1.35996500e-04 2.79839077e-01] [ 2.55181992e-03 2.03912348e-06 9.99996744e-01 -3.74503905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.215898227 meters Centerline goodness [0,1] 0.9997274575986917 Centerline is valid? [True, True] Translation: X:86.57, Y:0.28, Z:-0.38 [[ 9.98584100e-01 -5.30878399e-02 -3.38778187e-03 8.65745772e+01] [ 5.30875333e-02 9.98589846e-01 -1.80426646e-04 2.82875924e-01] [ 3.39258303e-03 3.22197651e-07 9.99994245e-01 -3.77731148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.245898227 meters Centerline goodness [0,1] 0.9998525663977759 Centerline is valid? [True, True] Translation: X:86.60, Y:0.29, Z:-0.38 [[ 9.98558111e-01 -5.35258103e-02 -4.08489626e-03 8.66029533e+01] [ 5.35253632e-02 9.98566466e-01 -2.18763554e-04 2.85637396e-01] [ 4.09074992e-03 -1.97434607e-07 9.99991633e-01 -3.77479881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.275898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:0.29, Z:-0.38 [[ 9.98432657e-01 -5.58127905e-02 -4.14257692e-03 8.66307357e+01] [ 5.58123514e-02 9.98441251e-01 -2.21617076e-04 2.88707918e-01] [ 4.14848875e-03 -9.93723219e-06 9.99991395e-01 -3.77233912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.305898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:0.29, Z:-0.38 [[ 9.98311398e-01 -5.79201469e-02 -4.42830717e-03 8.66580946e+01] [ 5.79196647e-02 9.98321219e-01 -2.37147471e-04 2.89991358e-01] [ 4.43460863e-03 -1.97390438e-05 9.99990167e-01 -3.78211274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.335898227 meters Centerline goodness [0,1] 0.9999360040957379 Centerline is valid? [True, True] Translation: X:86.69, Y:0.29, Z:-0.38 [[ 9.98162606e-01 -6.03852361e-02 -5.00344979e-03 8.66872541e+01] [ 6.03846456e-02 9.98175146e-01 -2.69145788e-04 2.91512839e-01] [ 5.01057166e-03 -3.34802810e-05 9.99987446e-01 -3.78768841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.365898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.72, Y:0.29, Z:-0.38 [[ 9.98025541e-01 -6.26096957e-02 -5.00446173e-03 8.67156794e+01] [ 6.26091334e-02 9.98038087e-01 -2.69109982e-04 2.88805363e-01] [ 5.01149231e-03 -4.47463768e-05 9.99987441e-01 -3.79870496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.395898227 meters Centerline goodness [0,1] 0.9998733669614402 Centerline is valid? [True, True] Translation: X:86.74, Y:0.29, Z:-0.38 [[ 9.97862918e-01 -6.51448816e-02 -5.07367600e-03 8.67445139e+01] [ 6.51443301e-02 9.97875814e-01 -2.74067723e-04 2.90504148e-01] [ 5.08075268e-03 -5.70392067e-05 9.99987091e-01 -3.79158803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.425898227 meters Centerline goodness [0,1] 0.9998944546471619 Centerline is valid? [True, True] Translation: X:86.77, Y:0.29, Z:-0.38 [[ 9.97681711e-01 -6.78938575e-02 -4.65048736e-03 8.67732835e+01] [ 6.78934201e-02 9.97692548e-01 -2.52038827e-04 2.89913895e-01] [ 4.65686847e-03 -6.42829634e-05 9.99989155e-01 -3.78365798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.455898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:0.29, Z:-0.38 [[ 9.97296660e-01 -7.34067070e-02 -3.29041191e-03 8.68026645e+01] [ 7.34065186e-02 9.97302086e-01 -1.78149152e-04 2.86657852e-01] [ 3.29461200e-03 -6.38701286e-05 9.99994571e-01 -3.76885011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.485898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:0.28, Z:-0.38 [[ 9.97064246e-01 -7.64967479e-02 -3.33726967e-03 8.68316794e+01] [ 7.64965711e-02 9.97069828e-01 -1.80801926e-04 2.82626400e-01] [ 3.34132166e-03 -7.50185506e-05 9.99994415e-01 -3.78069498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.86, Y:0.28, Z:-0.38 [[ 9.96847036e-01 -7.92790443e-02 -3.28926569e-03 8.68607705e+01] [ 7.92788872e-02 9.96852460e-01 -1.78320254e-04 2.82971666e-01] [ 3.29304965e-03 -8.30113066e-05 9.99994574e-01 -3.77956201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.545898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.89, Y:0.28, Z:-0.38 [[ 9.96640985e-01 -8.18052877e-02 -3.82659245e-03 8.68906840e+01] [ 8.18050936e-02 9.96648325e-01 -2.07479531e-04 2.82191178e-01] [ 3.83073988e-03 -1.06252150e-04 9.99992657e-01 -3.78545101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.575898227 meters Centerline goodness [0,1] 0.999979056275787 Centerline is valid? [True, True] Translation: X:86.92, Y:0.28, Z:-0.38 [[ 9.96454387e-01 -8.40247117e-02 -4.30139601e-03 8.69191076e+01] [ 8.40244859e-02 9.96463663e-01 -2.33502240e-04 2.78327295e-01] [ 4.30580478e-03 -1.28748257e-04 9.99990722e-01 -3.80014625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.605898227 meters Centerline goodness [0,1] 0.9999362786745964 Centerline is valid? [True, True] Translation: X:86.95, Y:0.28, Z:-0.38 [[ 9.96272632e-01 -8.61328071e-02 -4.68842117e-03 8.69482121e+01] [ 8.61325617e-02 9.96283653e-01 -2.54615109e-04 2.79151603e-01] [ 4.69292808e-03 -1.50159660e-04 9.99988977e-01 -3.80054071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.635898227 meters Centerline goodness [0,1] 0.9999162093091457 Centerline is valid? [True, True] Translation: X:86.98, Y:0.28, Z:-0.38 [[ 9.96118914e-01 -8.78716073e-02 -5.06842672e-03 8.69776797e+01] [ 8.78713426e-02 9.96131794e-01 -2.75319809e-04 2.81850784e-01] [ 5.07301379e-03 -1.71118191e-04 9.99987118e-01 -3.78988516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.665898227 meters Centerline goodness [0,1] 0.9999159981519593 Centerline is valid? [True, True] Translation: X:87.01, Y:0.28, Z:-0.38 [[ 9.96131174e-01 -8.77274419e-02 -5.15561616e-03 8.70059746e+01] [ 8.77271626e-02 9.96144501e-01 -2.80734251e-04 2.82555556e-01] [ 5.16036678e-03 -1.72639438e-04 9.99986670e-01 -3.79654429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69589822700001 meters Centerline goodness [0,1] 0.9999576064607754 Centerline is valid? [True, True] Translation: X:87.04, Y:0.29, Z:-0.38 [[ 9.96144774e-01 -8.75633791e-02 -5.31447252e-03 8.70351273e+01] [ 8.75630741e-02 9.96158935e-01 -2.90479319e-04 2.85569518e-01] [ 5.31949464e-03 -1.75992096e-04 9.99985836e-01 -3.80053985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.725898227 meters Centerline goodness [0,1] 0.9999576064607754 Centerline is valid? [True, True] Translation: X:87.06, Y:0.29, Z:-0.38 [[ 9.96128799e-01 -8.77449261e-02 -5.31441496e-03 8.70626048e+01] [ 8.77446181e-02 9.96142960e-01 -2.91531733e-04 2.87273476e-01] [ 5.31949748e-03 -1.75908156e-04 9.99985836e-01 -3.80152737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.755898227 meters Centerline goodness [0,1] 0.9999580264013935 Centerline is valid? [True, True] Translation: X:87.09, Y:0.30, Z:-0.38 [[ 9.96136309e-01 -8.76410570e-02 -5.61233883e-03 8.70897037e+01] [ 8.76407058e-02 9.96152102e-01 -3.08959348e-04 2.96539689e-01] [ 5.61782065e-03 -1.84103711e-04 9.99984203e-01 -3.79413176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.785898227 meters Centerline goodness [0,1] 0.9999369522728706 Centerline is valid? [True, True] Translation: X:87.12, Y:0.30, Z:-0.38 [[ 9.96112873e-01 -8.79106540e-02 -5.55531372e-03 8.71174173e+01] [ 8.79103148e-02 9.96128347e-01 -3.05679944e-04 2.97220874e-01] [ 5.56067800e-03 -1.83877651e-04 9.99984522e-01 -3.81067689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.815898227 meters Centerline goodness [0,1] 0.9999154691462384 Centerline is valid? [True, True] Translation: X:87.15, Y:0.30, Z:-0.38 [[ 9.96026545e-01 -8.89045873e-02 -5.20536350e-03 8.71451125e+01] [ 8.89043015e-02 9.96040131e-01 -2.86734092e-04 2.99185978e-01] [ 5.21024292e-03 -1.77184439e-04 9.99986411e-01 -3.80598020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.845898227 meters Centerline goodness [0,1] 0.9998738462185404 Centerline is valid? [True, True] Translation: X:87.17, Y:0.29, Z:-0.38 [[ 9.95982086e-01 -8.94646494e-02 -3.97010853e-03 8.71733014e+01] [ 8.94644865e-02 9.95989989e-01 -2.18966483e-04 2.94059726e-01] [ 3.97377811e-03 -1.37097026e-04 9.99992095e-01 -3.80111203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.875898227 meters Centerline goodness [0,1] 0.9999162356291751 Centerline is valid? [True, True] Translation: X:87.20, Y:0.30, Z:-0.38 [[ 9.95936413e-01 -8.99797532e-02 -3.78213562e-03 8.72023156e+01] [ 8.99796054e-02 9.95943586e-01 -2.09577604e-04 2.99586149e-01] [ 3.78565145e-03 -1.31589103e-04 9.99992826e-01 -3.78733420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.905898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.23, Y:0.30, Z:-0.38 [[ 9.95926913e-01 -9.00373152e-02 -4.78181119e-03 8.72299647e+01] [ 9.00370759e-02 9.95938379e-01 -2.65710886e-04 3.04016583e-01] [ 4.78631318e-03 -1.65911675e-04 9.99988532e-01 -3.79779151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.935898227 meters Centerline goodness [0,1] 0.9999577408244765 Centerline is valid? [True, True] Translation: X:87.26, Y:0.31, Z:-0.38 [[ 9.95919596e-01 -9.00415174e-02 -6.05673253e-03 8.72587945e+01] [ 9.00411288e-02 9.95937991e-01 -3.37365474e-04 3.08456533e-01] [ 6.06250692e-03 -2.09366147e-04 9.99981601e-01 -3.81389269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.965898227 meters Centerline goodness [0,1] 0.9999789416050708 Centerline is valid? [True, True] Translation: X:87.29, Y:0.31, Z:-0.38 [[ 9.95839666e-01 -9.08294361e-02 -7.30565544e-03 8.72869656e+01] [ 9.08288901e-02 9.95866430e-01 -4.07178278e-04 3.09356005e-01] [ 7.31244078e-03 -2.58080295e-04 9.99973230e-01 -3.83736077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.995898227 meters Centerline goodness [0,1] 0.9998521272550593 Centerline is valid? [True, True] Translation: X:87.31, Y:0.31, Z:-0.38 [[ 9.95730791e-01 -9.20242030e-02 -7.19297494e-03 8.73143587e+01] [ 9.20236993e-02 9.95756736e-01 -4.01673139e-04 3.10075167e-01] [ 7.19941690e-03 -2.61965851e-04 9.99974050e-01 -3.83968176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.025898227 meters Centerline goodness [0,1] 0.9997874962811849 Centerline is valid? [True, True] Translation: X:87.34, Y:0.31, Z:-0.38 [[ 9.95601558e-01 -9.34437628e-02 -6.76759292e-03 8.73425183e+01] [ 9.34433457e-02 9.95624527e-01 -3.78498324e-04 3.13920387e-01] [ 6.77334980e-03 -2.55553004e-04 9.99977028e-01 -3.81969401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.055898227 meters Centerline goodness [0,1] 0.9999370726181986 Centerline is valid? [True, True] Translation: X:87.37, Y:0.31, Z:-0.38 [[ 9.95493118e-01 -9.47074957e-02 -4.89316826e-03 8.73709614e+01] [ 9.47072872e-02 9.95505125e-01 -2.74831855e-04 3.14901286e-01] [ 4.89720271e-03 -1.89825471e-04 9.99987991e-01 -3.79510801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.085898227 meters Centerline goodness [0,1] 0.9999789202976453 Centerline is valid? [True, True] Translation: X:87.40, Y:0.32, Z:-0.38 [[ 9.95433276e-01 -9.53262422e-02 -5.04971695e-03 8.73996282e+01] [ 9.53260239e-02 9.95446065e-01 -2.84434779e-04 3.16679586e-01] [ 5.05383497e-03 -1.98233596e-04 9.99987210e-01 -3.79709625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.115898227 meters Centerline goodness [0,1] 0.9999163302445249 Centerline is valid? [True, True] Translation: X:87.43, Y:0.32, Z:-0.38 [[ 9.95399855e-01 -9.56636536e-02 -5.25302427e-03 8.74277473e+01] [ 9.56634227e-02 9.95413694e-01 -2.95788291e-04 3.17130524e-01] [ 5.25722848e-03 -2.08094659e-04 9.99986159e-01 -3.80642289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.145898227 meters Centerline goodness [0,1] 0.9998523082116634 Centerline is valid? [True, True] Translation: X:87.46, Y:0.32, Z:-0.38 [[ 9.95326666e-01 -9.64221361e-02 -5.25345193e-03 8.74558985e+01] [ 9.64219091e-02 9.95340508e-01 -2.97063191e-04 3.22843701e-01] [ 5.25761698e-03 -2.10872949e-04 9.99986156e-01 -3.80105743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.175898227 meters Centerline goodness [0,1] 0.9998949844576998 Centerline is valid? [True, True] Translation: X:87.48, Y:0.32, Z:-0.38 [[ 9.95280197e-01 -9.69246383e-02 -4.79004992e-03 8.74839925e+01] [ 9.69244556e-02 9.95291704e-01 -2.70809884e-04 3.23873337e-01] [ 4.79374510e-03 -1.94741266e-04 9.99988491e-01 -3.79931516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.205898227 meters Centerline goodness [0,1] 0.999473262820783 Centerline is valid? [True, True] Translation: X:87.51, Y:0.32, Z:-0.38 [[ 9.95149919e-01 -9.83076163e-02 -3.50025528e-03 8.75121666e+01] [ 9.83075264e-02 9.95156064e-01 -1.98146171e-04 3.22322638e-01] [ 3.50277954e-03 -1.46916292e-04 9.99993854e-01 -3.79393125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.235898227 meters Centerline goodness [0,1] 0.9991993257479983 Centerline is valid? [True, True] Translation: X:87.54, Y:0.33, Z:-0.38 [[ 9.95044093e-01 -9.93745778e-02 -3.45630556e-03 8.75410993e+01] [ 9.93744934e-02 9.95050085e-01 -1.96567610e-04 3.26993777e-01] [ 3.45873096e-03 -1.47875175e-04 9.99994008e-01 -3.78941555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.265898227 meters Centerline goodness [0,1] 0.9989424480213203 Centerline is valid? [True, True] Translation: X:87.57, Y:0.33, Z:-0.38 [[ 9.94924861e-01 -1.00526330e-01 -4.35641409e-03 8.75695399e+01] [ 1.00526208e-01 9.94934380e-01 -2.47410455e-04 3.27579656e-01] [ 4.35921742e-03 -1.91778979e-04 9.99990480e-01 -3.81288448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.295898227 meters Centerline goodness [0,1] 0.9980867346938775 Centerline is valid? [True, True] Translation: X:87.60, Y:0.33, Z:-0.38 [[ 9.94811044e-01 -1.01597060e-01 -5.38736436e-03 8.75983065e+01] [ 1.01596889e-01 9.94825602e-01 -3.06161097e-04 3.28772209e-01] [ 5.39059306e-03 -2.42767019e-04 9.99985441e-01 -3.82381928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.325898227 meters Centerline goodness [0,1] 0.9988444164302973 Centerline is valid? [True, True] Translation: X:87.63, Y:0.34, Z:-0.38 [[ 9.94687949e-01 -1.02747129e-01 -6.23788243e-03 8.76269444e+01] [ 1.02746920e-01 9.94707467e-01 -3.54761795e-04 3.36755997e-01] [ 6.24131898e-03 -2.88045923e-04 9.99980481e-01 -3.83210954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.355898227 meters Centerline goodness [0,1] 0.9961916718978866 Centerline is valid? [True, True] Translation: X:87.66, Y:0.34, Z:-0.38 [[ 9.94564551e-01 -1.03922338e-01 -6.44219450e-03 8.76553240e+01] [ 1.03922139e-01 9.94585368e-01 -3.66639725e-04 3.35466899e-01] [ 6.44541445e-03 -3.04839757e-04 9.99979182e-01 -3.84870160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.385898227 meters Centerline goodness [0,1] 0.9987944162436548 Centerline is valid? [True, True] Translation: X:87.68, Y:0.35, Z:-0.38 [[ 9.94248766e-01 -1.06952067e-01 -5.53591775e-03 8.76849014e+01] [ 1.06951966e-01 9.94264139e-01 -3.15036922e-04 3.50356933e-01] [ 5.53785834e-03 -2.78852218e-04 9.99984627e-01 -3.81541778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.415898227 meters Centerline goodness [0,1] 0.9980132450331126 Centerline is valid? [True, True] Translation: X:87.72, Y:0.35, Z:-0.38 [[ 9.94000516e-01 -1.09238369e-01 -5.47290907e-03 8.77151599e+01] [ 1.09238306e-01 9.94015541e-01 -3.11409542e-04 3.53878709e-01] [ 5.47417454e-03 -2.88310070e-04 9.99984975e-01 -3.81270157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44589822700001 meters Centerline goodness [0,1] 0.9872138977534501 Centerline is valid? [True, True] Translation: X:87.74, Y:0.35, Z:-0.38 [[ 9.93695162e-01 -1.11991658e-01 -5.27199147e-03 8.77449900e+01] [ 1.11991637e-01 9.93709104e-01 -3.00082161e-04 3.50969771e-01] [ 5.27243262e-03 -2.92228765e-04 9.99986058e-01 -3.81878192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.475898227 meters Centerline goodness [0,1] 0.8918685303480699 Centerline is valid? [True, False] Translation: X:87.74, Y:0.35, Z:-0.38 [[ 9.94061296e-01 -1.08687994e-01 -5.39072425e-03 8.77442145e+01] [ 1.08710329e-01 9.94065267e-01 4.03855265e-03 3.47903679e-01] [ 4.91978955e-03 -4.60059629e-03 9.99977315e-01 -3.81883897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.505898227 meters Centerline goodness [0,1] 0.8004685422426712 Centerline is valid? [False, False] Translation: X:87.74, Y:0.35, Z:-0.38 [[ 9.94034546e-01 -1.08929545e-01 -5.44757245e-03 8.77443791e+01] [ 1.08951468e-01 9.94039407e-01 3.90312865e-03 3.48092197e-01] [ 4.98993565e-03 -4.47336573e-03 9.99977545e-01 -3.81823791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.535898227 meters Centerline goodness [0,1] 0.5978764641442655 Centerline is valid? [False, False] Translation: X:87.74, Y:0.35, Z:-0.38 [[ 9.93963474e-01 -1.09583680e-01 -5.29437255e-03 8.77440982e+01] [ 1.09603191e-01 9.93969095e-01 3.54666482e-03 3.48648057e-01] [ 4.87378611e-03 -4.10553541e-03 9.99979695e-01 -3.82025928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.565898227 meters Centerline goodness [0,1] 0.7744272775705914 Centerline is valid? [False, False] Translation: X:87.74, Y:0.35, Z:-0.38 [[ 9.93949488e-01 -1.09709110e-01 -5.32222682e-03 8.77442729e+01] [ 1.09729022e-01 9.93955002e-01 3.60491110e-03 3.48016974e-01] [ 4.89456238e-03 -4.16710228e-03 9.99979339e-01 -3.82123840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.595898227 meters Centerline goodness [0,1] 0.512010273467927 Centerline is valid? [False, False] Translation: X:87.75, Y:0.35, Z:-0.38 [[ 9.93933281e-01 -1.09847825e-01 -5.48524331e-03 8.77451152e+01] [ 1.09869163e-01 9.93938975e-01 3.75253513e-03 3.46810366e-01] [ 5.03978929e-03 -4.33242865e-03 9.99977915e-01 -3.82569610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.625898227 meters Centerline goodness [0,1] 0.6838114148113725 Centerline is valid? [False, False] Translation: X:87.75, Y:0.35, Z:-0.38 [[ 9.93928776e-01 -1.09882964e-01 -5.59667186e-03 8.77456750e+01] [ 1.09906071e-01 9.93933919e-01 4.00261717e-03 3.45281752e-01] [ 5.12290255e-03 -4.59342460e-03 9.99976328e-01 -3.82825948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.655898227 meters Centerline goodness [0,1] 0.6543730691381697 Centerline is valid? [False, False] Translation: X:87.75, Y:0.34, Z:-0.38 [[ 9.93918249e-01 -1.09982562e-01 -5.50916049e-03 8.77454474e+01] [ 1.10005695e-01 9.93922551e-01 4.08763363e-03 3.44594909e-01] [ 5.02611043e-03 -4.66881269e-03 9.99976470e-01 -3.82814511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.685898227 meters Centerline goodness [0,1] 0.6054844761081719 Centerline is valid? [False, False] Translation: X:87.75, Y:0.34, Z:-0.38 [[ 9.93920461e-01 -1.09957179e-01 -5.61572148e-03 8.77456086e+01] [ 1.09980515e-01 9.93925573e-01 4.03019948e-03 3.44968873e-01] [ 5.13845983e-03 -4.62331767e-03 9.99976110e-01 -3.82552414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.715898227 meters Centerline goodness [0,1] 0.6708235740963474 Centerline is valid? [False, False] Translation: X:87.75, Y:0.34, Z:-0.38 [[ 9.94387632e-01 -1.05627742e-01 -6.00149051e-03 8.77452377e+01] [ 1.05678934e-01 9.94359833e-01 8.97136107e-03 3.41186694e-01] [ 5.02001649e-03 -9.55524161e-03 9.99941747e-01 -3.82137205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.745898227 meters Centerline goodness [0,1] 0.6864783920021935 Centerline is valid? [False, False] Translation: X:87.75, Y:0.34, Z:-0.38 [[ 9.94389955e-01 -1.05601013e-01 -6.08628279e-03 8.77453832e+01] [ 1.05652425e-01 9.94363690e-01 8.85538428e-03 3.41914528e-01] [ 5.11684105e-03 -9.44873571e-03 9.99942268e-01 -3.82017787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.775898227 meters Centerline goodness [0,1] 0.8940670716057832 Centerline is valid? [False, False] Translation: X:87.71, Y:0.34, Z:-0.39 [[ 9.94945445e-01 -1.00322173e-01 -4.36148309e-03 8.77089975e+01] [ 1.00310161e-01 9.94952015e-01 -2.89135336e-03 3.41702662e-01] [ 4.62953324e-03 2.43923779e-03 9.99986309e-01 -3.86439264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.805898227 meters Centerline goodness [0,1] 0.7281379629824598 Centerline is valid? [False, False] Translation: X:87.71, Y:0.34, Z:-0.39 [[ 9.94950053e-01 -1.00266378e-01 -4.58746540e-03 8.77097765e+01] [ 1.00253551e-01 9.94957560e-01 -2.94593495e-03 3.42155882e-01] [ 4.85971161e-03 2.47114844e-03 9.99985138e-01 -3.86633155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.835898227 meters Centerline goodness [0,1] 0.6733151818316132 Centerline is valid? [False, False] Translation: X:87.71, Y:0.34, Z:-0.39 [[ 9.95397214e-01 -9.57063120e-02 -4.96862952e-03 8.77097744e+01] [ 9.57183585e-02 9.95405924e-01 2.24559225e-03 3.37588943e-01] [ 4.73088590e-03 -2.71084533e-03 9.99985135e-01 -3.86663545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.865898227 meters Centerline goodness [0,1] 0.8266460469451742 Centerline is valid? [False, False] Translation: X:87.71, Y:0.34, Z:-0.39 [[ 9.95408533e-01 -9.55904301e-02 -4.93177267e-03 8.77093387e+01] [ 9.56031550e-02 9.95416606e-01 2.41185937e-03 3.36916256e-01] [ 4.67861774e-03 -2.87227842e-03 9.99984930e-01 -3.86139414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.895898227 meters Centerline goodness [0,1] 0.9412054067927111 Centerline is valid? [False, False] Translation: X:87.71, Y:0.34, Z:-0.39 [[ 9.95420024e-01 -9.54748268e-02 -4.85110843e-03 8.77088347e+01] [ 9.54881812e-02 9.95427169e-01 2.59961272e-03 3.36118722e-01] [ 4.58072756e-03 -3.05093008e-03 9.99984854e-01 -3.85714853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.925898227 meters Centerline goodness [0,1] 0.7046519410977242 Centerline is valid? [False, False] Translation: X:87.73, Y:0.34, Z:-0.39 [[ 9.95571163e-01 -9.39831224e-02 -2.28751547e-03 8.77302494e+01] [ 9.39662837e-02 9.95553487e-01 -6.60237230e-03 3.37656278e-01] [ 2.89785557e-03 6.35818214e-03 9.99975588e-01 -3.87233840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.955898227 meters Centerline goodness [0,1] 0.8479786518742646 Centerline is valid? [False, False] Translation: X:87.73, Y:0.33, Z:-0.39 [[ 9.95976811e-01 -8.95631058e-02 -2.93977636e-03 8.77314034e+01] [ 8.95600983e-02 9.95980768e-01 -1.13946927e-03 3.31091591e-01] [ 3.03001512e-03 8.71598311e-04 9.99995030e-01 -3.87508148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.985898227 meters Centerline goodness [0,1] 0.9479275106758164 Centerline is valid? [False, False] Translation: X:87.73, Y:0.33, Z:-0.39 [[ 9.95986034e-01 -8.94503666e-02 -3.23306873e-03 8.77325590e+01] [ 8.94477028e-02 9.95991058e-01 -9.59620543e-04 3.30297889e-01] [ 3.30594596e-03 6.66578087e-04 9.99994313e-01 -3.87886693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.015898227 meters Centerline goodness [0,1] 0.7447361798506837 Centerline is valid? [False, False] Translation: X:87.73, Y:0.33, Z:-0.39 [[ 9.95993803e-01 -8.93549094e-02 -3.47039326e-03 8.77334986e+01] [ 8.93525720e-02 9.95999719e-01 -8.23145645e-04 3.29730146e-01] [ 3.53006282e-03 5.09759398e-04 9.99993639e-01 -3.88213800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.045898227 meters Centerline goodness [0,1] 0.9038785834738617 Centerline is valid? [False, False] Translation: X:87.73, Y:0.32, Z:-0.39 [[ 9.96362293e-01 -8.51333920e-02 -3.80617624e-03 8.77333810e+01] [ 8.51495901e-02 9.96358822e-01 4.31788990e-03 3.24519586e-01] [ 3.42472066e-03 -4.62627702e-03 9.99983434e-01 -3.87955533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.075898227 meters Centerline goodness [0,1] 0.9332965470404719 Centerline is valid? [False, False] Translation: X:87.73, Y:0.32, Z:-0.39 [[ 9.96371340e-01 -8.50285695e-02 -3.78083623e-03 8.77332745e+01] [ 8.50454658e-02 9.96366645e-01 4.55830681e-03 3.23390949e-01] [ 3.37951280e-03 -4.86330925e-03 9.99982463e-01 -3.87879402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.105898227 meters Centerline goodness [0,1] 0.7788180222352252 Centerline is valid? [False, False] Translation: X:87.75, Y:0.32, Z:-0.39 [[ 9.96488499e-01 -8.37205847e-02 -1.23909694e-03 8.77544288e+01] [ 8.37135204e-02 9.96477596e-01 -4.94446733e-03 3.24962570e-01] [ 1.64868603e-03 4.82337566e-03 9.99987008e-01 -3.89499492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.135898227 meters Centerline goodness [0,1] 0.8332282073924562 Centerline is valid? [False, False] Translation: X:87.75, Y:0.32, Z:-0.39 [[ 9.96820675e-01 -7.96643283e-02 -1.46164541e-03 8.77541639e+01] [ 7.96650286e-02 9.96821599e-01 4.27230880e-04 3.17867481e-01] [ 1.42296466e-03 -5.42314598e-04 9.99998841e-01 -3.89276384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.165898227 meters Centerline goodness [0,1] 0.9523327854343153 Centerline is valid? [False, True] Translation: X:87.75, Y:0.32, Z:-0.39 [[ 9.96835862e-01 -7.94714972e-02 -1.59527843e-03 8.77545005e+01] [ 7.94729214e-02 9.96836663e-01 8.50057060e-04 3.15846824e-01] [ 1.52267672e-03 -9.74148800e-04 9.99998366e-01 -3.89058399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19589822700001 meters Centerline goodness [0,1] 0.9547307536337054 Centerline is valid? [True, True] Translation: X:87.78, Y:0.31, Z:-0.39 [[ 9.96860005e-01 -7.91572250e-02 -2.06490361e-03 8.77838725e+01] [ 7.91573296e-02 9.96862135e-01 -3.11498028e-05 3.14462493e-01] [ 2.06088995e-03 -1.32400263e-04 9.99997868e-01 -3.89291341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.225898227 meters Centerline goodness [0,1] 0.958314752288123 Centerline is valid? [True, True] Translation: X:87.81, Y:0.31, Z:-0.39 [[ 9.96866760e-01 -7.90701322e-02 -2.13921619e-03 8.78132270e+01] [ 7.90702437e-02 9.96869046e-01 -3.25463622e-05 3.14046931e-01] [ 2.13509184e-03 -1.36703958e-04 9.99997711e-01 -3.89684986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.255898227 meters Centerline goodness [0,1] 0.9476864163386873 Centerline is valid? [True, False] Translation: X:87.81, Y:0.31, Z:-0.39 [[ 9.97186645e-01 -7.49187577e-02 -2.44449225e-03 8.78131958e+01] [ 7.49304101e-02 9.97175796e-01 5.08585878e-03 3.08837966e-01] [ 2.05656228e-03 -5.25471726e-03 9.99984079e-01 -3.89501085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.285898227 meters Centerline goodness [0,1] 0.9769892290008089 Centerline is valid? [False, True] Translation: X:87.81, Y:0.31, Z:-0.39 [[ 9.97199694e-01 -7.47394943e-02 -2.60364633e-03 8.78138079e+01] [ 7.47529778e-02 9.97186710e-01 5.53689781e-03 3.06693594e-01] [ 2.18249657e-03 -5.71602312e-03 9.99981282e-01 -3.89631761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.315898227 meters Centerline goodness [0,1] 0.8809985253844533 Centerline is valid? [True, False] Translation: X:87.81, Y:0.31, Z:-0.39 [[ 9.97203746e-01 -7.46824537e-02 -2.68688479e-03 8.78140639e+01] [ 7.46967976e-02 9.97189963e-01 5.70668398e-03 3.05768591e-01] [ 2.25314538e-03 -5.89142834e-03 9.99980107e-01 -3.89599113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.345898227 meters Centerline goodness [0,1] 0.8433443436914856 Centerline is valid? [False, False] Translation: X:87.81, Y:0.30, Z:-0.39 [[ 9.97209045e-01 -7.46143452e-02 -2.61163546e-03 8.78133999e+01] [ 7.46286119e-02 9.97194093e-01 5.87469458e-03 3.04956655e-01] [ 2.16597096e-03 -6.05320130e-03 9.99979333e-01 -3.88876483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.375898227 meters Centerline goodness [0,1] 0.9270464908168918 Centerline is valid? [False, False] Translation: X:87.81, Y:0.30, Z:-0.39 [[ 9.97212136e-01 -7.45807686e-02 -2.37987449e-03 8.78121646e+01] [ 7.45938927e-02 9.97195895e-01 6.00822215e-03 3.04227211e-01] [ 1.92510324e-03 -6.16899615e-03 9.99979119e-01 -3.87988171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.405898227 meters Centerline goodness [0,1] 0.8385119605005533 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97081713e-01 -7.63264401e-02 -1.52700342e-03 8.78064058e+01] [ 7.63321316e-02 9.97074012e-01 4.10131199e-03 3.06353053e-01] [ 1.20949688e-03 -4.20590261e-03 9.99990424e-01 -3.83789164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.435898227 meters Centerline goodness [0,1] 0.7875895490939739 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97082886e-01 -7.63087479e-02 -1.64102655e-03 8.78067864e+01] [ 7.63150918e-02 9.97074770e-01 4.23195571e-03 3.05610069e-01] [ 1.31329092e-03 -4.34484570e-03 9.99989699e-01 -3.83796054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.465898227 meters Centerline goodness [0,1] 0.8747490710289155 Centerline is valid? [False, False] Translation: X:87.81, Y:0.30, Z:-0.38 [[ 9.97086781e-01 -7.62552394e-02 -1.75766247e-03 8.78072667e+01] [ 7.62622998e-02 9.97078177e-01 4.37852721e-03 3.04858344e-01] [ 1.41864125e-03 -4.49981499e-03 9.99988869e-01 -3.83961197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.495898227 meters Centerline goodness [0,1] 0.7796977605657518 Centerline is valid? [False, False] Translation: X:87.81, Y:0.30, Z:-0.38 [[ 9.97082607e-01 -7.63038268e-02 -2.00021307e-03 8.78081809e+01] [ 7.63119476e-02 9.97074465e-01 4.35874482e-03 3.04754920e-01] [ 1.66177247e-03 -4.49866881e-03 9.99988500e-01 -3.84242896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.525898227 meters Centerline goodness [0,1] 0.8224509762218725 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97073992e-01 -7.64153004e-02 -2.03881156e-03 8.78083424e+01] [ 7.64231777e-02 9.97066980e-01 4.11516594e-03 3.05882776e-01] [ 1.71837004e-03 -4.25893739e-03 9.99989454e-01 -3.84315400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.555898227 meters Centerline goodness [0,1] 0.7683808800894005 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97047985e-01 -7.67552367e-02 -1.98727052e-03 8.78079618e+01] [ 7.67616450e-02 9.97043747e-01 3.37885054e-03 3.09319798e-01] [ 1.72205117e-03 -3.52142228e-03 9.99992317e-01 -3.84059801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.585898227 meters Centerline goodness [0,1] 0.7988773766063855 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97040253e-01 -7.68561771e-02 -1.96537495e-03 8.78077204e+01] [ 7.68621677e-02 9.97036658e-01 3.17957914e-03 3.10232747e-01] [ 1.71518057e-03 -3.32123137e-03 9.99993014e-01 -3.83800394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.615898227 meters Centerline goodness [0,1] 0.7966591441165924 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97035218e-01 -7.69217857e-02 -1.95288344e-03 8.78075489e+01] [ 7.69276037e-02 9.97031853e-01 3.10292144e-03 3.10533182e-01] [ 1.70840473e-03 -3.24395260e-03 9.99993279e-01 -3.83596829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.645898227 meters Centerline goodness [0,1] 0.7966591441165924 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97035218e-01 -7.69217857e-02 -1.95288344e-03 8.78075489e+01] [ 7.69276037e-02 9.97031853e-01 3.10292144e-03 3.10533182e-01] [ 1.70840473e-03 -3.24395260e-03 9.99993279e-01 -3.83596829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.675898227 meters Centerline goodness [0,1] 0.776545232992983 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97031552e-01 -7.69698162e-02 -1.93192178e-03 8.78073026e+01] [ 7.69754449e-02 9.97028381e-01 3.03120633e-03 3.10798585e-01] [ 1.69286945e-03 -3.17091888e-03 9.99993540e-01 -3.83313747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.705898227 meters Centerline goodness [0,1] 0.7750748345208482 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97024314e-01 -7.70653470e-02 -1.85704201e-03 8.78069738e+01] [ 7.70704211e-02 9.97021618e-01 2.83608898e-03 3.11754745e-01] [ 1.63294684e-03 -2.97077268e-03 9.99994254e-01 -3.83199432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.735898227 meters Centerline goodness [0,1] 0.737516005121639 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97005366e-01 -7.73103367e-02 -1.84711189e-03 8.78068321e+01] [ 7.73143302e-02 9.97004344e-01 2.19832267e-03 3.14947992e-01] [ 1.67162551e-03 -2.33454772e-03 9.99995878e-01 -3.83133963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.765898227 meters Centerline goodness [0,1] 0.732983307534619 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97316607e-01 -7.31748146e-02 -2.24338277e-03 8.78070582e+01] [ 7.31888153e-02 9.97293748e-01 6.96976858e-03 3.11739027e-01] [ 1.72730008e-03 -7.11525648e-03 9.99973194e-01 -3.82945838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.795898227 meters Centerline goodness [0,1] 0.7680994281614653 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97315166e-01 -7.31900536e-02 -2.38219598e-03 8.78077100e+01] [ 7.32048432e-02 9.97293311e-01 6.86319592e-03 3.12355228e-01] [ 1.87343044e-03 -7.01915767e-03 9.99973610e-01 -3.83349129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.825898227 meters Centerline goodness [0,1] 0.8242212468572889 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97314016e-01 -7.32019465e-02 -2.49553357e-03 8.78082028e+01] [ 7.32173020e-02 9.97293184e-01 6.74778035e-03 3.13032990e-01] [ 1.99482797e-03 -6.91237216e-03 9.99974120e-01 -3.83590534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.855898227 meters Centerline goodness [0,1] 0.7799420956273684 Centerline is valid? [False, False] Translation: X:87.81, Y:0.32, Z:-0.38 [[ 9.97522691e-01 -7.00429300e-02 -6.51674457e-03 8.78076665e+01] [ 6.99804575e-02 9.97504392e-01 -9.36603468e-03 3.18868620e-01] [ 7.15650584e-03 8.88678736e-03 9.99934903e-01 -3.80859298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.885898227 meters Centerline goodness [0,1] 0.8113335595520869 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97813666e-01 -6.57377066e-02 -6.81485762e-03 8.78078308e+01] [ 6.57088877e-02 9.97829266e-01 -4.37007693e-03 3.14801831e-01] [ 7.08734321e-03 3.91272577e-03 9.99967230e-01 -3.81011661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.915898227 meters Centerline goodness [0,1] 0.8111401035309962 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.97817414e-01 -6.56777991e-02 -6.84365790e-03 8.78080428e+01] [ 6.56502183e-02 9.97833942e-01 -4.17996320e-03 3.13843555e-01] [ 7.10336493e-03 3.72155243e-03 9.99967846e-01 -3.81193395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94589822700001 meters Centerline goodness [0,1] 0.7972576732412193 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.98082088e-01 -6.15171658e-02 -6.91256752e-03 8.78075981e+01] [ 6.15250733e-02 9.98105098e-01 9.36964916e-04 3.08716637e-01] [ 6.84182946e-03 -1.36046412e-03 9.99975669e-01 -3.81326997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.975898227 meters Centerline goodness [0,1] 0.764286463248401 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.98085336e-01 -6.14418441e-02 -7.11068671e-03 8.78084767e+01] [ 6.14513971e-02 9.98109434e-01 1.13267137e-03 3.07746404e-01] [ 7.02765007e-03 -1.56746432e-03 9.99974077e-01 -3.81698879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.005898227 meters Centerline goodness [0,1] 0.6976273027277664 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.98084901e-01 -6.14295515e-02 -7.27606510e-03 8.78092848e+01] [ 6.14397317e-02 9.98110093e-01 1.18376351e-03 3.07472520e-01] [ 7.18959595e-03 -1.62853597e-03 9.99972828e-01 -3.82114321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.035898227 meters Centerline goodness [0,1] 0.7530424145276612 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.98081842e-01 -6.14621720e-02 -7.41882697e-03 8.78099490e+01] [ 6.14722398e-02 9.98108146e-01 1.13653876e-03 3.07693679e-01] [ 7.33493749e-03 -1.59041061e-03 9.99971834e-01 -3.82456457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.065898227 meters Centerline goodness [0,1] 0.8083212324010354 Centerline is valid? [False, False] Translation: X:87.81, Y:0.30, Z:-0.38 [[ 9.98320956e-01 -5.74248543e-02 -7.59304313e-03 8.78096785e+01] [ 5.74699277e-02 9.98330055e-01 5.85736147e-03 3.04473523e-01] [ 7.24400504e-03 -6.28389834e-03 9.99954017e-01 -3.82292244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.095898227 meters Centerline goodness [0,1] 0.6805793587760732 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.98075815e-01 -6.15574592e-02 -7.43959141e-03 8.78097946e+01] [ 6.15657969e-02 9.98102624e-01 8.96726382e-04 3.08808410e-01] [ 7.37027552e-03 -1.35302529e-03 9.99971924e-01 -3.82149408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.125898227 meters Centerline goodness [0,1] 0.6705691945518749 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.98076211e-01 -6.15541570e-02 -7.41374936e-03 8.78096201e+01] [ 6.15632226e-02 9.98102684e-01 1.00064588e-03 3.08260354e-01] [ 7.33808923e-03 -1.45513515e-03 9.99972017e-01 -3.82038730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.155898227 meters Centerline goodness [0,1] 0.6233768980247854 Centerline is valid? [False, False] Translation: X:87.81, Y:0.31, Z:-0.38 [[ 9.98080896e-01 -6.14801388e-02 -7.39710332e-03 8.78094884e+01] [ 6.14911141e-02 9.98106829e-01 1.26534699e-03 3.06942368e-01] [ 7.30530563e-03 -1.71777479e-03 9.99971840e-01 -3.81889591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.185898227 meters Centerline goodness [0,1] 0.6602052935188327 Centerline is valid? [False, False] Translation: X:87.81, Y:0.30, Z:-0.38 [[ 9.98079573e-01 -6.14967560e-02 -7.43740587e-03 8.78095061e+01] [ 6.15139853e-02 9.98103991e-01 2.11022113e-03 3.01987338e-01] [ 7.29353273e-03 -2.56367308e-03 9.99970116e-01 -3.81585953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.215898227 meters Centerline goodness [0,1] 0.5738481382022709 Centerline is valid? [False, False] Translation: X:87.81, Y:0.30, Z:-0.38 [[ 9.98084150e-01 -6.14202448e-02 -7.45542902e-03 8.78095978e+01] [ 6.14416164e-02 9.98107103e-01 2.67199160e-03 2.98965981e-01] [ 7.27720228e-03 -3.12494608e-03 9.99968638e-01 -3.81601865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.245898227 meters Centerline goodness [0,1] 0.5433309331187259 Centerline is valid? [False, False] Translation: X:87.81, Y:0.30, Z:-0.38 [[ 9.98088590e-01 -6.13563828e-02 -7.38652992e-03 8.78094693e+01] [ 6.13809755e-02 9.98109440e-01 3.14984096e-03 2.96417175e-01] [ 7.17930240e-03 -3.59721273e-03 9.99967758e-01 -3.81700233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.275898227 meters Centerline goodness [0,1] 0.6112695696266717 Centerline is valid? [False, False] Translation: X:87.81, Y:0.29, Z:-0.38 [[ 9.98095176e-01 -6.12443748e-02 -7.42598696e-03 8.78095115e+01] [ 6.12727952e-02 9.98114340e-01 3.66180928e-03 2.93750297e-01] [ 7.18771885e-03 -4.10984516e-03 9.99965722e-01 -3.81509931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.305898227 meters Centerline goodness [0,1] 0.6136569347675079 Centerline is valid? [False, False] Translation: X:87.81, Y:0.29, Z:-0.38 [[ 9.98104861e-01 -6.10799726e-02 -7.47821768e-03 8.78096456e+01] [ 6.11126532e-02 9.98121944e-01 4.22228710e-03 2.90888788e-01] [ 7.20627599e-03 -4.67129900e-03 9.99963124e-01 -3.81402882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.335898227 meters Centerline goodness [0,1] 0.6098332981641696 Centerline is valid? [False, False] Translation: X:87.81, Y:0.29, Z:-0.38 [[ 9.98119099e-01 -6.08397366e-02 -7.53593598e-03 8.78097053e+01] [ 6.08770337e-02 9.98133623e-01 4.82267554e-03 2.87949616e-01] [ 7.22846077e-03 -5.27236999e-03 9.99959975e-01 -3.81155867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.365898227 meters Centerline goodness [0,1] 0.5273328837562168 Centerline is valid? [False, False] Translation: X:87.81, Y:0.28, Z:-0.38 [[ 9.98141917e-01 -6.04637420e-02 -7.53986234e-03 8.78095480e+01] [ 6.05067128e-02 9.98152040e-01 5.60737565e-03 2.84273126e-01] [ 7.18688606e-03 -6.05316897e-03 9.99955853e-01 -3.80816621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.395898227 meters Centerline goodness [0,1] 0.6157891428691152 Centerline is valid? [False, False] Translation: X:87.83, Y:0.29, Z:-0.38 [[ 9.98243084e-01 -5.88510606e-02 -6.87729221e-03 8.78283680e+01] [ 5.88237947e-02 9.98259953e-01 -4.10201007e-03 2.86437982e-01] [ 7.10673304e-03 3.69025476e-03 9.99967938e-01 -3.78453634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.425898227 meters Centerline goodness [0,1] 0.6894591728525981 Centerline is valid? [False, False] Translation: X:87.83, Y:0.28, Z:-0.38 [[ 9.98494376e-01 -5.44085074e-02 -6.97825116e-03 8.78277443e+01] [ 5.44158864e-02 9.98517977e-01 8.71815551e-04 2.82895363e-01] [ 6.92047505e-03 -1.25023065e-03 9.99975272e-01 -3.78118434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.455898227 meters Centerline goodness [0,1] 0.6550222932615462 Centerline is valid? [False, False] Translation: X:87.83, Y:0.28, Z:-0.38 [[ 9.98495069e-01 -5.43762378e-02 -7.12891857e-03 8.78282549e+01] [ 5.43832088e-02 9.98519828e-01 7.87527228e-04 2.83451700e-01] [ 7.07554378e-03 -1.17403552e-03 9.99974279e-01 -3.78213201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.485898227 meters Centerline goodness [0,1] 0.664467999915706 Centerline is valid? [False, False] Translation: X:87.83, Y:0.28, Z:-0.38 [[ 9.98720453e-01 -5.00128694e-02 -7.49463489e-03 8.78289538e+01] [ 5.00585684e-02 9.98728025e-01 6.03923775e-03 2.77950685e-01] [ 7.18306229e-03 -6.40668095e-03 9.99953678e-01 -3.78527703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.515898227 meters Centerline goodness [0,1] 0.6808497159870769 Centerline is valid? [False, False] Translation: X:87.83, Y:0.28, Z:-0.38 [[ 9.98724696e-01 -4.99446235e-02 -7.38345763e-03 8.78286334e+01] [ 4.99907773e-02 9.98730408e-01 6.20436089e-03 2.77184235e-01] [ 7.06420918e-03 -6.56555323e-03 9.99953494e-01 -3.78590888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.545898227 meters Centerline goodness [0,1] 0.6242631479577923 Centerline is valid? [False, False] Translation: X:87.83, Y:0.28, Z:-0.38 [[ 9.98508398e-01 -5.40970140e-02 -7.38193711e-03 8.78292288e+01] [ 5.41086636e-02 9.98534089e-01 1.38748408e-03 2.80576633e-01] [ 7.29605711e-03 -1.78484125e-03 9.99971791e-01 -3.78552773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.575898227 meters Centerline goodness [0,1] 0.6280659682780092 Centerline is valid? [False, False] Translation: X:87.83, Y:0.28, Z:-0.38 [[ 9.98512459e-01 -5.40218536e-02 -7.38301093e-03 8.78291679e+01] [ 5.40350807e-02 9.98537750e-01 1.60384501e-03 2.79560500e-01] [ 7.28557244e-03 -2.00040081e-03 9.99971459e-01 -3.78450374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.605898227 meters Centerline goodness [0,1] 0.5574638945531754 Centerline is valid? [False, False] Translation: X:87.83, Y:0.28, Z:-0.38 [[ 9.98516287e-01 -5.39495400e-02 -7.39405851e-03 8.78292610e+01] [ 5.39638822e-02 9.98541348e-01 1.75396360e-03 2.78845495e-01] [ 7.28864762e-03 -2.15037333e-03 9.99971125e-01 -3.78538693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.635898227 meters Centerline goodness [0,1] 0.6515074740309095 Centerline is valid? [False, False] Translation: X:87.83, Y:0.28, Z:-0.38 [[ 9.98740003e-01 -4.96006088e-02 -7.62795820e-03 8.78291941e+01] [ 4.96513603e-02 9.98744708e-01 6.61438176e-03 2.75670993e-01] [ 7.29030552e-03 -6.98478616e-03 9.99949031e-01 -3.78284311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.665898227 meters Centerline goodness [0,1] 0.6367313404537698 Centerline is valid? [False, False] Translation: X:87.83, Y:0.28, Z:-0.38 [[ 9.98981639e-01 -4.49576312e-02 -3.80730416e-03 8.78325394e+01] [ 4.49288577e-02 9.98963276e-01 -7.33291153e-03 2.79590850e-01] [ 4.13302737e-03 7.15438616e-03 9.99965866e-01 -3.83143847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69589822700001 meters Centerline goodness [0,1] 0.7358382967938157 Centerline is valid? [False, False] Translation: X:87.83, Y:0.28, Z:-0.38 [[ 9.99168891e-01 -4.05702888e-02 -3.94702390e-03 8.78323510e+01] [ 4.05605620e-02 9.99173919e-01 -2.51397492e-03 2.76833521e-01] [ 4.04575603e-03 2.35179202e-03 9.99989050e-01 -3.83058848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.725898227 meters Centerline goodness [0,1] 0.7268114726601811 Centerline is valid? [False, False] Translation: X:87.83, Y:0.28, Z:-0.38 [[ 9.99166835e-01 -4.06083281e-02 -4.07422749e-03 8.78327042e+01] [ 4.05969538e-02 9.99171577e-01 -2.83670492e-03 2.78656860e-01] [ 4.18604616e-03 2.66894025e-03 9.99987677e-01 -3.82999807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.755898227 meters Centerline goodness [0,1] 0.7642364965338136 Centerline is valid? [False, False] Translation: X:87.83, Y:0.28, Z:-0.38 [[ 9.99331099e-01 -3.63378983e-02 -4.11244975e-03 8.78321455e+01] [ 3.63457595e-02 9.99337556e-01 1.85321067e-03 2.76351077e-01] [ 4.04238371e-03 -2.00144116e-03 9.99989827e-01 -3.82715379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.785898227 meters Centerline goodness [0,1] 0.7016472949243248 Centerline is valid? [False, False] Translation: X:87.84, Y:0.28, Z:-0.39 [[ 9.99491597e-01 -3.18825202e-02 -2.29545061e-04 8.78350676e+01] [ 3.18771480e-02 9.99413343e-01 -1.25226471e-02 2.81834612e-01] [ 6.28663946e-04 1.25089633e-02 9.99921562e-01 -3.87210549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.815898227 meters Centerline goodness [0,1] 0.969788583959633 Centerline is valid? [False, True] Translation: X:87.81, Y:0.29, Z:-0.38 [[ 9.99656870e-01 -2.59131000e-02 -3.82793225e-03 8.78138088e+01] [ 2.58411508e-02 9.99507914e-01 -1.77810461e-02 2.88152559e-01] [ 4.28681061e-03 1.76760267e-02 9.99834577e-01 -3.84616887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.845898227 meters Centerline goodness [0,1] 0.9052767161468781 Centerline is valid? [True, False] Translation: X:87.81, Y:0.29, Z:-0.38 [[ 9.99757977e-01 -2.16332012e-02 -3.99904520e-03 8.78140555e+01] [ 2.15781157e-02 9.99678168e-01 -1.33395898e-02 2.87356878e-01] [ 4.28633621e-03 1.32500695e-02 9.99903027e-01 -3.84691644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.875898227 meters Centerline goodness [0,1] 0.9940917391771404 Centerline is valid? [False, True] Translation: X:87.81, Y:0.29, Z:-0.38 [[ 9.99753175e-01 -2.18331655e-02 -4.11117434e-03 8.78145504e+01] [ 2.17734709e-02 9.99664279e-01 -1.40443894e-02 2.90940275e-01] [ 4.41642761e-03 1.39514083e-02 9.99892921e-01 -3.84890621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.905898227 meters Centerline goodness [0,1] 0.9892305093335586 Centerline is valid? [True, True] Translation: X:87.84, Y:0.29, Z:-0.39 [[ 9.99807715e-01 -1.90837972e-02 -4.51019555e-03 8.78435121e+01] [ 1.90847451e-02 9.99817856e-01 1.67221897e-04 2.86280086e-01] [ 4.50618282e-03 -2.53265676e-04 9.99989815e-01 -3.86209514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.935898227 meters Centerline goodness [0,1] 0.9880317473648847 Centerline is valid? [True, True] Translation: X:87.87, Y:0.29, Z:-0.39 [[ 9.99824573e-01 -1.82095660e-02 -4.38572156e-03 8.78716895e+01] [ 1.82104515e-02 9.99834163e-01 1.62056888e-04 2.87388971e-01] [ 4.38204326e-03 -2.41894428e-04 9.99990370e-01 -3.86090884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.965898227 meters Centerline goodness [0,1] 0.9560913065411132 Centerline is valid? [True, True] Translation: X:87.90, Y:0.28, Z:-0.39 [[ 9.99828326e-01 -1.82192408e-02 -3.37321750e-03 8.78996062e+01] [ 1.82197624e-02 9.99833999e-01 1.23970832e-04 2.83340979e-01] [ 3.37039889e-03 -1.85408771e-04 9.99994303e-01 -3.85166863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.995898227 meters Centerline goodness [0,1] 0.9586208351796754 Centerline is valid? [True, True] Translation: X:87.93, Y:0.29, Z:-0.38 [[ 9.99811894e-01 -1.93117703e-02 -1.79773407e-03 8.79283025e+01] [ 1.93119180e-02 9.99813505e-01 6.48465672e-05 2.85942476e-01] [ 1.79614650e-03 -9.95520622e-05 9.99998382e-01 -3.81611071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.025898227 meters Centerline goodness [0,1] 0.9499608241746607 Centerline is valid? [True, False] Translation: X:87.93, Y:0.29, Z:-0.38 [[ 9.99808652e-01 -1.94899374e-02 -1.67371605e-03 8.79275387e+01] [ 1.94896451e-02 9.99810041e-01 -1.90759618e-04 2.87013821e-01] [ 1.67711600e-03 1.58102985e-04 9.99998581e-01 -3.80983965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.055898227 meters Centerline goodness [0,1] 0.9191114836546521 Centerline is valid? [False, False] Translation: X:87.93, Y:0.29, Z:-0.38 [[ 9.99711990e-01 -2.39379527e-02 -1.70624498e-03 8.79278736e+01] [ 2.39282250e-02 9.99698493e-01 -5.51023870e-03 2.92577650e-01] [ 1.83763437e-03 5.46782428e-03 9.99983363e-01 -3.80859716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.085898227 meters Centerline goodness [0,1] 0.9310264648685211 Centerline is valid? [False, False] Translation: X:87.93, Y:0.29, Z:-0.38 [[ 9.99793602e-01 -2.02523158e-02 -1.61128002e-03 8.79274060e+01] [ 2.02502834e-02 9.99794138e-01 -1.26782836e-03 2.91391800e-01] [ 1.63662478e-03 1.23493781e-03 9.99997898e-01 -3.80995344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.115898227 meters Centerline goodness [0,1] 0.7961171188262821 Centerline is valid? [False, False] Translation: X:87.93, Y:0.29, Z:-0.38 [[ 9.99791162e-01 -2.03745506e-02 -1.58463381e-03 8.79271753e+01] [ 2.03719502e-02 9.99791125e-01 -1.64023327e-03 2.93299132e-01] [ 1.61772183e-03 1.60760864e-03 9.99997399e-01 -3.80712883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.145898227 meters Centerline goodness [0,1] 0.8496106831882116 Centerline is valid? [False, False] Translation: X:87.93, Y:0.30, Z:-0.38 [[ 9.99788471e-01 -2.05114790e-02 -1.51391077e-03 8.79265474e+01] [ 2.05082859e-02 9.99787487e-01 -2.09537667e-03 2.95620762e-01] [ 1.55656832e-03 2.06388573e-03 9.99996659e-01 -3.80058465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.175898227 meters Centerline goodness [0,1] 0.9153295796113627 Centerline is valid? [False, False] Translation: X:87.92, Y:0.30, Z:-0.38 [[ 9.99818511e-01 -1.90342373e-02 -8.02203101e-04 8.79213163e+01] [ 1.90335203e-02 9.99818448e-01 -8.92042236e-04 2.96140421e-01] [ 8.19036803e-04 8.76611591e-04 9.99999280e-01 -3.76481896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.205898227 meters Centerline goodness [0,1] 0.9077093354901877 Centerline is valid? [False, False] Translation: X:87.92, Y:0.30, Z:-0.37 [[ 9.99846009e-01 -1.75477809e-02 -1.83859626e-04 8.79167708e+01] [ 1.75478261e-02 9.99845994e-01 2.47184887e-04 2.96748771e-01] [ 1.79493764e-04 -2.50373160e-04 9.99999953e-01 -3.73328329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.235898227 meters Centerline goodness [0,1] 0.9582314205079963 Centerline is valid? [False, True] Translation: X:87.94, Y:0.30, Z:-0.37 [[ 9.99885123e-01 -1.51403399e-02 7.14979262e-04 8.79391761e+01] [ 1.51460831e-02 9.99846043e-01 -8.85920703e-03 3.00174722e-01] [-5.80737781e-04 8.86901845e-03 9.99960501e-01 -3.74131365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.265898227 meters Centerline goodness [0,1] 0.9981933911728252 Centerline is valid? [True, True] Translation: X:87.97, Y:0.31, Z:-0.38 [[ 9.99959127e-01 -9.04108013e-03 -5.02011593e-05 8.79702886e+01] [ 9.04108023e-03 9.99959129e-01 1.86962940e-06 3.08850732e-01] [ 5.01822040e-05 -2.32342570e-06 9.99999999e-01 -3.75255789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.295898227 meters Centerline goodness [0,1] 0.9991199949713998 Centerline is valid? [True, True] Translation: X:88.00, Y:0.31, Z:-0.37 [[ 9.99984146e-01 -5.53286262e-03 1.04609477e-03 8.80000826e+01] [ 5.53290616e-03 9.99984693e-01 -3.87318385e-05 3.10642131e-01] [-1.04586446e-03 4.45191686e-05 9.99999452e-01 -3.73495559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.325898227 meters Centerline goodness [0,1] 0.9997682844624199 Centerline is valid? [True, True] Translation: X:88.03, Y:0.32, Z:-0.37 [[ 9.99995038e-01 -2.00182900e-03 2.43249035e-03 8.80307621e+01] [ 2.00205352e-03 9.99997992e-01 -8.98689114e-05 3.15608864e-01] [-2.43230556e-03 9.47384413e-05 9.99997037e-01 -3.70690233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.355898227 meters Centerline goodness [0,1] 0.9998947257606063 Centerline is valid? [True, True] Translation: X:88.06, Y:0.32, Z:-0.37 [[ 9.99994685e-01 1.55259777e-03 2.86680857e-03 8.80620108e+01] [-1.55230070e-03 9.99998790e-01 -1.05849160e-04 3.20288950e-01] [-2.86696944e-03 1.01398448e-04 9.99995885e-01 -3.69450624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.385898227 meters Centerline goodness [0,1] 0.9999789216306226 Centerline is valid? [True, True] Translation: X:88.09, Y:0.32, Z:-0.37 [[ 9.99983673e-01 5.39376919e-03 1.88721170e-03 8.80932580e+01] [-5.39364729e-03 9.99985452e-01 -6.96761725e-05 3.24841535e-01] [-1.88756006e-03 5.94960806e-05 9.99998217e-01 -3.70913680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.415898227 meters Centerline goodness [0,1] 0.9999577470739849 Centerline is valid? [True, True] Translation: X:88.12, Y:0.34, Z:-0.37 [[ 9.99953320e-01 9.66134434e-03 1.27016432e-04 8.81239870e+01] [-9.66134382e-03 9.99953328e-01 -4.69439257e-06 3.36180582e-01] [-1.27055858e-04 3.46702401e-06 9.99999992e-01 -3.72300426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44589822700001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:0.35, Z:-0.38 [[ 9.99822075e-01 1.88255031e-02 -1.19133878e-03 8.81540017e+01] [-1.88254641e-02 9.99822784e-01 4.39426777e-05 3.47498471e-01] [ 1.19195489e-03 -2.15073538e-05 9.99999289e-01 -3.76691013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.475898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.19, Y:0.36, Z:-0.37 [[ 9.99730545e-01 2.31915393e-02 -9.95074455e-04 8.81854353e+01] [-2.31915141e-02 9.99731040e-01 3.68554091e-05 3.58322339e-01] [ 9.95661553e-04 -1.37681950e-05 9.99999504e-01 -3.74890894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.22, Y:0.36, Z:-0.37 [[ 9.99650101e-01 2.64313668e-02 -1.02874671e-03 8.82158678e+01] [-2.64313417e-02 9.99650630e-01 3.80219053e-05 3.64628717e-01] [ 1.02939227e-03 -1.08174455e-05 9.99999470e-01 -3.74711343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.535898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.25, Y:0.36, Z:-0.37 [[ 9.99650101e-01 2.64313668e-02 -1.02874671e-03 8.82458492e+01] [-2.64313417e-02 9.99650630e-01 3.80219053e-05 3.63520621e-01] [ 1.02939227e-03 -1.08174455e-05 9.99999470e-01 -3.74912149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.28, Y:0.37, Z:-0.38 [[ 9.99589533e-01 2.86110457e-02 -1.47451424e-03 8.82765930e+01] [-2.86109964e-02 9.99590620e-01 5.44972245e-05 3.68458936e-01] [ 1.47546982e-03 -1.22875336e-05 9.99998911e-01 -3.75855226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.595898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.31, Y:0.37, Z:-0.38 [[ 9.99561421e-01 2.94748954e-02 -2.86282379e-03 8.83060631e+01] [-2.94747132e-02 9.99565521e-01 1.05808372e-04 3.72602546e-01] [ 2.86469865e-03 -2.13810563e-05 9.99995897e-01 -3.79099437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:0.37, Z:-0.38 [[ 9.99589743e-01 2.84980386e-02 -2.86503518e-03 8.83365930e+01] [-2.84978518e-02 9.99593848e-01 1.06000793e-04 3.69561704e-01] [ 2.86689236e-03 -2.43099576e-05 9.99995890e-01 -3.81278313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.655898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.37, Y:0.37, Z:-0.38 [[ 9.99635147e-01 2.68725554e-02 -2.72736645e-03 8.83670946e+01] [-2.68723803e-02 9.99638867e-01 1.00833545e-04 3.70238531e-01] [ 2.72909117e-03 -2.75059276e-05 9.99996276e-01 -3.78115262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.685898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.40, Y:0.37, Z:-0.38 [[ 9.99692701e-01 2.46965116e-02 -2.14141247e-03 8.83966337e+01] [-2.46963989e-02 9.99694994e-01 7.90647350e-05 3.66637002e-01] [ 2.14271195e-03 -2.61552620e-05 9.99997704e-01 -3.78898163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.715898227 meters Centerline goodness [0,1] 0.999894696937787 Centerline is valid? [True, True] Translation: X:88.43, Y:0.37, Z:-0.38 [[ 9.99746825e-01 2.23897610e-02 -2.23277077e-03 8.84271638e+01] [-2.23896325e-02 9.99749317e-01 8.25211587e-05 3.65781559e-01] [ 2.23405869e-03 -3.25093492e-05 9.99997504e-01 -3.78477014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.745898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.46, Y:0.36, Z:-0.38 [[ 9.99787600e-01 2.05422061e-02 -1.66530553e-03 8.84576407e+01] [-2.05421321e-02 9.99788986e-01 6.15481642e-05 3.64971804e-01] [ 1.66621847e-03 -2.73261651e-05 9.99998611e-01 -3.77487424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.775898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.49, Y:0.36, Z:-0.38 [[ 9.99843952e-01 1.76248458e-02 -1.19832881e-03 8.84877693e+01] [-1.76248049e-02 9.99844670e-01 4.46428689e-05 3.64697941e-01] [ 1.19892950e-03 -2.35155908e-05 9.99999281e-01 -3.77291192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.805898227 meters Centerline goodness [0,1] 0.9998948099215282 Centerline is valid? [True, True] Translation: X:88.52, Y:0.37, Z:-0.38 [[ 9.99862286e-01 1.65540996e-02 -1.17061962e-03 8.85186130e+01] [-1.65540602e-02 9.99862971e-01 4.33175328e-05 3.66330094e-01] [ 1.17117629e-03 -2.39330597e-05 9.99999314e-01 -3.77180589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.835898227 meters Centerline goodness [0,1] 0.9999789641970634 Centerline is valid? [True, True] Translation: X:88.55, Y:0.37, Z:-0.38 [[ 9.99869416e-01 1.61435906e-02 -7.31574478e-04 8.85493863e+01] [-1.61435751e-02 9.99869684e-01 2.70711348e-05 3.66448325e-01] [ 7.31916167e-04 -1.52573722e-05 9.99999732e-01 -3.76117155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.865898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.58, Y:0.37, Z:-0.38 [[ 9.99876445e-01 1.57114213e-02 -4.95700953e-04 8.85802717e+01] [-1.57114141e-02 9.99876568e-01 1.84267173e-05 3.69140437e-01] [ 4.95929278e-04 -1.06362777e-05 9.99999877e-01 -3.75663716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.895898227 meters Centerline goodness [0,1] 0.9999580061311049 Centerline is valid? [True, True] Translation: X:88.61, Y:0.37, Z:-0.37 [[ 9.99888477e-01 1.49340847e-02 -8.19012632e-05 8.86107710e+01] [-1.49340845e-02 9.99888480e-01 3.03162479e-06 3.70614832e-01] [ 8.19374041e-05 -1.80816631e-06 9.99999997e-01 -3.74873391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.925898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.64, Y:0.37, Z:-0.37 [[ 9.99906959e-01 1.36270144e-02 6.13946733e-04 8.86409930e+01] [-1.36270031e-02 9.99907148e-01 -2.26551610e-05 3.69082372e-01] [-6.14198449e-04 1.42867991e-05 9.99999811e-01 -3.73787006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.955898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.67, Y:0.37, Z:-0.37 [[ 9.99931966e-01 1.16439413e-02 6.94507531e-04 8.86717268e+01] [-1.16439263e-02 9.99932207e-01 -2.56459762e-05 3.67330186e-01] [-6.94759068e-04 1.75574369e-05 9.99999759e-01 -3.73245009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.985898227 meters Centerline goodness [0,1] 0.9999789069585944 Centerline is valid? [True, True] Translation: X:88.70, Y:0.36, Z:-0.37 [[ 9.99953832e-01 9.57737116e-03 7.79543871e-04 8.87026630e+01] [-9.57735167e-03 9.99954136e-01 -2.87364070e-05 3.64494162e-01] [-7.79783337e-04 2.12691145e-05 9.99999696e-01 -3.72926776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.015898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.73, Y:0.36, Z:-0.37 [[ 9.99967441e-01 8.01111291e-03 9.69509372e-04 8.87338291e+01] [-8.01108196e-03 9.99967910e-01 -3.57975681e-05 3.63909416e-01] [-9.69765039e-04 2.80295835e-05 9.99999529e-01 -3.72237727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.045898227 meters Centerline goodness [0,1] 0.9999790843111418 Centerline is valid? [True, True] Translation: X:88.76, Y:0.37, Z:-0.37 [[ 9.99973032e-01 7.32430296e-03 5.39027600e-04 8.87644306e+01] [-7.32429329e-03 9.99973177e-01 -1.99183594e-05 3.65103781e-01] [-5.39159029e-04 1.59698260e-05 9.99999855e-01 -3.71528805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.075898227 meters Centerline goodness [0,1] 0.9999580835813389 Centerline is valid? [True, True] Translation: X:88.80, Y:0.37, Z:-0.37 [[ 9.99965818e-01 8.26165788e-03 3.28344134e-04 8.87956146e+01] [-8.26165434e-03 9.99965872e-01 -1.21070496e-05 3.69504362e-01] [-3.28432953e-04 9.39397004e-06 9.99999946e-01 -3.71265427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.105898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.83, Y:0.37, Z:-0.37 [[ 9.99951065e-01 9.88645565e-03 3.55417594e-04 8.88257267e+01] [-9.88645158e-03 9.99951128e-01 -1.31891052e-05 3.73922829e-01] [-3.55530617e-04 9.67464093e-06 9.99999937e-01 -3.71578211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.135898227 meters Centerline goodness [0,1] 0.9999790286049828 Centerline is valid? [True, True] Translation: X:88.86, Y:0.38, Z:-0.37 [[ 9.99934032e-01 1.14748857e-02 5.08667272e-04 8.88569924e+01] [-1.14748776e-02 9.99934161e-01 -1.88457690e-05 3.78975352e-01] [-5.08850035e-04 1.30076311e-05 9.99999870e-01 -3.71210906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.165898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.89, Y:0.39, Z:-0.37 [[ 9.99906393e-01 1.35799225e-02 1.67083292e-03 8.88879149e+01] [-1.35798378e-02 9.99907788e-01 -6.20107096e-05 3.88260960e-01] [-1.67152095e-03 3.93152649e-05 9.99998602e-01 -3.70064065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19589822700001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.92, Y:0.39, Z:-0.37 [[ 9.99910178e-01 1.31358353e-02 2.66181599e-03 8.89198038e+01] [-1.31356191e-02 9.99913719e-01 -9.86973651e-05 3.90539118e-01] [-2.66288280e-03 6.37238989e-05 9.99996452e-01 -3.69114169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.225898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.95, Y:0.39, Z:-0.37 [[ 9.99929259e-01 1.14824945e-02 3.10304353e-03 8.89504017e+01] [-1.14821924e-02 9.99934071e-01 -1.15154498e-04 3.90199273e-01] [-3.10416121e-03 7.95166093e-05 9.99995179e-01 -3.68763738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.255898227 meters Centerline goodness [0,1] 0.9999788229813007 Centerline is valid? [True, True] Translation: X:88.98, Y:0.39, Z:-0.37 [[ 9.99954417e-01 8.87860536e-03 3.51209563e-03 8.89819243e+01] [-8.87820339e-03 9.99960580e-01 -1.30027380e-04 3.89749778e-01] [-3.51311164e-03 9.88403541e-05 9.99993824e-01 -3.68552892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.285898227 meters Centerline goodness [0,1] 0.9997478726757012 Centerline is valid? [True, True] Translation: X:89.01, Y:0.38, Z:-0.37 [[ 9.99996437e-01 1.13831132e-03 2.41443251e-03 8.90117759e+01] [-1.13809739e-03 9.99999348e-01 -8.99747552e-05 3.78024655e-01] [-2.41453335e-03 8.72265753e-05 9.99997081e-01 -3.72653731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.315898227 meters Centerline goodness [0,1] 0.9999155012886054 Centerline is valid? [True, True] Translation: X:89.04, Y:0.38, Z:-0.37 [[ 9.99996110e-01 -2.41212001e-03 1.40050556e-03 8.90428680e+01] [ 2.41219541e-03 9.99997089e-01 -5.21534090e-05 3.78000067e-01] [-1.40037568e-03 5.55314992e-05 9.99999018e-01 -3.73312551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.345898227 meters Centerline goodness [0,1] 0.9995177994884481 Centerline is valid? [True, True] Translation: X:89.07, Y:0.37, Z:-0.38 [[ 9.99983716e-01 -5.70465014e-03 1.56363857e-04 8.90727454e+01] [ 5.70465108e-03 9.99983728e-01 -5.57710561e-06 3.70482430e-01] [-1.56329497e-04 6.46901604e-06 9.99999988e-01 -3.76298080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.375898227 meters Centerline goodness [0,1] 0.9997255183480427 Centerline is valid? [True, True] Translation: X:89.10, Y:0.37, Z:-0.38 [[ 9.99966940e-01 -8.05268758e-03 -1.12798945e-03 8.91027628e+01] [ 8.05274018e-03 9.99967575e-01 4.21008411e-05 3.73799458e-01] [ 1.12761385e-03 -5.11828553e-05 9.99999363e-01 -3.77733036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.405898227 meters Centerline goodness [0,1] 0.9993836999256189 Centerline is valid? [True, True] Translation: X:89.13, Y:0.37, Z:-0.38 [[ 9.99951769e-01 -9.56063132e-03 -2.24803923e-03 8.91324929e+01] [ 9.56084394e-03 9.99954291e-01 8.38542568e-05 3.74370896e-01] [ 2.24713477e-03 -1.05343365e-04 9.99997470e-01 -3.79585354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.435898227 meters Centerline goodness [0,1] 0.9981141959140911 Centerline is valid? [True, True] Translation: X:89.16, Y:0.38, Z:-0.38 [[ 9.99942788e-01 -1.02815733e-02 -2.95127368e-03 8.91614594e+01] [ 1.02819440e-02 9.99947133e-01 1.10456335e-04 3.75389315e-01] [ 2.94998199e-03 -1.40794846e-04 9.99995639e-01 -3.80124692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.465898227 meters Centerline goodness [0,1] 0.9973677613436952 Centerline is valid? [True, True] Translation: X:89.19, Y:0.38, Z:-0.38 [[ 9.99936147e-01 -1.11473037e-02 -1.85439248e-03 8.91899649e+01] [ 1.11474508e-02 9.99937863e-01 6.90425488e-05 3.80045140e-01] [ 1.85350761e-03 -8.97098892e-05 9.99998278e-01 -3.78861763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.495898227 meters Centerline goodness [0,1] 0.9965389940009229 Centerline is valid? [True, True] Translation: X:89.22, Y:0.38, Z:-0.38 [[ 9.99926589e-01 -1.20378532e-02 -1.38113186e-03 8.92198491e+01] [ 1.20379359e-02 9.99927540e-01 5.15419811e-05 3.80740384e-01] [ 1.38041133e-03 -6.81641741e-05 9.99999045e-01 -3.77849824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.525898227 meters Centerline goodness [0,1] 0.9981285615156549 Centerline is valid? [True, True] Translation: X:89.25, Y:0.39, Z:-0.38 [[ 9.99911454e-01 -1.32909091e-02 -6.60554246e-04 8.92499522e+01] [ 1.32909282e-02 9.99911671e-01 2.45861333e-05 3.86003746e-01] [ 6.60169128e-04 -3.33633353e-05 9.99999782e-01 -3.76493461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.555898227 meters Centerline goodness [0,1] 0.9913682393313543 Centerline is valid? [True, True] Translation: X:89.28, Y:0.38, Z:-0.38 [[ 9.99899857e-01 -1.41419687e-02 -5.30209080e-04 8.92794855e+01] [ 1.41419812e-02 9.99899997e-01 1.97140167e-05 3.82285219e-01] [ 5.29877262e-04 -2.72102493e-05 9.99999859e-01 -3.77518383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.585898227 meters Centerline goodness [0,1] 0.9898295008174618 Centerline is valid? [True, True] Translation: X:89.31, Y:0.38, Z:-0.38 [[ 9.99890607e-01 -1.47772223e-02 -6.38164716e-04 8.93096877e+01] [ 1.47772404e-02 9.99890810e-01 2.37391263e-05 3.84105123e-01] [ 6.37744236e-04 -3.31668428e-05 9.99999796e-01 -3.77444075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.615898227 meters Centerline goodness [0,1] 0.9884946259175904 Centerline is valid? [True, True] Translation: X:89.34, Y:0.39, Z:-0.38 [[ 9.99890760e-01 -1.47367904e-02 -1.13823106e-03 8.93401105e+01] [ 1.47368482e-02 9.99891406e-01 4.24712036e-05 3.91428692e-01] [ 1.13748157e-03 -5.92405025e-05 9.99999351e-01 -3.78046705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.645898227 meters Centerline goodness [0,1] 0.9827024316871397 Centerline is valid? [True, True] Translation: X:89.37, Y:0.39, Z:-0.38 [[ 9.99894638e-01 -1.44334006e-02 -1.54599381e-03 8.93699082e+01] [ 1.44335069e-02 9.99895830e-01 5.75974162e-05 3.92038035e-01] [ 1.54500144e-03 -7.99054600e-05 9.99998803e-01 -3.79675997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.675898227 meters Centerline goodness [0,1] 0.9967432150313152 Centerline is valid? [True, True] Translation: X:89.40, Y:0.40, Z:-0.38 [[ 9.99889605e-01 -1.46959699e-02 -2.19254451e-03 8.94012139e+01] [ 1.46961845e-02 9.99892002e-01 8.17875212e-05 4.02612515e-01] [ 2.19110577e-03 -1.14000531e-04 9.99997593e-01 -3.79271886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.705898227 meters Centerline goodness [0,1] 0.97458127663165 Centerline is valid? [True, True] Translation: X:89.43, Y:0.39, Z:-0.38 [[ 9.99882139e-01 -1.51400373e-02 -2.54713783e-03 8.94302268e+01] [ 1.51403283e-02 9.99885374e-01 9.49730208e-05 3.93550088e-01] [ 2.54540797e-03 -1.33526330e-04 9.99996752e-01 -3.81832999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.735898227 meters Centerline goodness [0,1] 0.9678887430676093 Centerline is valid? [True, True] Translation: X:89.46, Y:0.39, Z:-0.38 [[ 9.99870345e-01 -1.58391018e-02 -2.90088166e-03 8.94594820e+01] [ 1.58394813e-02 9.99874542e-01 1.07890902e-04 3.93133830e-01] [ 2.89880883e-03 -1.53825374e-04 9.99995787e-01 -3.82663614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.765898227 meters Centerline goodness [0,1] 0.997438990835397 Centerline is valid? [True, True] Translation: X:89.49, Y:0.41, Z:-0.38 [[ 9.99846473e-01 -1.74505851e-02 -1.58374063e-03 8.94894781e+01] [ 1.74507001e-02 9.99847723e-01 5.88283506e-05 4.06249417e-01] [ 1.58247288e-03 -8.64567018e-05 9.99998744e-01 -3.78993572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.795898227 meters Centerline goodness [0,1] 0.9320398487917964 Centerline is valid? [True, False] Translation: X:89.49, Y:0.41, Z:-0.38 [[ 9.99762908e-01 -2.17011563e-02 -1.78542645e-03 8.94899953e+01] [ 2.16919826e-02 9.99752167e-01 -5.00632544e-03 4.10862512e-01] [ 1.89362702e-03 4.96640904e-03 9.99985874e-01 -3.78351866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.825898227 meters Centerline goodness [0,1] 0.9949388886555505 Centerline is valid? [False, True] Translation: X:89.49, Y:0.41, Z:-0.38 [[ 9.99840833e-01 -1.77636534e-02 -1.66171007e-03 8.94896278e+01] [ 1.77630771e-02 9.99842159e-01 -3.60921447e-04 4.07992641e-01] [ 1.66785907e-03 3.31346916e-04 9.99998554e-01 -3.78851185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.855898227 meters Centerline goodness [0,1] 0.9865704424223407 Centerline is valid? [True, True] Translation: X:89.52, Y:0.40, Z:-0.38 [[ 9.99838029e-01 -1.78371390e-02 -2.39851882e-03 8.95193371e+01] [ 1.78374129e-02 9.99840896e-01 9.28727264e-05 4.04295946e-01] [ 2.39648062e-03 -1.35641054e-04 9.99997119e-01 -3.81245615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.885898227 meters Centerline goodness [0,1] 0.9834362421764693 Centerline is valid? [True, True] Translation: X:89.55, Y:0.41, Z:-0.38 [[ 9.99853071e-01 -1.69049671e-02 -2.83886271e-03 8.95494730e+01] [ 1.69053456e-02 9.99857088e-01 1.09369776e-04 4.05289284e-01] [ 2.83660811e-03 -1.57345662e-04 9.99995964e-01 -3.84497265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.915898227 meters Centerline goodness [0,1] 0.9964370045538876 Centerline is valid? [True, True] Translation: X:89.58, Y:0.41, Z:-0.38 [[ 9.99870551e-01 -1.59549552e-02 -2.07863222e-03 8.95794818e+01] [ 1.59551557e-02 9.99872705e-01 7.99347797e-05 4.09492724e-01] [ 2.07709226e-03 -1.13089333e-04 9.99997836e-01 -3.81559895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94589822700001 meters Centerline goodness [0,1] 0.9978294312266874 Centerline is valid? [True, True] Translation: X:89.61, Y:0.41, Z:-0.38 [[ 9.99881667e-01 -1.53439624e-02 -1.10252862e-03 8.96098562e+01] [ 1.53440185e-02 9.99882273e-01 4.24794245e-05 4.09254049e-01] [ 1.10174702e-03 -5.93916174e-05 9.99999391e-01 -3.80473228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.975898227 meters Centerline goodness [0,1] 0.9587000819276096 Centerline is valid? [True, True] Translation: X:89.64, Y:0.39, Z:-0.38 [[ 9.99889520e-01 -1.48484297e-02 -6.86434719e-04 8.96393735e+01] [ 1.48484514e-02 9.99889755e-01 2.64477050e-05 3.94999376e-01] [ 6.85966336e-04 -3.66372756e-05 9.99999764e-01 -3.81870361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.005898227 meters Centerline goodness [0,1] 0.996594034271208 Centerline is valid? [True, True] Translation: X:89.67, Y:0.41, Z:-0.38 [[ 9.99894431e-01 -1.44005801e-02 -1.93649317e-03 8.96701691e+01] [ 1.44007516e-02 9.99896301e-01 7.46113193e-05 4.09887100e-01] [ 1.93521791e-03 -1.02490400e-04 9.99998122e-01 -3.82294198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.035898227 meters Centerline goodness [0,1] 0.9954485391278813 Centerline is valid? [True, True] Translation: X:89.70, Y:0.41, Z:-0.38 [[ 9.99892108e-01 -1.43715470e-02 -3.03811175e-03 8.96997431e+01] [ 1.43719685e-02 9.99896711e-01 1.16945230e-04 4.09215507e-01] [ 3.03611726e-03 -1.60596259e-04 9.99995378e-01 -3.84526092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.065898227 meters Centerline goodness [0,1] 0.9971935599586419 Centerline is valid? [True, True] Translation: X:89.73, Y:0.41, Z:-0.38 [[ 9.99884102e-01 -1.48642254e-02 -3.29200915e-03 8.97297028e+01] [ 1.48647225e-02 9.99889506e-01 1.26570880e-04 4.11763697e-01] [ 3.28976403e-03 -1.75491013e-04 9.99994573e-01 -3.84299147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.095898227 meters Centerline goodness [0,1] 0.9815453895038088 Centerline is valid? [True, True] Translation: X:89.76, Y:0.40, Z:-0.39 [[ 9.99879837e-01 -1.53186447e-02 -2.37715193e-03 8.97588251e+01] [ 1.53189052e-02 9.99882655e-01 9.14036751e-05 4.00920758e-01] [ 2.37547280e-03 -1.27808057e-04 9.99997170e-01 -3.85006717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.125898227 meters Centerline goodness [0,1] 0.9912730032251944 Centerline is valid? [True, True] Translation: X:89.79, Y:0.40, Z:-0.38 [[ 9.99869305e-01 -1.61197752e-02 -1.23537147e-03 8.97887143e+01] [ 1.61198460e-02 9.99870066e-01 4.73646908e-05 4.03168691e-01] [ 1.23444744e-03 -6.72724983e-05 9.99999236e-01 -3.82415083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.155898227 meters Centerline goodness [0,1] 0.994866744887697 Centerline is valid? [True, True] Translation: X:89.82, Y:0.41, Z:-0.38 [[ 9.99855063e-01 -1.69787187e-02 1.25562957e-03 8.98193425e+01] [ 1.69787927e-02 9.99855849e-01 -4.82923918e-05 4.05256556e-01] [-1.25462863e-03 6.96044667e-05 9.99999211e-01 -3.78146839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.185898227 meters Centerline goodness [0,1] 0.981702216645755 Centerline is valid? [True, True] Translation: X:89.85, Y:0.40, Z:-0.38 [[ 9.99842519e-01 -1.76848325e-02 1.47748594e-03 8.98492489e+01] [ 1.76849356e-02 9.99843608e-01 -5.67667216e-05 3.99736875e-01] [-1.47625097e-03 8.28870257e-05 9.99998907e-01 -3.78270114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.215898227 meters Centerline goodness [0,1] 0.9923928661989688 Centerline is valid? [True, True] Translation: X:89.88, Y:0.40, Z:-0.38 [[ 9.99820139e-01 -1.89583047e-02 5.21000962e-04 8.98801960e+01] [ 1.89583177e-02 9.99820275e-01 -1.99739348e-05 4.04713919e-01] [-5.20528653e-04 2.98476440e-05 9.99999864e-01 -3.78771286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.245898227 meters Centerline goodness [0,1] 0.9577751648259354 Centerline is valid? [True, True] Translation: X:89.91, Y:0.40, Z:-0.38 [[ 9.99799734e-01 -2.00004487e-02 -6.88927473e-04 8.99095342e+01] [ 2.00004716e-02 9.99799970e-01 2.64305612e-05 3.97674657e-01] [ 6.88261043e-04 -4.02041424e-05 9.99999762e-01 -3.81802316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.275898227 meters Centerline goodness [0,1] 0.9586951518068255 Centerline is valid? [True, True] Translation: X:89.94, Y:0.40, Z:-0.38 [[ 9.99794317e-01 -2.01812828e-02 -2.00960870e-03 8.99400287e+01] [ 2.01814789e-02 9.99796330e-01 7.73142622e-05 3.99579066e-01] [ 2.00763910e-03 -1.17855236e-04 9.99997978e-01 -3.84234383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.305898227 meters Centerline goodness [0,1] 0.9804811141591053 Centerline is valid? [True, True] Translation: X:89.97, Y:0.41, Z:-0.38 [[ 9.99796603e-01 -2.00509347e-02 -2.17080297e-03 8.99706789e+01] [ 2.00511632e-02 9.99798952e-01 8.35157761e-05 4.06391308e-01] [ 2.16869197e-03 -1.27025914e-04 9.99997640e-01 -3.84696856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.335898227 meters Centerline goodness [0,1] 0.9762227552403796 Centerline is valid? [True, True] Translation: X:90.00, Y:0.41, Z:-0.38 [[ 9.99790097e-01 -2.04603266e-02 1.06611561e-03 9.00007928e+01] [ 2.04603820e-02 9.99790664e-01 -4.10783132e-05 4.09248693e-01] [-1.06505196e-03 6.28828234e-05 9.99999431e-01 -3.80124103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.365898227 meters Centerline goodness [0,1] 0.9877339403136065 Centerline is valid? [True, True] Translation: X:90.03, Y:0.41, Z:-0.38 [[ 9.99764337e-01 -2.15899923e-02 2.26764659e-03 9.00318757e+01] [ 2.15902454e-02 9.99766900e-01 -8.71662159e-05 4.14576202e-01] [-2.26523608e-03 1.36104720e-04 9.99997425e-01 -3.78121901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.395898227 meters Centerline goodness [0,1] 0.9669292665458988 Centerline is valid? [True, True] Translation: X:90.06, Y:0.41, Z:-0.38 [[ 9.99726321e-01 -2.32831051e-02 2.27594951e-03 9.00620968e+01] [ 2.32833644e-02 9.99728902e-01 -8.74710269e-05 4.11077943e-01] [-2.27329590e-03 1.40438850e-04 9.99997406e-01 -3.78986295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.425898227 meters Centerline goodness [0,1] 0.9578934111374656 Centerline is valid? [True, True] Translation: X:90.09, Y:0.41, Z:-0.38 [[ 9.99662467e-01 -2.59440327e-02 1.36375718e-03 9.00926056e+01] [ 2.59441283e-02 9.99663393e-01 -5.24844909e-05 4.10994575e-01] [-1.36193647e-03 8.78482668e-05 9.99999069e-01 -3.81458984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.455898227 meters Centerline goodness [0,1] 0.8360158862876255 Centerline is valid? [True, False] Translation: X:90.09, Y:0.41, Z:-0.38 [[ 9.99657843e-01 -2.61274080e-02 1.24691049e-03 9.00935871e+01] [ 2.61274936e-02 9.99658617e-01 -5.23810334e-05 4.10675210e-01] [-1.24511624e-03 8.49417568e-05 9.99999221e-01 -3.82458876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.485898227 meters Centerline goodness [0,1] 0.8360158862876255 Centerline is valid? [False, False] Translation: X:90.09, Y:0.41, Z:-0.38 [[ 9.99657843e-01 -2.61274080e-02 1.24691049e-03 9.00935871e+01] [ 2.61274936e-02 9.99658617e-01 -5.23810334e-05 4.10675210e-01] [-1.24511624e-03 8.49417568e-05 9.99999221e-01 -3.82458876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.515898227 meters Centerline goodness [0,1] 0.8303103077798142 Centerline is valid? [False, False] Translation: X:90.09, Y:0.41, Z:-0.38 [[ 9.99653939e-01 -2.62808153e-02 1.14894530e-03 9.00942542e+01] [ 2.62809117e-02 9.99654595e-01 -6.89588016e-05 4.10423445e-01] [-1.14673615e-03 9.91302676e-05 9.99999338e-01 -3.83048793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.545898227 meters Centerline goodness [0,1] 0.6417891668588924 Centerline is valid? [False, False] Translation: X:90.09, Y:0.41, Z:-0.38 [[ 9.99641513e-01 -2.67508291e-02 1.11307518e-03 9.00948835e+01] [ 2.67512140e-02 9.99642067e-01 -3.32393425e-04 4.10851826e-01] [-1.10378497e-03 3.62050379e-04 9.99999325e-01 -3.83853832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.575898227 meters Centerline goodness [0,1] 0.5771816297040899 Centerline is valid? [False, False] Translation: X:90.09, Y:0.41, Z:-0.38 [[ 9.99735274e-01 -2.29818220e-02 1.10394497e-03 9.00949947e+01] [ 2.29769510e-02 9.99727008e-01 4.23909986e-03 4.07870348e-01] [-1.20106584e-03 -4.21261236e-03 9.99990406e-01 -3.84580028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.605898227 meters Centerline goodness [0,1] 0.8188307848272366 Centerline is valid? [False, False] Translation: X:90.10, Y:0.41, Z:-0.38 [[ 9.99731666e-01 -2.31444253e-02 9.65524900e-04 9.00956645e+01] [ 2.31404930e-02 9.99724606e-01 3.90242458e-03 4.09458829e-01] [-1.05557837e-03 -3.87903471e-03 9.99991919e-01 -3.84929138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.635898227 meters Centerline goodness [0,1] 0.8141708141708142 Centerline is valid? [False, False] Translation: X:90.10, Y:0.41, Z:-0.39 [[ 9.99728497e-01 -2.32872615e-02 7.97011473e-04 9.00964856e+01] [ 2.32843551e-02 9.99722826e-01 3.47989933e-03 4.11643208e-01] [-8.77827888e-04 -3.46039663e-03 9.99993628e-01 -3.85381830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.665898227 meters Centerline goodness [0,1] 0.6623885692609217 Centerline is valid? [False, False] Translation: X:90.10, Y:0.41, Z:-0.39 [[ 9.99724580e-01 -2.34565792e-02 7.43102572e-04 9.00968172e+01] [ 2.34542171e-02 9.99720283e-01 3.04224277e-03 4.13874568e-01] [-8.14255322e-04 -3.02397599e-03 9.99995096e-01 -3.85650462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69589822700001 meters Centerline goodness [0,1] 0.6647325248899001 Centerline is valid? [False, False] Translation: X:90.11, Y:0.42, Z:-0.38 [[ 9.99767952e-01 -2.14549772e-02 -1.93048088e-03 9.01146275e+01] [ 2.14462753e-02 9.99760228e-01 -4.42075092e-03 4.18070916e-01] [ 2.02486512e-03 4.37832347e-03 9.99988365e-01 -3.78582666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.725898227 meters Centerline goodness [0,1] 0.828363252375924 Centerline is valid? [False, False] Translation: X:90.11, Y:0.42, Z:-0.38 [[ 9.99767837e-01 -2.14673089e-02 -1.85139426e-03 9.01141297e+01] [ 2.14587364e-02 9.99759462e-01 -4.53215686e-03 4.18706129e-01] [ 1.94824214e-03 4.49137607e-03 9.99988016e-01 -3.78164954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.755898227 meters Centerline goodness [0,1] 0.8306130155666513 Centerline is valid? [False, False] Translation: X:90.11, Y:0.41, Z:-0.38 [[ 9.99848926e-01 -1.72929181e-02 -1.75475839e-03 9.01139990e+01] [ 1.72936774e-02 9.99850366e-01 4.18465326e-04 4.14637824e-01] [ 1.74725933e-03 -4.48748333e-04 9.99998373e-01 -3.78965357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.785898227 meters Centerline goodness [0,1] 0.8549072683824307 Centerline is valid? [False, False] Translation: X:90.11, Y:0.41, Z:-0.38 [[ 9.99849791e-01 -1.72371779e-02 -1.80949039e-03 9.01143985e+01] [ 1.72381363e-02 9.99851279e-01 5.15407588e-04 4.14267089e-01] [ 1.80033710e-03 -5.46522412e-04 9.99998230e-01 -3.79361425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.815898227 meters Centerline goodness [0,1] 0.8741428934225006 Centerline is valid? [False, False] Translation: X:90.11, Y:0.41, Z:-0.38 [[ 9.99850658e-01 -1.71857325e-02 -1.81978544e-03 9.01147552e+01] [ 1.71869770e-02 9.99852068e-01 6.70446597e-04 4.13544958e-01] [ 1.80799412e-03 -7.01623081e-04 9.99998119e-01 -3.79910146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.845898227 meters Centerline goodness [0,1] 0.7371127529174712 Centerline is valid? [False, False] Translation: X:90.11, Y:0.41, Z:-0.38 [[ 9.99851407e-01 -1.71456902e-02 -1.78596287e-03 9.01147937e+01] [ 1.71472406e-02 9.99852608e-01 8.56455568e-04 4.12572971e-01] [ 1.77101511e-03 -8.86952640e-04 9.99998038e-01 -3.80193472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.875898227 meters Centerline goodness [0,1] 0.6039749878939722 Centerline is valid? [False, False] Translation: X:90.11, Y:0.41, Z:-0.38 [[ 9.99853375e-01 -1.70589738e-02 -1.49008503e-03 9.01133393e+01] [ 1.70612173e-02 9.99853312e-01 1.50614518e-03 4.08943580e-01] [ 1.46417317e-03 -1.53134701e-03 9.99997756e-01 -3.79397463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.905898227 meters Centerline goodness [0,1] 0.7473752866670875 Centerline is valid? [False, False] Translation: X:90.11, Y:0.41, Z:-0.38 [[ 9.99856606e-01 -1.68653066e-02 -1.52604246e-03 9.01135135e+01] [ 1.68685864e-02 9.99855377e-01 2.16247998e-03 4.05627484e-01] [ 1.48935087e-03 -2.18791207e-03 9.99996497e-01 -3.79516234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.935898227 meters Centerline goodness [0,1] 0.6476519192553081 Centerline is valid? [False, False] Translation: X:90.11, Y:0.40, Z:-0.38 [[ 9.99859401e-01 -1.66956823e-02 -1.55963472e-03 9.01139056e+01] [ 1.67000626e-02 9.99856513e-01 2.83907697e-03 4.02149058e-01] [ 1.51201060e-03 -2.86472379e-03 9.99994754e-01 -3.80027418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.965898227 meters Centerline goodness [0,1] 0.6343747375493407 Centerline is valid? [False, False] Translation: X:90.11, Y:0.40, Z:-0.38 [[ 9.99862298e-01 -1.65182566e-02 -1.59148450e-03 9.01143653e+01] [ 1.65237544e-02 9.99857328e-01 3.50557506e-03 3.98693673e-01] [ 1.53335145e-03 -3.53138964e-03 9.99992589e-01 -3.80630003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.995898227 meters Centerline goodness [0,1] 0.49781403618868314 Centerline is valid? [False, False] Translation: X:90.11, Y:0.40, Z:-0.38 [[ 9.99864133e-01 -1.64024411e-02 -1.63542400e-03 9.01147146e+01] [ 1.64089630e-02 9.99857131e-01 4.05759553e-03 3.95763475e-01] [ 1.56863588e-03 -4.08387985e-03 9.99990431e-01 -3.81004086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.025898227 meters Centerline goodness [0,1] 0.5014359081857247 Centerline is valid? [False, False] Translation: X:90.11, Y:0.39, Z:-0.38 [[ 9.99866326e-01 -1.62750998e-02 -1.56576022e-03 9.01144643e+01] [ 1.62821855e-02 9.99856742e-01 4.62442188e-03 3.92733178e-01] [ 1.49027298e-03 -4.64929772e-03 9.99988081e-01 -3.80984436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.055898227 meters Centerline goodness [0,1] 0.44989860556519556 Centerline is valid? [False, False] Translation: X:90.11, Y:0.39, Z:-0.38 [[ 9.99867905e-01 -1.61834854e-02 -1.50556564e-03 9.01141569e+01] [ 1.61919178e-02 9.99852264e-01 5.76822692e-03 3.86148267e-01] [ 1.41199320e-03 -5.79184296e-03 9.99982230e-01 -3.80862029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.085898227 meters Centerline goodness [0,1] 0.44951752370608633 Centerline is valid? [False, False] Translation: X:90.11, Y:0.38, Z:-0.38 [[ 9.99872124e-01 -1.59221913e-02 -1.48958503e-03 9.01143721e+01] [ 1.59315598e-02 9.99851928e-01 6.50435650e-03 3.82463391e-01] [ 1.38580086e-03 -6.52725617e-03 9.99977737e-01 -3.81320816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.115898227 meters Centerline goodness [0,1] 0.5423140808645739 Centerline is valid? [False, False] Translation: X:90.11, Y:0.38, Z:-0.38 [[ 9.99876435e-01 -1.56434572e-02 -1.54822066e-03 9.01147162e+01] [ 1.56541383e-02 9.99851933e-01 7.14565676e-03 3.79426117e-01] [ 1.43620864e-03 -7.16900987e-03 9.99973271e-01 -3.81579116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.145898227 meters Centerline goodness [0,1] 0.5182221101938791 Centerline is valid? [False, False] Translation: X:90.12, Y:0.38, Z:-0.38 [[ 9.99928825e-01 -1.15866761e-02 2.84504258e-03 9.01163390e+01] [ 1.16045964e-02 9.99912405e-01 -6.36520011e-03 3.79883101e-01] [-2.77104186e-03 6.39776264e-03 9.99975695e-01 -3.84077267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.175898227 meters Centerline goodness [0,1] 0.5462900788987746 Centerline is valid? [False, False] Translation: X:90.12, Y:0.37, Z:-0.38 [[ 9.99969638e-01 -7.15859646e-03 3.07854215e-03 9.01154996e+01] [ 7.16190050e-03 9.99973788e-01 -1.06356871e-03 3.74485421e-01] [-3.07084780e-03 1.08558463e-03 9.99994696e-01 -3.84247890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.205898227 meters Centerline goodness [0,1] 0.506846438172043 Centerline is valid? [False, False] Translation: X:90.11, Y:0.37, Z:-0.38 [[ 9.99979935e-01 -5.17806916e-03 3.64916619e-03 9.01106676e+01] [ 5.17412216e-03 9.99986020e-01 1.09022816e-03 3.70779091e-01] [-3.65476045e-03 -1.07132505e-03 9.99992747e-01 -3.80726739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.235898227 meters Centerline goodness [0,1] 0.511030573758402 Centerline is valid? [False, False] Translation: X:90.11, Y:0.37, Z:-0.38 [[ 9.99980943e-01 -4.96509012e-03 3.66900096e-03 9.01105055e+01] [ 4.95929196e-03 9.99986442e-01 1.58772230e-03 3.68375335e-01] [-3.67683440e-03 -1.56949639e-03 9.99992009e-01 -3.80614169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.265898227 meters Centerline goodness [0,1] 0.4967841954203591 Centerline is valid? [False, False] Translation: X:90.11, Y:0.36, Z:-0.38 [[ 9.99982548e-01 -4.67700399e-03 3.60956029e-03 9.01107732e+01] [ 4.66831279e-03 9.99986193e-01 2.41250815e-03 3.64289783e-01] [-3.62079377e-03 -2.39561549e-03 9.99990575e-01 -3.80860482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.295898227 meters Centerline goodness [0,1] 0.46227514460664876 Centerline is valid? [False, False] Translation: X:90.09, Y:0.37, Z:-0.38 [[ 9.99982140e-01 -5.94121990e-03 -6.49500745e-04 9.00904808e+01] [ 5.93438024e-03 9.99931697e-01 -1.00690338e-02 3.66527133e-01] [ 7.09278725e-04 1.00649996e-02 9.99949095e-01 -3.77444082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.325898227 meters Centerline goodness [0,1] 0.45893451720310763 Centerline is valid? [False, False] Translation: X:90.09, Y:0.36, Z:-0.38 [[ 9.99997994e-01 -1.98596950e-03 -2.60625276e-04 9.00895107e+01] [ 1.98474671e-03 9.99987400e-01 -4.61102484e-03 3.58299028e-01] [ 2.69779347e-04 4.61049831e-03 9.99989335e-01 -3.78181758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.355898227 meters Centerline goodness [0,1] 0.43955006190845947 Centerline is valid? [False, False] Translation: X:90.13, Y:0.35, Z:-0.38 [[ 9.99998787e-01 -1.43075672e-03 6.15427176e-04 9.01305136e+01] [ 1.43081863e-03 9.99998971e-01 -1.00168921e-04 3.47403773e-01] [-6.15283226e-04 1.01049364e-04 9.99999806e-01 -3.79097958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.385898227 meters Centerline goodness [0,1] 0.5805073150194716 Centerline is valid? [False, False] Translation: X:90.13, Y:0.34, Z:-0.38 [[ 9.99999369e-01 -8.81027529e-04 6.96619488e-04 9.01298458e+01] [ 8.80103720e-04 9.99998734e-01 1.32532708e-03 3.40331655e-01] [-6.97786256e-04 -1.32471315e-03 9.99998879e-01 -3.78567489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.415898227 meters Centerline goodness [0,1] 0.43642855651375 Centerline is valid? [False, False] Translation: X:90.13, Y:0.34, Z:-0.38 [[ 9.99999628e-01 -6.13835319e-04 6.05999239e-04 9.01300251e+01] [ 6.12748157e-04 9.99998206e-01 1.79255707e-03 3.38224383e-01] [-6.07098487e-04 -1.79218508e-03 9.99998210e-01 -3.78406927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44589822700001 meters Centerline goodness [0,1] 0.44659543264194423 Centerline is valid? [False, False] Translation: X:90.13, Y:0.34, Z:-0.38 [[ 9.99999840e-01 -3.82312610e-04 4.16570326e-04 9.01304792e+01] [ 3.81432069e-04 9.99997697e-01 2.11182080e-03 3.36870580e-01] [-4.17376743e-04 -2.11166157e-03 9.99997683e-01 -3.78174925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.475898227 meters Centerline goodness [0,1] 0.45424497319744894 Centerline is valid? [False, False] Translation: X:90.09, Y:0.34, Z:-0.38 [[ 9.99999858e-01 -6.78789334e-05 -5.29033803e-04 9.00896284e+01] [ 6.76899267e-05 9.99999934e-01 -3.57277426e-04 3.41086213e-01] [ 5.29058019e-04 3.57241565e-04 9.99999796e-01 -3.78627512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.505898227 meters Centerline goodness [0,1] 0.47110292424591294 Centerline is valid? [False, False] Translation: X:90.13, Y:0.34, Z:-0.38 [[ 9.99999527e-01 4.84437373e-04 -8.43442492e-04 9.01326728e+01] [-4.83899564e-04 9.99999680e-01 6.37723941e-04 3.36925074e-01] [ 8.43751159e-04 -6.37315498e-04 9.99999441e-01 -3.77583085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.535898227 meters Centerline goodness [0,1] 0.7235150288773661 Centerline is valid? [False, False] Translation: X:90.13, Y:0.34, Z:-0.38 [[ 9.99999254e-01 7.56203726e-04 -9.58902611e-04 9.01327630e+01] [-7.55489364e-04 9.99999437e-01 7.45122198e-04 3.36987541e-01] [ 9.59465535e-04 -7.44397201e-04 9.99999263e-01 -3.77133417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.565898227 meters Centerline goodness [0,1] 0.5932128875583562 Centerline is valid? [False, False] Translation: X:90.13, Y:0.34, Z:-0.38 [[ 9.99997854e-01 1.74684125e-03 -1.11398608e-03 9.01324789e+01] [-1.74545673e-03 9.99997705e-01 1.24261464e-03 3.36772091e-01] [ 1.11615417e-03 -1.24066756e-03 9.99998607e-01 -3.75887407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.595898227 meters Centerline goodness [0,1] 0.6375212046325578 Centerline is valid? [False, False] Translation: X:90.13, Y:0.34, Z:-0.38 [[ 9.99997444e-01 1.93246354e-03 -1.17389916e-03 9.01324535e+01] [-1.93096074e-03 9.99997317e-01 1.27996483e-03 3.36984364e-01] [ 1.17636949e-03 -1.27769480e-03 9.99998492e-01 -3.75538547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.625898227 meters Centerline goodness [0,1] 0.6489620976552651 Centerline is valid? [False, False] Translation: X:90.13, Y:0.34, Z:-0.38 [[ 9.99997096e-01 2.03676032e-03 -1.28842642e-03 9.01327624e+01] [-2.03509848e-03 9.99997097e-01 1.28982159e-03 3.37148308e-01] [ 1.29104974e-03 -1.28719577e-03 9.99998338e-01 -3.75482521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.655898227 meters Centerline goodness [0,1] 0.851390340790299 Centerline is valid? [False, False] Translation: X:90.13, Y:0.34, Z:-0.38 [[ 9.99996658e-01 2.16373400e-03 -1.41480278e-03 9.01331901e+01] [-2.16175648e-03 9.99996687e-01 1.39777791e-03 3.36819248e-01] [ 1.41782251e-03 -1.39471478e-03 9.99998022e-01 -3.75543928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.685898227 meters Centerline goodness [0,1] 0.689748696868246 Centerline is valid? [False, False] Translation: X:90.09, Y:0.34, Z:-0.38 [[ 9.99995891e-01 1.98689056e-03 -2.06627451e-03 9.00913549e+01] [-1.98785941e-03 9.99997915e-01 -4.66939572e-04 3.39563562e-01] [ 2.06534245e-03 4.71045117e-04 9.99997756e-01 -3.76459802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.715898227 meters Centerline goodness [0,1] 0.9496996681648254 Centerline is valid? [False, False] Translation: X:90.09, Y:0.34, Z:-0.38 [[ 9.99995519e-01 2.17484715e-03 -2.05723690e-03 9.00914570e+01] [-2.17504885e-03 9.99997630e-01 -9.58133328e-05 3.37926235e-01] [ 2.05702365e-03 1.00287494e-04 9.99997879e-01 -3.76711356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.745898227 meters Centerline goodness [0,1] 0.854213500850894 Centerline is valid? [False, False] Translation: X:90.09, Y:0.33, Z:-0.38 [[ 9.99994547e-01 2.53395954e-03 -2.11761582e-03 9.00918077e+01] [-2.53183234e-03 9.99996288e-01 1.00660372e-03 3.32334494e-01] [ 2.12015865e-03 -1.00123678e-03 9.99997251e-01 -3.77152002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.775898227 meters Centerline goodness [0,1] 0.8185935337778337 Centerline is valid? [False, False] Translation: X:90.09, Y:0.33, Z:-0.38 [[ 9.99993480e-01 2.77734551e-03 -2.30772354e-03 9.00928119e+01] [-2.77335182e-03 9.99994654e-01 1.73197620e-03 3.28690611e-01] [ 2.31252150e-03 -1.72556478e-03 9.99995837e-01 -3.77854191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.805898227 meters Centerline goodness [0,1] 0.9235652452709202 Centerline is valid? [False, False] Translation: X:90.05, Y:0.33, Z:-0.38 [[ 9.99989164e-01 1.99371617e-03 -4.20683582e-03 9.00528665e+01] [-1.99175273e-03 9.99997906e-01 4.70863777e-04 3.28959015e-01] [ 4.20776578e-03 -4.62479698e-04 9.99991040e-01 -3.79490300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.835898227 meters Centerline goodness [0,1] 0.9019674140445045 Centerline is valid? [False, False] Translation: X:90.08, Y:0.32, Z:-0.38 [[ 9.99999289e-01 -3.95508951e-05 -1.19146938e-03 9.00758610e+01] [ 5.08867126e-05 9.99954724e-01 9.51562181e-03 3.22954627e-01] [ 1.19103909e-03 -9.51567568e-03 9.99954016e-01 -3.83420436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.865898227 meters Centerline goodness [0,1] 0.7777403745003155 Centerline is valid? [False, False] Translation: X:90.08, Y:0.33, Z:-0.38 [[ 9.99990628e-01 -4.05934065e-03 -1.50550499e-03 9.00769299e+01] [ 4.06676949e-03 9.99979407e-01 4.96465830e-03 3.25154318e-01] [ 1.48532074e-03 -4.97073431e-03 9.99986543e-01 -3.83496360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.895898227 meters Centerline goodness [0,1] 0.9051961240638091 Centerline is valid? [False, False] Translation: X:90.08, Y:0.32, Z:-0.38 [[ 9.99990989e-01 -3.97983982e-03 -1.47746725e-03 9.00765538e+01] [ 3.98731847e-03 9.99979077e-01 5.09384870e-03 3.24538709e-01] [ 1.45716363e-03 -5.09969393e-03 9.99985935e-01 -3.83004991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.925898227 meters Centerline goodness [0,1] 0.8052815041723883 Centerline is valid? [False, False] Translation: X:90.08, Y:0.33, Z:-0.38 [[ 9.99991170e-01 -3.98879513e-03 -1.32243474e-03 9.00757062e+01] [ 3.99524036e-03 9.99979977e-01 4.90747803e-03 3.25557167e-01] [ 1.30283334e-03 -4.91271814e-03 9.99987084e-01 -3.82386760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.955898227 meters Centerline goodness [0,1] 0.799445646011381 Centerline is valid? [False, False] Translation: X:90.09, Y:0.33, Z:-0.38 [[ 9.99998934e-01 6.02895937e-04 1.32994274e-03 9.00918913e+01] [-6.00442488e-04 9.99998119e-01 -1.84440645e-03 3.29582957e-01] [-1.33105222e-03 1.84360593e-03 9.99997415e-01 -3.79958674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.985898227 meters Centerline goodness [0,1] 0.9243506355481869 Centerline is valid? [False, False] Translation: X:90.05, Y:0.34, Z:-0.38 [[ 9.99992997e-01 2.30118762e-03 2.95127013e-03 9.00466216e+01] [-2.29465379e-03 9.99994913e-01 -2.21538292e-03 3.35404856e-01] [-2.95635313e-03 2.20859526e-03 9.99993191e-01 -3.79888129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.015898227 meters Centerline goodness [0,1] 0.9908850026497086 Centerline is valid? [False, True] Translation: X:90.05, Y:0.34, Z:-0.38 [[ 9.99993408e-01 2.07487083e-03 2.97966591e-03 9.00464591e+01] [-2.06611679e-03 9.99993550e-01 -2.93800565e-03 3.39023224e-01] [-2.98574268e-03 2.93182995e-03 9.99991245e-01 -3.79710872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.045898227 meters Centerline goodness [0,1] 0.9022765828219574 Centerline is valid? [True, False] Translation: X:90.09, Y:0.34, Z:-0.38 [[ 9.99991184e-01 2.42149327e-03 3.43037994e-03 9.00883170e+01] [-2.41390768e-03 9.99994636e-01 -2.21371540e-03 3.39326843e-01] [-3.43572204e-03 2.20541527e-03 9.99991666e-01 -3.79112694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.075898227 meters Centerline goodness [0,1] 0.9764072934329795 Centerline is valid? [False, True] Translation: X:90.09, Y:0.34, Z:-0.38 [[ 9.99992062e-01 2.15744182e-03 3.34976897e-03 9.00887579e+01] [-2.14795760e-03 9.99993682e-01 -2.83232547e-03 3.42313790e-01] [-3.35585838e-03 2.82510782e-03 9.99990378e-01 -3.79392171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.105898227 meters Centerline goodness [0,1] 0.9608509381001625 Centerline is valid? [True, True] Translation: X:90.12, Y:0.34, Z:-0.38 [[ 9.99994793e-01 -1.46753885e-03 2.87406735e-03 9.01196372e+01] [ 1.46803900e-03 9.99998908e-01 -1.71921807e-04 3.43569764e-01] [-2.87381191e-03 1.76140155e-04 9.99995855e-01 -3.81871669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.135898227 meters Centerline goodness [0,1] 0.7955122688440629 Centerline is valid? [True, False] Translation: X:90.12, Y:0.34, Z:-0.38 [[ 9.99994530e-01 -1.76242636e-03 2.79890473e-03 9.01200178e+01] [ 1.76377332e-03 9.99998330e-01 -4.78850522e-04 3.44667715e-01] [-2.79805612e-03 4.83784536e-04 9.99995968e-01 -3.82121412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.165898227 meters Centerline goodness [0,1] 0.8035185068415411 Centerline is valid? [False, False] Translation: X:90.12, Y:0.34, Z:-0.38 [[ 9.99994099e-01 -2.00888984e-03 2.78681604e-03 9.01202408e+01] [ 2.01049207e-03 9.99997815e-01 -5.72251341e-04 3.44594358e-01] [-2.78566036e-03 5.77850835e-04 9.99995953e-01 -3.82450116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19589822700001 meters Centerline goodness [0,1] 0.7971880267116127 Centerline is valid? [False, False] Translation: X:90.08, Y:0.35, Z:-0.38 [[ 9.99996221e-01 -2.30962303e-03 1.49128428e-03 9.00794928e+01] [ 2.31132259e-03 9.99996680e-01 -1.13894111e-03 3.47305709e-01] [-1.48864880e-03 1.14238365e-03 9.99998239e-01 -3.84163630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.225898227 meters Centerline goodness [0,1] 0.64685006299874 Centerline is valid? [False, False] Translation: X:90.12, Y:0.34, Z:-0.38 [[ 9.99995238e-01 -2.66682848e-03 1.55309780e-03 9.01219026e+01] [ 2.66554975e-03 9.99996107e-01 8.24824874e-04 3.44467103e-01] [-1.55529142e-03 -8.20681086e-04 9.99998454e-01 -3.84643717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.255898227 meters Centerline goodness [0,1] 0.7229824598168444 Centerline is valid? [False, False] Translation: X:90.12, Y:0.35, Z:-0.38 [[ 9.99993368e-01 -3.29138606e-03 1.55917994e-03 9.01219850e+01] [ 3.29222363e-03 9.99994438e-01 -5.34922726e-04 3.50921475e-01] [-1.55741063e-03 5.40052348e-04 9.99998641e-01 -3.84641744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.285898227 meters Centerline goodness [0,1] 0.7300289952515022 Centerline is valid? [False, False] Translation: X:90.12, Y:0.36, Z:-0.38 [[ 9.99992445e-01 -3.61015960e-03 1.44112718e-03 9.01223566e+01] [ 3.61220508e-03 9.99992469e-01 -1.41928932e-03 3.55299541e-01] [-1.43599247e-03 1.42448424e-03 9.99997954e-01 -3.84580754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.315898227 meters Centerline goodness [0,1] 0.8044418197540759 Centerline is valid? [False, False] Translation: X:90.12, Y:0.36, Z:-0.38 [[ 9.99998699e-01 4.82793680e-04 1.53910113e-03 9.01222168e+01] [-4.87103676e-04 9.99995958e-01 2.80118880e-03 3.55274853e-01] [-1.53774252e-03 -2.80193486e-03 9.99994892e-01 -3.84936620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.345898227 meters Centerline goodness [0,1] 0.8044418197540759 Centerline is valid? [False, False] Translation: X:90.12, Y:0.36, Z:-0.38 [[ 9.99998699e-01 4.82793680e-04 1.53910113e-03 9.01222168e+01] [-4.87103676e-04 9.99995958e-01 2.80118880e-03 3.55274853e-01] [-1.53774252e-03 -2.80193486e-03 9.99994892e-01 -3.84936620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.375898227 meters Centerline goodness [0,1] 0.8385717877797334 Centerline is valid? [False, False] Translation: X:90.12, Y:0.36, Z:-0.39 [[ 9.99999085e-01 2.14773833e-04 1.33554488e-03 9.01230039e+01] [-2.17363941e-04 9.99998096e-01 1.93952123e-03 3.59679143e-01] [-1.33512577e-03 -1.93980975e-03 9.99997227e-01 -3.85120139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.405898227 meters Centerline goodness [0,1] 0.9014593144812147 Centerline is valid? [False, False] Translation: X:90.12, Y:0.36, Z:-0.39 [[ 9.99990784e-01 4.12634415e-03 1.18524650e-03 9.01238911e+01] [-4.13279694e-03 9.99976365e-01 5.49440751e-03 3.63152865e-01] [-1.16254667e-03 -5.49925526e-03 9.99984203e-01 -3.85734847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.435898227 meters Centerline goodness [0,1] 0.8736017190166214 Centerline is valid? [False, False] Translation: X:90.12, Y:0.37, Z:-0.39 [[ 9.99991892e-01 3.88706552e-03 1.05226017e-03 9.01244285e+01] [-3.89209040e-03 9.99980828e-01 4.81615712e-03 3.66520168e-01] [-1.03351928e-03 -4.82021356e-03 9.99987849e-01 -3.85895123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.465898227 meters Centerline goodness [0,1] 0.9046946178505146 Centerline is valid? [False, False] Translation: X:90.12, Y:0.37, Z:-0.39 [[ 9.99992916e-01 3.65091295e-03 9.16320761e-04 9.01248563e+01] [-3.65472947e-03 9.99984508e-01 4.19851915e-03 3.69503888e-01] [-9.00978137e-04 -4.20183832e-03 9.99990766e-01 -3.85893524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.495898227 meters Centerline goodness [0,1] 0.9142463430146279 Centerline is valid? [False, False] Translation: X:90.13, Y:0.37, Z:-0.39 [[ 9.99993898e-01 3.40552631e-03 7.78630637e-04 9.01252567e+01] [-3.40833381e-03 9.99987591e-01 3.63324503e-03 3.72193863e-01] [-7.66247864e-04 -3.63587670e-03 9.99993097e-01 -3.85766900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.525898227 meters Centerline goodness [0,1] 0.7642952963863503 Centerline is valid? [False, False] Translation: X:90.17, Y:0.37, Z:-0.38 [[ 9.99998297e-01 1.33973120e-03 1.26896802e-03 9.01665977e+01] [-1.34169151e-03 9.99997906e-01 1.54521886e-03 3.73719370e-01] [-1.26689519e-03 -1.54691879e-03 9.99998001e-01 -3.84000605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.555898227 meters Centerline goodness [0,1] 0.8621966006509392 Centerline is valid? [False, False] Translation: X:90.12, Y:0.38, Z:-0.38 [[ 9.99998401e-01 9.64359268e-04 1.50618736e-03 9.01225768e+01] [-9.62935020e-04 9.99999089e-01 -9.46037172e-04 3.79482983e-01] [-1.50709830e-03 9.44585298e-04 9.99998418e-01 -3.83606869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.585898227 meters Centerline goodness [0,1] 0.691942334651518 Centerline is valid? [False, False] Translation: X:90.16, Y:0.38, Z:-0.38 [[ 9.99997666e-01 5.79553233e-07 2.16069295e-03 9.01643873e+01] [-9.66231194e-07 9.99999984e-01 1.78959123e-04 3.78011965e-01] [-2.16069281e-03 -1.78960793e-04 9.99997650e-01 -3.83026879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.615898227 meters Centerline goodness [0,1] 0.7011266715804991 Centerline is valid? [False, False] Translation: X:90.16, Y:0.38, Z:-0.38 [[ 9.99997692e-01 -1.17685063e-04 2.14528386e-03 9.01645296e+01] [ 1.17671508e-04 9.99999993e-01 6.44453406e-06 3.78679877e-01] [-2.14528461e-03 -6.19208040e-06 9.99997699e-01 -3.83147397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.645898227 meters Centerline goodness [0,1] 0.8251653669773241 Centerline is valid? [False, False] Translation: X:90.16, Y:0.38, Z:-0.38 [[ 9.99997990e-01 -2.14909543e-04 1.99332872e-03 9.01648872e+01] [ 2.15337706e-04 9.99999954e-01 -2.14585746e-04 3.79728322e-01] [-1.99328252e-03 2.15014554e-04 9.99997990e-01 -3.82930897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.675898227 meters Centerline goodness [0,1] 0.8869130784537872 Centerline is valid? [False, False] Translation: X:90.17, Y:0.38, Z:-0.38 [[ 9.99998260e-01 -2.98306507e-04 1.84160901e-03 9.01652653e+01] [ 2.99295836e-04 9.99999811e-01 -5.36956598e-04 3.81438913e-01] [-1.84144849e-03 5.37506849e-04 9.99998160e-01 -3.82751219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.705898227 meters Centerline goodness [0,1] 0.8626664969882074 Centerline is valid? [False, False] Translation: X:90.17, Y:0.38, Z:-0.38 [[ 9.99998465e-01 -4.06953011e-04 1.70440327e-03 9.01656188e+01] [ 4.08664096e-04 9.99999413e-01 -1.00369191e-03 3.83891255e-01] [-1.70399381e-03 1.00438690e-03 9.99998044e-01 -3.82572389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.735898227 meters Centerline goodness [0,1] 0.9055701903467029 Centerline is valid? [False, False] Translation: X:90.17, Y:0.39, Z:-0.38 [[ 9.99998749e-01 -4.60786998e-04 1.51323531e-03 9.01660714e+01] [ 4.63023900e-04 9.99998800e-01 -1.47820749e-03 3.86553434e-01] [-1.51255236e-03 1.47890630e-03 9.99997763e-01 -3.82257967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.765898227 meters Centerline goodness [0,1] 0.9764999147775695 Centerline is valid? [False, True] Translation: X:90.16, Y:0.39, Z:-0.38 [[ 9.99991480e-01 3.70295263e-03 1.82439849e-03 9.01642294e+01] [-3.70754346e-03 9.99989953e-01 2.51943001e-03 3.87901987e-01] [-1.81505083e-03 -2.52617258e-03 9.99995162e-01 -3.80743098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.795898227 meters Centerline goodness [0,1] 0.9796324104820118 Centerline is valid? [True, True] Translation: X:90.19, Y:0.39, Z:-0.38 [[ 9.99980256e-01 5.37814405e-03 3.25006934e-03 9.01944117e+01] [-5.37745666e-03 9.99985517e-01 -2.20202137e-04 3.88688895e-01] [-3.25120655e-03 2.02720682e-04 9.99994694e-01 -3.78279748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.825898227 meters Centerline goodness [0,1] 0.9524188982322226 Centerline is valid? [True, True] Translation: X:90.22, Y:0.38, Z:-0.38 [[ 9.99972958e-01 6.27321670e-03 3.83801875e-03 9.02249689e+01] [-6.27226508e-03 9.99980295e-01 -2.59932098e-04 3.83846076e-01] [-3.83957373e-03 2.35851998e-04 9.99992601e-01 -3.77658719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.855898227 meters Centerline goodness [0,1] 0.9414575866188769 Centerline is valid? [True, False] Translation: X:90.23, Y:0.39, Z:-0.38 [[ 9.99974335e-01 6.12277109e-03 3.72021885e-03 9.02252824e+01] [-6.12035133e-03 9.99981052e-01 -6.61470606e-04 3.85759935e-01] [-3.72419839e-03 6.38684584e-04 9.99992861e-01 -3.77525156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.885898227 meters Centerline goodness [0,1] 0.9355141747734959 Centerline is valid? [False, False] Translation: X:90.23, Y:0.39, Z:-0.38 [[ 9.99975513e-01 6.00951657e-03 3.58602511e-03 9.02258200e+01] [-6.00617000e-03 9.99981518e-01 -9.43263742e-04 3.87121148e-01] [-3.59162740e-03 9.21702368e-04 9.99993125e-01 -3.77709740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.915898227 meters Centerline goodness [0,1] 0.9521247644965459 Centerline is valid? [False, True] Translation: X:90.23, Y:0.39, Z:-0.38 [[ 9.99976005e-01 5.97407474e-03 3.50705035e-03 9.02258658e+01] [-5.97053137e-03 9.99981656e-01 -1.01995818e-03 3.87400947e-01] [-3.51307932e-03 9.98994753e-04 9.99993330e-01 -3.77380829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94589822700001 meters Centerline goodness [0,1] 0.9866111967562773 Centerline is valid? [True, True] Translation: X:90.26, Y:0.39, Z:-0.38 [[ 9.99967602e-01 6.61897565e-03 4.58073962e-03 9.02572688e+01] [-6.61765225e-03 9.99978057e-01 -3.04003900e-04 3.90635718e-01] [-4.58265129e-03 2.73680309e-04 9.99989462e-01 -3.75434971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.975898227 meters Centerline goodness [0,1] 0.9534528885544686 Centerline is valid? [True, True] Translation: X:90.29, Y:0.38, Z:-0.37 [[ 9.99956815e-01 8.03297219e-03 4.67319524e-03 9.02868736e+01] [-8.03161101e-03 9.99967698e-01 -3.09968539e-04 3.81334010e-01] [-4.67553425e-03 2.72421867e-04 9.99989033e-01 -3.74834036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.005898227 meters Centerline goodness [0,1] 0.9945250881020306 Centerline is valid? [True, True] Translation: X:90.32, Y:0.39, Z:-0.38 [[ 9.99942591e-01 9.81959929e-03 4.28829884e-03 9.03189903e+01] [-9.81846780e-03 9.99951757e-01 -2.84829784e-04 3.89071558e-01] [-4.29088888e-03 2.42708908e-04 9.99990765e-01 -3.75491262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.035898227 meters Centerline goodness [0,1] 0.9967918276029465 Centerline is valid? [True, True] Translation: X:90.35, Y:0.39, Z:-0.38 [[ 9.99912952e-01 1.26676245e-02 3.69057719e-03 9.03502557e+01] [-1.26668051e-02 9.99919743e-01 -2.45318969e-04 3.88895892e-01] [-3.69338860e-03 1.98549792e-04 9.99993160e-01 -3.75697952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.065898227 meters Centerline goodness [0,1] 0.9976688508064516 Centerline is valid? [True, True] Translation: X:90.38, Y:0.39, Z:-0.38 [[ 9.99863383e-01 1.60843895e-02 3.80880437e-03 9.03794901e+01] [-1.60835409e-02 9.99870619e-01 -2.53343217e-04 3.87340334e-01] [-3.81238645e-03 1.92049546e-04 9.99992714e-01 -3.76913409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.095898227 meters Centerline goodness [0,1] 0.9994130471239309 Centerline is valid? [True, True] Translation: X:90.41, Y:0.39, Z:-0.38 [[ 9.99789718e-01 2.00986121e-02 4.07004727e-03 9.04106252e+01] [-2.00976766e-02 9.99797985e-01 -2.70625880e-04 3.90927426e-01] [-4.07466426e-03 1.88770479e-04 9.99991681e-01 -3.76589840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.125898227 meters Centerline goodness [0,1] 0.9998116997238262 Centerline is valid? [True, True] Translation: X:90.44, Y:0.40, Z:-0.38 [[ 9.99580964e-01 2.84573793e-02 5.29846701e-03 9.04416414e+01] [-2.84559110e-02 9.99594986e-01 -3.52318959e-04 3.97517323e-01] [-5.30634713e-03 2.01398619e-04 9.99985901e-01 -3.75026845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.155898227 meters Centerline goodness [0,1] 0.9998954565412842 Centerline is valid? [True, True] Translation: X:90.47, Y:0.40, Z:-0.38 [[ 9.99466728e-01 3.22029127e-02 5.40674186e-03 9.04722357e+01] [-3.22014385e-02 9.99481335e-01 -3.59529626e-04 4.01118185e-01] [-5.41551547e-03 1.85233033e-04 9.99985319e-01 -3.75612555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.185898227 meters Centerline goodness [0,1] 0.9999579840759648 Centerline is valid? [True, True] Translation: X:90.50, Y:0.40, Z:-0.38 [[ 9.99363497e-01 3.52705943e-02 5.34655937e-03 9.05025891e+01] [-3.52691967e-02 9.99377785e-01 -3.55479237e-04 4.02880464e-01] [-5.35577063e-03 1.66684119e-04 9.99985644e-01 -3.77141227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.215898227 meters Centerline goodness [0,1] 0.9999789433787455 Centerline is valid? [True, True] Translation: X:90.53, Y:0.40, Z:-0.38 [[ 9.99278218e-01 3.76470114e-02 5.07408765e-03 9.05327589e+01] [-3.76457833e-02 9.99291089e-01 -3.37365886e-04 4.01785813e-01] [-5.08319139e-03 1.46104378e-04 9.99987070e-01 -3.78490386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.245898227 meters Centerline goodness [0,1] 0.9998737161138239 Centerline is valid? [True, True] Translation: X:90.56, Y:0.40, Z:-0.38 [[ 9.99216510e-01 3.92826706e-02 4.82067518e-03 9.05607701e+01] [-3.92815815e-02 9.99228129e-01 -3.20426471e-04 3.95378111e-01] [-4.82954145e-03 1.30811674e-04 9.99988329e-01 -3.81661437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.275898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:0.40, Z:-0.38 [[ 9.99091627e-01 4.24466982e-02 3.76809035e-03 9.05910072e+01] [-4.24460557e-02 9.99098729e-01 -2.50343137e-04 3.97058246e-01] [-3.77532052e-03 9.01751592e-05 9.99992869e-01 -3.81034648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.305898227 meters Centerline goodness [0,1] 0.9999581589958159 Centerline is valid? [True, True] Translation: X:90.62, Y:0.39, Z:-0.38 [[ 9.99001944e-01 4.45813484e-02 2.76031260e-03 9.06200220e+01] [-4.45810118e-02 9.99005756e-01 -1.83371854e-04 3.94826749e-01] [-2.76574314e-03 6.01313094e-05 9.99996174e-01 -3.83245686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.335898227 meters Centerline goodness [0,1] 0.9998531786815446 Centerline is valid? [True, True] Translation: X:90.65, Y:0.39, Z:-0.39 [[ 9.98901031e-01 4.68473938e-02 1.43243889e-03 9.06486392e+01] [-4.68473052e-02 9.98902058e-01 -9.53864473e-05 3.93716964e-01] [-1.43533476e-03 2.81757186e-05 9.99998970e-01 -3.86845831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.365898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.68, Y:0.39, Z:-0.39 [[ 9.98747539e-01 5.00277487e-02 7.60328458e-04 9.06761602e+01] [-5.00277245e-02 9.98747828e-01 -5.08718319e-05 3.93600884e-01] [-7.61921399e-04 1.27706143e-05 9.99999710e-01 -3.87294466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.395898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.70, Y:0.40, Z:-0.39 [[ 9.98568487e-01 5.34728757e-02 1.27598584e-03 9.07048969e+01] [-5.34728109e-02 9.98569302e-01 -8.48872650e-05 3.96492262e-01] [-1.27869946e-03 1.65351980e-05 9.99999182e-01 -3.85993068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.425898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:0.40, Z:-0.38 [[ 9.98345079e-01 5.74615547e-02 2.29633246e-03 9.07330517e+01] [-5.74613563e-02 9.98347720e-01 -1.52333749e-04 3.99010664e-01] [-2.30129161e-03 2.01312711e-05 9.99997352e-01 -3.84258222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.455898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.76, Y:0.41, Z:-0.38 [[ 9.97828882e-01 6.57820554e-02 3.20057039e-03 9.07624963e+01] [-6.57817138e-02 9.97834015e-01 -2.12012680e-04 4.10283629e-01] [-3.20758463e-03 1.01337062e-06 9.99994856e-01 -3.82694572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.485898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.79, Y:0.42, Z:-0.38 [[ 9.97561620e-01 6.97442890e-02 2.55881453e-03 9.07920117e+01] [-6.97440838e-02 9.97564902e-01 -1.69462173e-04 4.15306680e-01] [-2.56440259e-03 -9.41321514e-06 9.99996712e-01 -3.83965373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.82, Y:0.42, Z:-0.39 [[ 9.97329533e-01 7.30085781e-02 1.88402585e-03 9.08212353e+01] [-7.30084727e-02 9.97331313e-01 -1.24791400e-04 4.19478827e-01] [-1.88810882e-03 -1.30917011e-05 9.99998217e-01 -3.85995417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.545898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.85, Y:0.42, Z:-0.39 [[ 9.97126858e-01 7.57341740e-02 1.53768676e-03 9.08488446e+01] [-7.57341068e-02 9.97128043e-01 -1.02018297e-04 4.23263006e-01] [-1.54099686e-03 -1.47301488e-05 9.99998813e-01 -3.86784851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.575898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.88, Y:0.43, Z:-0.39 [[ 9.96961004e-01 7.78805110e-02 1.83905720e-03 9.08765000e+01] [-7.78804188e-02 9.96962700e-01 -1.21796041e-04 4.27456660e-01] [-1.84295697e-03 -2.18006418e-05 9.99998302e-01 -3.86998747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.605898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.91, Y:0.42, Z:-0.39 [[ 9.97011657e-01 7.72297729e-02 1.82177362e-03 9.09050812e+01] [-7.72296819e-02 9.97013321e-01 -1.20350111e-04 4.23333453e-01] [-1.82562718e-03 -2.07045340e-05 9.99998333e-01 -3.86142549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.635898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.93, Y:0.42, Z:-0.39 [[ 9.97126569e-01 7.57256430e-02 2.05741554e-03 9.09333719e+01] [-7.57255241e-02 9.97128691e-01 -1.35759593e-04 4.22159453e-01] [-2.06178855e-03 -2.04293729e-05 9.99997874e-01 -3.87850963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.665898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.96, Y:0.42, Z:-0.39 [[ 9.97297184e-01 7.34384511e-02 2.26283916e-03 9.09622937e+01] [-7.34383017e-02 9.97299751e-01 -1.49145905e-04 4.17149153e-01] [-2.26768198e-03 -1.74362742e-05 9.99997429e-01 -3.88108622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69589822700001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.99, Y:0.41, Z:-0.39 [[ 9.97442504e-01 7.14174520e-02 2.82826756e-03 9.09905977e+01] [-7.14172112e-02 9.97446513e-01 -1.86184946e-04 4.12250329e-01] [-2.83434248e-03 -1.62782031e-05 9.99995983e-01 -3.87924096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.725898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.02, Y:0.41, Z:-0.39 [[ 9.97524226e-01 7.02146089e-02 3.91511017e-03 9.10186024e+01] [-7.02141390e-02 9.97531908e-01 -2.57493930e-04 4.08375862e-01] [-3.92352716e-03 -1.80396567e-05 9.99992303e-01 -3.86211980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.755898227 meters Centerline goodness [0,1] 0.9998313374936751 Centerline is valid? [True, True] Translation: X:91.05, Y:0.40, Z:-0.38 [[ 9.97549564e-01 6.97685619e-02 5.21687622e-03 9.10470418e+01] [-6.97677246e-02 9.97563205e-01 -3.42528977e-04 4.04612875e-01] [-5.22806152e-03 -2.22799522e-05 9.99986333e-01 -3.84191786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.785898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.07, Y:0.40, Z:-0.38 [[ 9.97494652e-01 7.05541611e-02 5.15077967e-03 9.10747412e+01] [-7.05533563e-02 9.97507950e-01 -3.38011002e-04 4.04468241e-01] [-5.16179175e-03 -2.62406267e-05 9.99986678e-01 -3.83279395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.815898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.10, Y:0.40, Z:-0.38 [[ 9.97382452e-01 7.21370131e-02 4.94926461e-03 9.11035298e+01] [-7.21362914e-02 9.97394731e-01 -3.24420088e-04 4.04868189e-01] [-4.95977314e-03 -3.34506907e-05 9.99987700e-01 -3.83815223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.845898227 meters Centerline goodness [0,1] 0.9998317701980906 Centerline is valid? [True, True] Translation: X:91.13, Y:0.41, Z:-0.39 [[ 9.97239130e-01 7.41038183e-02 4.76879581e-03 9.11319376e+01] [-7.41031711e-02 9.97250531e-01 -3.12495197e-04 4.05114500e-01] [-4.77884124e-03 -4.17504535e-05 9.99988580e-01 -3.85006763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.875898227 meters Centerline goodness [0,1] 0.9997896154169822 Centerline is valid? [True, True] Translation: X:91.16, Y:0.41, Z:-0.39 [[ 9.97026561e-01 7.69175840e-02 4.66059063e-03 9.11602964e+01] [-7.69169984e-02 9.97037453e-01 -3.05020519e-04 4.07168868e-01] [-4.67024485e-03 -5.43650822e-05 9.99989093e-01 -3.85747512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.905898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.19, Y:0.41, Z:-0.39 [[ 9.96588969e-01 8.24179225e-02 4.20858429e-03 9.11889174e+01] [-8.24174951e-02 9.96597853e-01 -2.75187586e-04 4.13459231e-01] [-4.21694646e-03 -7.26120620e-05 9.99991106e-01 -3.85356709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.935898227 meters Centerline goodness [0,1] 0.9999575596816976 Centerline is valid? [True, True] Translation: X:91.22, Y:0.41, Z:-0.39 [[ 9.96440593e-01 8.41768776e-02 4.51641661e-03 9.12165502e+01] [-8.41764043e-02 9.96450825e-01 -2.95120773e-04 4.14328787e-01] [-4.52522940e-03 -8.61053929e-05 9.99989757e-01 -3.86530367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.965898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:0.41, Z:-0.39 [[ 9.96333250e-01 8.54356467e-02 4.56134169e-03 9.12455611e+01] [-8.54351786e-02 9.96343686e-01 -2.97744393e-04 4.11094047e-01] [-4.57010198e-03 -9.30464028e-05 9.99989553e-01 -3.85773967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.995898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:0.41, Z:-0.39 [[ 9.96295176e-01 8.58623570e-02 4.85569061e-03 9.12731543e+01] [-8.58618321e-02 9.96307004e-01 -3.16840616e-04 4.09552116e-01] [-4.86496324e-03 -1.01251714e-04 9.99988161e-01 -3.86116573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.025898227 meters Centerline goodness [0,1] 0.9998933856454433 Centerline is valid? [True, True] Translation: X:91.30, Y:0.40, Z:-0.39 [[ 9.96361164e-01 8.51625047e-02 3.43189670e-03 9.13015066e+01] [-8.51622393e-02 9.96367072e-01 -2.23659615e-04 4.03241048e-01] [-3.43847628e-03 -6.94222542e-05 9.99994086e-01 -3.89372378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.055898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:0.40, Z:-0.39 [[ 9.96337369e-01 8.54740099e-02 2.45786229e-03 9.13294215e+01] [-8.54738745e-02 9.96340399e-01 -1.60252442e-04 4.01744173e-01] [-2.46256491e-03 -5.04175168e-05 9.99996967e-01 -3.90665748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:0.40, Z:-0.39 [[ 9.96279167e-01 8.61750522e-02 1.29667504e-03 9.13583929e+01] [-8.61750150e-02 9.96280011e-01 -8.46198339e-05 3.98420092e-01] [-1.29914354e-03 -2.74360130e-05 9.99999156e-01 -3.92058969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.115898227 meters Centerline goodness [0,1] 0.9999789078483896 Centerline is valid? [True, True] Translation: X:91.39, Y:0.39, Z:-0.39 [[ 9.96177953e-01 8.73442798e-02 6.79541319e-04 9.13866746e+01] [-8.73442697e-02 9.96178185e-01 -4.45147959e-05 3.94865330e-01] [-6.80832350e-04 -1.50093819e-05 9.99999768e-01 -3.92899379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:0.39, Z:-0.39 [[ 9.96051299e-01 8.87771178e-02 6.57675637e-04 9.14144050e+01] [-8.87771087e-02 9.96051516e-01 -4.31578941e-05 3.94570571e-01] [-6.58910249e-04 -1.53990650e-05 9.99999783e-01 -3.93758463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.175898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:0.39, Z:-0.39 [[ 9.95880884e-01 9.06666253e-02 9.10371190e-04 9.14431094e+01] [-9.06666089e-02 9.95881299e-01 -5.93894998e-05 3.93879211e-01] [-9.12006289e-04 -2.33954011e-05 9.99999584e-01 -3.93751565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.47, Y:0.39, Z:-0.39 [[ 9.95494106e-01 9.48222719e-02 4.70508831e-04 9.14729962e+01] [-9.48222681e-02 9.95494217e-01 -3.05828238e-05 3.93961429e-01] [-4.71288754e-04 -1.41696937e-05 9.99999889e-01 -3.93530248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.235898227 meters Centerline goodness [0,1] 0.9999370554541449 Centerline is valid? [True, True] Translation: X:91.50, Y:0.40, Z:-0.40 [[ 9.95292286e-01 9.69184519e-02 2.82969634e-04 9.15019611e+01] [-9.69184505e-02 9.95292326e-01 -1.86280876e-05 3.96018147e-01] [-2.83442910e-04 -8.88458653e-06 9.99999960e-01 -3.95249261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.265898227 meters Centerline goodness [0,1] 0.9999159699172304 Centerline is valid? [True, True] Translation: X:91.53, Y:0.40, Z:-0.40 [[ 9.95168835e-01 9.81776362e-02 3.76201897e-04 9.15295502e+01] [-9.81776337e-02 9.95168906e-01 -2.50739254e-05 3.96861205e-01] [-3.76846129e-04 -1.19818230e-05 9.99999929e-01 -3.95678732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.295898227 meters Centerline goodness [0,1] 0.9999159699172304 Centerline is valid? [True, True] Translation: X:91.56, Y:0.40, Z:-0.40 [[ 9.95175551e-01 9.81095361e-02 3.76213465e-04 9.15570004e+01] [-9.81095337e-02 9.95175622e-01 -2.48953299e-05 3.95227010e-01] [-3.76840938e-04 -1.21349039e-05 9.99999929e-01 -3.95917690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.325898227 meters Centerline goodness [0,1] 0.9999580660041095 Centerline is valid? [True, True] Translation: X:91.59, Y:0.39, Z:-0.39 [[ 9.95070825e-01 9.91598929e-02 1.16961725e-03 9.15859865e+01] [-9.91598721e-02 9.95071512e-01 -7.59004736e-05 3.91415620e-01] [-1.17137909e-03 -4.04527503e-05 9.99999313e-01 -3.94433072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.355898227 meters Centerline goodness [0,1] 0.999916602381002 Centerline is valid? [True, True] Translation: X:91.61, Y:0.39, Z:-0.39 [[ 9.95008411e-01 9.97708501e-02 2.00966587e-03 9.16141401e+01] [-9.97707902e-02 9.95010438e-01 -1.30287165e-04 3.92932909e-01] [-2.01263738e-03 -7.08691262e-05 9.99997972e-01 -3.93554107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.385898227 meters Centerline goodness [0,1] 0.9998740183933146 Centerline is valid? [True, True] Translation: X:91.64, Y:0.39, Z:-0.39 [[ 9.94942564e-01 1.00417199e-01 2.38328007e-03 9.16425345e+01] [-1.00417118e-01 9.94945415e-01 -1.53914235e-04 3.88749016e-01] [-2.38668921e-03 -8.61862916e-05 9.99997148e-01 -3.92325200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.415898227 meters Centerline goodness [0,1] 0.999915304480393 Centerline is valid? [True, True] Translation: X:91.67, Y:0.38, Z:-0.39 [[ 9.94922326e-01 1.00629780e-01 1.79235866e-03 9.16704575e+01] [-1.00629734e-01 9.94923938e-01 -1.15857694e-04 3.81163430e-01] [-1.79491927e-03 -6.50951689e-05 9.99998387e-01 -3.93244477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44589822700001 meters Centerline goodness [0,1] 0.999874229656647 Centerline is valid? [True, True] Translation: X:91.70, Y:0.38, Z:-0.39 [[ 9.94948272e-01 1.00367891e-01 2.05485935e-03 9.16978764e+01] [-1.00367831e-01 9.94950391e-01 -1.32624881e-04 3.80337984e-01] [-2.05779439e-03 -7.42868787e-05 9.99997880e-01 -3.94259735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.475898227 meters Centerline goodness [0,1] 0.9999787888429313 Centerline is valid? [True, True] Translation: X:91.73, Y:0.37, Z:-0.39 [[ 9.94995514e-01 9.98889450e-02 2.47514165e-03 9.17265655e+01] [-9.98888571e-02 9.94998588e-01 -1.59419641e-04 3.72746204e-01] [-2.47868670e-03 -8.86172423e-05 9.99996924e-01 -3.93359619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.505898227 meters Centerline goodness [0,1] 0.9999369999369999 Centerline is valid? [True, True] Translation: X:91.75, Y:0.37, Z:-0.39 [[ 9.95034416e-01 9.94542823e-02 3.91875671e-03 9.17541696e+01] [-9.94540600e-02 9.95042123e-01 -2.52028971e-04 3.69967809e-01] [-3.92439335e-03 -1.38958765e-04 9.99992290e-01 -3.91930664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.535898227 meters Centerline goodness [0,1] 0.9998312200679339 Centerline is valid? [True, True] Translation: X:91.78, Y:0.37, Z:-0.39 [[ 9.95034939e-01 9.93942081e-02 5.12469071e-03 9.17821146e+01] [-9.93938296e-02 9.95048119e-01 -3.29122810e-04 3.69017686e-01] [-5.13202675e-03 -1.81873940e-04 9.99986815e-01 -3.90578203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.565898227 meters Centerline goodness [0,1] 0.999643829876388 Centerline is valid? [True, True] Translation: X:91.81, Y:0.36, Z:-0.39 [[ 9.94918050e-01 1.00496436e-01 6.20813752e-03 9.18109996e+01] [-1.00495905e-01 9.94937392e-01 -3.98206977e-04 3.63615813e-01] [-6.21672654e-03 -2.27709087e-04 9.99980650e-01 -3.89019061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.595898227 meters Centerline goodness [0,1] 0.9998741505159828 Centerline is valid? [True, True] Translation: X:91.84, Y:0.36, Z:-0.39 [[ 9.94783287e-01 1.01873367e-01 5.29427537e-03 9.18401332e+01] [-1.01873001e-01 9.94797354e-01 -3.39332016e-04 3.57664421e-01] [-5.30130002e-03 -2.01781902e-04 9.99985928e-01 -3.90033929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.625898227 meters Centerline goodness [0,1] 0.9993323039686183 Centerline is valid? [True, True] Translation: X:91.87, Y:0.36, Z:-0.39 [[ 9.94628833e-01 1.03413718e-01 4.36881290e-03 9.18692612e+01] [-1.03413484e-01 9.94638413e-01 -2.79997592e-04 3.63122676e-01] [-4.37434472e-03 -1.73300485e-04 9.99990417e-01 -3.92032871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.655898227 meters Centerline goodness [0,1] 0.9987257420985566 Centerline is valid? [True, True] Translation: X:91.90, Y:0.36, Z:-0.39 [[ 9.94447302e-01 1.05178730e-01 3.46398505e-03 9.18982485e+01] [-1.05178593e-01 9.94453324e-01 -2.21938373e-04 3.64205711e-01] [-3.46811465e-03 -1.43631060e-04 9.99993976e-01 -3.93828662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.685898227 meters Centerline goodness [0,1] 0.9975916734728069 Centerline is valid? [True, True] Translation: X:91.93, Y:0.36, Z:-0.39 [[ 9.94116683e-01 1.08277749e-01 2.81968182e-03 9.19283016e+01] [-1.08277672e-01 9.94120673e-01 -1.80489483e-04 3.61667420e-01] [-2.82264699e-03 -1.25880976e-04 9.99996008e-01 -3.94956129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.715898227 meters Centerline goodness [0,1] 0.9988902382846853 Centerline is valid? [True, True] Translation: X:91.96, Y:0.36, Z:-0.40 [[ 9.93951284e-01 1.09788181e-01 2.72049869e-03 9.19574733e+01] [-1.09788114e-01 9.93954999e-01 -1.74185319e-04 3.55552603e-01] [-2.72317676e-03 -1.25546699e-04 9.99996284e-01 -3.95109505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.745898227 meters Centerline goodness [0,1] 0.9990506729673854 Centerline is valid? [True, True] Translation: X:91.99, Y:0.35, Z:-0.40 [[ 9.93817451e-01 1.11008010e-01 2.02395978e-03 9.19865086e+01] [-1.11007975e-01 9.93819507e-01 -1.29673621e-04 3.52066629e-01] [-2.02584552e-03 -9.58037698e-05 9.99997943e-01 -3.95499392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.775898227 meters Centerline goodness [0,1] 0.9856913418017229 Centerline is valid? [True, True] Translation: X:92.02, Y:0.36, Z:-0.40 [[ 9.93679035e-01 1.12241816e-01 1.93636476e-03 9.20161087e+01] [-1.12241787e-01 9.93680918e-01 -1.24004103e-04 3.60950163e-01] [-1.93804716e-03 -9.41207624e-05 9.99998118e-01 -3.97809220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.805898227 meters Centerline goodness [0,1] 0.9990115044061665 Centerline is valid? [True, True] Translation: X:92.04, Y:0.35, Z:-0.40 [[ 9.93601236e-01 1.12939233e-01 1.14582483e-03 9.20436353e+01] [-1.12939223e-01 9.93601895e-01 -7.36476865e-05 3.46913564e-01] [-1.14681143e-03 -5.62321335e-05 9.99999341e-01 -3.97453823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.835898227 meters Centerline goodness [0,1] 0.9994474668480109 Centerline is valid? [True, True] Translation: X:92.07, Y:0.34, Z:-0.40 [[ 9.93604407e-01 1.12916308e-01 4.35149219e-04 9.20723100e+01] [-1.12916307e-01 9.93604502e-01 -2.81745842e-05 3.40776937e-01] [-4.35547594e-04 -2.11410517e-05 9.99999905e-01 -3.98531229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.865898227 meters Centerline goodness [0,1] 0.9985315404141056 Centerline is valid? [True, True] Translation: X:92.10, Y:0.34, Z:-0.40 [[ 9.93705516e-01 1.12022867e-01 4.74661012e-04 9.21000409e+01] [-1.12022865e-01 9.93705629e-01 -3.07699083e-05 3.37911206e-01] [-4.75120253e-04 -2.25966590e-05 9.99999887e-01 -4.00539055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.895898227 meters Centerline goodness [0,1] 0.9975173052241789 Centerline is valid? [True, True] Translation: X:92.13, Y:0.34, Z:-0.40 [[ 9.93788969e-01 1.11280261e-01 4.33139205e-04 9.21280372e+01] [-1.11280259e-01 9.93789064e-01 -2.83096097e-05 3.35742676e-01] [-4.33599306e-04 -2.00660653e-05 9.99999906e-01 -4.01695202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.925898227 meters Centerline goodness [0,1] 0.9994935533562641 Centerline is valid? [True, True] Translation: X:92.16, Y:0.33, Z:-0.40 [[ 9.93905172e-01 1.10237466e-01 4.59182768e-04 9.21566821e+01] [-1.10237463e-01 9.93905278e-01 -2.99074609e-05 3.26383674e-01] [-4.59681099e-04 -2.08939636e-05 9.99999894e-01 -4.01716234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.955898227 meters Centerline goodness [0,1] 0.9994343298904276 Centerline is valid? [True, True] Translation: X:92.18, Y:0.32, Z:-0.40 [[ 9.94027637e-01 1.09128228e-01 2.94213668e-04 9.21846484e+01] [-1.09128227e-01 9.94027681e-01 -1.90906864e-05 3.21845123e-01] [-2.94539863e-04 -1.31303461e-05 9.99999957e-01 -4.02411405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.985898227 meters Centerline goodness [0,1] 0.9995368616058271 Centerline is valid? [True, True] Translation: X:92.21, Y:0.32, Z:-0.40 [[ 9.94140632e-01 1.08094055e-01 2.79600472e-04 9.22130967e+01] [-1.08094054e-01 9.94140672e-01 -1.81461017e-05 3.15284957e-01] [-2.79923687e-04 -1.21833715e-05 9.99999961e-01 -4.02675606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.015898227 meters Centerline goodness [0,1] 0.999851506151888 Centerline is valid? [True, True] Translation: X:92.24, Y:0.30, Z:-0.40 [[ 9.94319756e-01 1.06418987e-01 1.79509235e-03 9.22423501e+01] [-1.06418954e-01 9.94321373e-01 -1.14136608e-04 3.00126090e-01] [-1.79704500e-03 -7.75435669e-05 9.99998382e-01 -3.99734304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.045898227 meters Centerline goodness [0,1] 0.9995584431968713 Centerline is valid? [True, True] Translation: X:92.27, Y:0.30, Z:-0.40 [[ 9.94348661e-01 1.06136226e-01 2.41690363e-03 9.22704139e+01] [-1.06136165e-01 9.94351593e-01 -1.53640612e-04 3.00710923e-01] [-2.41955881e-03 -1.03748547e-04 9.99997067e-01 -3.99479597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.075898227 meters Centerline goodness [0,1] 0.9995585638610948 Centerline is valid? [True, True] Translation: X:92.30, Y:0.30, Z:-0.40 [[ 9.94331450e-01 1.06290334e-01 2.70775854e-03 9.22994267e+01] [-1.06290259e-01 9.94335130e-01 -1.71815991e-04 2.96537260e-01] [-2.71068182e-03 -1.16966314e-04 9.99996319e-01 -3.98748543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.105898227 meters Centerline goodness [0,1] 0.9990180921739857 Centerline is valid? [True, True] Translation: X:92.33, Y:0.30, Z:-0.40 [[ 9.94289360e-01 1.06681275e-01 2.78819475e-03 9.23267796e+01] [-1.06681197e-01 9.94293262e-01 -1.77009425e-04 2.96641439e-01] [-2.79116684e-03 -1.21449365e-04 9.99996097e-01 -3.98997316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.135898227 meters Centerline goodness [0,1] 0.9995799113612972 Centerline is valid? [True, True] Translation: X:92.36, Y:0.29, Z:-0.40 [[ 9.94243709e-01 1.07111012e-01 2.58417782e-03 9.23550551e+01] [-1.07110947e-01 9.94247061e-01 -1.63652378e-04 2.88450493e-01] [-2.58684018e-03 -1.14083387e-04 9.99996648e-01 -3.98195369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.165898227 meters Centerline goodness [0,1] 0.9973281720068163 Centerline is valid? [True, True] Translation: X:92.38, Y:0.29, Z:-0.40 [[ 9.94171186e-01 1.07781584e-01 2.60426705e-03 9.23827809e+01] [-1.07781521e-01 9.94174591e-01 -1.65021921e-04 2.90552945e-01] [-2.60688246e-03 -1.16631825e-04 9.99996595e-01 -3.98571688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19589822700001 meters Centerline goodness [0,1] 0.9991826640959007 Centerline is valid? [True, True] Translation: X:92.41, Y:0.28, Z:-0.40 [[ 9.94143014e-01 1.08023416e-01 3.25711100e-03 9.24113334e+01] [-1.08023320e-01 9.94148339e-01 -2.05734244e-04 2.80153097e-01] [-3.26027561e-03 -1.47314684e-04 9.99994674e-01 -3.96675188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.225898227 meters Centerline goodness [0,1] 0.9993024140700968 Centerline is valid? [True, True] Translation: X:92.44, Y:0.28, Z:-0.40 [[ 9.94134112e-01 1.08053307e-01 4.67435685e-03 9.24394332e+01] [-1.08053113e-01 9.94145079e-01 -2.94858929e-04 2.75296246e-01] [-4.67884935e-03 -2.11949489e-04 9.99989032e-01 -3.95019087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.255898227 meters Centerline goodness [0,1] 0.9945871097683786 Centerline is valid? [True, True] Translation: X:92.47, Y:0.28, Z:-0.39 [[ 9.94108980e-01 1.08184401e-01 6.59323774e-03 9.24675300e+01] [-1.08184021e-01 9.94130799e-01 -4.15445886e-04 2.79193733e-01] [-6.59948547e-03 -3.00284481e-04 9.99978178e-01 -3.91433848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.285898227 meters Centerline goodness [0,1] 0.9994466907852735 Centerline is valid? [True, True] Translation: X:92.49, Y:0.26, Z:-0.39 [[ 9.94121330e-01 1.07978585e-01 7.96277057e-03 9.24949928e+01] [-1.07978028e-01 9.94153154e-01 -5.01161204e-04 2.62185655e-01] [-7.97032816e-03 -3.61589218e-04 9.99968171e-01 -3.89081800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.315898227 meters Centerline goodness [0,1] 0.9884348009269012 Centerline is valid? [True, True] Translation: X:92.52, Y:0.27, Z:-0.39 [[ 9.93963296e-01 1.09508449e-01 6.69815219e-03 9.25238217e+01] [-1.09508091e-01 9.93985815e-01 -4.21311721e-04 2.72511696e-01] [-6.70400546e-03 -3.14733471e-04 9.99977478e-01 -3.91595349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.345898227 meters Centerline goodness [0,1] 0.9988853838065195 Centerline is valid? [True, True] Translation: X:92.55, Y:0.26, Z:-0.40 [[ 9.93815922e-01 1.10937559e-01 4.77193348e-03 9.25520189e+01] [-1.10937394e-01 9.93827352e-01 -3.00035968e-04 2.58830668e-01] [-4.77576327e-03 -2.31205342e-04 9.99988569e-01 -3.95046531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.375898227 meters Centerline goodness [0,1] 0.9984039496924944 Centerline is valid? [True, True] Translation: X:92.58, Y:0.26, Z:-0.40 [[ 9.93560206e-01 1.13233798e-01 4.02798996e-03 9.25827175e+01] [-1.13233701e-01 9.93568349e-01 -2.52892074e-04 2.58265813e-01] [-4.03071926e-03 -2.04840710e-04 9.99991856e-01 -3.95714042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.405898227 meters Centerline goodness [0,1] 0.9880617091933247 Centerline is valid? [True, True] Translation: X:92.61, Y:0.26, Z:-0.40 [[ 9.93286195e-01 1.15645225e-01 2.95232402e-03 9.26118166e+01] [-1.15645183e-01 9.93290570e-01 -1.85495220e-04 2.63862893e-01] [-2.95396725e-03 -1.57172211e-04 9.99995625e-01 -3.98310646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.435898227 meters Centerline goodness [0,1] 0.9713681986265188 Centerline is valid? [True, True] Translation: X:92.64, Y:0.26, Z:-0.40 [[ 9.92789685e-01 1.19846243e-01 2.34949945e-03 9.26422277e+01] [-1.19846228e-01 9.92792456e-01 -1.47448645e-04 2.62638232e-01] [-2.35023649e-03 -1.35193153e-04 9.99997229e-01 -4.00031186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.465898227 meters Centerline goodness [0,1] 0.9641355115497601 Centerline is valid? [True, True] Translation: X:92.67, Y:0.26, Z:-0.40 [[ 9.92617900e-01 1.21263631e-01 2.19894175e-03 9.26711299e+01] [-1.21263622e-01 9.92620328e-01 -1.38231591e-04 2.60077151e-01] [-2.19947674e-03 -1.29440488e-04 9.99997573e-01 -3.99796250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.495898227 meters Centerline goodness [0,1] 0.9640090924398047 Centerline is valid? [True, True] Translation: X:92.70, Y:0.26, Z:-0.40 [[ 9.92543988e-01 1.21868807e-01 2.10379241e-03 9.26994327e+01] [-1.21868799e-01 9.92546210e-01 -1.32342559e-04 2.57894083e-01] [-2.10423961e-03 -1.25030843e-04 9.99997778e-01 -4.00603970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.525898227 meters Centerline goodness [0,1] 0.9533432766842426 Centerline is valid? [True, True] Translation: X:92.73, Y:0.26, Z:-0.40 [[ 9.92562469e-01 1.21715096e-01 2.27587659e-03 9.27273611e+01] [-1.21715087e-01 9.92565069e-01 -1.42992600e-04 2.56694173e-01] [-2.27635997e-03 -1.35079430e-04 9.99997400e-01 -4.01089377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.555898227 meters Centerline goodness [0,1] 0.9574562328622653 Centerline is valid? [True, True] Translation: X:92.76, Y:0.25, Z:-0.40 [[ 9.92625586e-01 1.21195995e-01 2.44454735e-03 9.27563730e+01] [-1.21195984e-01 9.92628586e-01 -1.53340747e-04 2.53139114e-01] [-2.44511187e-03 -1.44059373e-04 9.99997000e-01 -4.01105649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.585898227 meters Centerline goodness [0,1] 0.9639048915889808 Centerline is valid? [True, True] Translation: X:92.78, Y:0.25, Z:-0.40 [[ 9.92658399e-01 1.20927597e-01 2.41228591e-03 9.27847689e+01] [-1.20927586e-01 9.92661320e-01 -1.51212449e-04 2.49772879e-01] [-2.41286867e-03 -1.41609603e-04 9.99997079e-01 -4.00751696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.615898227 meters Centerline goodness [0,1] 0.9913458479160038 Centerline is valid? [True, True] Translation: X:92.81, Y:0.24, Z:-0.40 [[ 9.92685125e-01 1.20686949e-01 3.30203493e-03 9.28124893e+01] [-1.20686927e-01 9.92690598e-01 -2.06694117e-04 2.37950287e-01] [-3.30284431e-03 -1.93330274e-04 9.99994527e-01 -3.98793895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.645898227 meters Centerline goodness [0,1] 0.9534063719934517 Centerline is valid? [True, True] Translation: X:92.84, Y:0.24, Z:-0.40 [[ 9.92653186e-01 1.20953214e-01 3.15782835e-03 9.28401282e+01] [-1.20953195e-01 9.92658192e-01 -1.97662345e-04 2.43109032e-01] [-3.15855207e-03 -1.85739272e-04 9.99994995e-01 -3.99870746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.675898227 meters Centerline goodness [0,1] 0.959549029219326 Centerline is valid? [True, True] Translation: X:92.87, Y:0.24, Z:-0.40 [[ 9.92689063e-01 1.20674924e-01 2.44677782e-03 9.28690294e+01] [-1.20674913e-01 9.92692068e-01 -1.52956577e-04 2.39067769e-01] [-2.44735496e-03 -1.43426378e-04 9.99996995e-01 -4.00890079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.705898227 meters Centerline goodness [0,1] 0.9752412659614818 Centerline is valid? [True, True] Translation: X:92.90, Y:0.23, Z:-0.40 [[ 9.92742853e-01 1.20248897e-01 1.35313043e-03 9.28972620e+01] [-1.20248893e-01 9.92743772e-01 -8.47060862e-05 2.33909065e-01] [-1.35349762e-03 -7.86210738e-05 9.99999081e-01 -4.02207896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.735898227 meters Centerline goodness [0,1] 0.9757026253786604 Centerline is valid? [True, True] Translation: X:92.93, Y:0.23, Z:-0.40 [[ 9.92839833e-01 1.19449848e-01 8.94688278e-04 9.29255243e+01] [-1.19449846e-01 9.92840234e-01 -5.61008339e-05 2.29728537e-01] [-8.94983756e-04 -5.11712343e-05 9.99999598e-01 -4.03156380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.765898227 meters Centerline goodness [0,1] 0.9805216659655027 Centerline is valid? [True, True] Translation: X:92.95, Y:0.22, Z:-0.40 [[ 9.92961440e-01 1.18414303e-01 2.37317198e-03 9.29543054e+01] [-1.18414286e-01 9.92964267e-01 -1.48222845e-04 2.21755051e-01] [-2.37402668e-03 -1.33837897e-04 9.99997173e-01 -4.01125523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.795898227 meters Centerline goodness [0,1] 0.9832003536767647 Centerline is valid? [True, True] Translation: X:92.98, Y:0.22, Z:-0.40 [[ 9.92917321e-01 1.18751582e-01 3.64091560e-03 9.29823529e+01] [-1.18751546e-01 9.92923974e-01 -2.26700167e-04 2.16233299e-01] [-3.64207339e-03 -2.07269835e-04 9.99993346e-01 -3.98705878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.825898227 meters Centerline goodness [0,1] 0.9766116435175413 Centerline is valid? [True, True] Translation: X:93.01, Y:0.21, Z:-0.40 [[ 9.92864075e-01 1.19173473e-01 4.31404214e-03 9.30099161e+01] [-1.19173428e-01 9.92873417e-01 -2.68371405e-04 2.14976112e-01] [-4.31528051e-03 -2.47662865e-04 9.99990658e-01 -3.98107780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.855898227 meters Centerline goodness [0,1] 0.9918036267889753 Centerline is valid? [True, True] Translation: X:93.04, Y:0.21, Z:-0.40 [[ 9.92682257e-01 1.20699734e-01 3.67574622e-03 9.30384633e+01] [-1.20699713e-01 9.92689039e-01 -2.28236454e-04 2.07603497e-01] [-3.67642106e-03 -2.17095236e-04 9.99993218e-01 -3.98338205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.885898227 meters Centerline goodness [0,1] 0.9513668821565894 Centerline is valid? [True, True] Translation: X:93.07, Y:0.22, Z:-0.40 [[ 9.92552370e-01 1.21784510e-01 2.88533565e-03 9.30674643e+01] [-1.21784502e-01 9.92556549e-01 -1.79119311e-04 2.15377657e-01] [-2.88567275e-03 -1.73603869e-04 9.99995821e-01 -4.00358353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.915898227 meters Centerline goodness [0,1] 0.9525698406974524 Centerline is valid? [True, True] Translation: X:93.10, Y:0.21, Z:-0.40 [[ 9.92447918e-01 1.22647874e-01 2.15164317e-03 9.30972283e+01] [-1.22647871e-01 9.92450241e-01 -1.33490039e-04 2.14362102e-01] [-2.15177105e-03 -1.31412543e-04 9.99997676e-01 -4.02218788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94589822700001 meters Centerline goodness [0,1] 0.9331941984990303 Centerline is valid? [True, False] Translation: X:93.10, Y:0.22, Z:-0.40 [[ 9.92929331e-01 1.18696270e-01 1.59367549e-03 9.30977343e+01] [-1.18686929e-01 9.92918914e-01 -5.04410821e-03 2.18765421e-01] [-2.18110736e-03 4.81929454e-03 9.99986008e-01 -4.02493480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.975898227 meters Centerline goodness [0,1] 0.9194359675891823 Centerline is valid? [False, False] Translation: X:93.10, Y:0.22, Z:-0.40 [[ 9.92929772e-01 1.18693478e-01 1.52499846e-03 9.30979579e+01] [-1.18684429e-01 9.92919118e-01 -5.06268473e-03 2.18846951e-01] [-2.11510779e-03 4.84589683e-03 9.99986022e-01 -4.02549698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.005898227 meters Centerline goodness [0,1] 0.9648030066297876 Centerline is valid? [False, True] Translation: X:93.10, Y:0.22, Z:-0.40 [[ 9.92926231e-01 1.18722581e-01 1.56461138e-03 9.30976621e+01] [-1.18713607e-01 9.92916257e-01 -4.93814041e-03 2.18141705e-01] [-2.13979685e-03 4.71746849e-03 9.99986583e-01 -4.02350177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.035898227 meters Centerline goodness [0,1] 0.9917715494447382 Centerline is valid? [True, True] Translation: X:93.13, Y:0.21, Z:-0.40 [[ 9.93329127e-01 1.15264070e-01 3.38225411e-03 9.31277264e+01] [-1.15264077e-01 9.93334866e-01 -1.93356507e-04 2.05803402e-01] [-3.38199799e-03 -1.97785749e-04 9.99994261e-01 -4.00331758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.065898227 meters Centerline goodness [0,1] 0.9776311655670751 Centerline is valid? [True, True] Translation: X:93.16, Y:0.21, Z:-0.40 [[ 9.93596318e-01 1.12898375e-01 4.50711934e-03 9.31569317e+01] [-1.12898364e-01 9.93606508e-01 -2.57746293e-04 2.05864972e-01] [-4.50740225e-03 -2.52750631e-04 9.99989810e-01 -3.99252381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.095898227 meters Centerline goodness [0,1] 0.9974758187680298 Centerline is valid? [True, True] Translation: X:93.19, Y:0.19, Z:-0.40 [[ 9.93924877e-01 1.09959428e-01 4.71835433e-03 9.31869186e+01] [-1.09959384e-01 9.93936045e-01 -2.69612304e-04 1.93669967e-01] [-4.71938886e-03 -2.50852958e-04 9.99988832e-01 -3.99074217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.125898227 meters Centerline goodness [0,1] 0.9976578837306567 Centerline is valid? [True, True] Translation: X:93.22, Y:0.19, Z:-0.40 [[ 9.94226024e-01 1.07212382e-01 4.48525835e-03 9.32154419e+01] [-1.07212313e-01 9.94236116e-01 -2.56377989e-04 1.89233632e-01] [-4.48689273e-03 -2.25977253e-04 9.99989908e-01 -4.00090992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.155898227 meters Centerline goodness [0,1] 0.9976578837306567 Centerline is valid? [True, True] Translation: X:93.24, Y:0.19, Z:-0.40 [[ 9.94230971e-01 1.07166496e-01 4.48525826e-03 9.32437626e+01] [-1.07166427e-01 9.94241063e-01 -2.56379557e-04 1.87703549e-01] [-4.48690324e-03 -2.25768606e-04 9.99989908e-01 -4.00351519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.185898227 meters Centerline goodness [0,1] 0.9994939057821265 Centerline is valid? [True, True] Translation: X:93.27, Y:0.17, Z:-0.40 [[ 9.94686135e-01 1.02895602e-01 3.46246856e-03 9.32733769e+01] [-1.02895536e-01 9.94692148e-01 -1.97600007e-04 1.74194844e-01] [-3.46442247e-03 -1.59722571e-04 9.99993986e-01 -4.01531211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.215898227 meters Centerline goodness [0,1] 0.999391816790051 Centerline is valid? [True, True] Translation: X:93.30, Y:0.17, Z:-0.40 [[ 9.94774580e-01 1.02039929e-01 3.37459789e-03 9.33011137e+01] [-1.02039860e-01 9.94780292e-01 -1.92905506e-04 1.70014439e-01] [-3.37666753e-03 -1.52446002e-04 9.99994287e-01 -4.02011034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.245898227 meters Centerline goodness [0,1] 0.9994545263820414 Centerline is valid? [True, True] Translation: X:93.33, Y:0.17, Z:-0.40 [[ 9.94774144e-01 1.02050693e-01 3.17156667e-03 9.33283918e+01] [-1.02050633e-01 9.94779189e-01 -1.81143323e-04 1.66846292e-01] [-3.17349433e-03 -1.43463693e-04 9.99994954e-01 -4.01783361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.275898227 meters Centerline goodness [0,1] 0.9992891787924402 Centerline is valid? [True, True] Translation: X:93.36, Y:0.17, Z:-0.40 [[ 9.94692226e-01 1.02835931e-01 3.48537234e-03 9.33564476e+01] [-1.02835864e-01 9.94698319e-01 -1.98809130e-04 1.65447808e-01] [-3.48733872e-03 -1.60667380e-04 9.99993906e-01 -4.01422447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.305898227 meters Centerline goodness [0,1] 0.9992422009851387 Centerline is valid? [True, True] Translation: X:93.39, Y:0.16, Z:-0.40 [[ 9.94554279e-01 1.04148019e-01 3.86996868e-03 9.33860031e+01] [-1.04147949e-01 9.94561791e-01 -2.20286304e-04 1.61717608e-01] [-3.87186536e-03 -1.83962613e-04 9.99992487e-01 -4.00785719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.335898227 meters Centerline goodness [0,1] 0.9985736160929667 Centerline is valid? [True, True] Translation: X:93.42, Y:0.16, Z:-0.40 [[ 9.94351973e-01 1.06036251e-01 4.52414669e-03 9.34154500e+01] [-1.06036175e-01 9.94362239e-01 -2.57384331e-04 1.58965574e-01] [-4.52593270e-03 -2.23792593e-04 9.99989733e-01 -4.00222646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.365898227 meters Centerline goodness [0,1] 0.998648819828569 Centerline is valid? [True, True] Translation: X:93.45, Y:0.15, Z:-0.40 [[ 9.93817215e-01 1.10972473e-01 3.52883660e-03 9.34457485e+01] [-1.10972458e-01 9.93823462e-01 -2.00590404e-04 1.51421748e-01] [-3.52930062e-03 -1.92253476e-04 9.99993754e-01 -4.00910138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.395898227 meters Centerline goodness [0,1] 0.9835278694070879 Centerline is valid? [True, True] Translation: X:93.48, Y:0.16, Z:-0.40 [[ 9.93512627e-01 1.13701899e-01 2.13014512e-03 9.34756496e+01] [-1.13701899e-01 9.93514903e-01 -1.21236336e-04 1.58701585e-01] [-2.13011573e-03 -1.21751715e-04 9.99997724e-01 -4.04258540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.425898227 meters Centerline goodness [0,1] 0.9358612765068421 Centerline is valid? [True, False] Translation: X:93.48, Y:0.16, Z:-0.40 [[ 9.93489430e-01 1.13907099e-01 1.98109460e-03 9.34764891e+01] [-1.13907414e-01 9.93491368e-01 4.66496829e-05 1.58089220e-01] [-1.96288666e-03 -2.72007330e-04 9.99998037e-01 -4.04900152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.455898227 meters Centerline goodness [0,1] 0.9387686700043991 Centerline is valid? [False, False] Translation: X:93.48, Y:0.16, Z:-0.41 [[ 9.93427413e-01 1.14446515e-01 1.99234069e-03 9.34765807e+01] [-1.14447663e-01 9.93429167e-01 4.71373923e-04 1.56872582e-01] [-1.92530225e-03 -6.96294512e-04 9.99997904e-01 -4.05086818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.485898227 meters Centerline goodness [0,1] 0.8768741576819407 Centerline is valid? [False, False] Translation: X:93.48, Y:0.16, Z:-0.40 [[ 9.93828071e-01 1.10914156e-01 1.95317154e-03 9.34752335e+01] [-1.10906098e-01 9.93823475e-01 -3.83893584e-03 1.58970824e-01] [-2.36690005e-03 3.59862357e-03 9.99990724e-01 -4.04820580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.515898227 meters Centerline goodness [0,1] 0.7310717170428942 Centerline is valid? [False, False] Translation: X:93.47, Y:0.16, Z:-0.40 [[ 9.93801725e-01 1.11148300e-01 2.04606413e-03 9.34745817e+01] [-1.11140977e-01 9.93798835e-01 -3.39973639e-03 1.56976182e-01] [-2.41125107e-03 3.15126232e-03 9.99992128e-01 -4.04315030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.545898227 meters Centerline goodness [0,1] 0.6855499426921934 Centerline is valid? [False, False] Translation: X:93.47, Y:0.16, Z:-0.40 [[ 9.94224283e-01 1.07307261e-01 1.79660951e-03 9.34741166e+01] [-1.07290175e-01 9.94196967e-01 -7.82359212e-03 1.58844521e-01] [-2.62571197e-03 7.58564671e-03 9.99967781e-01 -4.04505661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.575898227 meters Centerline goodness [0,1] 0.6669825625473844 Centerline is valid? [False, False] Translation: X:93.47, Y:0.16, Z:-0.41 [[ 9.94206349e-01 1.07474660e-01 1.71249993e-03 9.34746384e+01] [-1.07459211e-01 9.94181762e-01 -7.42577095e-03 1.56876877e-01] [-2.50061840e-03 7.19872474e-03 9.99970962e-01 -4.05056715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.605898227 meters Centerline goodness [0,1] 0.690617752477335 Centerline is valid? [False, False] Translation: X:93.47, Y:0.15, Z:-0.41 [[ 9.94187931e-01 1.07645035e-01 1.70434168e-03 9.34748279e+01] [-1.07630651e-01 9.94166183e-01 -7.01736263e-03 1.54853432e-01] [-2.44978311e-03 6.79313783e-03 9.99973926e-01 -4.05453804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.635898227 meters Centerline goodness [0,1] 0.9371612682968463 Centerline is valid? [False, False] Translation: X:93.47, Y:0.15, Z:-0.41 [[ 9.94156436e-01 1.07926845e-01 2.18537229e-03 9.34729849e+01] [-1.07911783e-01 9.94141631e-01 -6.12083884e-03 1.50264245e-01] [-2.83317240e-03 5.84924391e-03 9.99978880e-01 -4.05037795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.665898227 meters Centerline goodness [0,1] 0.9209163725510916 Centerline is valid? [False, False] Translation: X:93.47, Y:0.15, Z:-0.40 [[ 9.94142732e-01 1.08052813e-01 2.19503873e-03 9.34727142e+01] [-1.08038754e-01 9.94130085e-01 -5.74464364e-03 1.48402728e-01] [-2.80287894e-03 5.47384647e-03 9.99981090e-01 -4.04739410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69589822700001 meters Centerline goodness [0,1] 0.900522011116512 Centerline is valid? [False, False] Translation: X:93.47, Y:0.15, Z:-0.40 [[ 9.94131923e-01 1.08151443e-01 2.23285420e-03 9.34723524e+01] [-1.08137702e-01 9.94120384e-01 -5.55879433e-03 1.47561968e-01] [-2.82091751e-03 5.28471918e-03 9.99982057e-01 -4.04391125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.725898227 meters Centerline goodness [0,1] 0.8607044256671965 Centerline is valid? [False, False] Translation: X:93.47, Y:0.15, Z:-0.40 [[ 9.94130141e-01 1.08169018e-01 2.17412876e-03 9.34727705e+01] [-1.08155344e-01 9.94117967e-01 -5.64710680e-03 1.48064225e-01] [-2.77218246e-03 5.37881544e-03 9.99981692e-01 -4.04736620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.755898227 meters Centerline goodness [0,1] 0.7810444467794473 Centerline is valid? [False, False] Translation: X:93.47, Y:0.15, Z:-0.41 [[ 9.94135270e-01 1.08127499e-01 1.87302901e-03 9.34745330e+01] [-1.08114014e-01 9.94119042e-01 -6.22017066e-03 1.51249533e-01] [-2.53458530e-03 5.98119036e-03 9.99978900e-01 -4.05884317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.785898227 meters Centerline goodness [0,1] 0.7694974367593915 Centerline is valid? [False, False] Translation: X:93.48, Y:0.15, Z:-0.41 [[ 9.94149258e-01 1.08000007e-01 1.80297505e-03 9.34750952e+01] [-1.07985952e-01 9.94130382e-01 -6.61947423e-03 1.53209775e-01] [-2.50729554e-03 6.38604942e-03 9.99976466e-01 -4.06376601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.815898227 meters Centerline goodness [0,1] 0.7503956781395742 Centerline is valid? [False, False] Translation: X:93.48, Y:0.15, Z:-0.41 [[ 9.94162448e-01 1.07877817e-01 1.84469682e-03 9.34750242e+01] [-1.07862721e-01 9.94141699e-01 -6.92215884e-03 1.54560869e-01] [-2.58063742e-03 6.68277636e-03 9.99974340e-01 -4.06461884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.845898227 meters Centerline goodness [0,1] 0.7313496190334698 Centerline is valid? [False, False] Translation: X:93.47, Y:0.16, Z:-0.41 [[ 9.94173548e-01 1.07774759e-01 1.88593756e-03 9.34747329e+01] [-1.07758872e-01 9.94151571e-01 -7.11897931e-03 1.55446752e-01] [-2.64215407e-03 6.87427442e-03 9.99972881e-01 -4.06162482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.875898227 meters Centerline goodness [0,1] 0.7431371725990598 Centerline is valid? [False, False] Translation: X:93.47, Y:0.16, Z:-0.41 [[ 9.94185582e-01 1.07665243e-01 1.79545775e-03 9.34747756e+01] [-1.07649899e-01 9.94163148e-01 -7.15088249e-03 1.55424357e-01] [-2.55487943e-03 6.91602343e-03 9.99972820e-01 -4.05845794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.905898227 meters Centerline goodness [0,1] 0.7872646194813704 Centerline is valid? [False, False] Translation: X:93.47, Y:0.15, Z:-0.41 [[ 9.94190401e-01 1.07620619e-01 1.80266448e-03 9.34745275e+01] [-1.07605453e-01 9.94168592e-01 -7.06235156e-03 1.54788101e-01] [-2.55220706e-03 6.82734560e-03 9.99973436e-01 -4.05556789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.935898227 meters Centerline goodness [0,1] 0.8615037945621904 Centerline is valid? [False, False] Translation: X:93.48, Y:0.15, Z:-0.41 [[ 9.94212813e-01 1.07418041e-01 1.49916791e-03 9.34756936e+01] [-1.07405277e-01 9.94191245e-01 -6.91922990e-03 1.53470551e-01] [-2.23370973e-03 6.71816848e-03 9.99974938e-01 -4.06081790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.965898227 meters Centerline goodness [0,1] 0.8427597017454669 Centerline is valid? [False, False] Translation: X:93.48, Y:0.15, Z:-0.41 [[ 9.94225357e-01 1.07303458e-01 1.38097000e-03 9.34764579e+01] [-1.07291227e-01 9.94202686e-01 -7.04361975e-03 1.53833912e-01] [-2.12876884e-03 6.85477939e-03 9.99974240e-01 -4.06745208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.995898227 meters Centerline goodness [0,1] 0.8490058430366976 Centerline is valid? [False, False] Translation: X:93.48, Y:0.15, Z:-0.41 [[ 9.94242181e-01 1.07148336e-01 1.31145708e-03 9.34769285e+01] [-1.07136077e-01 9.94217647e-01 -7.28917118e-03 1.54783042e-01] [-2.08489634e-03 7.10669709e-03 9.99972574e-01 -4.07139229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.025898227 meters Centerline goodness [0,1] 0.8335856037672384 Centerline is valid? [False, False] Translation: X:93.48, Y:0.16, Z:-0.41 [[ 9.94251862e-01 1.07059111e-01 1.25785428e-03 9.34770464e+01] [-1.07046830e-01 9.94225785e-01 -7.48767534e-03 1.55702069e-01] [-2.05221503e-03 7.30998583e-03 9.99971176e-01 -4.07007060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.055898227 meters Centerline goodness [0,1] 0.74211265538855 Centerline is valid? [False, False] Translation: X:93.48, Y:0.16, Z:-0.41 [[ 9.94245999e-01 1.07109977e-01 1.53157993e-03 9.34754959e+01] [-1.07094755e-01 9.94217515e-01 -7.88963041e-03 1.58247591e-01] [-2.36778173e-03 7.68020929e-03 9.99967703e-01 -4.05660092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.085898227 meters Centerline goodness [0,1] 0.6928125330792845 Centerline is valid? [False, False] Translation: X:93.47, Y:0.16, Z:-0.40 [[ 9.93984216e-01 1.09493395e-01 2.56404864e-03 9.34695442e+01] [-1.09478330e-01 9.93974401e-01 -5.42090245e-03 1.58558018e-01] [-3.14215173e-03 5.10758371e-03 9.99982020e-01 -4.01314065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.115898227 meters Centerline goodness [0,1] 0.6629757200515605 Centerline is valid? [False, False] Translation: X:93.47, Y:0.16, Z:-0.40 [[ 9.93989986e-01 1.09438667e-01 2.66175367e-03 9.34691548e+01] [-1.09421606e-01 9.93978038e-01 -5.87977770e-03 1.61054795e-01] [-3.28919972e-03 5.55318679e-03 9.99979171e-01 -4.01038759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.145898227 meters Centerline goodness [0,1] 0.6320261164357761 Centerline is valid? [False, False] Translation: X:93.47, Y:0.16, Z:-0.40 [[ 9.93996067e-01 1.09385812e-01 2.56181676e-03 9.34696474e+01] [-1.09367843e-01 9.93981156e-01 -6.33525074e-03 1.63517461e-01] [-3.23938413e-03 6.01703395e-03 9.99976651e-01 -4.01208014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.175898227 meters Centerline goodness [0,1] 0.594205923483125 Centerline is valid? [False, False] Translation: X:93.47, Y:0.17, Z:-0.40 [[ 9.94006850e-01 1.09290412e-01 2.44718647e-03 9.34704987e+01] [-1.09271600e-01 9.93988516e-01 -6.82251269e-03 1.66000867e-01] [-3.17811048e-03 6.51421636e-03 9.99973732e-01 -4.01922972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.205898227 meters Centerline goodness [0,1] 0.5682720020049288 Centerline is valid? [False, False] Translation: X:93.47, Y:0.17, Z:-0.40 [[ 9.94016607e-01 1.09202353e-01 2.41487027e-03 9.34711702e+01] [-1.09181125e-01 9.93992465e-01 -7.64599380e-03 1.70448470e-01] [-3.23532336e-03 7.33658656e-03 9.99967853e-01 -4.02563974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.235898227 meters Centerline goodness [0,1] 0.5786545164405996 Centerline is valid? [False, False] Translation: X:93.47, Y:0.17, Z:-0.40 [[ 9.94029934e-01 1.09080650e-01 2.42938326e-03 9.34711650e+01] [-1.09057524e-01 9.94001672e-01 -8.19350382e-03 1.73301887e-01] [-3.30856374e-03 7.87964554e-03 9.99963482e-01 -4.02482857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.265898227 meters Centerline goodness [0,1] 0.5164775115594789 Centerline is valid? [False, False] Translation: X:93.47, Y:0.18, Z:-0.40 [[ 9.94050983e-01 1.08888450e-01 2.43877554e-03 9.34713504e+01] [-1.08862499e-01 9.94015952e-01 -9.01351865e-03 1.77519853e-01] [-3.40564987e-03 8.69440588e-03 9.99956403e-01 -4.02576039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.295898227 meters Centerline goodness [0,1] 0.5908985665873834 Centerline is valid? [False, False] Translation: X:93.47, Y:0.18, Z:-0.40 [[ 9.94067338e-01 1.08740169e-01 2.38819284e-03 9.34717639e+01] [-1.08711872e-01 9.94024650e-01 -9.83481359e-03 1.81837420e-01] [-3.44336185e-03 9.51684205e-03 9.99948785e-01 -4.02792233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.325898227 meters Centerline goodness [0,1] 0.4591950049238377 Centerline is valid? [False, False] Translation: X:93.47, Y:0.19, Z:-0.40 [[ 9.94048329e-01 1.08913620e-01 2.39626177e-03 9.34723833e+01] [-1.08880669e-01 9.93992501e-01 -1.11313977e-02 1.90236070e-01] [-3.59422706e-03 1.08042408e-02 9.99935173e-01 -4.03273764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.355898227 meters Centerline goodness [0,1] 0.4751835535976505 Centerline is valid? [False, False] Translation: X:93.47, Y:0.19, Z:-0.40 [[ 9.94081827e-01 1.08609177e-01 2.31694442e-03 9.34728442e+01] [-1.08574053e-01 9.94016078e-01 -1.19879492e-02 1.94473980e-01] [-3.60508130e-03 1.16654424e-02 9.99925458e-01 -4.03419095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.385898227 meters Centerline goodness [0,1] 0.5237492350868309 Centerline is valid? [False, False] Translation: X:93.47, Y:0.20, Z:-0.40 [[ 9.94116440e-01 1.08293579e-01 2.23703095e-03 9.34731489e+01] [-1.08256838e-01 9.94041708e-01 -1.27098226e-02 1.97835813e-01] [-3.60009425e-03 1.23928697e-02 9.99916725e-01 -4.03363400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.415898227 meters Centerline goodness [0,1] 0.5441711724979488 Centerline is valid? [False, False] Translation: X:93.47, Y:0.20, Z:-0.40 [[ 9.94565872e-01 1.04072878e-01 2.75003218e-03 9.34718268e+01] [-1.04080219e-01 9.94565305e-01 2.67633174e-03 1.96483726e-01] [-2.45655305e-03 -2.94801216e-03 9.99992637e-01 -4.02299473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.445898227 meters Centerline goodness [0,1] 0.5906952320940979 Centerline is valid? [False, False] Translation: X:93.47, Y:0.20, Z:-0.40 [[ 9.95017381e-01 9.96696250e-02 2.52544160e-03 9.34710699e+01] [-9.96630637e-02 9.95017838e-01 -2.60316021e-03 2.01852259e-01] [-2.77231544e-03 2.33849641e-03 9.99993423e-01 -4.01916374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.475898227 meters Centerline goodness [0,1] 0.6418643711946252 Centerline is valid? [False, False] Translation: X:93.47, Y:0.21, Z:-0.40 [[ 9.95446739e-01 9.52904500e-02 2.34966361e-03 9.34701137e+01] [-9.52695271e-02 9.95420845e-01 -7.81398716e-03 2.07013725e-01] [-3.08350249e-03 7.55455669e-03 9.99966710e-01 -4.01353079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.505898227 meters Centerline goodness [0,1] 0.6478514968045745 Centerline is valid? [False, False] Translation: X:93.47, Y:0.21, Z:-0.40 [[ 9.95501772e-01 9.47133205e-02 2.36835550e-03 9.34696398e+01] [-9.46895974e-02 9.95469125e-01 -8.66607385e-03 2.10475514e-01] [-3.17841741e-03 8.40283324e-03 9.99959644e-01 -4.00637668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.535898227 meters Centerline goodness [0,1] 0.6262515314097419 Centerline is valid? [False, False] Translation: X:93.47, Y:0.21, Z:-0.40 [[ 9.95530260e-01 9.44145203e-02 2.32395697e-03 9.34698308e+01] [-9.43895411e-02 9.95492965e-01 -9.18538916e-03 2.12771370e-01] [-3.18071693e-03 8.92497562e-03 9.99955113e-01 -4.00632213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.565898227 meters Centerline goodness [0,1] 0.6739244656480528 Centerline is valid? [False, False] Translation: X:93.47, Y:0.22, Z:-0.40 [[ 9.95587689e-01 9.38137654e-02 2.03229473e-03 9.34709835e+01] [-9.37880344e-02 9.95538533e-01 -1.03360522e-02 2.17963022e-01] [-2.99289170e-03 1.00998414e-02 9.99944516e-01 -4.00853854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.595898227 meters Centerline goodness [0,1] 0.688765374698846 Centerline is valid? [False, False] Translation: X:93.47, Y:0.22, Z:-0.40 [[ 9.95616335e-01 9.35116260e-02 1.92095383e-03 9.34714686e+01] [-9.34853882e-02 9.95560952e-01 -1.09028615e-02 2.20478784e-01] [-2.93197093e-03 1.06754859e-02 9.99938717e-01 -4.00971343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.625898227 meters Centerline goodness [0,1] 0.6455267585237559 Centerline is valid? [False, False] Translation: X:93.47, Y:0.22, Z:-0.40 [[ 9.95475429e-01 9.49935099e-02 2.21456156e-03 9.34681689e+01] [-9.49694471e-02 9.95437694e-01 -9.19791216e-03 2.20602547e-01] [-3.07820001e-03 8.94597986e-03 9.99955246e-01 -3.97852193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.655898227 meters Centerline goodness [0,1] 0.64565445026178 Centerline is valid? [False, False] Translation: X:93.47, Y:0.22, Z:-0.40 [[ 9.95429151e-01 9.54868979e-02 1.74886625e-03 9.34710345e+01] [-9.54681703e-02 9.95394075e-01 -8.74436013e-03 2.21021038e-01] [-2.57578293e-03 8.53742992e-03 9.99960238e-01 -3.99437212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.685898227 meters Centerline goodness [0,1] 0.7148894805798571 Centerline is valid? [False, False] Translation: X:93.47, Y:0.22, Z:-0.40 [[ 9.95447126e-01 9.53023624e-02 1.57460218e-03 9.34715635e+01] [-9.52845076e-02 9.95409371e-01 -9.00255724e-03 2.22085366e-01] [-2.42533874e-03 8.81153453e-03 9.99958236e-01 -3.99359279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.715898227 meters Centerline goodness [0,1] 0.6848631071016469 Centerline is valid? [False, False] Translation: X:93.48, Y:0.22, Z:-0.40 [[ 9.95793091e-01 9.12984610e-02 7.79169203e-03 9.34775080e+01] [-9.13235140e-02 9.95816991e-01 2.92177322e-03 2.20496560e-01] [-7.49234591e-03 -3.62104629e-03 9.99965376e-01 -4.04699574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.745898227 meters Centerline goodness [0,1] 0.7056878028228355 Centerline is valid? [False, False] Translation: X:93.48, Y:0.22, Z:-0.40 [[ 9.96199522e-01 8.67769443e-02 7.50167930e-03 9.34773384e+01] [-8.67627572e-02 9.96226579e-01 -2.19699187e-03 2.24540958e-01] [-7.66402055e-03 1.53777587e-03 9.99969449e-01 -4.04785917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.775898227 meters Centerline goodness [0,1] 0.8189251086235312 Centerline is valid? [False, False] Translation: X:93.46, Y:0.22, Z:-0.40 [[ 9.96371186e-01 8.49128494e-02 5.85383494e-03 9.34566653e+01] [-8.49561391e-02 9.96355769e-01 7.59190355e-03 2.22306425e-01] [-5.18785205e-03 -8.06167316e-03 9.99954047e-01 -4.03903040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.805898227 meters Centerline goodness [0,1] 0.7132748970324216 Centerline is valid? [False, False] Translation: X:93.47, Y:0.22, Z:-0.40 [[ 9.96365130e-01 8.51695958e-02 1.63308295e-03 9.34713853e+01] [-8.51841626e-02 9.96266205e-01 1.40465909e-02 2.18514520e-01] [-4.30642885e-04 -1.41346462e-02 9.99900008e-01 -3.97967789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.835898227 meters Centerline goodness [0,1] 0.7282484440492824 Centerline is valid? [False, False] Translation: X:93.47, Y:0.22, Z:-0.40 [[ 9.96707296e-01 8.10696795e-02 1.50793091e-03 9.34706515e+01] [-8.10801036e-02 9.96665906e-01 9.11527433e-03 2.22558707e-01] [-7.63930955e-04 -9.20752362e-03 9.99957318e-01 -3.97777575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.865898227 meters Centerline goodness [0,1] 0.7072755190038491 Centerline is valid? [False, False] Translation: X:93.47, Y:0.23, Z:-0.40 [[ 9.97002884e-01 7.73526805e-02 1.34598868e-03 9.34703094e+01] [-7.73576953e-02 9.96994595e-01 4.19089447e-03 2.27708530e-01] [-1.01776652e-03 -4.28245646e-03 9.99990312e-01 -3.97831689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.895898227 meters Centerline goodness [0,1] 0.6554332438885251 Centerline is valid? [False, False] Translation: X:93.47, Y:0.23, Z:-0.40 [[ 9.97299702e-01 7.34289782e-02 1.22079913e-03 9.34700681e+01] [-7.34280154e-02 9.97300186e-01 -8.15681861e-04 2.32756092e-01] [-1.27739789e-03 7.23838419e-04 9.99998922e-01 -3.98192275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.925898227 meters Centerline goodness [0,1] 0.7169322285957085 Centerline is valid? [False, False] Translation: X:93.47, Y:0.23, Z:-0.40 [[ 9.97305569e-01 7.33497157e-02 1.19235693e-03 9.34703388e+01] [-7.33484477e-02 9.97305796e-01 -1.07455589e-03 2.34002128e-01] [-1.26796285e-03 9.84203045e-04 9.99998712e-01 -3.98497720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.955898227 meters Centerline goodness [0,1] 0.6682117949474305 Centerline is valid? [False, False] Translation: X:93.47, Y:0.23, Z:-0.40 [[ 9.97308327e-01 7.33132662e-02 1.12556114e-03 9.34707237e+01] [-7.33118913e-02 9.97308319e-01 -1.21778692e-03 2.34742139e-01] [-1.21181142e-03 1.13199202e-03 9.99998625e-01 -3.98774152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.985898227 meters Centerline goodness [0,1] 0.6975688680632892 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.97611899e-01 6.90622268e-02 9.52404553e-04 9.34705824e+01] [-6.90548548e-02 9.97592757e-01 -6.33388778e-03 2.39640280e-01] [-1.38754428e-03 6.25299366e-03 9.99979487e-01 -3.99048159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.015898227 meters Centerline goodness [0,1] 0.7000844238075137 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.97614575e-01 6.90246551e-02 8.69785500e-04 9.34706615e+01] [-6.90178412e-02 9.97595516e-01 -6.30277495e-03 2.39363562e-01] [-1.30274098e-03 6.22770944e-03 9.99979759e-01 -3.98774563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.045898227 meters Centerline goodness [0,1] 0.71313271800059 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.97918520e-01 6.44552200e-02 2.03789731e-03 9.34695097e+01] [-6.44709466e-02 9.97879615e-01 8.93151505e-03 2.35283638e-01] [-1.45789342e-03 -9.04430945e-03 9.99958037e-01 -3.98927663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.075898227 meters Centerline goodness [0,1] 0.7117773833671399 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.98191672e-01 6.00819268e-02 1.88385492e-03 9.34691500e+01] [-6.00889615e-02 9.98185285e-01 3.93118567e-03 2.39009788e-01] [-1.64424305e-03 -4.03727568e-03 9.99990498e-01 -3.98848923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.105898227 meters Centerline goodness [0,1] 0.7117773833671399 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.98419964e-01 5.61571956e-02 1.98629365e-03 9.34682007e+01] [-5.61559041e-02 9.98421767e-01 -7.00146304e-04 2.42278811e-01] [-2.02247706e-03 5.87497932e-04 9.99997782e-01 -3.98830722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.135898227 meters Centerline goodness [0,1] 0.840633401782501 Centerline is valid? [False, False] Translation: X:93.47, Y:0.25, Z:-0.40 [[ 9.98653772e-01 5.18337596e-02 1.97623711e-03 9.34675661e+01] [-5.18220163e-02 9.98640686e-01 -5.59101831e-03 2.45516682e-01] [-2.26335428e-03 5.48107893e-03 9.99982417e-01 -3.98875059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.165898227 meters Centerline goodness [0,1] 0.77000507528337 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.98841790e-01 4.76968688e-02 6.33149955e-03 9.34681408e+01] [-4.77535374e-02 9.98817486e-01 9.12298110e-03 2.41371792e-01] [-5.88887483e-03 -9.41476627e-03 9.99938340e-01 -4.02017233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.195898227 meters Centerline goodness [0,1] 0.8955185930712999 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.99035795e-01 4.34557051e-02 6.25161778e-03 9.34677600e+01] [-4.34843887e-02 9.99043846e-01 4.52779094e-03 2.43011522e-01] [-6.04888192e-03 -4.79527300e-03 9.99970208e-01 -4.01951237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.225898227 meters Centerline goodness [0,1] 0.7827579709841522 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.99031701e-01 4.35724356e-02 6.09123740e-03 9.34683218e+01] [-4.36024946e-02 9.99036980e-01 4.89224702e-03 2.41228596e-01] [-5.87220430e-03 -5.15310301e-03 9.99969481e-01 -4.02051017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.255898227 meters Centerline goodness [0,1] 0.8721643812425935 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.99200085e-01 3.95292255e-02 6.05225900e-03 9.34681054e+01] [-3.95317608e-02 9.99218269e-01 2.99806393e-04 2.43364497e-01] [-6.03567665e-03 -5.38823028e-04 9.99981640e-01 -4.02376442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.285898227 meters Centerline goodness [0,1] 0.8048108665026599 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.99193529e-01 3.97087888e-02 5.95856003e-03 9.34686581e+01] [-3.97136008e-02 9.99210865e-01 6.91400610e-04 2.41486473e-01] [-5.92640323e-03 -9.27478890e-04 9.99982009e-01 -4.02788369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.315898227 meters Centerline goodness [0,1] 0.7702731180982888 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.99323296e-01 3.62654082e-02 6.14568254e-03 9.34678661e+01] [-3.62456699e-02 9.99337483e-01 -3.29327712e-03 2.41757206e-01] [-6.26104297e-03 3.06829416e-03 9.99975692e-01 -4.03204869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.345898227 meters Centerline goodness [0,1] 0.7430885461356549 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.99315954e-01 3.64757632e-02 6.09456729e-03 9.34681315e+01] [-3.64587200e-02 9.99330997e-01 -2.88456872e-03 2.39866911e-01] [-6.19570685e-03 2.66039542e-03 9.99977267e-01 -4.03384503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.375898227 meters Centerline goodness [0,1] 0.7309996846420688 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.99301138e-01 3.68704866e-02 6.14835023e-03 9.34679707e+01] [-3.68584017e-02 9.99318360e-01 -2.06745580e-03 2.36124739e-01] [-6.22038737e-03 1.83939257e-03 9.99978961e-01 -4.03434310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.405898227 meters Centerline goodness [0,1] 0.716874960483888 Centerline is valid? [False, False] Translation: X:93.47, Y:0.24, Z:-0.40 [[ 9.99297576e-01 3.69600509e-02 6.18950862e-03 9.34677507e+01] [-3.69491868e-02 9.99315414e-01 -1.86053138e-03 2.35133275e-01] [-6.25403670e-03 1.63052719e-03 9.99979114e-01 -4.03276780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.435898227 meters Centerline goodness [0,1] 0.7091387660560118 Centerline is valid? [False, False] Translation: X:93.47, Y:0.23, Z:-0.40 [[ 9.99292416e-01 3.70809214e-02 6.29860994e-03 9.34671913e+01] [-3.70712342e-02 9.99311267e-01 -1.64788470e-03 2.34170109e-01] [-6.35537696e-03 1.41322144e-03 9.99978806e-01 -4.02931200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.465898227 meters Centerline goodness [0,1] 0.7114836546521375 Centerline is valid? [False, False] Translation: X:93.47, Y:0.23, Z:-0.40 [[ 9.99288908e-01 3.71649033e-02 6.35984117e-03 9.34668244e+01] [-3.71563022e-02 9.99308392e-01 -1.46530618e-03 2.33260224e-01] [-6.40990061e-03 1.22795603e-03 9.99978702e-01 -4.02671876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.495898227 meters Centerline goodness [0,1] 0.8388161374262202 Centerline is valid? [False, False] Translation: X:93.47, Y:0.23, Z:-0.40 [[ 9.99286367e-01 3.72198323e-02 6.43747384e-03 9.34663664e+01] [-3.72122146e-02 9.99306541e-01 -1.29914117e-03 2.32385488e-01] [-6.48136354e-03 1.05866140e-03 9.99978435e-01 -4.02355595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.525898227 meters Centerline goodness [0,1] 0.6790100211301492 Centerline is valid? [False, False] Translation: X:93.47, Y:0.23, Z:-0.40 [[ 9.99286448e-01 3.72570038e-02 6.20563757e-03 9.34668795e+01] [-3.72542856e-02 9.99305665e-01 -5.53091967e-04 2.28198465e-01] [-6.22193533e-03 3.21510713e-04 9.99980592e-01 -4.02101171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.555898227 meters Centerline goodness [0,1] 0.7981214751451873 Centerline is valid? [False, False] Translation: X:93.47, Y:0.23, Z:-0.40 [[ 9.99436652e-01 3.29846589e-02 6.19598403e-03 9.34663787e+01] [-3.29537955e-02 9.99444274e-01 -5.01896214e-03 2.29113243e-01] [-6.35808952e-03 4.81195353e-03 9.99968209e-01 -4.02003641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.585898227 meters Centerline goodness [0,1] 0.914234726013017 Centerline is valid? [False, False] Translation: X:93.46, Y:0.22, Z:-0.40 [[ 9.99605471e-01 2.75674721e-02 5.37931098e-03 9.34640152e+01] [-2.76212569e-02 9.99566477e-01 1.01943311e-02 2.22574994e-01] [-5.09594699e-03 -1.03388925e-02 9.99933567e-01 -3.99782756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.615898227 meters Centerline goodness [0,1] 0.9092162721213514 Centerline is valid? [False, False] Translation: X:93.46, Y:0.23, Z:-0.40 [[ 9.99796880e-01 1.94006081e-02 5.46030444e-03 9.34628042e+01] [-1.94063471e-02 9.99811179e-01 1.00002934e-03 2.27072312e-01] [-5.43987224e-03 -1.10579078e-03 9.99984592e-01 -3.99237734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.645898227 meters Centerline goodness [0,1] 0.8477585627938213 Centerline is valid? [False, False] Translation: X:93.46, Y:0.23, Z:-0.40 [[ 9.99871465e-01 1.50245027e-02 5.59626552e-03 9.34619469e+01] [-1.50045411e-02 9.99880973e-01 -3.59201626e-03 2.28464345e-01] [-5.64956767e-03 3.50758516e-03 9.99977889e-01 -3.98923060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.675898227 meters Centerline goodness [0,1] 0.9922629350795604 Centerline is valid? [False, True] Translation: X:93.48, Y:0.23, Z:-0.39 [[ 9.99960119e-01 8.00469663e-03 3.96035628e-03 9.34788996e+01] [-8.00314295e-03 9.99967891e-01 -4.08002469e-04 2.27380795e-01] [-3.96349505e-03 3.76290901e-04 9.99992075e-01 -3.92682563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.705898227 meters Centerline goodness [0,1] 0.9981332326537461 Centerline is valid? [True, True] Translation: X:93.51, Y:0.22, Z:-0.39 [[ 9.99977408e-01 5.26266943e-03 4.18187112e-03 9.35098902e+01] [-5.26344326e-03 9.99986133e-01 1.74060532e-04 2.22235363e-01] [-4.18089710e-03 -1.96067641e-04 9.99991241e-01 -3.92362923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.735898227 meters Centerline goodness [0,1] 0.9980999310964024 Centerline is valid? [True, True] Translation: X:93.54, Y:0.22, Z:-0.39 [[ 9.99988363e-01 2.63565308e-03 4.04075042e-03 9.35398781e+01] [-2.63635398e-03 9.99996511e-01 1.68141081e-04 2.23430929e-01] [-4.04029316e-03 -1.78791973e-04 9.99991822e-01 -3.92935367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.765898227 meters Centerline goodness [0,1] 0.9997874285228409 Centerline is valid? [True, True] Translation: X:93.57, Y:0.22, Z:-0.39 [[ 9.99994160e-01 4.87947926e-04 3.38246110e-03 9.35715149e+01] [-4.88426662e-04 9.99999871e-01 1.40710136e-04 2.15225303e-01] [-3.38239200e-03 -1.42361398e-04 9.99994270e-01 -3.93599024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.795898227 meters Centerline goodness [0,1] 0.999580747945665 Centerline is valid? [True, True] Translation: X:93.60, Y:0.22, Z:-0.40 [[ 9.99992372e-01 -2.72098507e-03 2.80234806e-03 9.36014538e+01] [ 2.72066921e-03 9.99996292e-01 1.16517211e-04 2.19669624e-01] [-2.80265471e-03 -1.08892060e-04 9.99996067e-01 -3.95964550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.825898227 meters Centerline goodness [0,1] 0.9996646405365751 Centerline is valid? [True, True] Translation: X:93.63, Y:0.22, Z:-0.40 [[ 9.99988233e-01 -3.77925981e-03 3.04143502e-03 9.36328888e+01] [ 3.77889265e-03 9.99992852e-01 1.26456654e-04 2.17582380e-01] [-3.04189120e-03 -1.14961909e-04 9.99995367e-01 -3.95635430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.855898227 meters Centerline goodness [0,1] 0.9998531971562192 Centerline is valid? [True, True] Translation: X:93.66, Y:0.22, Z:-0.39 [[ 9.99979208e-01 -5.56149728e-03 3.26395164e-03 9.36642579e+01] [ 5.56108418e-03 9.99984528e-01 1.35627576e-04 2.16678689e-01] [-3.26465543e-03 -1.17473646e-04 9.99994664e-01 -3.94839501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.885898227 meters Centerline goodness [0,1] 0.9999787883930087 Centerline is valid? [True, True] Translation: X:93.70, Y:0.21, Z:-0.40 [[ 9.99947644e-01 -9.86074621e-03 2.73410624e-03 9.36950278e+01] [ 9.86047254e-03 9.99951378e-01 1.13555555e-04 2.13164542e-01] [-2.73509305e-03 -8.65900298e-05 9.99996256e-01 -3.95299030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.915898227 meters Centerline goodness [0,1] 0.9999581598711325 Centerline is valid? [True, True] Translation: X:93.73, Y:0.21, Z:-0.40 [[ 9.99922199e-01 -1.23352004e-02 1.85430009e-03 9.37264181e+01] [ 1.23350788e-02 9.99923917e-01 7.70174863e-05 2.11457778e-01] [-1.85510904e-03 -5.41385566e-05 9.99998278e-01 -3.97263544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.945898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:0.21, Z:-0.40 [[ 9.99893057e-01 -1.46214618e-02 2.96120647e-04 9.37565875e+01] [ 1.46214588e-02 9.99893101e-01 1.23191324e-05 2.10268091e-01] [-2.96269116e-04 -7.98809907e-06 9.99999956e-01 -4.00047443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.975898227 meters Centerline goodness [0,1] 0.999894962396538 Centerline is valid? [True, True] Translation: X:93.79, Y:0.21, Z:-0.40 [[ 9.99859382e-01 -1.67424058e-02 -9.53434191e-04 9.37859714e+01] [ 1.67423756e-02 9.99859836e-01 -3.95988013e-05 2.09664886e-01] [ 9.53963533e-04 2.36304796e-05 9.99999545e-01 -4.03214800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.005898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:0.21, Z:-0.40 [[ 9.99836373e-01 -1.79800856e-02 -1.98573684e-03 9.38168087e+01] [ 1.79799573e-02 9.99838344e-01 -8.24018187e-05 2.09362238e-01] [ 1.98689742e-03 4.66848720e-05 9.99998025e-01 -4.04925171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.035898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:0.21, Z:-0.41 [[ 9.99814075e-01 -1.91370887e-02 -2.36367175e-03 9.38463442e+01] [ 1.91369100e-02 9.99816868e-01 -9.82097842e-05 2.09144089e-01] [ 2.36511834e-03 5.29581509e-05 9.99997202e-01 -4.05671777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.065898227 meters Centerline goodness [0,1] 0.9999789734855653 Centerline is valid? [True, True] Translation: X:93.88, Y:0.21, Z:-0.40 [[ 9.99777598e-01 -2.10543064e-02 -1.21281532e-03 9.38755217e+01] [ 2.10542607e-02 9.99778333e-01 -5.04536185e-05 2.10187480e-01] [ 1.21360874e-03 2.49074676e-05 9.99999263e-01 -4.03373848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.095898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.91, Y:0.21, Z:-0.40 [[ 9.99753398e-01 -2.22051988e-02 -2.67488246e-04 9.39050643e+01] [ 2.22051966e-02 9.99753434e-01 -1.11891466e-05 2.09051707e-01] [ 2.67670749e-04 5.24675829e-06 9.99999964e-01 -4.01429692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.125898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:0.21, Z:-0.40 [[ 9.99722854e-01 -2.35415699e-02 -9.99674385e-05 9.39352912e+01] [ 2.35415696e-02 9.99722859e-01 -4.19168353e-06 2.09133156e-01] [ 1.00038412e-04 1.83713141e-06 9.99999995e-01 -4.00357284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.155898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:0.21, Z:-0.40 [[ 9.99695748e-01 -2.46640668e-02 -3.08205492e-04 9.39649876e+01] [ 2.46640640e-02 9.99695796e-01 -1.27949526e-05 2.08881202e-01] [ 3.08427310e-04 5.18945970e-06 9.99999952e-01 -4.00507839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.185898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.99, Y:0.20, Z:-0.40 [[ 9.99616062e-01 -2.75794124e-02 -2.66526310e-03 9.39944311e+01] [ 2.75792146e-02 9.99619615e-01 -1.10934506e-04 2.04988740e-01] [ 2.66730878e-03 3.73860510e-05 9.99996442e-01 -4.04528368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.215898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.02, Y:0.20, Z:-0.41 [[ 9.99588737e-01 -2.85022026e-02 -3.15942642e-03 9.40236455e+01] [ 2.85019264e-02 9.99593729e-01 -1.32428621e-04 2.04544794e-01] [ 3.16191735e-03 4.23244183e-05 9.99995000e-01 -4.06318439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.245898227 meters Centerline goodness [0,1] 0.9999373446669869 Centerline is valid? [True, True] Translation: X:94.05, Y:0.21, Z:-0.41 [[ 9.99570283e-01 -2.91805428e-02 -2.78313846e-03 9.40526612e+01] [ 2.91803297e-02 9.99574157e-01 -1.17166360e-04 2.05512440e-01] [ 2.78537225e-03 3.59031140e-05 9.99996120e-01 -4.05931600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.275898227 meters Centerline goodness [0,1] 0.9999367862109655 Centerline is valid? [True, True] Translation: X:94.08, Y:0.21, Z:-0.40 [[ 9.99579757e-01 -2.89493372e-02 -1.49820013e-03 9.40809476e+01] [ 2.89492745e-02 9.99580880e-01 -6.35462908e-05 2.07659795e-01] [ 1.49941183e-03 2.01477791e-05 9.99998876e-01 -4.03872090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.305898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:0.21, Z:-0.40 [[ 9.99610909e-01 -2.78925811e-02 1.88018517e-04 9.41103524e+01] [ 2.78925801e-02 9.99610926e-01 7.84796852e-06 2.11402841e-01] [-1.88164265e-04 -2.60059338e-06 9.99999982e-01 -4.00516783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.335898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.14, Y:0.22, Z:-0.40 [[ 9.99641444e-01 -2.67214716e-02 1.71648095e-03 9.41388640e+01] [ 2.67213870e-02 9.99642917e-01 7.22394536e-05 2.16328691e-01] [-1.71779837e-03 -2.63468000e-05 9.99998524e-01 -3.98106929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.365898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.17, Y:0.22, Z:-0.40 [[ 9.99695403e-01 -2.46240535e-02 1.66063535e-03 9.41692071e+01] [ 2.46239712e-02 9.99696782e-01 6.99899679e-05 2.19571554e-01] [-1.66185526e-03 -2.90772120e-05 9.99998619e-01 -3.97042910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.395898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.20, Y:0.22, Z:-0.40 [[ 9.99705416e-01 -2.42626675e-02 6.35254105e-04 9.41981553e+01] [ 2.42626554e-02 9.99705618e-01 2.67464452e-05 2.24960066e-01] [-6.35716037e-04 -1.13256147e-05 9.99999798e-01 -3.98859357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.425898227 meters Centerline goodness [0,1] 0.9999789664093558 Centerline is valid? [True, True] Translation: X:94.23, Y:0.22, Z:-0.40 [[ 9.99701004e-01 -2.44436745e-02 -6.39478605e-04 9.42277219e+01] [ 2.44436622e-02 9.99701209e-01 -2.70430807e-05 2.24818022e-01] [ 6.39948566e-04 1.14037959e-05 9.99999795e-01 -4.00920213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.455898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.26, Y:0.23, Z:-0.40 [[ 9.99686506e-01 -2.49937839e-02 -1.48319719e-03 9.42571151e+01] [ 2.49937186e-02 9.99687606e-01 -6.25631897e-05 2.28096219e-01] [ 1.48429754e-03 2.54729633e-05 9.99998898e-01 -4.03268941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.485898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.29, Y:0.23, Z:-0.40 [[ 9.99651193e-01 -2.63732808e-02 -1.39403375e-03 9.42865847e+01] [ 2.63732243e-02 9.99652164e-01 -5.89038516e-05 2.26437985e-01] [ 1.39510234e-03 2.21181407e-05 9.99999027e-01 -4.04055479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.32, Y:0.22, Z:-0.40 [[ 9.99534279e-01 -3.05124235e-02 4.66706972e-04 9.43164710e+01] [ 3.05124176e-02 9.99534388e-01 1.96384134e-05 2.22097926e-01] [-4.67088883e-04 -5.38890930e-06 9.99999891e-01 -4.03214593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.545898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.35, Y:0.22, Z:-0.40 [[ 9.99454466e-01 -3.29871095e-02 1.61875101e-03 9.43453124e+01] [ 3.29870421e-02 9.99455777e-01 6.83089360e-05 2.20544264e-01] [-1.62012337e-03 -1.48738633e-05 9.99998687e-01 -4.01213078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.575898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.38, Y:0.22, Z:-0.40 [[ 9.99382101e-01 -3.50874043e-02 2.07111506e-03 9.43750277e+01] [ 3.50872983e-02 9.99384247e-01 8.75098711e-05 2.19366090e-01] [-2.07291026e-03 -1.47859671e-05 9.99997851e-01 -4.00204963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.605898227 meters Centerline goodness [0,1] 0.9998082536165498 Centerline is valid? [True, True] Translation: X:94.40, Y:0.22, Z:-0.40 [[ 9.99327844e-01 -3.66307030e-02 1.43249719e-03 9.44045193e+01] [ 3.66306538e-02 9.99328871e-01 6.05372393e-05 2.18918366e-01] [-1.43375332e-03 -8.02324010e-06 9.99998972e-01 -4.01473881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.635898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.43, Y:0.22, Z:-0.40 [[ 9.99318882e-01 -3.68867142e-02 -1.06855162e-03 9.44330019e+01] [ 3.68866868e-02 9.99319454e-01 -4.53588401e-05 2.21770825e-01] [ 1.06949756e-03 5.91261638e-06 9.99999428e-01 -4.04829061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.665898227 meters Centerline goodness [0,1] 0.9998941193909747 Centerline is valid? [True, True] Translation: X:94.46, Y:0.23, Z:-0.41 [[ 9.99342198e-01 -3.62422793e-02 -1.29185538e-03 9.44612657e+01] [ 3.62422379e-02 9.99343033e-01 -5.54310325e-05 2.26152067e-01] [ 1.29301562e-03 8.57483987e-06 9.99999164e-01 -4.06186062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.695898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.49, Y:0.23, Z:-0.40 [[ 9.99386303e-01 -3.50212986e-02 -7.24788560e-04 9.44895999e+01] [ 3.50212850e-02 9.99386566e-01 -3.14410247e-05 2.31291943e-01] [ 7.25445056e-04 6.03870266e-06 9.99999737e-01 -4.04788760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.725898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.52, Y:0.24, Z:-0.40 [[ 9.99433978e-01 -3.36410300e-02 6.64523637e-05 9.45175657e+01] [ 3.36410299e-02 9.99433980e-01 2.74186647e-06 2.36529790e-01] [-6.65069896e-05 -5.04788557e-07 9.99999998e-01 -4.03520096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.755898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.55, Y:0.24, Z:-0.40 [[ 9.99486112e-01 -3.20511088e-02 -4.89010587e-04 9.45466267e+01] [ 3.20511024e-02 9.99486231e-01 -2.09716014e-05 2.41958201e-01] [ 4.89431511e-04 5.28749596e-06 9.99999880e-01 -4.04867731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.785898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.58, Y:0.24, Z:-0.41 [[ 9.99489214e-01 -3.19147533e-02 -1.66150708e-03 9.45751133e+01] [ 3.19146790e-02 9.99490594e-01 -7.11796997e-05 2.44128289e-01] [ 1.66293238e-03 1.81168768e-05 9.99998617e-01 -4.07609647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.815898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.60, Y:0.25, Z:-0.41 [[ 9.99479802e-01 -3.20832162e-02 -3.28513791e-03 9.46040121e+01] [ 3.20829267e-02 9.99485200e-01 -1.40801166e-04 2.45844643e-01] [ 3.28796407e-03 3.53310834e-05 9.99994594e-01 -4.10866428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.845898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.63, Y:0.25, Z:-0.41 [[ 9.99456036e-01 -3.26682981e-02 -4.51822336e-03 9.46330087e+01] [ 3.26677517e-02 9.99466248e-01 -1.94698306e-04 2.46950764e-01] [ 4.52217221e-03 4.69921983e-05 9.99989774e-01 -4.13371766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.66, Y:0.25, Z:-0.41 [[ 9.99420927e-01 -3.36574690e-02 -4.99844756e-03 9.46613318e+01] [ 3.36568089e-02 9.99433426e-01 -2.16151932e-04 2.47672827e-01] [ 5.00289069e-03 4.77949706e-05 9.99987484e-01 -4.14213738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.905898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.69, Y:0.25, Z:-0.41 [[ 9.99353098e-01 -3.58054003e-02 -3.37017073e-03 9.46899774e+01] [ 3.58051100e-02 9.99358781e-01 -1.46458484e-04 2.46818530e-01] [ 3.37325371e-03 2.56944059e-05 9.99994310e-01 -4.09808521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.935898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.72, Y:0.25, Z:-0.41 [[ 9.99321855e-01 -3.67449832e-02 -2.37407743e-03 9.47175815e+01] [ 3.67448415e-02 9.99324675e-01 -1.03294359e-04 2.47177979e-01] [ 2.37626971e-03 1.59892116e-05 9.99997177e-01 -4.07977352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.965898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:0.25, Z:-0.41 [[ 9.99315047e-01 -3.69296787e-02 -2.37404571e-03 9.47450287e+01] [ 3.69295358e-02 9.99317867e-01 -1.04023187e-04 2.48577260e-01] [ 2.37626784e-03 1.62795298e-05 9.99997177e-01 -4.08059335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.995898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:0.25, Z:-0.41 [[ 9.99296681e-01 -3.74351046e-02 -2.18103427e-03 9.47736305e+01] [ 3.74349843e-02 9.99299061e-01 -9.59407676e-05 2.48003834e-01] [ 2.18309705e-03 1.42263068e-05 9.99997617e-01 -4.06822680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.025898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.80, Y:0.25, Z:-0.41 [[ 9.99294763e-01 -3.74543769e-02 -2.67308395e-03 9.48009876e+01] [ 3.74541971e-02 9.99298339e-01 -1.17302730e-04 2.49225966e-01] [ 2.67560185e-03 1.71017907e-05 9.99996420e-01 -4.08449199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.055898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.83, Y:0.25, Z:-0.41 [[ 9.99333506e-01 -3.63248103e-02 -3.61286026e-03 9.48299532e+01] [ 3.63244714e-02 9.99340036e-01 -1.59387691e-04 2.50827103e-01] [ 3.61626563e-03 2.80462206e-05 9.99993461e-01 -4.10033519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:0.26, Z:-0.41 [[ 9.99394000e-01 -3.47271679e-02 -2.37818491e-03 9.48579550e+01] [ 3.47270166e-02 9.99396830e-01 -1.04907792e-04 2.55434507e-01] [ 2.38039361e-03 2.22569514e-05 9.99997167e-01 -4.08500457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.115898227 meters Centerline goodness [0,1] 0.999916323243311 Centerline is valid? [True, True] Translation: X:94.89, Y:0.26, Z:-0.41 [[ 9.99469053e-01 -3.25739776e-02 -7.39752762e-04 9.48857920e+01] [ 3.25739622e-02 9.99469327e-01 -3.27864635e-05 2.60670510e-01] [ 7.40428181e-04 8.67237708e-06 9.99999726e-01 -4.05328156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:0.26, Z:-0.40 [[ 9.99553116e-01 -2.98771661e-02 9.60348499e-04 9.49153497e+01] [ 2.98771392e-02 9.99553578e-01 4.22995137e-05 2.64039756e-01] [-9.61183568e-04 -1.35881449e-05 9.99999538e-01 -4.01001877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.175898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.95, Y:0.27, Z:-0.40 [[ 9.99633523e-01 -2.69688036e-02 2.34591159e-03 9.49457033e+01] [ 2.69686350e-02 9.99636275e-01 1.03498292e-04 2.69889958e-01] [-2.34784955e-03 -4.01943286e-05 9.99997243e-01 -3.98691600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:0.28, Z:-0.40 [[ 9.99760984e-01 -2.17160593e-02 2.52720535e-03 9.49758967e+01] [ 2.17158468e-02 9.99764177e-01 1.11496715e-04 2.76069154e-01] [-2.52903064e-03 -5.65896614e-05 9.99996800e-01 -3.99937032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.235898227 meters Centerline goodness [0,1] 0.9999576217315761 Centerline is valid? [True, True] Translation: X:95.01, Y:0.28, Z:-0.40 [[ 9.99801487e-01 -1.98472111e-02 1.75324994e-03 9.50056614e+01] [ 1.98471059e-02 9.99803024e-01 7.73658466e-05 2.84283962e-01] [-1.75444009e-03 -4.25535512e-05 9.99998460e-01 -4.02059443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.265898227 meters Centerline goodness [0,1] 0.9999789748118245 Centerline is valid? [True, True] Translation: X:95.04, Y:0.29, Z:-0.40 [[ 9.99827622e-01 -1.85396154e-02 1.00448159e-03 9.50358516e+01] [ 1.85395802e-02 9.99828126e-01 4.43040660e-05 2.86587190e-01] [-1.00513033e-03 -2.56737620e-05 9.99999495e-01 -4.03908876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.295898227 meters Centerline goodness [0,1] 0.9998115854041493 Centerline is valid? [True, True] Translation: X:95.07, Y:0.29, Z:-0.41 [[ 9.99838541e-01 -1.79552390e-02 7.08720735e-04 9.50654450e+01] [ 1.79552213e-02 9.99838792e-01 3.12327587e-05 2.90347192e-01] [-7.09167275e-04 -1.85024782e-05 9.99999748e-01 -4.05591555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.325898227 meters Centerline goodness [0,1] 0.9999582097037067 Centerline is valid? [True, True] Translation: X:95.09, Y:0.30, Z:-0.40 [[ 9.99864527e-01 -1.63648490e-02 1.76629881e-03 9.50944154e+01] [ 1.63647369e-02 9.99866086e-01 7.79116412e-05 2.95485719e-01] [-1.76733729e-03 -4.89960710e-05 9.99998437e-01 -4.03174975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.355898227 meters Centerline goodness [0,1] 0.9999159239952917 Centerline is valid? [True, True] Translation: X:95.12, Y:0.30, Z:-0.40 [[ 9.99872969e-01 -1.57502549e-02 2.44445948e-03 9.51244839e+01] [ 1.57500382e-02 9.99875955e-01 1.07872745e-04 2.98154321e-01] [-2.44585528e-03 -6.93587114e-05 9.99997006e-01 -4.01530295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.385898227 meters Centerline goodness [0,1] 0.9999151553717255 Centerline is valid? [True, True] Translation: X:95.16, Y:0.30, Z:-0.40 [[ 9.99885788e-01 -1.48002934e-02 3.05969343e-03 9.51557760e+01] [ 1.47999495e-02 9.99890466e-01 1.35020829e-04 2.96653973e-01] [-3.06135664e-03 -8.97221001e-05 9.99995310e-01 -4.01210919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.415898227 meters Centerline goodness [0,1] 0.9999575416622439 Centerline is valid? [True, True] Translation: X:95.19, Y:0.30, Z:-0.40 [[ 9.99898806e-01 -1.38387187e-02 3.29655580e-03 9.51866516e+01] [ 1.38383145e-02 9.99904235e-01 1.45393754e-04 2.96759536e-01] [-3.29825217e-03 -9.97602646e-05 9.99994556e-01 -4.01852269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.445898227 meters Centerline goodness [0,1] 0.9998945614812003 Centerline is valid? [True, True] Translation: X:95.22, Y:0.31, Z:-0.40 [[ 9.99914034e-01 -1.28410679e-02 2.65177033e-03 9.52169312e+01] [ 1.28408028e-02 9.99917547e-01 1.16954270e-04 3.07927827e-01] [-2.65305350e-03 -8.28933561e-05 9.99996477e-01 -4.03529355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.475898227 meters Centerline goodness [0,1] 0.9996252732382638 Centerline is valid? [True, True] Translation: X:95.25, Y:0.31, Z:-0.41 [[ 9.99926986e-01 -1.19482754e-02 1.80611095e-03 9.52468121e+01] [ 1.19481513e-02 9.99928615e-01 7.95206420e-05 3.11942372e-01] [-1.80693215e-03 -5.79351490e-05 9.99998366e-01 -4.06189463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.505898227 meters Centerline goodness [0,1] 0.9998312983699205 Centerline is valid? [True, True] Translation: X:95.28, Y:0.31, Z:-0.41 [[ 9.99946230e-01 -1.03497992e-02 -6.46700350e-04 9.52774013e+01] [ 1.03497830e-02 9.99946439e-01 -2.84399775e-05 3.09907137e-01] [ 6.46960061e-04 2.17452401e-05 9.99999790e-01 -4.11013766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.535898227 meters Centerline goodness [0,1] 0.9999152596233291 Centerline is valid? [True, True] Translation: X:95.31, Y:0.31, Z:-0.41 [[ 9.99953840e-01 -9.54637110e-03 -1.08881791e-03 9.53083102e+01] [ 9.54632461e-03 9.99954432e-01 -4.78830064e-05 3.07044663e-01] [ 1.08922541e-03 3.74865869e-05 9.99999406e-01 -4.11382657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.565898227 meters Centerline goodness [0,1] 0.999768494159739 Centerline is valid? [True, True] Translation: X:95.34, Y:0.31, Z:-0.41 [[ 9.99963186e-01 -8.49544957e-03 -1.20551703e-03 9.53379670e+01] [ 8.49539182e-03 9.99963912e-01 -5.30150901e-05 3.11606265e-01] [ 1.20592392e-03 4.27717989e-05 9.99999272e-01 -4.11467679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.595898227 meters Centerline goodness [0,1] 0.9997690046199076 Centerline is valid? [True, True] Translation: X:95.37, Y:0.31, Z:-0.41 [[ 9.99970694e-01 -7.47585677e-03 -1.65014049e-03 9.53678773e+01] [ 7.47574710e-03 9.99972054e-01 -7.26220865e-05 3.12541920e-01] [ 1.65063729e-03 6.02839252e-05 9.99998636e-01 -4.11755979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.625898227 meters Centerline goodness [0,1] 0.9998532463992956 Centerline is valid? [True, True] Translation: X:95.40, Y:0.31, Z:-0.41 [[ 9.99973100e-01 -6.74972368e-03 -2.87056450e-03 9.53970486e+01] [ 6.74938889e-03 9.99977215e-01 -1.26302154e-04 3.13597575e-01] [ 2.87135160e-03 1.06924200e-04 9.99995872e-01 -4.14088526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.655898227 meters Centerline goodness [0,1] 0.9995972016111936 Centerline is valid? [True, True] Translation: X:95.43, Y:0.31, Z:-0.42 [[ 9.99967358e-01 -7.00856826e-03 -4.02021446e-03 9.54271543e+01] [ 7.00791312e-03 9.99975429e-01 -1.77025664e-04 3.13222127e-01] [ 4.02135637e-03 1.48846572e-04 9.99991903e-01 -4.16718347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.685898227 meters Centerline goodness [0,1] 0.9996402497090255 Centerline is valid? [True, True] Translation: X:95.46, Y:0.31, Z:-0.42 [[ 9.99975491e-01 -5.16222112e-03 -4.72963292e-03 9.54571684e+01] [ 5.16129328e-03 9.99986659e-01 -2.08361013e-04 3.13006910e-01] [ 4.73064543e-03 1.83944884e-04 9.99988794e-01 -4.17160576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.715898227 meters Centerline goodness [0,1] 0.9996030917067057 Centerline is valid? [True, True] Translation: X:95.49, Y:0.31, Z:-0.42 [[ 9.99986698e-01 -3.50875745e-03 -3.78061272e-03 9.54869316e+01] [ 3.50815242e-03 9.99993833e-01 -1.66653703e-04 3.13790709e-01] [ 3.78117415e-03 1.53388520e-04 9.99992840e-01 -4.15587496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.745898227 meters Centerline goodness [0,1] 0.9993516543271845 Centerline is valid? [True, True] Translation: X:95.52, Y:0.31, Z:-0.41 [[ 9.99995906e-01 -1.47894754e-03 -2.44976039e-03 9.55160452e+01] [ 1.47868687e-03 9.99998901e-01 -1.08212931e-04 3.13998340e-01] [ 2.44991774e-03 1.04590059e-04 9.99996993e-01 -4.13038365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.775898227 meters Centerline goodness [0,1] 0.9988439306358381 Centerline is valid? [True, True] Translation: X:95.55, Y:0.31, Z:-0.41 [[ 9.99998721e-01 1.40116628e-03 -7.70879288e-04 9.55461870e+01] [-1.40119295e-03 9.99999018e-01 -3.40490089e-05 3.12844900e-01] [ 7.70830823e-04 3.51291160e-05 9.99999702e-01 -4.10045984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.805898227 meters Centerline goodness [0,1] 0.9985426127362974 Centerline is valid? [True, True] Translation: X:95.58, Y:0.31, Z:-0.41 [[ 9.99995275e-01 2.86478556e-03 -1.11517019e-03 9.55765972e+01] [-2.86484221e-03 9.99995895e-01 -4.92059350e-05 3.13366731e-01] [ 1.11502465e-03 5.24004891e-05 9.99999377e-01 -4.09563223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.835898227 meters Centerline goodness [0,1] 0.9983164983164983 Centerline is valid? [True, True] Translation: X:95.61, Y:0.31, Z:-0.41 [[ 9.99991820e-01 3.71999198e-03 -1.58765494e-03 9.56055509e+01] [-3.72010764e-03 9.99993078e-01 -6.99056540e-05 3.14001724e-01] [ 1.58738390e-03 7.58113295e-05 9.99998737e-01 -4.10369025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.865898227 meters Centerline goodness [0,1] 0.9972977502199506 Centerline is valid? [True, True] Translation: X:95.63, Y:0.31, Z:-0.41 [[ 9.99988454e-01 4.40401450e-03 -1.92268190e-03 9.56345012e+01] [-4.40418583e-03 9.99990298e-01 -8.48860748e-05 3.14933812e-01] [ 1.92228941e-03 9.33529431e-05 9.99998148e-01 -4.11441185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.895898227 meters Centerline goodness [0,1] 0.997363244464906 Centerline is valid? [True, True] Translation: X:95.66, Y:0.31, Z:-0.41 [[ 9.99987310e-01 4.76611022e-03 -1.63198020e-03 9.56646932e+01] [-4.76623421e-03 9.99988639e-01 -7.20986943e-05 3.13721434e-01] [ 1.63161803e-03 7.98761793e-05 9.99998666e-01 -4.11280302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.925898227 meters Centerline goodness [0,1] 0.9981457679259993 Centerline is valid? [True, True] Translation: X:95.69, Y:0.31, Z:-0.41 [[ 9.99988016e-01 4.80184214e-03 -9.54415248e-04 9.56948298e+01] [-4.80188461e-03 9.99988470e-01 -4.22163703e-05 3.09287971e-01] [ 9.54201527e-04 4.67988562e-05 9.99999544e-01 -4.09429880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.955898227 meters Centerline goodness [0,1] 0.9943040227839088 Centerline is valid? [True, True] Translation: X:95.72, Y:0.31, Z:-0.40 [[ 9.99983115e-01 5.52809382e-03 1.79175205e-03 9.57247409e+01] [-5.52824442e-03 9.99984716e-01 7.91107152e-05 3.08832790e-01] [-1.79128734e-03 -8.90146227e-05 9.99998392e-01 -4.04569724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.985898227 meters Centerline goodness [0,1] 0.9946781657551536 Centerline is valid? [True, True] Translation: X:95.76, Y:0.31, Z:-0.40 [[ 9.99972712e-01 7.13397002e-03 1.91873647e-03 9.57563940e+01] [-7.13414579e-03 9.99974548e-01 8.47786856e-05 3.08191334e-01] [-1.91808283e-03 -9.84649179e-05 9.99998156e-01 -4.04282617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.015898227 meters Centerline goodness [0,1] 0.9874131761734372 Centerline is valid? [True, True] Translation: X:95.79, Y:0.31, Z:-0.41 [[ 9.99954083e-01 9.52707792e-03 1.03314232e-03 9.57863724e+01] [-9.52713012e-03 9.99954615e-01 4.56120535e-05 3.13223497e-01] [-1.03266088e-03 -5.54528405e-05 9.99999465e-01 -4.05393143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.045898227 meters Centerline goodness [0,1] 0.9902234636871509 Centerline is valid? [True, True] Translation: X:95.82, Y:0.31, Z:-0.41 [[ 9.99924369e-01 1.22978393e-02 1.35786847e-04 9.58170373e+01] [-1.22978403e-02 9.99924379e-01 6.00261508e-06 3.13866877e-01] [-1.35702760e-04 -7.67204606e-06 9.99999991e-01 -4.06505092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.075898227 meters Centerline goodness [0,1] 0.9544804074245549 Centerline is valid? [True, True] Translation: X:95.85, Y:0.32, Z:-0.41 [[ 9.99851542e-01 1.72161249e-02 7.05891811e-04 9.58471875e+01] [-1.72161512e-02 9.99851791e-01 3.11476046e-05 3.23308033e-01] [-7.05250950e-04 -4.32957206e-05 9.99999750e-01 -4.06207304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.105898227 meters Centerline goodness [0,1] 0.777591482583728 Centerline is valid? [True, False] Translation: X:95.85, Y:0.32, Z:-0.41 [[ 9.99852929e-01 1.71307021e-02 8.11471237e-04 9.58466857e+01] [-1.71304741e-02 9.99853221e-01 -2.87119687e-04 3.24876817e-01] [-8.16270692e-04 2.73176574e-04 9.99999630e-01 -4.05963878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.135898227 meters Centerline goodness [0,1] 0.8107410980161892 Centerline is valid? [False, False] Translation: X:95.85, Y:0.33, Z:-0.41 [[ 9.99853402e-01 1.70998030e-02 8.78322691e-04 9.58462900e+01] [-1.70994922e-02 9.99853728e-01 -3.60211680e-04 3.25165956e-01] [-8.84353765e-04 3.45140001e-04 9.99999549e-01 -4.05678728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.165898227 meters Centerline goodness [0,1] 0.9085649365677138 Centerline is valid? [False, False] Translation: X:95.85, Y:0.32, Z:-0.41 [[ 9.99853599e-01 1.70924364e-02 7.93732883e-04 9.58466715e+01] [-1.70922421e-02 9.99853885e-01 -2.50876324e-04 3.24520352e-01] [-7.97904995e-04 2.37272921e-04 9.99999654e-01 -4.05900629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.195898227 meters Centerline goodness [0,1] 0.9668118778542416 Centerline is valid? [False, True] Translation: X:95.85, Y:0.33, Z:-0.41 [[ 9.99917877e-01 1.28050882e-02 5.18415962e-04 9.58479249e+01] [-1.28023498e-02 9.99905647e-01 -4.97970098e-03 3.27002471e-01] [-5.82132558e-04 4.97265509e-03 9.99987467e-01 -4.06921613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.225898227 meters Centerline goodness [0,1] 0.9820698132802068 Centerline is valid? [True, True] Translation: X:95.88, Y:0.33, Z:-0.41 [[ 9.99943393e-01 1.02760481e-02 -2.75932029e-03 9.58774162e+01] [-1.02764506e-02 9.99947187e-01 -1.31762108e-04 3.25116740e-01] [ 2.75782057e-03 1.60110668e-04 9.99996184e-01 -4.13107929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.255898227 meters Centerline goodness [0,1] 0.9941843251702407 Centerline is valid? [True, True] Translation: X:95.91, Y:0.32, Z:-0.41 [[ 9.99971002e-01 6.47105225e-03 -4.01493132e-03 9.59079510e+01] [-6.47187383e-03 9.99979039e-01 -1.91672785e-04 3.18642957e-01] [ 4.01360684e-03 2.17651356e-04 9.99991922e-01 -4.14844811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.285898227 meters Centerline goodness [0,1] 0.9948850719878757 Centerline is valid? [True, True] Translation: X:95.94, Y:0.32, Z:-0.41 [[ 9.99981415e-01 5.83875691e-03 -1.75459749e-03 9.59380167e+01] [-5.83891307e-03 9.99982950e-01 -8.38881163e-05 3.16868194e-01] [ 1.75407777e-03 9.41314994e-05 9.99998457e-01 -4.10533472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.315898227 meters Centerline goodness [0,1] 0.9916144760623765 Centerline is valid? [True, True] Translation: X:95.97, Y:0.32, Z:-0.41 [[ 9.99985175e-01 5.43427199e-03 -3.44053056e-04 9.59675788e+01] [-5.43427798e-03 9.99985234e-01 -1.64794087e-05 3.19288531e-01] [ 3.43958422e-04 1.83488443e-05 9.99999941e-01 -4.07463987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.345898227 meters Centerline goodness [0,1] 0.9921239944404666 Centerline is valid? [True, True] Translation: X:96.00, Y:0.32, Z:-0.41 [[ 9.99977338e-01 6.36409866e-03 -2.19563704e-03 9.59977186e+01] [-6.36434442e-03 9.99979742e-01 -1.04959456e-04 3.19596381e-01] [ 2.19492459e-03 1.18930868e-04 9.99997584e-01 -4.10983285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.375898227 meters Centerline goodness [0,1] 0.9788516465053764 Centerline is valid? [True, True] Translation: X:96.03, Y:0.32, Z:-0.41 [[ 9.99961917e-01 7.74722859e-03 -4.01807709e-03 9.60267102e+01] [-7.74806315e-03 9.99969965e-01 -1.92177501e-04 3.24398785e-01] [ 4.01646757e-03 2.23302497e-04 9.99991909e-01 -4.14328684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.405898227 meters Centerline goodness [0,1] 0.9795634586212708 Centerline is valid? [True, True] Translation: X:96.06, Y:0.32, Z:-0.41 [[ 9.99936926e-01 1.01610333e-02 -4.78508588e-03 9.60571243e+01] [-1.01622444e-02 9.99948337e-01 -2.28857880e-04 3.23467089e-01] [ 4.78251323e-03 2.77470658e-04 9.99988525e-01 -4.14237280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.435898227 meters Centerline goodness [0,1] 0.9867007780784844 Centerline is valid? [True, True] Translation: X:96.09, Y:0.32, Z:-0.41 [[ 9.99909212e-01 1.28984653e-02 -3.89839097e-03 9.60873828e+01] [-1.28992903e-02 9.99916783e-01 -1.86538571e-04 3.21718907e-01] [ 3.89566050e-03 2.36808112e-04 9.99992384e-01 -4.11963894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.465898227 meters Centerline goodness [0,1] 0.8996013898066634 Centerline is valid? [True, False] Translation: X:96.09, Y:0.32, Z:-0.41 [[ 9.99840198e-01 1.75326124e-02 -3.49090659e-03 9.60857954e+01] [-1.75170357e-02 9.99836690e-01 4.44374925e-03 3.20681394e-01] [ 3.56824703e-03 -4.38188880e-03 9.99984033e-01 -4.11038417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.495898227 meters Centerline goodness [0,1] 0.7455030680003363 Centerline is valid? [False, False] Translation: X:96.13, Y:0.33, Z:-0.41 [[ 9.99843010e-01 1.75635399e-02 -2.34018369e-03 9.61251737e+01] [-1.75614091e-02 9.99845356e-01 9.27988419e-04 3.27331033e-01] [ 2.35612056e-03 -8.86745811e-04 9.99996831e-01 -4.10780492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.525898227 meters Centerline goodness [0,1] 0.6936373433636921 Centerline is valid? [False, False] Translation: X:96.13, Y:0.33, Z:-0.41 [[ 9.99842601e-01 1.75839238e-02 -2.36180011e-03 9.61256177e+01] [-1.75829523e-02 9.99845315e-01 4.31479762e-04 3.30157072e-01] [ 2.36902188e-03 -3.89884429e-04 9.99997118e-01 -4.11461510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.555898227 meters Centerline goodness [0,1] 0.6650363155464125 Centerline is valid? [False, False] Translation: X:96.13, Y:0.33, Z:-0.41 [[ 9.99842690e-01 1.75746625e-02 -2.39317837e-03 9.61261554e+01] [-1.75749742e-02 9.99845542e-01 -1.09297873e-04 3.33170386e-01] [ 2.39088786e-03 1.51340728e-04 9.99997130e-01 -4.12252029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.585898227 meters Centerline goodness [0,1] 0.6328225994447623 Centerline is valid? [False, False] Translation: X:96.13, Y:0.34, Z:-0.41 [[ 9.99845406e-01 1.74423905e-02 -2.21990072e-03 9.61258023e+01] [-1.74439645e-02 9.99847603e-01 -6.91697761e-04 3.36208290e-01] [ 2.20749755e-03 7.30314698e-04 9.99997297e-01 -4.12614473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.615898227 meters Centerline goodness [0,1] 0.6558900831214343 Centerline is valid? [False, False] Translation: X:96.12, Y:0.34, Z:-0.41 [[ 9.99850817e-01 1.71739036e-02 -1.84409054e-03 9.61244325e+01] [-1.71767920e-02 9.99851248e-01 -1.56210919e-03 3.40558079e-01] [ 1.81698871e-03 1.59355171e-03 9.99997080e-01 -4.12362780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.645898227 meters Centerline goodness [0,1] 0.6116826248192923 Centerline is valid? [False, False] Translation: X:96.15, Y:0.34, Z:-0.41 [[ 9.99844497e-01 1.76298991e-02 4.11671424e-04 9.61468319e+01] [-1.76330918e-02 9.99796328e-01 9.81719861e-03 3.38846311e-01] [-2.38511357e-04 -9.82293104e-03 9.99951725e-01 -4.14559621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.675898227 meters Centerline goodness [0,1] 0.6960366435523888 Centerline is valid? [False, False] Translation: X:96.15, Y:0.34, Z:-0.41 [[ 9.99914141e-01 1.30948783e-02 4.85417389e-04 9.61464362e+01] [-1.30969510e-02 9.99903898e-01 4.54584872e-03 3.43766700e-01] [-4.25843403e-04 -4.55181590e-03 9.99989550e-01 -4.14724162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.705898227 meters Centerline goodness [0,1] 0.6956669138679945 Centerline is valid? [False, False] Translation: X:96.15, Y:0.35, Z:-0.42 [[ 9.99963729e-01 8.50935596e-03 3.63978150e-04 9.61468383e+01] [-8.50907095e-03 9.99963495e-01 -7.77570835e-04 3.48835134e-01] [-3.70581489e-04 7.74445516e-04 9.99999631e-01 -4.15136763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.735898227 meters Centerline goodness [0,1] 0.7381786156136636 Centerline is valid? [False, False] Translation: X:96.15, Y:0.35, Z:-0.42 [[ 9.99979116e-01 6.42538816e-03 -6.93615385e-04 9.61523155e+01] [-6.42752794e-03 9.99974451e-01 -3.12811844e-03 3.54653331e-01] [ 6.73498288e-04 3.13251134e-03 9.99994867e-01 -4.17861453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.765898227 meters Centerline goodness [0,1] 0.6653220723559814 Centerline is valid? [False, False] Translation: X:96.15, Y:0.36, Z:-0.42 [[ 9.99980846e-01 6.14491936e-03 -7.39444163e-04 9.61524620e+01] [-6.14750915e-03 9.99974793e-01 -3.55257913e-03 3.56394416e-01] [ 7.17595211e-04 3.55705682e-03 9.99993416e-01 -4.17880404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.795898227 meters Centerline goodness [0,1] 0.7781516139207234 Centerline is valid? [False, False] Translation: X:96.15, Y:0.36, Z:-0.42 [[ 9.99982381e-01 5.89286767e-03 -7.14928103e-04 9.61521127e+01] [-5.89562861e-03 9.99974925e-01 -3.92323371e-03 3.57907334e-01] [ 6.91791079e-04 3.92737954e-03 9.99992049e-01 -4.17439454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.825898227 meters Centerline goodness [0,1] 0.9029537644156775 Centerline is valid? [False, False] Translation: X:96.15, Y:0.36, Z:-0.42 [[ 9.99983619e-01 5.68047972e-03 -7.02490963e-04 9.61518056e+01] [-5.68336888e-03 9.99975107e-01 -4.18150633e-03 3.58860034e-01] [ 6.78720514e-04 4.18543035e-03 9.99991011e-01 -4.16999803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.855898227 meters Centerline goodness [0,1] 0.8796665535380961 Centerline is valid? [False, False] Translation: X:96.15, Y:0.36, Z:-0.42 [[ 9.99984463e-01 5.51892977e-03 -7.84417874e-04 9.61518297e+01] [-5.52231714e-03 9.99975143e-01 -4.38383754e-03 3.59618725e-01] [ 7.60204284e-04 4.38810123e-03 9.99990083e-01 -4.16617720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.885898227 meters Centerline goodness [0,1] 0.8929583377059502 Centerline is valid? [False, False] Translation: X:96.15, Y:0.36, Z:-0.42 [[ 9.99985179e-01 5.35384022e-03 -9.88522442e-04 9.61523922e+01] [-5.35828320e-03 9.99975302e-01 -4.54799583e-03 3.60249441e-01] [ 9.64148785e-04 4.55322521e-03 9.99989169e-01 -4.16473056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.915898227 meters Centerline goodness [0,1] 0.8929583377059502 Centerline is valid? [False, False] Translation: X:96.15, Y:0.36, Z:-0.42 [[ 9.99985179e-01 5.35384022e-03 -9.88522442e-04 9.61523922e+01] [-5.35828320e-03 9.99975302e-01 -4.54799583e-03 3.60249441e-01] [ 9.64148785e-04 4.55322521e-03 9.99989169e-01 -4.16473056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.945898227 meters Centerline goodness [0,1] 0.9790796761823605 Centerline is valid? [False, True] Translation: X:96.13, Y:0.36, Z:-0.41 [[ 9.99978507e-01 3.32694861e-03 -5.64954184e-03 9.61322829e+01] [-3.30338166e-03 9.99985826e-01 4.17569938e-03 3.57936113e-01] [ 5.66335410e-03 -4.15694704e-03 9.99975323e-01 -4.13298929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.975898227 meters Centerline goodness [0,1] 0.96802546159683 Centerline is valid? [True, True] Translation: X:96.16, Y:0.36, Z:-0.41 [[ 9.99984343e-01 2.54854370e-03 -4.98186130e-03 9.61605811e+01] [-2.55001860e-03 9.99996707e-01 -2.89725435e-04 3.64770160e-01] [ 4.98110651e-03 3.02424738e-04 9.99987548e-01 -4.12816418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.005898227 meters Centerline goodness [0,1] 0.9547586848110895 Centerline is valid? [True, True] Translation: X:96.19, Y:0.37, Z:-0.41 [[ 9.99988739e-01 2.01962720e-03 -4.29458448e-03 9.61887185e+01] [-2.02071927e-03 9.99997927e-01 -2.49966273e-04 3.68803120e-01] [ 4.29407074e-03 2.58641608e-04 9.99990747e-01 -4.12458450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.035898227 meters Centerline goodness [0,1] 0.952138257933262 Centerline is valid? [True, True] Translation: X:96.22, Y:0.37, Z:-0.41 [[ 9.99990398e-01 1.90872202e-03 -3.94462461e-03 9.62173606e+01] [-1.90964322e-03 9.99998150e-01 -2.29780199e-04 3.71811120e-01] [ 3.94417872e-03 2.37310819e-04 9.99992194e-01 -4.12091547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.065898227 meters Centerline goodness [0,1] 0.9621913251162195 Centerline is valid? [True, True] Translation: X:96.25, Y:0.37, Z:-0.41 [[ 9.99988188e-01 2.29500271e-03 -4.28445339e-03 9.62465379e+01] [-2.29609360e-03 9.99997333e-01 -2.49714392e-04 3.73207394e-01] [ 4.28386886e-03 2.59548949e-04 9.99990791e-01 -4.11967955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.095898227 meters Centerline goodness [0,1] 0.9273688168449198 Centerline is valid? [True, False] Translation: X:96.29, Y:0.38, Z:-0.41 [[ 9.99982673e-01 3.12175078e-03 -4.99076286e-03 9.62909735e+01] [-3.12714455e-03 9.99994534e-01 -1.07331199e-03 3.78214026e-01] [ 4.98738497e-03 1.08890023e-03 9.99986970e-01 -4.11922889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.125898227 meters Centerline goodness [0,1] 0.8018415741675076 Centerline is valid? [False, False] Translation: X:96.29, Y:0.38, Z:-0.41 [[ 9.99981994e-01 3.00212206e-03 -5.19609842e-03 9.62920273e+01] [-3.00974226e-03 9.99994406e-01 -1.45932496e-03 3.80118032e-01] [ 5.19168828e-03 1.47493760e-03 9.99985435e-01 -4.12594182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.155898227 meters Centerline goodness [0,1] 0.8866725581786812 Centerline is valid? [False, False] Translation: X:96.29, Y:0.38, Z:-0.41 [[ 9.99981277e-01 2.87405311e-03 -5.40230064e-03 9.62931383e+01] [-2.88448515e-03 9.99993989e-01 -1.92423800e-03 3.82436027e-01] [ 5.39673780e-03 1.93978483e-03 9.99983556e-01 -4.13392593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.185898227 meters Centerline goodness [0,1] 0.8611784547275219 Centerline is valid? [False, False] Translation: X:96.29, Y:0.38, Z:-0.41 [[ 9.99981584e-01 2.75186433e-03 -5.40917192e-03 9.62936136e+01] [-2.76489281e-03 9.99993291e-01 -2.40258870e-03 3.84868368e-01] [ 5.40252404e-03 2.41750023e-03 9.99982484e-01 -4.14214163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.215898227 meters Centerline goodness [0,1] 0.7997473418254553 Centerline is valid? [False, False] Translation: X:96.29, Y:0.39, Z:-0.41 [[ 9.99982972e-01 2.71911917e-03 -5.16347971e-03 9.62925240e+01] [-2.73509768e-03 9.99991486e-01 -3.08998697e-03 3.88805798e-01] [ 5.15503370e-03 3.10405698e-03 9.99981895e-01 -4.13759367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.245898227 meters Centerline goodness [0,1] 0.6679603910544203 Centerline is valid? [False, False] Translation: X:96.29, Y:0.39, Z:-0.41 [[ 9.99983832e-01 2.66225433e-03 -5.02478954e-03 9.62917106e+01] [-2.67930142e-03 9.99990668e-01 -3.38892134e-03 3.90476673e-01] [ 5.01572048e-03 3.40232947e-03 9.99981633e-01 -4.13170475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.275898227 meters Centerline goodness [0,1] 0.7317918110104762 Centerline is valid? [False, False] Translation: X:96.29, Y:0.39, Z:-0.41 [[ 9.99984355e-01 2.55551290e-03 -4.97581503e-03 9.62912817e+01] [-2.57413512e-03 9.99989694e-01 -3.73974669e-03 3.92343320e-01] [ 4.96620678e-03 3.75249660e-03 9.99980628e-01 -4.12740664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.305898227 meters Centerline goodness [0,1] 0.7806428298116577 Centerline is valid? [False, False] Translation: X:96.25, Y:0.39, Z:-0.41 [[ 9.99979541e-01 2.61782648e-03 -5.83646059e-03 9.62489493e+01] [-2.64316175e-03 9.99987100e-01 -4.33738167e-03 3.94467707e-01] [ 5.82503079e-03 4.35271964e-03 9.99973561e-01 -4.13489102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.335898227 meters Centerline goodness [0,1] 0.7380580639716432 Centerline is valid? [False, False] Translation: X:96.25, Y:0.40, Z:-0.41 [[ 9.99979906e-01 2.38772486e-03 -5.87251213e-03 9.62493268e+01] [-2.41634433e-03 9.99985216e-01 -4.87120670e-03 3.97021205e-01] [ 5.86079421e-03 4.88529883e-03 9.99970892e-01 -4.13944075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.365898227 meters Centerline goodness [0,1] 0.7556964949492828 Centerline is valid? [False, False] Translation: X:96.25, Y:0.40, Z:-0.41 [[ 9.99980769e-01 2.11148632e-03 -5.83124882e-03 9.62490621e+01] [-2.14353678e-03 9.99982602e-01 -5.49555895e-03 3.99953933e-01] [ 5.81954357e-03 5.50795276e-03 9.99967897e-01 -4.13770737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.395898227 meters Centerline goodness [0,1] 0.723758440892384 Centerline is valid? [False, False] Translation: X:96.20, Y:0.40, Z:-0.41 [[ 9.99986759e-01 3.06686762e-03 -4.13225058e-03 9.62021198e+01] [-3.08404181e-03 9.99986607e-01 -4.15619307e-03 3.98718678e-01] [ 4.11944874e-03 4.16888207e-03 9.99982825e-01 -4.13021146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.425898227 meters Centerline goodness [0,1] 0.763666822172272 Centerline is valid? [False, False] Translation: X:96.20, Y:0.40, Z:-0.41 [[ 9.99966237e-01 7.09864238e-03 -4.13934505e-03 9.62016401e+01] [-7.09826678e-03 9.99974801e-01 1.05422810e-04 3.98297852e-01] [ 4.13998910e-03 -7.60370753e-05 9.99991427e-01 -4.12038983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.455898227 meters Centerline goodness [0,1] 0.6895658351092725 Centerline is valid? [False, False] Translation: X:96.24, Y:0.41, Z:-0.41 [[ 9.99971287e-01 7.51504516e-03 -9.74251606e-04 9.62367212e+01] [-7.51571857e-03 9.99971519e-01 -6.89390851e-04 4.05424964e-01] [ 9.69043055e-04 6.96693258e-04 9.99999288e-01 -4.08673695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.485898227 meters Centerline goodness [0,1] 0.686428511105481 Centerline is valid? [False, False] Translation: X:96.24, Y:0.41, Z:-0.41 [[ 9.99937542e-01 1.11328631e-02 -9.85716448e-04 9.62364144e+01] [-1.11307029e-02 9.99935696e-01 2.17049271e-03 4.12147963e-01] [ 1.00981686e-03 -2.15938543e-03 9.99997159e-01 -4.07984608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.515898227 meters Centerline goodness [0,1] 0.7186993580974429 Centerline is valid? [False, False] Translation: X:96.24, Y:0.42, Z:-0.41 [[ 9.99941830e-01 1.07269243e-02 -1.12677134e-03 9.62371894e+01] [-1.07257423e-02 9.99941926e-01 1.04987081e-03 4.17537593e-01] [ 1.13796779e-03 -1.03772428e-03 9.99998814e-01 -4.08645598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.545898227 meters Centerline goodness [0,1] 0.6940172384654386 Centerline is valid? [False, False] Translation: X:96.24, Y:0.42, Z:-0.41 [[ 9.99945984e-01 1.03242250e-02 -1.19961603e-03 9.62376438e+01] [-1.03241482e-02 9.99946702e-01 7.02040027e-05 4.22124129e-01] [ 1.20027689e-03 -5.78151969e-05 9.99999278e-01 -4.09114405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.575898227 meters Centerline goodness [0,1] 0.6607353188625273 Centerline is valid? [False, False] Translation: X:96.24, Y:0.43, Z:-0.41 [[ 9.99949739e-01 9.94042311e-03 -1.30692710e-03 9.62380518e+01] [-9.94143250e-03 9.99950288e-01 -7.68124058e-04 4.25965833e-01] [ 1.29922665e-03 7.81078178e-04 9.99998851e-01 -4.09263822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.605898227 meters Centerline goodness [0,1] 0.6362325503636211 Centerline is valid? [False, False] Translation: X:96.24, Y:0.43, Z:-0.41 [[ 9.99954319e-01 9.48209739e-03 -1.20440437e-03 9.62368418e+01] [-9.48404577e-03 9.99953709e-01 -1.62243182e-03 4.29752009e-01] [ 1.18896456e-03 1.63378034e-03 9.99997959e-01 -4.07915404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.635898227 meters Centerline goodness [0,1] 0.6925793567374396 Centerline is valid? [False, False] Translation: X:96.24, Y:0.43, Z:-0.41 [[ 9.99955745e-01 9.33609242e-03 -1.15965766e-03 9.62362170e+01] [-9.33816081e-03 9.99954794e-01 -1.79120219e-03 4.30335699e-01] [ 1.14288240e-03 1.80195199e-03 9.99997723e-01 -4.07130165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.665898227 meters Centerline goodness [0,1] 0.7041099344427635 Centerline is valid? [False, False] Translation: X:96.24, Y:0.43, Z:-0.41 [[ 9.99957131e-01 9.17629768e-03 -1.23730367e-03 9.62361912e+01] [-9.17873341e-03 9.99955919e-01 -1.97748232e-03 4.30996502e-01] [ 1.21910316e-03 1.98875442e-03 9.99997279e-01 -4.06675595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.695898227 meters Centerline goodness [0,1] 0.724913930640692 Centerline is valid? [False, False] Translation: X:96.24, Y:0.43, Z:-0.41 [[ 9.99958459e-01 9.00936705e-03 -1.38295947e-03 9.62368099e+01] [-9.01243648e-03 9.99956902e-01 -2.22951408e-03 4.32001039e-01] [ 1.36281335e-03 2.24188530e-03 9.99996558e-01 -4.06930301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.725898227 meters Centerline goodness [0,1] 0.7452564780539397 Centerline is valid? [False, False] Translation: X:96.24, Y:0.43, Z:-0.41 [[ 9.99959968e-01 8.81175366e-03 -1.55438854e-03 9.62378257e+01] [-8.81578717e-03 9.99957741e-01 -2.60744373e-03 4.33692834e-01] [ 1.53134670e-03 2.62104251e-03 9.99995393e-01 -4.07707894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.755898227 meters Centerline goodness [0,1] 0.625344697919278 Centerline is valid? [False, False] Translation: X:96.24, Y:0.43, Z:-0.41 [[ 9.99939794e-01 1.06560047e-02 -2.61884636e-03 9.62449948e+01] [-1.06582895e-02 9.99942829e-01 -8.60055514e-04 4.34978669e-01] [ 2.60953189e-03 8.87916156e-04 9.99996201e-01 -4.12185133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.785898227 meters Centerline goodness [0,1] 0.6895035101074177 Centerline is valid? [False, False] Translation: X:96.25, Y:0.44, Z:-0.41 [[ 9.99940674e-01 1.05657293e-02 -2.64835683e-03 9.62452167e+01] [-1.05687032e-02 9.99943532e-01 -1.11142510e-03 4.36166349e-01] [ 2.63646426e-03 1.13934886e-03 9.99995875e-01 -4.12410850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.815898227 meters Centerline goodness [0,1] 0.686958897200975 Centerline is valid? [False, False] Translation: X:96.25, Y:0.44, Z:-0.41 [[ 9.99940584e-01 1.05410667e-02 -2.77752112e-03 9.62456384e+01] [-1.05445277e-02 9.99943643e-01 -1.23441476e-03 4.36795651e-01] [ 2.76435254e-03 1.26362907e-03 9.99995381e-01 -4.12452873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.845898227 meters Centerline goodness [0,1] 0.6732064668238464 Centerline is valid? [False, False] Translation: X:96.25, Y:0.44, Z:-0.41 [[ 9.99940857e-01 1.05015184e-02 -2.82868354e-03 9.62458441e+01] [-1.05053751e-02 9.99943903e-01 -1.35202943e-03 4.37384489e-01] [ 2.81432650e-03 1.38166585e-03 9.99995085e-01 -4.12552020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.875898227 meters Centerline goodness [0,1] 0.7169687194940793 Centerline is valid? [False, False] Translation: X:96.25, Y:0.44, Z:-0.41 [[ 9.99940765e-01 1.04491321e-02 -3.04651958e-03 9.62470410e+01] [-1.04538090e-02 9.99944197e-01 -1.52330905e-03 4.38168517e-01] [ 3.03043232e-03 1.55506655e-03 9.99994199e-01 -4.13427556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.905898227 meters Centerline goodness [0,1] 0.6469599209768605 Centerline is valid? [False, False] Translation: X:96.25, Y:0.44, Z:-0.41 [[ 9.99940216e-01 1.04727495e-02 -3.14421995e-03 9.62478317e+01] [-1.04775830e-02 9.99943946e-01 -1.52472916e-03 4.38247966e-01] [ 3.12807559e-03 1.55758184e-03 9.99993895e-01 -4.14238087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.935898227 meters Centerline goodness [0,1] 0.7068768514600084 Centerline is valid? [False, False] Translation: X:96.25, Y:0.44, Z:-0.41 [[ 9.99940839e-01 1.04059727e-02 -3.16758883e-03 9.62480986e+01] [-1.04112143e-02 9.99944452e-01 -1.64281416e-03 4.38750669e-01] [ 3.15031780e-03 1.67569541e-03 9.99993634e-01 -4.14614322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.965898227 meters Centerline goodness [0,1] 0.704828398384926 Centerline is valid? [False, False] Translation: X:96.25, Y:0.44, Z:-0.41 [[ 9.99941654e-01 1.03302252e-02 -3.15829067e-03 9.62480593e+01] [-1.03360001e-02 9.99944930e-01 -1.81763868e-03 4.39520839e-01] [ 3.13934012e-03 1.85017672e-03 9.99993361e-01 -4.14613398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.995898227 meters Centerline goodness [0,1] 0.689612991669303 Centerline is valid? [False, False] Translation: X:96.25, Y:0.44, Z:-0.41 [[ 9.99943448e-01 1.01971328e-02 -3.01966210e-03 9.62474743e+01] [-1.02035169e-02 9.99945724e-01 -2.10638383e-03 4.40857398e-01] [ 2.99801913e-03 2.13707588e-03 9.99993222e-01 -4.14403529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.025898227 meters Centerline goodness [0,1] 0.6704888478953547 Centerline is valid? [False, False] Translation: X:96.25, Y:0.44, Z:-0.41 [[ 9.99945051e-01 1.00443629e-02 -3.00107582e-03 9.62471526e+01] [-1.00518210e-02 9.99946403e-01 -2.48046640e-03 4.42640309e-01] [ 2.97600027e-03 2.51049638e-03 9.99992420e-01 -4.14006813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.055898227 meters Centerline goodness [0,1] 0.6717360539044843 Centerline is valid? [False, False] Translation: X:96.25, Y:0.45, Z:-0.41 [[ 9.99947900e-01 9.74675510e-03 -3.03282810e-03 9.62470556e+01] [-9.75649363e-03 9.99947242e-01 -3.21298678e-03 4.46122948e-01] [ 3.00135190e-03 3.24240915e-03 9.99990239e-01 -4.13710470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.085898227 meters Centerline goodness [0,1] 0.6632760508802965 Centerline is valid? [False, False] Translation: X:96.25, Y:0.45, Z:-0.41 [[ 9.99949503e-01 9.53598496e-03 -3.17104414e-03 9.62476048e+01] [-9.54759494e-03 9.99947699e-01 -3.66649228e-03 4.48208057e-01] [ 3.13591468e-03 3.69658298e-03 9.99988251e-01 -4.13918510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.115898227 meters Centerline goodness [0,1] 0.6546747409955056 Centerline is valid? [False, False] Translation: X:96.25, Y:0.45, Z:-0.41 [[ 9.99951283e-01 9.30884163e-03 -3.28285436e-03 9.62480903e+01] [-9.32246565e-03 9.99947894e-01 -4.15946039e-03 4.50499779e-01] [ 3.24396355e-03 4.18986205e-03 9.99985961e-01 -4.14140717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.145898227 meters Centerline goodness [0,1] 0.666610255542393 Centerline is valid? [False, False] Translation: X:96.25, Y:0.45, Z:-0.41 [[ 9.99953477e-01 9.06114535e-03 -3.30760347e-03 9.62480823e+01] [-9.07672181e-03 9.99947642e-01 -4.72505242e-03 4.53143498e-01] [ 3.26461591e-03 4.75485479e-03 9.99983367e-01 -4.14018945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.175898227 meters Centerline goodness [0,1] 0.6810904553433581 Centerline is valid? [False, False] Translation: X:96.24, Y:0.46, Z:-0.41 [[ 9.99958672e-01 8.66607339e-03 -2.74849899e-03 9.62449200e+01] [-8.68197050e-03 9.99945341e-01 -5.82571930e-03 4.58462413e-01] [ 2.69786265e-03 5.84934092e-03 9.99979253e-01 -4.11773784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.205898227 meters Centerline goodness [0,1] 0.6835962872168793 Centerline is valid? [False, False] Translation: X:96.26, Y:0.46, Z:-0.41 [[ 9.99967665e-01 8.02928037e-03 -4.47261803e-04 9.62635441e+01] [-8.02719468e-03 9.99957725e-01 4.48464975e-03 4.59999118e-01] [ 4.83251405e-04 -4.48091448e-03 9.99989844e-01 -4.11668233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.235898227 meters Centerline goodness [0,1] 0.6548028606576177 Centerline is valid? [False, False] Translation: X:96.26, Y:0.46, Z:-0.41 [[ 9.99969199e-01 7.84110446e-03 -3.44367251e-04 9.62628964e+01] [-7.83971611e-03 9.99961807e-01 3.86317220e-03 4.63122993e-01] [ 3.74645636e-04 -3.86035346e-03 9.99992479e-01 -4.11206862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.265898227 meters Centerline goodness [0,1] 0.6895763680223455 Centerline is valid? [False, False] Translation: X:96.22, Y:0.47, Z:-0.41 [[ 9.99978493e-01 6.51154811e-03 -7.83468489e-04 9.62207856e+01] [-6.51138969e-03 9.99978780e-01 2.04585053e-04 4.66069433e-01] [ 7.84784029e-04 -1.99479185e-04 9.99999672e-01 -4.12096759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.295898227 meters Centerline goodness [0,1] 0.6611320597487552 Centerline is valid? [False, False] Translation: X:96.27, Y:0.47, Z:-0.41 [[ 9.99978889e-01 6.03539755e-03 -2.40755741e-03 9.62651503e+01] [-6.03989399e-03 9.99980021e-01 -1.86475747e-03 4.73870799e-01] [ 2.39625476e-03 1.87925949e-03 9.99995363e-01 -4.11981307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.325898227 meters Centerline goodness [0,1] 0.6925936094274672 Centerline is valid? [False, False] Translation: X:96.25, Y:0.47, Z:-0.41 [[ 9.99942678e-01 7.13608925e-03 -7.98231978e-03 9.62492928e+01] [-7.05980360e-03 9.99929528e-01 9.54452345e-03 4.73416783e-01] [ 8.04986782e-03 -9.48762272e-03 9.99922589e-01 -4.11588824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.355898227 meters Centerline goodness [0,1] 0.6972463398025196 Centerline is valid? [False, False] Translation: X:96.25, Y:0.48, Z:-0.41 [[ 9.99964362e-01 2.75384894e-03 -7.98072037e-03 9.62493509e+01] [-2.72000527e-03 9.99987276e-01 4.24843462e-03 4.78937182e-01] [ 7.99231837e-03 -4.22657561e-03 9.99959129e-01 -4.12018313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.385898227 meters Centerline goodness [0,1] 0.6579423141607803 Centerline is valid? [False, False] Translation: X:96.27, Y:0.49, Z:-0.41 [[ 9.99989789e-01 2.49034136e-03 -3.77090593e-03 9.62696811e+01] [-2.51532918e-03 9.99974816e-01 -6.63629707e-03 4.85400493e-01] [ 3.75428432e-03 6.64571438e-03 9.99970869e-01 -4.14304242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.415898227 meters Centerline goodness [0,1] 0.6049514930074336 Centerline is valid? [False, False] Translation: X:96.27, Y:0.49, Z:-0.41 [[ 9.99990334e-01 2.37243641e-03 -3.70169804e-03 9.62692323e+01] [-2.39704674e-03 9.99974961e-01 -6.65817889e-03 4.85273109e-01] [ 3.68580925e-03 6.66698768e-03 9.99970983e-01 -4.13925811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.445898227 meters Centerline goodness [0,1] 0.7710619618436603 Centerline is valid? [False, False] Translation: X:96.27, Y:0.49, Z:-0.41 [[ 9.99991398e-01 -2.19299740e-03 -3.52070072e-03 9.62678989e+01] [ 2.15285083e-03 9.99933081e-01 -1.13665842e-02 4.86984882e-01] [ 3.54539201e-03 1.13589069e-02 9.99929200e-01 -4.12702443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.475898227 meters Centerline goodness [0,1] 0.8674102135404542 Centerline is valid? [False, False] Translation: X:96.27, Y:0.48, Z:-0.41 [[ 9.99992586e-01 8.31044335e-04 -3.75988409e-03 9.62686018e+01] [-8.57472228e-04 9.99974902e-01 -7.03276812e-03 4.81641249e-01] [ 3.75394518e-03 7.03593998e-03 9.99968201e-01 -4.12665147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.505898227 meters Centerline goodness [0,1] 0.7453687191859855 Centerline is valid? [False, False] Translation: X:96.29, Y:0.48, Z:-0.42 [[ 9.99993972e-01 -2.37128268e-03 -2.53635679e-03 9.62921149e+01] [ 2.37351003e-03 9.99996800e-01 8.75520746e-04 4.80615429e-01] [ 2.53427256e-03 -8.81535536e-04 9.99996400e-01 -4.15696124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.535898227 meters Centerline goodness [0,1] 0.9262453531598513 Centerline is valid? [False, False] Translation: X:96.25, Y:0.48, Z:-0.42 [[ 9.99983851e-01 -3.00181977e-03 -4.82563780e-03 9.62542032e+01] [ 3.00659100e-03 9.99994998e-01 9.81776030e-04 4.75334356e-01] [ 4.82266654e-03 -9.96268894e-04 9.99987875e-01 -4.18158284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.565898227 meters Centerline goodness [0,1] 0.9254215851602023 Centerline is valid? [False, False] Translation: X:96.26, Y:0.48, Z:-0.42 [[ 9.99972333e-01 -4.78333598e-03 -5.69666808e-03 9.62602207e+01] [ 4.77960711e-03 9.99988354e-01 -6.68004405e-04 4.75155501e-01] [ 5.69979702e-03 6.40758089e-04 9.99983551e-01 -4.21970623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.595898227 meters Centerline goodness [0,1] 0.8927034988450209 Centerline is valid? [False, False] Translation: X:96.26, Y:0.47, Z:-0.42 [[ 9.99972570e-01 -4.56739732e-03 -5.83072552e-03 9.62608444e+01] [ 4.56788717e-03 9.99989565e-01 7.06967272e-05 4.71441465e-01] [ 5.83034178e-03 -9.73288843e-05 9.99982999e-01 -4.22251483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.625898227 meters Centerline goodness [0,1] 0.9889975032795904 Centerline is valid? [False, True] Translation: X:96.26, Y:0.46, Z:-0.42 [[ 9.99974635e-01 -4.10450168e-03 -5.82087752e-03 9.62604979e+01] [ 4.11525701e-03 9.99989845e-01 1.83694313e-03 4.62382340e-01] [ 5.81327867e-03 -1.86085094e-03 9.99981371e-01 -4.21513643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.655898227 meters Centerline goodness [0,1] 0.9946390963048056 Centerline is valid? [True, True] Translation: X:96.29, Y:0.46, Z:-0.42 [[ 9.99977544e-01 -5.05868475e-03 -4.39558402e-03 9.62900010e+01] [ 5.05757903e-03 9.99987176e-01 -2.62630712e-04 4.56202907e-01] [ 4.39685621e-03 2.40393801e-04 9.99990305e-01 -4.18111351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.685898227 meters Centerline goodness [0,1] 0.9533734331622781 Centerline is valid? [True, True] Translation: X:96.32, Y:0.46, Z:-0.42 [[ 9.99977087e-01 -5.57646809e-03 -3.83778566e-03 9.63180079e+01] [ 5.57562851e-03 9.99984430e-01 -2.29429926e-04 4.64253631e-01] [ 3.83900532e-03 2.08026602e-04 9.99992609e-01 -4.17991799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.715898227 meters Centerline goodness [0,1] 0.9919678714859438 Centerline is valid? [True, True] Translation: X:96.35, Y:0.45, Z:-0.42 [[ 9.99974951e-01 -6.10313040e-03 -3.58451356e-03 9.63488999e+01] [ 6.10240112e-03 9.99981357e-01 -2.14355739e-04 4.51074389e-01] [ 3.58575498e-03 1.92476230e-04 9.99993553e-01 -4.16680082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.745898227 meters Centerline goodness [0,1] 0.9897124934657606 Centerline is valid? [True, True] Translation: X:96.38, Y:0.44, Z:-0.42 [[ 9.99975460e-01 -5.96212360e-03 -3.67863854e-03 9.63792756e+01] [ 5.96135474e-03 9.99982207e-01 -2.19934249e-04 4.43661919e-01] [ 3.67988436e-03 1.97999182e-04 9.99993210e-01 -4.16382419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.775898227 meters Centerline goodness [0,1] 0.9897124934657606 Centerline is valid? [True, True] Translation: X:96.41, Y:0.45, Z:-0.42 [[ 9.99975322e-01 -5.98530680e-03 -3.67863080e-03 9.64084254e+01] [ 5.98453763e-03 9.99982068e-01 -2.20063561e-04 4.45448717e-01] [ 3.67988199e-03 1.98043226e-04 9.99993210e-01 -4.16435417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.805898227 meters Centerline goodness [0,1] 0.9946125946507731 Centerline is valid? [True, True] Translation: X:96.44, Y:0.44, Z:-0.42 [[ 9.99980994e-01 -5.09916243e-03 -3.46568095e-03 9.64387287e+01] [ 5.09847434e-03 9.99986981e-01 -2.07347791e-04 4.39737639e-01] [ 3.46669313e-03 1.89674164e-04 9.99993973e-01 -4.17303989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.835898227 meters Centerline goodness [0,1] 0.9914308743053494 Centerline is valid? [True, True] Translation: X:96.47, Y:0.44, Z:-0.41 [[ 9.99989031e-01 -3.43311011e-03 -3.18612900e-03 9.64686244e+01] [ 3.43251981e-03 9.99994091e-01 -1.90722074e-04 4.38943553e-01] [ 3.18676495e-03 1.79783531e-04 9.99994906e-01 -4.14922753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.865898227 meters Centerline goodness [0,1] 0.9431673323701878 Centerline is valid? [True, False] Translation: X:96.47, Y:0.44, Z:-0.41 [[ 9.99990368e-01 -3.10348989e-03 -3.10366361e-03 9.64682991e+01] [ 3.10447151e-03 9.99995133e-01 3.11508988e-04 4.36910898e-01] [ 3.10268174e-03 -3.21141223e-04 9.99995135e-01 -4.14757996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.895898227 meters Centerline goodness [0,1] 0.8840310600945307 Centerline is valid? [False, False] Translation: X:96.47, Y:0.44, Z:-0.41 [[ 9.99991302e-01 -2.81841445e-03 -3.07451344e-03 9.64681783e+01] [ 2.82040926e-03 9.99995815e-01 6.44678351e-04 4.35760243e-01] [ 3.07268360e-03 -6.53344130e-04 9.99995066e-01 -4.14700718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.925898227 meters Centerline goodness [0,1] 0.8081795532283265 Centerline is valid? [False, False] Translation: X:96.47, Y:0.43, Z:-0.42 [[ 9.99993264e-01 -2.25380294e-03 -2.89710529e-03 9.64680297e+01] [ 2.25716974e-03 9.99996781e-01 1.15938422e-03 4.34245278e-01] [ 2.89448294e-03 -1.16591567e-03 9.99995131e-01 -4.15331913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.955898227 meters Centerline goodness [0,1] 0.7982837120496842 Centerline is valid? [False, False] Translation: X:96.47, Y:0.43, Z:-0.42 [[ 9.99993582e-01 -2.07843283e-03 -2.91827153e-03 9.64682165e+01] [ 2.08221213e-03 9.99996997e-01 1.29260956e-03 4.33924984e-01] [ 2.91557617e-03 -1.29867773e-03 9.99994906e-01 -4.15562084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.985898227 meters Centerline goodness [0,1] 0.757523051131601 Centerline is valid? [False, False] Translation: X:96.47, Y:0.43, Z:-0.42 [[ 9.99994173e-01 -1.92715022e-03 -2.81783984e-03 9.64680803e+01] [ 1.93116049e-03 9.99997125e-01 1.42114387e-03 4.33528644e-01] [ 2.81509298e-03 -1.42657729e-03 9.99995020e-01 -4.15870216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.015898227 meters Centerline goodness [0,1] 0.710099711195902 Centerline is valid? [False, False] Translation: X:96.47, Y:0.43, Z:-0.42 [[ 9.99995635e-01 -1.67274562e-03 -2.43566390e-03 9.64663564e+01] [ 1.67683910e-03 9.99997184e-01 1.67957225e-03 4.32756451e-01] [ 2.43284754e-03 -1.68364913e-03 9.99995623e-01 -4.15025394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.045898227 meters Centerline goodness [0,1] 0.7765612757036064 Centerline is valid? [False, False] Translation: X:96.47, Y:0.43, Z:-0.42 [[ 9.99996020e-01 -1.63160760e-03 -2.30184930e-03 9.64659264e+01] [ 1.63560113e-03 9.99997159e-01 1.73410868e-03 4.32501818e-01] [ 2.29901338e-03 -1.73786669e-03 9.99995847e-01 -4.15013569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.075898227 meters Centerline goodness [0,1] 0.6995381062355659 Centerline is valid? [False, False] Translation: X:96.47, Y:0.43, Z:-0.42 [[ 9.99995529e-01 -1.61004838e-03 -2.52000008e-03 9.64669263e+01] [ 1.61441108e-03 9.99997200e-01 1.73015262e-03 4.32539675e-01] [ 2.51720740e-03 -1.73421320e-03 9.99995328e-01 -4.15490764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.105898227 meters Centerline goodness [0,1] 0.6850668584969533 Centerline is valid? [False, False] Translation: X:96.47, Y:0.43, Z:-0.42 [[ 9.99995010e-01 -1.59869722e-03 -2.72486707e-03 9.64680255e+01] [ 1.60327357e-03 9.99997307e-01 1.67811925e-03 4.32850285e-01] [ 2.72217692e-03 -1.68247958e-03 9.99994879e-01 -4.16252691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.135898227 meters Centerline goodness [0,1] 0.7016783746266773 Centerline is valid? [False, False] Translation: X:96.47, Y:0.43, Z:-0.42 [[ 9.99994654e-01 -1.60221343e-03 -2.85055298e-03 9.64689086e+01] [ 1.60653236e-03 9.99997564e-01 1.51347398e-03 4.33810356e-01] [ 2.84812113e-03 -1.51804540e-03 9.99994792e-01 -4.17096137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.165898227 meters Centerline goodness [0,1] 0.6861015807531204 Centerline is valid? [False, False] Translation: X:96.47, Y:0.44, Z:-0.42 [[ 9.99994755e-01 -1.63604376e-03 -2.79541150e-03 9.64688573e+01] [ 1.63967545e-03 9.99997814e-01 1.29736356e-03 4.35003507e-01] [ 2.79328285e-03 -1.30194032e-03 9.99995251e-01 -4.17310306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.195898227 meters Centerline goodness [0,1] 0.7191286877445279 Centerline is valid? [False, False] Translation: X:96.47, Y:0.44, Z:-0.42 [[ 9.99995125e-01 -1.70157183e-03 -2.61813112e-03 9.64680373e+01] [ 1.70412965e-03 9.99998073e-01 9.75042745e-04 4.36690880e-01] [ 2.61646697e-03 -9.79499627e-04 9.99996097e-01 -4.16918050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.225898227 meters Centerline goodness [0,1] 0.6483030315798344 Centerline is valid? [False, False] Translation: X:96.47, Y:0.44, Z:-0.42 [[ 9.99995668e-01 -1.60353136e-03 -2.46835179e-03 9.64673340e+01] [ 1.60542760e-03 9.99998418e-01 7.66428826e-04 4.38276650e-01] [ 2.46711889e-03 -7.70388265e-04 9.99996660e-01 -4.16630120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.255898227 meters Centerline goodness [0,1] 0.6424202938147581 Centerline is valid? [False, False] Translation: X:96.47, Y:0.44, Z:-0.42 [[ 9.99995393e-01 -1.57687666e-03 -2.59388814e-03 9.64681342e+01] [ 1.57876538e-03 9.99998490e-01 7.26254833e-04 4.38537364e-01] [ 2.59273901e-03 -7.30346628e-04 9.99996372e-01 -4.17303909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.285898227 meters Centerline goodness [0,1] 0.6112458514169007 Centerline is valid? [False, False] Translation: X:96.43, Y:0.44, Z:-0.42 [[ 9.99990408e-01 -1.64005060e-03 -4.06131591e-03 9.64282217e+01] [ 1.64294786e-03 9.99998398e-01 7.10144575e-04 4.35352253e-01] [ 4.06014473e-03 -7.16810294e-04 9.99991501e-01 -4.19505541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.315898227 meters Centerline goodness [0,1] 0.6239039468427361 Centerline is valid? [False, False] Translation: X:96.47, Y:0.44, Z:-0.42 [[ 9.99984212e-01 -2.61680213e-03 -4.97276286e-03 9.64723395e+01] [ 2.61534607e-03 9.99996535e-01 -2.99286328e-04 4.38207760e-01] [ 4.97352881e-03 2.86276107e-04 9.99987591e-01 -4.19074269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.345898227 meters Centerline goodness [0,1] 0.660025407579928 Centerline is valid? [False, False] Translation: X:96.47, Y:0.44, Z:-0.42 [[ 9.99984079e-01 -2.49181268e-03 -5.06295093e-03 9.64725807e+01] [ 2.49280377e-03 9.99996875e-01 1.89453296e-04 4.35695575e-01] [ 5.06246302e-03 -2.02071223e-04 9.99987165e-01 -4.18954703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.375898227 meters Centerline goodness [0,1] 0.7321291314373559 Centerline is valid? [False, False] Translation: X:96.47, Y:0.43, Z:-0.42 [[ 9.99980211e-01 -4.64955269e-03 -4.23790648e-03 9.64670057e+01] [ 4.64184111e-03 9.99987556e-01 -1.82769039e-03 4.34200785e-01] [ 4.24635168e-03 1.80798253e-03 9.99989350e-01 -4.15437307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.405898227 meters Centerline goodness [0,1] 0.7040917218891343 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.41 [[ 9.99986889e-01 -3.59512383e-03 -3.64647439e-03 9.65078390e+01] [ 3.59804248e-03 9.99993212e-01 7.94160821e-04 4.32771039e-01] [ 3.64359453e-03 -8.07270579e-04 9.99993036e-01 -4.13823018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.435898227 meters Centerline goodness [0,1] 0.7068209603305089 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.41 [[ 9.99987377e-01 -3.46428713e-03 -3.63935004e-03 9.65076902e+01] [ 3.46845371e-03 9.99993336e-01 1.13918385e-03 4.31141925e-01] [ 3.63537933e-03 -1.15179239e-03 9.99992729e-01 -4.13551160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.465898227 meters Centerline goodness [0,1] 0.7017809457726193 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.41 [[ 9.99987923e-01 -3.40701021e-03 -3.54194584e-03 9.65074402e+01] [ 3.41130134e-03 9.99993454e-01 1.20618477e-03 4.30969721e-01] [ 3.53781317e-03 -1.21825285e-03 9.99993000e-01 -4.13635464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.495898227 meters Centerline goodness [0,1] 0.6604391452202023 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.41 [[ 9.99987874e-01 -3.36600910e-03 -3.59458296e-03 9.65081061e+01] [ 3.36872397e-03 9.99994045e-01 7.49480193e-04 4.33833153e-01] [ 3.59203880e-03 -7.61580263e-04 9.99993259e-01 -4.14525977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.525898227 meters Centerline goodness [0,1] 0.6558422174840085 Centerline is valid? [False, False] Translation: X:96.47, Y:0.43, Z:-0.42 [[ 9.99982172e-01 -3.24312340e-03 -5.01383457e-03 9.64678453e+01] [ 3.24521563e-03 9.99994651e-01 4.09211688e-04 4.32282612e-01] [ 5.01248063e-03 -4.25475367e-04 9.99987347e-01 -4.16766431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.555898227 meters Centerline goodness [0,1] 0.6376598559459062 Centerline is valid? [False, False] Translation: X:96.51, Y:0.44, Z:-0.42 [[ 9.99980999e-01 -2.63302163e-03 -5.57395720e-03 9.65113389e+01] [ 2.63527399e-03 9.99996449e-01 3.96780506e-04 4.35875815e-01] [ 5.57289267e-03 -4.11461871e-04 9.99984387e-01 -4.16557000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.585898227 meters Centerline goodness [0,1] 0.6146785127794854 Centerline is valid? [False, False] Translation: X:96.51, Y:0.44, Z:-0.42 [[ 9.99981503e-01 -2.60125472e-03 -5.49787531e-03 9.65110023e+01] [ 2.60391407e-03 9.99996496e-01 4.76601646e-04 4.35550319e-01] [ 5.49661629e-03 -4.90908825e-04 9.99984773e-01 -4.16406676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.615898227 meters Centerline goodness [0,1] 0.6218185636287274 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.42 [[ 9.99981793e-01 -2.58758709e-03 -5.45142593e-03 9.65106048e+01] [ 2.59104070e-03 9.99996447e-01 6.26557000e-04 4.34714682e-01] [ 5.44978529e-03 -6.40670459e-04 9.99984945e-01 -4.16008194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.645898227 meters Centerline goodness [0,1] 0.6741077058897718 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.42 [[ 9.99981841e-01 -2.73085719e-03 -5.37208307e-03 9.65100288e+01] [ 2.73590110e-03 9.99995823e-01 9.31787421e-04 4.32622480e-01] [ 5.36951605e-03 -9.46467989e-04 9.99985136e-01 -4.15440276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.675898227 meters Centerline goodness [0,1] 0.7213719421715352 Centerline is valid? [False, False] Translation: X:96.50, Y:0.43, Z:-0.41 [[ 9.99977208e-01 -4.94293928e-03 -4.59900326e-03 9.65046425e+01] [ 4.93687906e-03 9.99986932e-01 -1.32814605e-03 4.33075251e-01] [ 4.60550810e-03 1.30541105e-03 9.99988543e-01 -4.12122528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.705898227 meters Centerline goodness [0,1] 0.8598998359381747 Centerline is valid? [False, False] Translation: X:96.46, Y:0.43, Z:-0.41 [[ 9.99973083e-01 -4.32796756e-03 -5.92469119e-03 9.64640622e+01] [ 4.33096283e-03 9.99990500e-01 4.92821235e-04 4.27879830e-01] [ 5.92250199e-03 -5.18467587e-04 9.99982327e-01 -4.13441726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.735898227 meters Centerline goodness [0,1] 0.7384966891620302 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.41 [[ 9.99978138e-01 -3.51617979e-03 -5.60001988e-03 9.65067813e+01] [ 3.52560121e-03 9.99992385e-01 1.67340844e-03 4.29635757e-01] [ 5.59409323e-03 -1.69311529e-03 9.99982920e-01 -4.13001760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.765898227 meters Centerline goodness [0,1] 0.7237385224496673 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.41 [[ 9.99978182e-01 -3.50157791e-03 -5.60133980e-03 9.65067787e+01] [ 3.51079148e-03 9.99992499e-01 1.63590119e-03 4.29945433e-01] [ 5.59556955e-03 -1.65553063e-03 9.99982974e-01 -4.13009308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.795898227 meters Centerline goodness [0,1] 0.6486862344339325 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.41 [[ 9.99978309e-01 -3.53000593e-03 -5.56054360e-03 9.65065042e+01] [ 3.53820277e-03 9.99992667e-01 1.46496083e-03 4.30888203e-01] [ 5.55533151e-03 -1.48460339e-03 9.99983467e-01 -4.12796368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.825898227 meters Centerline goodness [0,1] 0.6168370034769781 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.41 [[ 9.99979154e-01 -3.38765898e-03 -5.49676228e-03 9.65062517e+01] [ 3.39510182e-03 9.99993332e-01 1.34527517e-03 4.32069587e-01] [ 5.49216829e-03 -1.36390919e-03 9.99983988e-01 -4.12699106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.855898227 meters Centerline goodness [0,1] 0.5967715024609994 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.41 [[ 9.99978514e-01 -3.37776245e-03 -5.61811456e-03 9.65069895e+01] [ 3.38517504e-03 9.99993412e-01 1.31042339e-03 4.32236245e-01] [ 5.61365125e-03 -1.32941353e-03 9.99983360e-01 -4.13302878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.885898227 meters Centerline goodness [0,1] 0.6810723023707078 Centerline is valid? [False, False] Translation: X:96.51, Y:0.44, Z:-0.41 [[ 9.99957632e-01 -7.43792891e-03 -5.42328681e-03 9.65065870e+01] [ 7.41913045e-03 9.99966429e-01 -3.47816724e-03 4.35766084e-01] [ 5.44897510e-03 3.43778381e-03 9.99979245e-01 -4.13602120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.915898227 meters Centerline goodness [0,1] 0.7128163887242869 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.41 [[ 9.99958119e-01 -7.36463849e-03 -5.43349085e-03 9.65065818e+01] [ 7.34690575e-03 9.99967644e-01 -3.27637326e-03 4.34789357e-01] [ 5.45744435e-03 3.23631670e-03 9.99979871e-01 -4.13563555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.945898227 meters Centerline goodness [0,1] 0.6954822903246246 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.41 [[ 9.99978641e-01 -3.33989503e-03 -5.61804411e-03 9.65068457e+01] [ 3.35003997e-03 9.99992773e-01 1.79733850e-03 4.29431388e-01] [ 5.61200059e-03 -1.81612078e-03 9.99982603e-01 -4.12953567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.975898227 meters Centerline goodness [0,1] 0.7151001963806829 Centerline is valid? [False, False] Translation: X:96.51, Y:0.43, Z:-0.41 [[ 9.99979928e-01 -3.16822901e-03 -5.48685452e-03 9.65060063e+01] [ 3.18097683e-03 9.99992258e-01 2.31617303e-03 4.26864175e-01] [ 5.47947388e-03 -2.33358010e-03 9.99982265e-01 -4.12184902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.005898227 meters Centerline goodness [0,1] 0.7263811218437553 Centerline is valid? [False, False] Translation: X:96.51, Y:0.42, Z:-0.41 [[ 9.99980898e-01 -2.97823215e-03 -5.41603418e-03 9.65054878e+01] [ 2.99696131e-03 9.99989547e-01 3.45327197e-03 4.20711896e-01] [ 5.40569292e-03 -3.46943765e-03 9.99979371e-01 -4.11500006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.035898227 meters Centerline goodness [0,1] 0.6333340431421819 Centerline is valid? [False, False] Translation: X:96.50, Y:0.42, Z:-0.41 [[ 9.99976305e-01 -4.97545417e-03 -4.75758625e-03 9.65005784e+01] [ 4.98302486e-03 9.99986335e-01 1.58075985e-03 4.19611611e-01] [ 4.74965624e-03 -1.60442957e-03 9.99987433e-01 -4.08265558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.065898227 meters Centerline goodness [0,1] 0.7187843203514404 Centerline is valid? [False, False] Translation: X:96.50, Y:0.42, Z:-0.41 [[ 9.99975935e-01 -4.84424416e-03 -4.96606235e-03 9.65016571e+01] [ 4.85435024e-03 9.99986167e-01 2.02499926e-03 4.17362237e-01] [ 4.95618407e-03 -2.04905753e-03 9.99985619e-01 -4.08898973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.095898227 meters Centerline goodness [0,1] 0.7513605872674345 Centerline is valid? [False, False] Translation: X:96.50, Y:0.42, Z:-0.41 [[ 9.99975639e-01 -4.68309202e-03 -5.17599784e-03 9.65025191e+01] [ 4.69575037e-03 9.99986007e-01 2.43614573e-03 4.15399553e-01] [ 5.16451672e-03 -2.46039157e-03 9.99983637e-01 -4.09156216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.125898227 meters Centerline goodness [0,1] 0.7182590456213949 Centerline is valid? [False, False] Translation: X:96.50, Y:0.41, Z:-0.41 [[ 9.99976239e-01 -4.47133975e-03 -5.24684121e-03 9.65026690e+01] [ 4.48674805e-03 9.99985646e-01 2.92859623e-03 4.13021183e-01] [ 5.23367115e-03 -2.95206790e-03 9.99981947e-01 -4.08994851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.155898227 meters Centerline goodness [0,1] 0.7316372849150217 Centerline is valid? [False, False] Translation: X:96.50, Y:0.41, Z:-0.40 [[ 9.99970757e-01 -6.31573440e-03 -4.31229090e-03 9.64964218e+01] [ 6.32214222e-03 9.99978929e-01 1.47393241e-03 4.07695076e-01] [ 4.30289106e-03 -1.50115222e-03 9.99989616e-01 -4.04872305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.185898227 meters Centerline goodness [0,1] 0.7278499957239374 Centerline is valid? [False, False] Translation: X:96.50, Y:0.41, Z:-0.41 [[ 9.99938376e-01 -1.03126429e-02 -4.11029997e-03 9.64960821e+01] [ 1.03008865e-02 9.99942822e-01 -2.87121172e-03 4.08732715e-01] [ 4.13967474e-03 2.82869505e-03 9.99987431e-01 -4.05214007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.215898227 meters Centerline goodness [0,1] 0.7312706305101742 Centerline is valid? [False, False] Translation: X:96.54, Y:0.41, Z:-0.41 [[ 9.99941329e-01 -9.87962057e-03 -4.44210782e-03 9.65401640e+01] [ 9.87140902e-03 9.99949534e-01 -1.86671036e-03 4.08388769e-01] [ 4.46032603e-03 1.82275098e-03 9.99988391e-01 -4.05480143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.245898227 meters Centerline goodness [0,1] 0.7360158673221784 Centerline is valid? [False, False] Translation: X:96.54, Y:0.41, Z:-0.41 [[ 9.99942946e-01 -9.61592406e-03 -4.65167159e-03 9.65412024e+01] [ 9.61051985e-03 9.99953118e-01 -1.18273955e-03 4.05067836e-01] [ 4.66282665e-03 1.13796709e-03 9.99988481e-01 -4.06024657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.275898227 meters Centerline goodness [0,1] 0.7548978302085527 Centerline is valid? [False, False] Translation: X:96.54, Y:0.40, Z:-0.41 [[ 9.99944751e-01 -9.32218599e-03 -4.85721749e-03 9.65419583e+01] [ 9.32074023e-03 9.99956510e-01 -3.20203232e-04 4.00806060e-01] [ 4.85999125e-03 2.74912679e-04 9.99988152e-01 -4.06133044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.305898227 meters Centerline goodness [0,1] 0.7569043434597038 Centerline is valid? [False, False] Translation: X:96.54, Y:0.40, Z:-0.41 [[ 9.99946549e-01 -9.04246806e-03 -5.01325785e-03 9.65422826e+01] [ 9.04577934e-03 9.99958882e-01 6.38223427e-04 3.95906177e-01] [ 5.00728060e-03 -6.83538137e-04 9.99987230e-01 -4.05732886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.335898227 meters Centerline goodness [0,1] 0.793579332688181 Centerline is valid? [False, False] Translation: X:96.54, Y:0.39, Z:-0.40 [[ 9.99909921e-01 -1.25744983e-02 -4.69386167e-03 9.65405130e+01] [ 1.25647610e-02 9.99918859e-01 -2.09823162e-03 3.88967574e-01] [ 4.71986501e-03 2.03906537e-03 9.99986782e-01 -4.04230155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.365898227 meters Centerline goodness [0,1] 0.8993690851735016 Centerline is valid? [False, False] Translation: X:96.54, Y:0.38, Z:-0.40 [[ 9.99914434e-01 -1.21886275e-02 -4.74998828e-03 9.65405287e+01] [ 1.21839580e-02 9.99925262e-01 -1.01074716e-03 3.83668844e-01] [ 4.76195290e-03 9.52787013e-04 9.99988208e-01 -4.03836147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.395898227 meters Centerline goodness [0,1] 0.7912131781316973 Centerline is valid? [False, False] Translation: X:96.54, Y:0.38, Z:-0.40 [[ 9.99918498e-01 -1.17876609e-02 -4.90390721e-03 9.65411670e+01] [ 1.17879049e-02 9.99930520e-01 2.08634770e-05 3.78700209e-01] [ 4.90332055e-03 -7.86685685e-05 9.99987976e-01 -4.03942281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.425898227 meters Centerline goodness [0,1] 0.7846418747243978 Centerline is valid? [False, False] Translation: X:96.54, Y:0.37, Z:-0.41 [[ 9.99925642e-01 -1.09791908e-02 -5.30733151e-03 9.65436269e+01] [ 1.09883616e-02 9.99938178e-01 1.70188563e-03 3.71116790e-01] [ 5.28831807e-03 -1.76007796e-03 9.99984468e-01 -4.05467555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.455898227 meters Centerline goodness [0,1] 0.7936830207635632 Centerline is valid? [False, False] Translation: X:96.54, Y:0.37, Z:-0.41 [[ 9.99928432e-01 -1.06423179e-02 -5.46558396e-03 9.65445955e+01] [ 1.06550199e-02 9.99940588e-01 2.30016410e-03 3.68476719e-01] [ 5.44078016e-03 -2.35823538e-03 9.99982418e-01 -4.06163319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.485898227 meters Centerline goodness [0,1] 0.893313345860693 Centerline is valid? [False, False] Translation: X:96.55, Y:0.37, Z:-0.41 [[ 9.99931523e-01 -1.03064827e-02 -5.54313427e-03 9.65450111e+01] [ 1.03222882e-02 9.99942718e-01 2.83035618e-03 3.66229173e-01] [ 5.51364573e-03 -2.88738019e-03 9.99980631e-01 -4.06391172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.515898227 meters Centerline goodness [0,1] 0.7263817043288865 Centerline is valid? [False, False] Translation: X:96.55, Y:0.36, Z:-0.41 [[ 9.99934215e-01 -1.00163586e-02 -5.58908191e-03 9.65453373e+01] [ 1.00343988e-02 9.99944505e-01 3.20911396e-03 3.64761509e-01] [ 5.55662811e-03 -3.26498593e-03 9.99979232e-01 -4.06666266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.545898227 meters Centerline goodness [0,1] 0.8000382864678606 Centerline is valid? [False, False] Translation: X:96.54, Y:0.36, Z:-0.40 [[ 9.99914487e-01 -1.21554802e-02 -4.82310128e-03 9.65405197e+01] [ 1.21587928e-02 9.99925863e-01 6.58102443e-04 3.64645052e-01] [ 4.81474416e-03 -7.16689256e-04 9.99988152e-01 -4.03910354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.575898227 meters Centerline goodness [0,1] 0.7296609456503449 Centerline is valid? [False, False] Translation: X:96.54, Y:0.36, Z:-0.40 [[ 9.99919763e-01 -1.16986726e-02 -4.85894290e-03 9.65407021e+01] [ 1.17051273e-02 9.99930645e-01 1.30211062e-03 3.62106498e-01] [ 4.84337294e-03 -1.35888069e-03 9.99987348e-01 -4.03977045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.605898227 meters Centerline goodness [0,1] 0.695716018642661 Centerline is valid? [False, False] Translation: X:96.54, Y:0.36, Z:-0.40 [[ 9.99921564e-01 -1.15659225e-02 -4.80569326e-03 9.65406966e+01] [ 1.15735382e-02 9.99931808e-01 1.55994388e-03 3.60883363e-01] [ 4.78732336e-03 -1.61544039e-03 9.99987236e-01 -4.04219549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.635898227 meters Centerline goodness [0,1] 0.6328971024794079 Centerline is valid? [False, False] Translation: X:96.56, Y:0.36, Z:-0.41 [[ 9.99949518e-01 -9.91163916e-03 -1.64947603e-03 9.65616247e+01] [ 9.89847164e-03 9.99920523e-01 -7.80821612e-03 3.63521282e-01] [ 1.72673716e-03 7.79149465e-03 9.99968155e-01 -4.06483441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.665898227 meters Centerline goodness [0,1] 0.6410358985156333 Centerline is valid? [False, False] Translation: X:96.56, Y:0.36, Z:-0.41 [[ 9.99950898e-01 -9.77183043e-03 -1.64709976e-03 9.65618240e+01] [ 9.75900589e-03 9.99923329e-01 -7.62219185e-03 3.62812158e-01] [ 1.72145624e-03 7.60574353e-03 9.99969594e-01 -4.06820868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.695898227 meters Centerline goodness [0,1] 0.6410358985156333 Centerline is valid? [False, False] Translation: X:96.56, Y:0.36, Z:-0.41 [[ 9.99981392e-01 -5.78730618e-03 -1.92919336e-03 9.65625034e+01] [ 5.78151756e-03 9.99978809e-01 -2.99273294e-03 3.59538077e-01] [ 1.94647234e-03 2.98152359e-03 9.99993661e-01 -4.06593384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.725898227 meters Centerline goodness [0,1] 0.6282831686922088 Centerline is valid? [False, False] Translation: X:96.56, Y:0.36, Z:-0.41 [[ 9.99996664e-01 -1.41631530e-03 -2.16007685e-03 9.65631993e+01] [ 1.42083502e-03 9.99996802e-01 2.09229124e-03 3.55104151e-01] [ 2.15710660e-03 -2.09535338e-03 9.99995478e-01 -4.06482951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.755898227 meters Centerline goodness [0,1] 0.5559143870314083 Centerline is valid? [False, False] Translation: X:96.56, Y:0.36, Z:-0.41 [[ 9.99997588e-01 -1.16175764e-03 -1.86384924e-03 9.65622125e+01] [ 1.16558883e-03 9.99997208e-01 2.05575808e-03 3.56059225e-01] [ 1.86145575e-03 -2.05792560e-03 9.99996150e-01 -4.06446524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.785898227 meters Centerline goodness [0,1] 0.5481070551367833 Centerline is valid? [False, False] Translation: X:96.56, Y:0.36, Z:-0.41 [[ 9.99997713e-01 -1.15328033e-03 -1.80123183e-03 9.65617883e+01] [ 1.15664057e-03 9.99997591e-01 1.86559795e-03 3.57206335e-01] [ 1.79907593e-03 -1.86767706e-03 9.99996638e-01 -4.06117274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.815898227 meters Centerline goodness [0,1] 0.6142953757714092 Centerline is valid? [False, False] Translation: X:96.56, Y:0.36, Z:-0.41 [[ 9.99997766e-01 -1.18678513e-03 -1.74904180e-03 9.65616666e+01] [ 1.18958042e-03 9.99998016e-01 1.59800940e-03 3.58675426e-01] [ 1.74714183e-03 -1.60008646e-03 9.99997194e-01 -4.06226626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.845898227 meters Centerline goodness [0,1] 0.666794396900413 Centerline is valid? [False, False] Translation: X:96.56, Y:0.36, Z:-0.41 [[ 9.99997769e-01 -1.17697270e-03 -1.75432636e-03 9.65616815e+01] [ 1.17948537e-03 9.99998279e-01 1.43192238e-03 3.59690113e-01] [ 1.75263801e-03 -1.43398838e-03 9.99997436e-01 -4.06256664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.875898227 meters Centerline goodness [0,1] 0.5852521008403362 Centerline is valid? [False, False] Translation: X:96.60, Y:0.37, Z:-0.41 [[ 9.99998880e-01 -1.02987375e-03 -1.08575524e-03 9.66027583e+01] [ 1.02869407e-03 9.99998881e-01 -1.08650413e-03 3.66554777e-01] [ 1.08687298e-03 1.08538600e-03 9.99998820e-01 -4.06095478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.905898227 meters Centerline goodness [0,1] 0.5819848293299621 Centerline is valid? [False, False] Translation: X:96.60, Y:0.37, Z:-0.41 [[ 9.99998875e-01 -1.07395351e-03 -1.04763304e-03 9.66025782e+01] [ 1.07278039e-03 9.99998798e-01 -1.11969923e-03 3.66681409e-01] [ 1.04883428e-03 1.11857409e-03 9.99998824e-01 -4.06046918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.935898227 meters Centerline goodness [0,1] 0.5931769006155074 Centerline is valid? [False, False] Translation: X:96.60, Y:0.37, Z:-0.41 [[ 9.99998829e-01 -1.05297510e-03 -1.11049481e-03 9.66026686e+01] [ 1.05200381e-03 9.99999064e-01 -8.74872466e-04 3.65343478e-01] [ 1.11141499e-03 8.73703197e-04 9.99999001e-01 -4.05843621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.965898227 meters Centerline goodness [0,1] 0.6520593566881666 Centerline is valid? [False, False] Translation: X:96.60, Y:0.36, Z:-0.41 [[ 9.99998642e-01 -1.05404043e-03 -1.26699899e-03 9.66029506e+01] [ 1.05350015e-03 9.99999354e-01 -4.27018642e-04 3.62705618e-01] [ 1.26744827e-03 4.25683279e-04 9.99999106e-01 -4.05495546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.995898227 meters Centerline goodness [0,1] 0.6646980658496973 Centerline is valid? [False, False] Translation: X:96.60, Y:0.36, Z:-0.40 [[ 9.99998347e-01 -1.06133876e-03 -1.47649796e-03 9.66033527e+01] [ 1.06170019e-03 9.99999407e-01 2.44027228e-04 3.58873648e-01] [ 1.47623808e-03 -2.45594423e-04 9.99998880e-01 -4.04974258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.025898227 meters Centerline goodness [0,1] 0.691082936691799 Centerline is valid? [False, False] Translation: X:96.60, Y:0.36, Z:-0.40 [[ 9.99997847e-01 -1.13413315e-03 -1.73759629e-03 9.66040198e+01] [ 1.13561774e-03 9.99998991e-01 8.53644259e-04 3.55135592e-01] [ 1.73662639e-03 -8.55615666e-04 9.99998126e-01 -4.04639242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.055898227 meters Centerline goodness [0,1] 0.7814013493221665 Centerline is valid? [False, False] Translation: X:96.60, Y:0.35, Z:-0.40 [[ 9.99997247e-01 -1.19916104e-03 -2.01699103e-03 9.66048092e+01] [ 1.20278357e-03 9.99997664e-01 1.79574986e-03 3.49346116e-01] [ 2.01483292e-03 -1.79817092e-03 9.99996354e-01 -4.04288237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.085898227 meters Centerline goodness [0,1] 0.7158427647957155 Centerline is valid? [False, False] Translation: X:96.63, Y:0.35, Z:-0.41 [[ 9.99999860e-01 2.16762470e-04 4.82721003e-04 9.66256158e+01] [-2.12930495e-04 9.99968580e-01 -7.92423520e-03 3.51563371e-01] [-4.84423513e-04 7.92413130e-03 9.99968486e-01 -4.05715537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.115898227 meters Centerline goodness [0,1] 0.754789596109114 Centerline is valid? [False, False] Translation: X:96.60, Y:0.35, Z:-0.40 [[ 9.99992574e-01 -3.77971141e-04 -3.83535291e-03 9.66046407e+01] [ 3.87890771e-04 9.99996581e-01 2.58595269e-03 3.46190386e-01] [ 3.83436239e-03 -2.58742119e-03 9.99989301e-01 -4.02004922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.145898227 meters Centerline goodness [0,1] 0.7977165655108017 Centerline is valid? [False, False] Translation: X:96.60, Y:0.35, Z:-0.40 [[ 9.99992795e-01 -3.12293714e-04 -3.78325307e-03 9.66045181e+01] [ 3.22231728e-04 9.99996499e-01 2.62651892e-03 3.46014637e-01] [ 3.78241958e-03 -2.62771908e-03 9.99989394e-01 -4.02116771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.175898227 meters Centerline goodness [0,1] 0.824763925729443 Centerline is valid? [False, False] Translation: X:96.60, Y:0.34, Z:-0.40 [[ 9.99993298e-01 -1.47269607e-04 -3.65824047e-03 9.66038531e+01] [ 1.58007659e-04 9.99995680e-01 2.93518959e-03 3.44590043e-01] [ 3.65779240e-03 -2.93574794e-03 9.99989001e-01 -4.01667456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.205898227 meters Centerline goodness [0,1] 0.7652706540629901 Centerline is valid? [False, False] Translation: X:96.60, Y:0.34, Z:-0.40 [[ 9.99993268e-01 -7.30184925e-05 -3.66858359e-03 9.66038887e+01] [ 8.47766094e-05 9.99994860e-01 3.20503028e-03 3.43138777e-01] [ 3.66833071e-03 -3.20531972e-03 9.99988135e-01 -4.01663833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.235898227 meters Centerline goodness [0,1] 0.8510566285194509 Centerline is valid? [False, False] Translation: X:96.60, Y:0.34, Z:-0.40 [[ 9.99992735e-01 -8.52346886e-06 -3.81177778e-03 9.66044997e+01] [ 2.19102769e-05 9.99993833e-01 3.51193123e-03 3.41434770e-01] [ 3.81172433e-03 -3.51198923e-03 9.99986568e-01 -4.01883372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.265898227 meters Centerline goodness [0,1] 0.8195650795663476 Centerline is valid? [False, False] Translation: X:96.61, Y:0.34, Z:-0.40 [[ 9.99991926e-01 1.43190324e-05 -4.01849290e-03 9.66053342e+01] [ 9.69649616e-07 9.99992763e-01 3.80455332e-03 3.39722630e-01] [ 4.01851829e-03 -3.80452650e-03 9.99984688e-01 -4.02113750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.295898227 meters Centerline goodness [0,1] 0.8594376657824934 Centerline is valid? [False, False] Translation: X:96.61, Y:0.34, Z:-0.40 [[ 9.99991158e-01 2.74713168e-05 -4.20511969e-03 9.66061496e+01] [-1.07370855e-05 9.99992082e-01 3.97946075e-03 3.38624138e-01] [ 4.20519571e-03 -3.97938041e-03 9.99983240e-01 -4.02466777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.325898227 meters Centerline goodness [0,1] 0.8283725999832313 Centerline is valid? [False, False] Translation: X:96.63, Y:0.34, Z:-0.41 [[ 9.99999762e-01 -2.27253942e-04 -6.51816774e-04 9.66307042e+01] [ 2.22700872e-04 9.99975637e-01 -6.97678745e-03 3.44313369e-01] [ 6.53386397e-04 6.97664063e-03 9.99975449e-01 -4.07942678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.355898227 meters Centerline goodness [0,1] 0.6540362091805623 Centerline is valid? [False, False] Translation: X:96.63, Y:0.34, Z:-0.41 [[ 9.99999754e-01 -2.67641015e-04 -6.48637329e-04 9.66305836e+01] [ 2.63090788e-04 9.99975430e-01 -7.00501697e-03 3.44409160e-01] [ 6.50496221e-04 7.00484460e-03 9.99975254e-01 -4.07786373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.385898227 meters Centerline goodness [0,1] 0.8625098055844128 Centerline is valid? [False, False] Translation: X:96.61, Y:0.34, Z:-0.41 [[ 9.99985632e-01 -2.20489640e-03 4.88611241e-03 9.66110878e+01] [ 2.21233596e-03 9.99996401e-01 -1.51771108e-03 3.42738654e-01] [-4.88274843e-03 1.52849899e-03 9.99986911e-01 -4.13196855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.415898227 meters Centerline goodness [0,1] 0.863791967000489 Centerline is valid? [False, False] Translation: X:96.61, Y:0.34, Z:-0.41 [[ 9.99985481e-01 -2.25200525e-03 4.89558753e-03 9.66109922e+01] [ 2.25979369e-03 9.99996189e-01 -1.58596184e-03 3.43045118e-01] [-4.89199728e-03 1.59700183e-03 9.99986759e-01 -4.13119739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.445898227 meters Centerline goodness [0,1] 0.9072255199214246 Centerline is valid? [False, False] Translation: X:96.61, Y:0.34, Z:-0.41 [[ 9.99986110e-01 -2.29263940e-03 4.74582836e-03 9.66115555e+01] [ 2.30034324e-03 9.99996044e-01 -1.61846663e-03 3.43147073e-01] [-4.74209903e-03 1.62936118e-03 9.99987429e-01 -4.13306830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.475898227 meters Centerline goodness [0,1] 0.9275466132940061 Centerline is valid? [False, False] Translation: X:96.66, Y:0.35, Z:-0.41 [[ 9.99997280e-01 -1.84681578e-03 1.42482227e-03 9.66590241e+01] [ 1.84930767e-03 9.99996760e-01 -1.74957981e-03 3.45284316e-01] [-1.42158650e-03 1.75220998e-03 9.99997454e-01 -4.13927178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.505898227 meters Centerline goodness [0,1] 0.9161423370720313 Centerline is valid? [False, False] Translation: X:96.66, Y:0.35, Z:-0.41 [[ 9.99997418e-01 -1.90011838e-03 1.24606711e-03 9.66598091e+01] [ 1.90236490e-03 9.99996563e-01 -1.80418305e-03 3.45485534e-01] [-1.24263466e-03 1.80654886e-03 9.99997596e-01 -4.14259908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.535898227 meters Centerline goodness [0,1] 0.9008260970611227 Centerline is valid? [False, False] Translation: X:96.66, Y:0.35, Z:-0.41 [[ 9.99997553e-01 -1.88725652e-03 1.15429370e-03 9.66599765e+01] [ 1.88928421e-03 9.99996670e-01 -1.75809424e-03 3.45284331e-01] [-1.15097188e-03 1.76027073e-03 9.99997788e-01 -4.14079393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.565898227 meters Centerline goodness [0,1] 0.8700707785642063 Centerline is valid? [False, False] Translation: X:96.66, Y:0.35, Z:-0.41 [[ 9.99997577e-01 -1.86448870e-03 1.17051188e-03 9.66596363e+01] [ 1.86647274e-03 9.99996820e-01 -1.69622230e-03 3.45076844e-01] [-1.16734557e-03 1.69840292e-03 9.99997876e-01 -4.13614213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.595898227 meters Centerline goodness [0,1] 0.958049502855934 Centerline is valid? [False, True] Translation: X:96.66, Y:0.34, Z:-0.41 [[ 9.99997619e-01 -1.77581991e-03 1.26845694e-03 9.66588677e+01] [ 1.77778528e-03 9.99997219e-01 -1.54997119e-03 3.44537261e-01] [-1.26570094e-03 1.55222255e-03 9.99997994e-01 -4.12844748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.625898227 meters Centerline goodness [0,1] 0.9083092744399722 Centerline is valid? [True, False] Translation: X:96.66, Y:0.34, Z:-0.41 [[ 9.99997790e-01 -1.53538942e-03 1.43642419e-03 9.66579624e+01] [ 1.53716732e-03 9.99998053e-01 -1.23744414e-03 3.43395645e-01] [-1.43452144e-03 1.23964943e-03 9.99998203e-01 -4.12242158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.655898227 meters Centerline goodness [0,1] 0.9505492193089516 Centerline is valid? [False, True] Translation: X:96.66, Y:0.34, Z:-0.41 [[ 9.99998021e-01 -1.38017676e-03 1.43311218e-03 9.66579948e+01] [ 1.38157821e-03 9.99998568e-01 -9.77378210e-04 3.42283824e-01] [-1.43176117e-03 9.79356232e-04 9.99998495e-01 -4.12248920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.685898227 meters Centerline goodness [0,1] 0.8815831067838402 Centerline is valid? [True, False] Translation: X:96.66, Y:0.34, Z:-0.41 [[ 9.99998319e-01 -1.24063513e-03 1.35023104e-03 9.66583179e+01] [ 1.24163497e-03 9.99998955e-01 -7.39910148e-04 3.41310920e-01] [-1.34931167e-03 7.41585398e-04 9.99998815e-01 -4.12323459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.715898227 meters Centerline goodness [0,1] 0.7949866464786659 Centerline is valid? [False, False] Translation: X:96.66, Y:0.34, Z:-0.41 [[ 9.99998801e-01 -8.72527833e-04 1.27916877e-03 9.66585596e+01] [ 8.72727189e-04 9.99999607e-01 -1.55298674e-04 3.38842374e-01] [-1.27903277e-03 1.56414853e-04 9.99999170e-01 -4.12311389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.745898227 meters Centerline goodness [0,1] 0.776867620938251 Centerline is valid? [False, False] Translation: X:96.66, Y:0.34, Z:-0.41 [[ 9.99998983e-01 -6.58383921e-04 1.26488703e-03 9.66585377e+01] [ 6.58177967e-04 9.99999770e-01 1.63233835e-04 3.37538817e-01] [-1.26499421e-03 -1.62401148e-04 9.99999187e-01 -4.12145041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.775898227 meters Centerline goodness [0,1] 0.6585834133311073 Centerline is valid? [False, False] Translation: X:96.66, Y:0.34, Z:-0.41 [[ 9.99998919e-01 -4.87209316e-04 1.38749669e-03 9.66579591e+01] [ 4.86620200e-04 9.99999791e-01 4.24895349e-04 3.36481183e-01] [-1.38770342e-03 -4.24219706e-04 9.99998947e-01 -4.11823935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.805898227 meters Centerline goodness [0,1] 0.8002865088059324 Centerline is valid? [False, False] Translation: X:96.66, Y:0.34, Z:-0.41 [[ 9.99998812e-01 -4.23504645e-04 1.48242013e-03 9.66576307e+01] [ 4.22763028e-04 9.99999785e-01 5.00552158e-04 3.36156620e-01] [-1.48263180e-03 -4.99924851e-04 9.99998776e-01 -4.11774148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.835898227 meters Centerline goodness [0,1] 0.636856482454297 Centerline is valid? [False, False] Translation: X:96.66, Y:0.34, Z:-0.41 [[ 9.99998697e-01 -3.86135088e-04 1.56727598e-03 9.66574808e+01] [ 3.85350506e-04 9.99999800e-01 5.00873483e-04 3.36285116e-01] [-1.56746907e-03 -5.00268880e-04 9.99998646e-01 -4.11966343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.865898227 meters Centerline goodness [0,1] 0.8369102349526493 Centerline is valid? [False, False] Translation: X:96.66, Y:0.34, Z:-0.41 [[ 9.99998674e-01 -3.92700166e-04 1.58063743e-03 9.66575121e+01] [ 3.92055389e-04 9.99999840e-01 4.08210993e-04 3.36830146e-01] [-1.58079748e-03 -4.07590754e-04 9.99998667e-01 -4.12140207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.895898227 meters Centerline goodness [0,1] 0.6087651077246453 Centerline is valid? [False, False] Translation: X:96.66, Y:0.34, Z:-0.42 [[ 9.99998481e-01 1.59605336e-03 7.00921299e-04 9.66636325e+01] [-1.59763739e-03 9.99996158e-01 2.26521382e-03 3.36320672e-01] [-6.97303204e-04 -2.26633020e-03 9.99997189e-01 -4.16160028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.925898227 meters Centerline goodness [0,1] 0.5965599597754128 Centerline is valid? [False, False] Translation: X:96.66, Y:0.34, Z:-0.42 [[ 9.99998677e-01 1.50293904e-03 6.21838860e-04 9.66639956e+01] [-1.50417242e-03 9.99996893e-01 1.98774767e-03 3.37671467e-01] [-6.18849464e-04 -1.98868040e-03 9.99997831e-01 -4.16322862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.955898227 meters Centerline goodness [0,1] 0.5944556791371756 Centerline is valid? [False, False] Translation: X:96.66, Y:0.34, Z:-0.42 [[ 9.99998872e-01 1.36352252e-03 6.29859154e-04 9.66640139e+01] [-1.36456141e-03 9.99997705e-01 1.65191195e-03 3.39247582e-01] [-6.27605290e-04 -1.65276956e-03 9.99998437e-01 -4.16409387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.985898227 meters Centerline goodness [0,1] 0.7101975350329225 Centerline is valid? [False, False] Translation: X:96.66, Y:0.34, Z:-0.42 [[ 9.99999140e-01 1.17884017e-03 5.74745748e-04 9.66642185e+01] [-1.17952849e-03 9.99998586e-01 1.19874485e-03 3.41387785e-01] [-5.73331807e-04 -1.19942175e-03 9.99999116e-01 -4.16489656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.015898227 meters Centerline goodness [0,1] 0.6911783399008516 Centerline is valid? [False, False] Translation: X:96.67, Y:0.34, Z:-0.42 [[ 9.99999528e-01 8.88900887e-04 3.91207885e-04 9.66650546e+01] [-8.89099939e-04 9.99999475e-01 5.08935402e-04 3.44593846e-01] [-3.90755286e-04 -5.09282985e-04 9.99999794e-01 -4.16984441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.045898227 meters Centerline goodness [0,1] 0.7744723108453591 Centerline is valid? [False, False] Translation: X:96.67, Y:0.34, Z:-0.42 [[ 9.99999649e-01 7.90604166e-04 2.77967656e-04 9.66654475e+01] [-7.90722759e-04 9.99999596e-01 4.26792404e-04 3.44712689e-01] [-2.77630120e-04 -4.27012049e-04 9.99999870e-01 -4.17037591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.075898227 meters Centerline goodness [0,1] 0.7023802047352885 Centerline is valid? [False, False] Translation: X:96.67, Y:0.34, Z:-0.42 [[ 9.99999697e-01 7.45240252e-04 2.25281048e-04 9.66653667e+01] [-7.45347292e-04 9.99999609e-01 4.75432089e-04 3.44406386e-01] [-2.24926648e-04 -4.75599858e-04 9.99999862e-01 -4.16658840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.105898227 meters Centerline goodness [0,1] 0.7676372956846926 Centerline is valid? [False, False] Translation: X:96.67, Y:0.34, Z:-0.42 [[ 9.99999769e-01 6.70708598e-04 1.07934600e-04 9.66653776e+01] [-6.70772522e-04 9.99999599e-01 5.93305674e-04 3.43504139e-01] [-1.07536621e-04 -5.93377936e-04 9.99999818e-01 -4.16063176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.135898227 meters Centerline goodness [0,1] 0.7276937718092418 Centerline is valid? [False, False] Translation: X:96.66, Y:0.34, Z:-0.41 [[ 9.99999009e-01 -1.17471775e-03 7.75507519e-04 9.66604765e+01] [ 1.17554522e-03 9.99998739e-01 -1.06740711e-03 3.43955278e-01] [-7.74252640e-04 1.06831770e-03 9.99999130e-01 -4.12826653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.165898227 meters Centerline goodness [0,1] 0.814879906268307 Centerline is valid? [False, False] Translation: X:96.70, Y:0.34, Z:-0.41 [[ 9.99999327e-01 -9.13797832e-04 7.14416154e-04 9.67024056e+01] [ 9.14040714e-04 9.99999525e-01 -3.39721403e-04 3.43555162e-01] [-7.14105378e-04 3.40374180e-04 9.99999687e-01 -4.11245107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.195898227 meters Centerline goodness [0,1] 0.9303574425239134 Centerline is valid? [False, False] Translation: X:96.70, Y:0.34, Z:-0.41 [[ 9.99999402e-01 -9.04746884e-04 6.14145739e-04 9.67027301e+01] [ 9.04379080e-04 9.99999412e-01 5.98899588e-04 3.38064613e-01] [-6.14687230e-04 -5.98343809e-04 9.99999632e-01 -4.11078512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.225898227 meters Centerline goodness [0,1] 0.8914584032203958 Centerline is valid? [False, False] Translation: X:96.70, Y:0.34, Z:-0.41 [[ 9.99999565e-01 -7.57682817e-04 5.44536885e-04 9.67030570e+01] [ 7.57119077e-04 9.99999178e-01 1.03472532e-03 3.35797583e-01] [-5.45320431e-04 -1.03431259e-03 9.99999316e-01 -4.11219960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.255898227 meters Centerline goodness [0,1] 0.9256719692814043 Centerline is valid? [False, False] Translation: X:96.70, Y:0.33, Z:-0.41 [[ 9.99999699e-01 -5.76447534e-04 5.18785312e-04 9.67031936e+01] [ 5.75687594e-04 9.99998763e-01 1.46380524e-03 3.33751071e-01] [-5.19628477e-04 -1.46350614e-03 9.99998794e-01 -4.11263345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.285898227 meters Centerline goodness [0,1] 0.9079841930823489 Centerline is valid? [False, False] Translation: X:96.70, Y:0.33, Z:-0.41 [[ 9.99999870e-01 -1.97304668e-05 5.10258548e-04 9.67033584e+01] [ 1.84056006e-05 9.99996629e-01 2.59633497e-03 3.28571855e-01] [-5.10308055e-04 -2.59632524e-03 9.99996499e-01 -4.11390750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.315898227 meters Centerline goodness [0,1] 0.9083145783816755 Centerline is valid? [False, False] Translation: X:96.74, Y:0.33, Z:-0.41 [[ 9.99999542e-01 6.85021777e-05 9.54908110e-04 9.67443740e+01] [-6.95450217e-05 9.99999401e-01 1.09209794e-03 3.29637159e-01] [-9.54832727e-04 -1.09216385e-03 9.99998948e-01 -4.10034265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.345898227 meters Centerline goodness [0,1] 0.8494182639993304 Centerline is valid? [False, False] Translation: X:96.74, Y:0.33, Z:-0.41 [[ 9.99999557e-01 2.61627265e-04 9.03748996e-04 9.67447423e+01] [-2.62867484e-04 9.99999024e-01 1.37245945e-03 3.28426906e-01] [-9.03389040e-04 -1.37269641e-03 9.99998650e-01 -4.10344778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.375898227 meters Centerline goodness [0,1] 0.6996134616192597 Centerline is valid? [False, False] Translation: X:96.74, Y:0.33, Z:-0.41 [[ 9.99999536e-01 3.56410563e-04 8.94542390e-04 9.67449219e+01] [-3.57667431e-04 9.99998949e-01 1.40527340e-03 3.28459347e-01] [-8.94040595e-04 -1.40559269e-03 9.99998612e-01 -4.10589240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.405898227 meters Centerline goodness [0,1] 0.8088315502412419 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.41 [[ 9.99999476e-01 4.68172697e-04 9.10620167e-04 9.67451499e+01] [-4.69395062e-04 9.99998989e-01 1.34259329e-03 3.29090507e-01] [-9.09990680e-04 -1.34302003e-03 9.99998684e-01 -4.11067181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.435898227 meters Centerline goodness [0,1] 0.6159397353927961 Centerline is valid? [False, False] Translation: X:96.74, Y:0.33, Z:-0.41 [[ 9.99998943e-01 9.44361577e-04 1.10593538e-03 9.67448370e+01] [-9.45937264e-04 9.99998537e-01 1.42509948e-03 3.29797389e-01] [-1.10458795e-03 -1.42614412e-03 9.99998373e-01 -4.11625995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.465898227 meters Centerline goodness [0,1] 0.7033169790749361 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.41 [[ 9.99998855e-01 1.04623508e-03 1.09311897e-03 9.67451085e+01] [-1.04775463e-03 9.99998484e-01 1.39045461e-03 3.30246270e-01] [-1.09166257e-03 -1.39159834e-03 9.99998436e-01 -4.12022625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.495898227 meters Centerline goodness [0,1] 0.6157236251227103 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.41 [[ 9.99998941e-01 1.06063724e-03 9.96139991e-04 9.67456549e+01] [-1.06192177e-03 9.99998604e-01 1.28986334e-03 3.30781162e-01] [-9.94770524e-04 -1.29091980e-03 9.99998672e-01 -4.12414919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.525898227 meters Centerline goodness [0,1] 0.5225145830710478 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.41 [[ 9.99999021e-01 1.03307900e-03 9.43605181e-04 9.67461384e+01] [-1.03421106e-03 9.99998745e-01 1.20001626e-03 3.31152950e-01] [-9.42364285e-04 -1.20099097e-03 9.99998835e-01 -4.12947920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.555898227 meters Centerline goodness [0,1] 0.6065687303252886 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.41 [[ 9.99999112e-01 1.01176482e-03 8.67189080e-04 9.67464235e+01] [-1.01285461e-03 9.99998697e-01 1.25716699e-03 3.30720053e-01] [-8.65915992e-04 -1.25804421e-03 9.99998834e-01 -4.12989022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.585898227 meters Centerline goodness [0,1] 0.6065687303252886 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.41 [[ 9.99999112e-01 1.01176482e-03 8.67189080e-04 9.67464235e+01] [-1.01285461e-03 9.99998697e-01 1.25716699e-03 3.30720053e-01] [-8.65915992e-04 -1.25804421e-03 9.99998834e-01 -4.12989022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.615898227 meters Centerline goodness [0,1] 0.638659330083478 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.41 [[ 9.99999237e-01 9.42501270e-04 7.98805308e-04 9.67463529e+01] [-9.43686321e-04 9.99998453e-01 1.48445327e-03 3.29124077e-01] [-7.97404973e-04 -1.48520596e-03 9.99998579e-01 -4.12461911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.645898227 meters Centerline goodness [0,1] 0.5720777581418834 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.41 [[ 9.99999303e-01 8.75764632e-04 7.91678711e-04 9.67461949e+01] [-8.76910714e-04 9.99998566e-01 1.44847438e-03 3.29139444e-01] [-7.90409054e-04 -1.44916760e-03 9.99998638e-01 -4.12205263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.675898227 meters Centerline goodness [0,1] 0.5639986561961954 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.41 [[ 9.99999466e-01 7.56006762e-04 7.04813270e-04 9.67464340e+01] [-7.56894272e-04 9.99998920e-01 1.25979794e-03 3.29913433e-01] [-7.03860093e-04 -1.26033074e-03 9.99998958e-01 -4.12138106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.705898227 meters Centerline goodness [0,1] 0.5697917101473473 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.41 [[ 9.99999707e-01 4.86585711e-04 5.90887886e-04 9.67467875e+01] [-4.86946586e-04 9.99999695e-01 6.10743285e-04 3.32979824e-01] [-5.90590526e-04 -6.11030837e-04 9.99999639e-01 -4.12120836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.735898227 meters Centerline goodness [0,1] 0.5616719341942775 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.41 [[ 9.99999689e-01 3.61572114e-04 7.01286252e-04 9.67463413e+01] [-3.61749697e-04 9.99999903e-01 2.53114510e-04 3.34769370e-01] [-7.01194664e-04 -2.53368121e-04 9.99999722e-01 -4.12027189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.765898227 meters Centerline goodness [0,1] 0.6470858863631611 Centerline is valid? [False, False] Translation: X:96.75, Y:0.34, Z:-0.41 [[ 9.99999630e-01 2.32873077e-04 8.28364295e-04 9.67457838e+01] [-2.32718524e-04 9.99999955e-01 -1.86668120e-04 3.37064612e-01] [-8.28407728e-04 1.86475275e-04 9.99999639e-01 -4.11806500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.795898227 meters Centerline goodness [0,1] 0.6715988750367292 Centerline is valid? [False, False] Translation: X:96.75, Y:0.34, Z:-0.41 [[ 9.99999525e-01 4.61596448e-05 9.73824226e-04 9.67451916e+01] [-4.54219103e-05 9.99999712e-01 -7.57572806e-04 3.40009088e-01] [-9.73858915e-04 7.57528213e-04 9.99999239e-01 -4.11681478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.825898227 meters Centerline goodness [0,1] 0.5943977123296249 Centerline is valid? [False, False] Translation: X:96.75, Y:0.34, Z:-0.41 [[ 9.99998689e-01 1.57074685e-03 3.92637478e-04 9.67499147e+01] [-1.57095303e-03 9.99998628e-01 5.25358263e-04 3.41361416e-01] [-3.91811735e-04 -5.25974390e-04 9.99999785e-01 -4.14931398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.855898227 meters Centerline goodness [0,1] 0.5587946829156321 Centerline is valid? [False, False] Translation: X:96.75, Y:0.34, Z:-0.42 [[ 9.99999145e-01 1.27677139e-03 2.82617539e-04 9.67507282e+01] [-1.27671702e-03 9.99999166e-01 -1.92486639e-04 3.44726551e-01] [-2.82863065e-04 1.92125652e-04 9.99999942e-01 -4.15758161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.885898227 meters Centerline goodness [0,1] 0.6277627068744349 Centerline is valid? [False, False] Translation: X:96.75, Y:0.35, Z:-0.42 [[ 9.99999677e-01 8.01466079e-04 -5.90563968e-05 9.67527760e+01] [-8.01533911e-04 9.99999009e-01 -1.15765856e-03 3.49033587e-01] [ 5.81285142e-05 1.15770552e-03 9.99999328e-01 -4.17417280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.915898227 meters Centerline goodness [0,1] 0.5848567245346161 Centerline is valid? [False, False] Translation: X:96.75, Y:0.35, Z:-0.42 [[ 9.99999724e-01 7.10585438e-04 -2.17447229e-04 9.67533162e+01] [-7.10857412e-04 9.99998962e-01 -1.25324555e-03 3.49335962e-01] [ 2.16556466e-04 1.25339978e-03 9.99999191e-01 -4.17497373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.945898227 meters Centerline goodness [0,1] 0.6720897969479127 Centerline is valid? [False, False] Translation: X:96.75, Y:0.35, Z:-0.42 [[ 9.99999761e-01 6.56845021e-04 -2.14188751e-04 9.67531429e+01] [-6.57114567e-04 9.99998989e-01 -1.26081817e-03 3.49317578e-01] [ 2.13360372e-04 1.26095862e-03 9.99999182e-01 -4.17228028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.975898227 meters Centerline goodness [0,1] 0.7188989438763727 Centerline is valid? [False, False] Translation: X:96.75, Y:0.35, Z:-0.42 [[ 9.99999801e-01 5.95585355e-04 -2.06913314e-04 9.67528552e+01] [-5.95845615e-04 9.99999029e-01 -1.26004632e-03 3.49184602e-01] [ 2.06162647e-04 1.26016935e-03 9.99999185e-01 -4.16809736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.005898227 meters Centerline goodness [0,1] 0.7110345262361569 Centerline is valid? [False, False] Translation: X:96.75, Y:0.35, Z:-0.42 [[ 9.99999848e-01 4.99256803e-04 -2.35531245e-04 9.67528465e+01] [-4.99564682e-04 9.99999019e-01 -1.30892433e-03 3.49271046e-01] [ 2.34877525e-04 1.30904179e-03 9.99999116e-01 -4.16633581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.035898227 meters Centerline goodness [0,1] 0.7151377210174706 Centerline is valid? [False, False] Translation: X:96.75, Y:0.35, Z:-0.42 [[ 9.99999849e-01 4.89993914e-04 -2.50114510e-04 9.67528175e+01] [-4.90302090e-04 9.99999119e-01 -1.23357051e-03 3.48821361e-01] [ 2.49509848e-04 1.23369295e-03 9.99999208e-01 -4.16522586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.065898227 meters Centerline goodness [0,1] 0.7539508200217535 Centerline is valid? [False, False] Translation: X:96.71, Y:0.34, Z:-0.42 [[ 9.99999186e-01 1.91928574e-04 -1.26149934e-03 9.67122802e+01] [-1.90628705e-04 9.99999451e-01 1.03045579e-03 3.42532022e-01] [ 1.26169642e-03 -1.03021447e-03 9.99998673e-01 -4.17626481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.095898227 meters Centerline goodness [0,1] 0.7581142605375238 Centerline is valid? [False, False] Translation: X:96.76, Y:0.34, Z:-0.42 [[ 9.99998567e-01 2.06166397e-04 -1.68019958e-03 9.67564337e+01] [-2.06164292e-04 9.99999979e-01 1.42615031e-06 3.44606295e-01] [ 1.68019983e-03 -1.07975111e-06 9.99998588e-01 -4.17735071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.125898227 meters Centerline goodness [0,1] 0.7267538946077914 Centerline is valid? [False, False] Translation: X:96.76, Y:0.34, Z:-0.42 [[ 9.99998439e-01 3.62761005e-04 -1.72910649e-03 9.67567467e+01] [-3.62147982e-04 9.99999871e-01 3.54831360e-04 3.42861031e-01] [ 1.72923499e-03 -3.54204613e-04 9.99998442e-01 -4.17970407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.155898227 meters Centerline goodness [0,1] 0.7206952219217142 Centerline is valid? [False, False] Translation: X:96.76, Y:0.34, Z:-0.42 [[ 9.99998193e-01 4.92078731e-04 -1.83599338e-03 9.67571215e+01] [-4.90874278e-04 9.99999664e-01 6.56415717e-04 3.41403110e-01] [ 1.83631577e-03 -6.55513289e-04 9.99998099e-01 -4.17996921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.185898227 meters Centerline goodness [0,1] 0.6804273306555066 Centerline is valid? [False, False] Translation: X:96.76, Y:0.34, Z:-0.42 [[ 9.99998252e-01 7.74078867e-04 -1.70204892e-03 9.67561235e+01] [-7.71896821e-04 9.99998880e-01 1.28229476e-03 3.38438826e-01] [ 1.70303961e-03 -1.28097871e-03 9.99997729e-01 -4.17011367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.215898227 meters Centerline goodness [0,1] 0.7560494862654644 Centerline is valid? [False, False] Translation: X:96.76, Y:0.34, Z:-0.42 [[ 9.99998277e-01 9.22392239e-04 -1.61111424e-03 9.67555441e+01] [-9.19815172e-04 9.99998298e-01 1.59956483e-03 3.36974105e-01] [ 1.61258692e-03 -1.59808015e-03 9.99997423e-01 -4.16525624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.245898227 meters Centerline goodness [0,1] 0.9198591398996905 Centerline is valid? [False, False] Translation: X:96.71, Y:0.33, Z:-0.42 [[ 9.99999739e-01 -3.18547231e-04 -6.47776845e-04 9.67104160e+01] [ 3.19436778e-04 9.99999006e-01 1.37359107e-03 3.32929550e-01] [ 6.47338647e-04 -1.37379764e-03 9.99998847e-01 -4.16548579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.275898227 meters Centerline goodness [0,1] 0.6192401986463549 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.42 [[ 9.99999991e-01 -1.08092328e-04 -7.41263544e-05 9.67528346e+01] [ 1.08113392e-04 9.99999954e-01 2.84227329e-04 3.34993348e-01] [ 7.40956282e-05 -2.84235341e-04 9.99999957e-01 -4.16462788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.305898227 meters Centerline goodness [0,1] 0.7705128745417 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.42 [[ 9.99999998e-01 3.56731081e-05 -6.04932521e-05 9.67528842e+01] [-3.56399590e-05 9.99999849e-01 5.47892828e-04 3.33791378e-01] [ 6.05127880e-05 -5.47890670e-04 9.99999848e-01 -4.16618935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.335898227 meters Centerline goodness [0,1] 0.7421893129126849 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.42 [[ 9.99999992e-01 1.20819513e-04 -3.79122738e-05 9.67529663e+01] [-1.20795285e-04 9.99999789e-01 6.38408141e-04 3.33435161e-01] [ 3.79893980e-05 -6.38403556e-04 9.99999795e-01 -4.16861351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.365898227 meters Centerline goodness [0,1] 0.7867236419021831 Centerline is valid? [False, False] Translation: X:96.75, Y:0.33, Z:-0.42 [[ 9.99999904e-01 3.62853022e-04 2.46543194e-04 9.67523081e+01] [-3.62998959e-04 9.99999759e-01 5.92145032e-04 3.34326510e-01] [-2.46328273e-04 -5.92234470e-04 9.99999794e-01 -4.17250432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.395898227 meters Centerline goodness [0,1] 0.6276772041702503 Centerline is valid? [False, False] Translation: X:96.76, Y:0.33, Z:-0.42 [[ 9.99997393e-01 2.21914012e-03 -5.38882593e-04 9.67574932e+01] [-2.21789011e-03 9.99994874e-01 2.30925959e-03 3.33504995e-01] [ 5.44004401e-04 -2.30805839e-03 9.99997188e-01 -4.20316180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.425898227 meters Centerline goodness [0,1] 0.4305262498172018 Centerline is valid? [False, False] Translation: X:96.76, Y:0.34, Z:-0.42 [[ 9.99997381e-01 2.20671561e-03 -6.07722972e-04 9.67581270e+01] [-2.20553429e-03 9.99995690e-01 1.93769998e-03 3.35541398e-01] [ 6.11996306e-04 -1.93635455e-03 9.99997938e-01 -4.21026948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.455898227 meters Centerline goodness [0,1] 0.6201790416008426 Centerline is valid? [False, False] Translation: X:96.76, Y:0.34, Z:-0.42 [[ 9.99997668e-01 2.05609539e-03 -6.60614350e-04 9.67586792e+01] [-2.05525627e-03 9.99997084e-01 1.26839546e-03 3.39005299e-01] [ 6.63220366e-04 -1.26703477e-03 9.99998977e-01 -4.21767993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.485898227 meters Centerline goodness [0,1] 0.5288806017053906 Centerline is valid? [False, False] Translation: X:96.76, Y:0.34, Z:-0.42 [[ 9.99997928e-01 1.88658210e-03 -7.64695833e-04 9.67594491e+01] [-1.88626455e-03 9.99998135e-01 4.15771013e-04 3.43439101e-01] [ 7.65478793e-04 -4.14327733e-04 9.99999621e-01 -4.22649183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.515898227 meters Centerline goodness [0,1] 0.5446964713870441 Centerline is valid? [False, False] Translation: X:96.72, Y:0.35, Z:-0.42 [[ 9.99996740e-01 2.47794332e-03 -6.15910214e-04 9.67166698e+01] [-2.47857760e-03 9.99996397e-01 -1.03121148e-03 3.49846078e-01] [ 6.13352711e-04 1.03273470e-03 9.99999279e-01 -4.24408724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.545898227 meters Centerline goodness [0,1] 0.5122233686382682 Centerline is valid? [False, False] Translation: X:96.72, Y:0.35, Z:-0.42 [[ 9.99978482e-01 6.50579585e-03 -8.42474202e-04 9.67171485e+01] [-6.50310129e-03 9.99973854e-01 3.16258129e-03 3.49794073e-01] [ 8.63027283e-04 -3.15703455e-03 9.99994644e-01 -4.23927092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.575898227 meters Centerline goodness [0,1] 0.4870591193914119 Centerline is valid? [False, False] Translation: X:96.72, Y:0.35, Z:-0.42 [[ 9.99980703e-01 6.16399761e-03 -7.73785144e-04 9.67168868e+01] [-6.16214887e-03 9.99978207e-01 2.36928061e-03 3.53532458e-01] [ 7.88372521e-04 -2.36446671e-03 9.99996894e-01 -4.23917139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.605898227 meters Centerline goodness [0,1] 0.602345279645867 Centerline is valid? [False, False] Translation: X:96.67, Y:0.36, Z:-0.42 [[ 9.99993415e-01 3.54956769e-03 -7.55157385e-04 9.66735621e+01] [-3.54992777e-03 9.99993586e-01 -4.76012619e-04 3.55009906e-01] [ 7.53462902e-04 4.78690239e-04 9.99999602e-01 -4.24995088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.635898227 meters Centerline goodness [0,1] 0.527937325787651 Centerline is valid? [False, False] Translation: X:96.68, Y:0.36, Z:-0.43 [[ 9.99997992e-01 8.05278023e-04 -1.83508645e-03 9.66801145e+01] [-8.11485954e-04 9.99993943e-01 -3.38467940e-03 3.59426665e-01] [ 1.83234973e-03 3.38616175e-03 9.99992588e-01 -4.28839574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.665898227 meters Centerline goodness [0,1] 0.5717453145917002 Centerline is valid? [False, False] Translation: X:96.70, Y:0.36, Z:-0.43 [[ 9.99983789e-01 -3.60334532e-03 -4.40881156e-03 9.67009123e+01] [ 3.61013350e-03 9.99992309e-01 1.53269554e-03 3.61279606e-01] [ 4.40325482e-03 -1.54858710e-03 9.99989107e-01 -4.25059442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.695898227 meters Centerline goodness [0,1] 0.6897062871905639 Centerline is valid? [False, False] Translation: X:96.66, Y:0.36, Z:-0.43 [[ 9.99972980e-01 -5.90211389e-03 -4.38221322e-03 9.66582315e+01] [ 5.90995228e-03 9.99980956e-01 1.77789375e-03 3.57506062e-01] [ 4.37163644e-03 -1.80374439e-03 9.99988818e-01 -4.25331302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.725898227 meters Centerline goodness [0,1] 0.8578721967890972 Centerline is valid? [False, False] Translation: X:96.66, Y:0.36, Z:-0.42 [[ 9.99970512e-01 -6.23337181e-03 -4.48565803e-03 9.66582246e+01] [ 6.24121049e-03 9.99979017e-01 1.73562570e-03 3.56977806e-01] [ 4.47474511e-03 -1.76357045e-03 9.99988433e-01 -4.24724818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.755898227 meters Centerline goodness [0,1] 0.7890544760946572 Centerline is valid? [False, False] Translation: X:96.66, Y:0.36, Z:-0.42 [[ 9.99968694e-01 -6.51978483e-03 -4.48366383e-03 9.66578755e+01] [ 6.52710743e-03 9.99977385e-01 1.62048377e-03 3.56973162e-01] [ 4.47299723e-03 -1.64969840e-03 9.99988635e-01 -4.24126455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.785898227 meters Centerline goodness [0,1] 0.7897022722981053 Centerline is valid? [False, False] Translation: X:96.66, Y:0.36, Z:-0.42 [[ 9.99968202e-01 -6.64434359e-03 -4.40984315e-03 9.66573620e+01] [ 6.65127886e-03 9.99976663e-01 1.55988029e-03 3.57071794e-01] [ 4.39937586e-03 -1.58916178e-03 9.99989060e-01 -4.23687196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.815898227 meters Centerline goodness [0,1] 0.9214908968873228 Centerline is valid? [False, False] Translation: X:96.66, Y:0.36, Z:-0.42 [[ 9.99965818e-01 -6.85027964e-03 -4.63001870e-03 9.66585115e+01] [ 6.85652781e-03 9.99975603e-01 1.33496814e-03 3.57870853e-01] [ 4.62076083e-03 -1.36666836e-03 9.99988390e-01 -4.24394363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.845898227 meters Centerline goodness [0,1] 0.9301530688066577 Centerline is valid? [False, False] Translation: X:96.66, Y:0.36, Z:-0.43 [[ 9.99928166e-01 -1.10532631e-02 -4.63562087e-03 9.66592086e+01] [ 1.10361200e-02 9.99932227e-01 -3.70753607e-03 3.62498003e-01] [ 4.67628707e-03 3.65611048e-03 9.99982382e-01 -4.25454242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.875898227 meters Centerline goodness [0,1] 0.9040202595758151 Centerline is valid? [False, False] Translation: X:96.66, Y:0.36, Z:-0.43 [[ 9.99926830e-01 -1.10708947e-02 -4.87546905e-03 9.66602679e+01] [ 1.10523087e-02 9.99931614e-01 -3.82273577e-03 3.63130752e-01] [ 4.91745674e-03 3.76857087e-03 9.99980808e-01 -4.25970421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.905898227 meters Centerline goodness [0,1] 0.9050926903424686 Centerline is valid? [False, False] Translation: X:96.66, Y:0.36, Z:-0.43 [[ 9.99963516e-01 -6.84279586e-03 -5.11293361e-03 9.66608556e+01] [ 6.84843163e-03 9.99975960e-01 1.08556366e-03 3.59366988e-01] [ 5.10538240e-03 -1.12053963e-03 9.99986340e-01 -4.25778981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.935898227 meters Centerline goodness [0,1] 0.8746882401022782 Centerline is valid? [False, False] Translation: X:96.66, Y:0.36, Z:-0.43 [[ 9.99964337e-01 -6.76499261e-03 -5.05557543e-03 9.66602929e+01] [ 6.77142744e-03 9.99976284e-01 1.25678728e-03 3.58620115e-01] [ 5.04695338e-03 -1.29097592e-03 9.99986431e-01 -4.25186945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.965898227 meters Centerline goodness [0,1] 0.8735564853556486 Centerline is valid? [False, False] Translation: X:96.66, Y:0.36, Z:-0.42 [[ 9.99966185e-01 -6.62928431e-03 -4.86635482e-03 9.66591557e+01] [ 6.63728026e-03 9.99976646e-01 1.62880055e-03 3.56867207e-01] [ 4.85544340e-03 -1.66104483e-03 9.99986833e-01 -4.24298850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.995898227 meters Centerline goodness [0,1] 0.8759977374143674 Centerline is valid? [False, False] Translation: X:96.66, Y:0.35, Z:-0.42 [[ 9.99968526e-01 -6.44269860e-03 -4.63026791e-03 9.66579182e+01] [ 6.45492908e-03 9.99975705e-01 2.63134787e-03 3.51546823e-01] [ 4.61320243e-03 -2.66115310e-03 9.99985818e-01 -4.23388412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.025898227 meters Centerline goodness [0,1] 0.8993036505591897 Centerline is valid? [False, False] Translation: X:96.65, Y:0.35, Z:-0.42 [[ 9.99952093e-01 -9.01019739e-03 -3.82465084e-03 9.66529979e+01] [ 9.01021570e-03 9.99959407e-01 -1.24429787e-05 3.50303114e-01] [ 3.82460770e-03 -2.20185465e-05 9.99992686e-01 -4.20597651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.055898227 meters Centerline goodness [0,1] 0.8908011615989068 Centerline is valid? [False, False] Translation: X:96.65, Y:0.35, Z:-0.42 [[ 9.99929470e-01 -1.15069689e-02 -2.94032796e-03 9.66481283e+01] [ 1.14997202e-02 9.99930824e-01 -2.47040500e-03 3.47512376e-01] [ 2.96855144e-03 2.43641782e-03 9.99992626e-01 -4.17955901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.085898227 meters Centerline goodness [0,1] 0.8430318870883429 Centerline is valid? [False, False] Translation: X:96.71, Y:0.35, Z:-0.41 [[ 9.99958163e-01 -7.75997539e-03 -4.84301090e-03 9.67061538e+01] [ 7.71736067e-03 9.99931879e-01 -8.75673706e-03 3.50685758e-01] [ 4.91063305e-03 8.71899544e-03 9.99949931e-01 -4.12458503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.115898227 meters Centerline goodness [0,1] 0.8031288561688243 Centerline is valid? [False, False] Translation: X:96.71, Y:0.35, Z:-0.41 [[ 9.99981921e-01 -3.23419481e-03 -5.06938000e-03 9.67066606e+01] [ 3.21588211e-03 9.99988290e-01 -3.61641109e-03 3.46382412e-01] [ 5.08101682e-03 3.60004318e-03 9.99980611e-01 -4.12143187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.145898227 meters Centerline goodness [0,1] 0.7552618178732071 Centerline is valid? [False, False] Translation: X:96.66, Y:0.34, Z:-0.41 [[ 9.99980887e-01 -1.29046011e-03 -6.04647437e-03 9.66648973e+01] [ 1.28919764e-03 9.99999146e-01 -2.12686563e-04 3.41478798e-01] [ 6.04674368e-03 2.04887398e-04 9.99981697e-01 -4.13251319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.175898227 meters Centerline goodness [0,1] 0.7069150164843241 Centerline is valid? [False, False] Translation: X:96.69, Y:0.34, Z:-0.42 [[ 9.99992620e-01 1.48444374e-03 -3.54338771e-03 9.66863775e+01] [-1.51540587e-03 9.99960558e-01 -8.75136908e-03 3.44809037e-01] [ 3.53025704e-03 8.75667417e-03 9.99955428e-01 -4.15419543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.205898227 meters Centerline goodness [0,1] 0.6630120201956187 Centerline is valid? [False, False] Translation: X:96.69, Y:0.34, Z:-0.42 [[ 9.99975460e-01 5.95540606e-03 -3.68957309e-03 9.66870570e+01] [-5.96957242e-03 9.99974807e-01 -3.84052791e-03 3.41657462e-01] [ 3.66660824e-03 3.86245883e-03 9.99985819e-01 -4.15614764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.235898227 meters Centerline goodness [0,1] 0.5788712618144477 Centerline is valid? [False, False] Translation: X:96.69, Y:0.34, Z:-0.42 [[ 9.99939008e-01 1.04050439e-02 -3.70354962e-03 9.66873917e+01] [-1.04026838e-02 9.99945675e-01 6.55926244e-04 3.40807318e-01] [ 3.71017337e-03 -6.17359381e-04 9.99992927e-01 -4.15873857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.265898227 meters Centerline goodness [0,1] 0.5430564042055582 Centerline is valid? [False, False] Translation: X:96.69, Y:0.34, Z:-0.42 [[ 9.99938799e-01 1.04565896e-02 -3.61358091e-03 9.66869765e+01] [-1.04551222e-02 9.99945254e-01 4.24741284e-04 3.42255018e-01] [ 3.61782442e-03 -3.86934859e-04 9.99993381e-01 -4.15654983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.295898227 meters Centerline goodness [0,1] 0.5123349695328369 Centerline is valid? [False, False] Translation: X:96.69, Y:0.34, Z:-0.42 [[ 9.99939011e-01 1.05018139e-02 -3.41837744e-03 9.66862304e+01] [-1.05011759e-02 9.99944840e-01 2.04514679e-04 3.43620158e-01] [ 3.42033665e-03 -1.68605223e-04 9.99994136e-01 -4.15458372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.325898227 meters Centerline goodness [0,1] 0.4934192573311782 Centerline is valid? [False, False] Translation: X:96.69, Y:0.35, Z:-0.42 [[ 9.99939402e-01 1.04853157e-02 -3.35413173e-03 9.66859312e+01] [-1.04858061e-02 9.99945014e-01 -1.28630142e-04 3.45476938e-01] [ 3.35259857e-03 1.63793122e-04 9.99994367e-01 -4.15349299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.355898227 meters Centerline goodness [0,1] 0.4668017293594269 Centerline is valid? [False, False] Translation: X:96.69, Y:0.35, Z:-0.42 [[ 9.99940615e-01 1.03780552e-02 -3.32610079e-03 9.66860176e+01] [-1.03801866e-02 9.99945930e-01 -6.24183218e-04 3.48073250e-01] [ 3.31944314e-03 6.58671698e-04 9.99994274e-01 -4.15687662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.385898227 meters Centerline goodness [0,1] 0.43581293816380506 Centerline is valid? [False, False] Translation: X:96.69, Y:0.35, Z:-0.42 [[ 9.99942824e-01 1.01681724e-02 -3.31004697e-03 9.66863221e+01] [-1.01724337e-02 9.99947449e-01 -1.27310029e-03 3.51314532e-01] [ 3.29692792e-03 1.30669873e-03 9.99993711e-01 -4.16295339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.415898227 meters Centerline goodness [0,1] 0.41051106090959466 Centerline is valid? [False, False] Translation: X:96.67, Y:0.35, Z:-0.41 [[ 9.99883423e-01 1.25144377e-02 -8.74811442e-03 9.66676295e+01] [-1.24132872e-02 9.99856558e-01 1.15227686e-02 3.49487764e-01] [ 8.89106054e-03 -1.14128325e-02 9.99895343e-01 -4.13450378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.445898227 meters Centerline goodness [0,1] 0.4039000169750466 Centerline is valid? [False, False] Translation: X:96.67, Y:0.36, Z:-0.41 [[ 9.99929259e-01 8.14662500e-03 -8.66658975e-03 9.66673825e+01] [-8.09364016e-03 9.99948449e-01 6.13129595e-03 3.55731363e-01] [ 8.71609235e-03 -6.06071795e-03 9.99943647e-01 -4.13903144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.475898227 meters Centerline goodness [0,1] 0.40271098438098485 Centerline is valid? [False, False] Translation: X:96.67, Y:0.36, Z:-0.41 [[ 9.99958173e-01 3.73606287e-03 -8.34831173e-03 9.66662775e+01] [-3.72818369e-03 9.99992590e-01 9.59168734e-04 3.60577154e-01] [ 8.35183338e-03 -9.28004575e-04 9.99964692e-01 -4.13987094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.505898227 meters Centerline goodness [0,1] 0.40271098438098485 Centerline is valid? [False, False] Translation: X:96.67, Y:0.36, Z:-0.41 [[ 9.99958173e-01 3.73606287e-03 -8.34831173e-03 9.66662775e+01] [-3.72818369e-03 9.99992590e-01 9.59168734e-04 3.60577154e-01] [ 8.35183338e-03 -9.28004575e-04 9.99964692e-01 -4.13987094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.535898227 meters Centerline goodness [0,1] 0.4016591918809088 Centerline is valid? [False, False] Translation: X:96.69, Y:0.36, Z:-0.41 [[ 9.99974656e-01 1.99101431e-03 -6.83548663e-03 9.66876473e+01] [-1.92401615e-03 9.99950185e-01 9.79414473e-03 3.60659345e-01] [ 6.85464640e-03 -9.78074491e-03 9.99928673e-01 -4.14285279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.565898227 meters Centerline goodness [0,1] 0.5078663974423692 Centerline is valid? [False, False] Translation: X:96.69, Y:0.36, Z:-0.41 [[ 9.99974479e-01 -2.51485220e-03 -6.68702282e-03 9.66873071e+01] [ 2.54672136e-03 9.99985421e-01 4.76158566e-03 3.64453673e-01] [ 6.67495065e-03 -4.77849412e-03 9.99966305e-01 -4.14574586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.595898227 meters Centerline goodness [0,1] 0.4180580150096973 Centerline is valid? [False, False] Translation: X:96.69, Y:0.36, Z:-0.41 [[ 9.99973515e-01 -2.60819051e-03 -6.79461688e-03 9.66876935e+01] [ 2.64103173e-03 9.99984853e-01 4.82893714e-03 3.63770337e-01] [ 6.78191917e-03 -4.84675404e-03 9.99965257e-01 -4.14636388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.625898227 meters Centerline goodness [0,1] 0.44802563177661314 Centerline is valid? [False, False] Translation: X:96.69, Y:0.37, Z:-0.41 [[ 9.99950949e-01 -7.23431710e-03 -6.76494286e-03 9.66876780e+01] [ 7.23377859e-03 9.99973830e-01 -1.04068731e-04 3.66694749e-01] [ 6.76551869e-03 5.51275275e-05 9.99977112e-01 -4.14740454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.655898227 meters Centerline goodness [0,1] 0.7002801710518001 Centerline is valid? [False, False] Translation: X:96.69, Y:0.37, Z:-0.41 [[ 9.99949639e-01 -7.32835032e-03 -6.85670142e-03 9.66877161e+01] [ 7.32929146e-03 9.99973134e-01 1.12140859e-04 3.65213468e-01] [ 6.85569540e-03 -1.62389975e-04 9.99976486e-01 -4.14321205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.685898227 meters Centerline goodness [0,1] 0.5203386633694491 Centerline is valid? [False, False] Translation: X:96.69, Y:0.36, Z:-0.41 [[ 9.99949512e-01 -7.31285920e-03 -6.89175410e-03 9.66874291e+01] [ 7.31661152e-03 9.99973098e-01 5.19409612e-04 3.62926523e-01] [ 6.88777033e-03 -5.69807676e-04 9.99976117e-01 -4.13646927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.715898227 meters Centerline goodness [0,1] 0.7711503862842629 Centerline is valid? [False, False] Translation: X:96.68, Y:0.36, Z:-0.41 [[ 9.99934141e-01 -9.73118017e-03 -6.08426082e-03 9.66818350e+01] [ 9.72022140e-03 9.99951086e-01 -1.82815128e-03 3.62142972e-01] [ 6.10175328e-03 1.76889052e-03 9.99979820e-01 -4.10091819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.745898227 meters Centerline goodness [0,1] 0.8366477572281154 Centerline is valid? [False, False] Translation: X:96.68, Y:0.36, Z:-0.41 [[ 9.99933368e-01 -9.66848243e-03 -6.30721014e-03 9.66825982e+01] [ 9.66025728e-03 9.99952450e-01 -1.33325104e-03 3.59417839e-01] [ 6.31980074e-03 1.27223293e-03 9.99979221e-01 -4.10157379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.775898227 meters Centerline goodness [0,1] 0.7963733400571524 Centerline is valid? [False, False] Translation: X:96.69, Y:0.36, Z:-0.41 [[ 9.99927725e-01 -9.77430244e-03 -7.00054227e-03 9.66856500e+01] [ 9.76996757e-03 9.99952059e-01 -6.53151014e-04 3.55042035e-01] [ 7.00659076e-03 5.84708737e-04 9.99975283e-01 -4.11435503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.805898227 meters Centerline goodness [0,1] 0.8960976527391677 Centerline is valid? [False, False] Translation: X:96.69, Y:0.35, Z:-0.41 [[ 9.99926535e-01 -9.66171096e-03 -7.31955657e-03 9.66869574e+01] [ 9.66045943e-03 9.99953315e-01 -2.06321388e-04 3.52669810e-01] [ 7.32120827e-03 1.35595951e-04 9.99973190e-01 -4.11830205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.835898227 meters Centerline goodness [0,1] 0.9015062515733826 Centerline is valid? [False, False] Translation: X:96.69, Y:0.35, Z:-0.41 [[ 9.99927815e-01 -9.45818403e-03 -7.40996926e-03 9.66873118e+01] [ 9.46097170e-03 9.99955186e-01 3.41241639e-04 3.49927198e-01] [ 7.40640967e-03 -4.11322516e-04 9.99972488e-01 -4.11871517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.865898227 meters Centerline goodness [0,1] 0.980470993681792 Centerline is valid? [False, True] Translation: X:96.68, Y:0.35, Z:-0.41 [[ 9.99907161e-01 -1.20202735e-02 -6.41731917e-03 9.66819208e+01] [ 1.20053454e-02 9.99925149e-01 -2.35969762e-03 3.48802371e-01] [ 6.44520303e-03 2.28243641e-03 9.99976625e-01 -4.09128911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.895898227 meters Centerline goodness [0,1] 0.9812105474275339 Centerline is valid? [True, True] Translation: X:96.71, Y:0.35, Z:-0.41 [[ 9.99908331e-01 -1.22439200e-02 -5.78071323e-03 9.67099368e+01] [ 1.22415747e-02 9.99924972e-01 -4.40919226e-04 3.46971270e-01] [ 5.78567810e-03 3.70113774e-04 9.99983194e-01 -4.06966207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.925898227 meters Centerline goodness [0,1] 0.8472781942327369 Centerline is valid? [True, False] Translation: X:96.73, Y:0.35, Z:-0.41 [[ 9.99941426e-01 -1.03140315e-02 -3.28092036e-03 9.67284266e+01] [ 1.02811446e-02 9.99898263e-01 -9.88741932e-03 3.48730029e-01] [ 3.38256573e-03 9.85310856e-03 9.99945736e-01 -4.06377505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.955898227 meters Centerline goodness [0,1] 0.8932199832073887 Centerline is valid? [False, False] Translation: X:96.73, Y:0.34, Z:-0.41 [[ 9.99976790e-01 -5.83776357e-03 -3.51293050e-03 9.67290019e+01] [ 5.82078839e-03 9.99971427e-01 -4.82317490e-03 3.44757442e-01] [ 3.54098668e-03 4.80261493e-03 9.99982198e-01 -4.06221862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.985898227 meters Centerline goodness [0,1] 0.7980128972630075 Centerline is valid? [False, False] Translation: X:96.73, Y:0.34, Z:-0.41 [[ 9.99992054e-01 -1.41656416e-03 -3.72642318e-03 9.67295755e+01] [ 1.41679383e-03 9.99998995e-01 5.89952171e-05 3.41637772e-01] [ 3.72633586e-03 -6.42743217e-05 9.99993055e-01 -4.06046038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.015898227 meters Centerline goodness [0,1] 0.7405482544889135 Centerline is valid? [False, False] Translation: X:96.69, Y:0.34, Z:-0.41 [[ 9.99994173e-01 1.32436099e-03 -3.14630741e-03 9.66853345e+01] [-1.31737872e-03 9.99996668e-01 2.22023218e-03 3.41249655e-01] [ 3.14923731e-03 -2.21607437e-03 9.99992586e-01 -4.06933686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.045898227 meters Centerline goodness [0,1] 0.7417102228241319 Centerline is valid? [False, False] Translation: X:96.68, Y:0.34, Z:-0.41 [[ 9.99994625e-01 1.31778662e-03 -3.00214733e-03 9.66849044e+01] [-1.31303476e-03 9.99997883e-01 1.58424076e-03 3.44869727e-01] [ 3.00422866e-03 -1.58029032e-03 9.99994239e-01 -4.07058290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.075898227 meters Centerline goodness [0,1] 0.6133459436738125 Centerline is valid? [False, False] Translation: X:96.68, Y:0.35, Z:-0.41 [[ 9.99994757e-01 1.34197889e-03 -2.94703307e-03 9.66847601e+01] [-1.33940334e-03 9.99998720e-01 8.75745604e-04 3.49023022e-01] [ 2.94820453e-03 -8.71793746e-04 9.99995274e-01 -4.07222402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.105898227 meters Centerline goodness [0,1] 0.4515168668889029 Centerline is valid? [False, False] Translation: X:96.69, Y:0.35, Z:-0.41 [[ 9.99994868e-01 1.24306174e-03 -2.95261491e-03 9.66850341e+01] [-1.24282371e-03 9.99999224e-01 8.24502690e-05 3.53282435e-01] [ 2.95271511e-03 -7.87802660e-05 9.99995638e-01 -4.07778621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.135898227 meters Centerline goodness [0,1] 0.5748170950262498 Centerline is valid? [False, False] Translation: X:96.69, Y:0.36, Z:-0.41 [[ 9.99994859e-01 1.10066233e-03 -3.01161880e-03 9.66855968e+01] [-1.10275916e-03 9.99999151e-01 -6.94676854e-04 3.57425689e-01] [ 3.01085164e-03 6.97994373e-04 9.99995224e-01 -4.08513005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.165898227 meters Centerline goodness [0,1] 0.49252697426424286 Centerline is valid? [False, False] Translation: X:96.69, Y:0.36, Z:-0.41 [[ 9.99994384e-01 9.47428498e-04 -3.21459396e-03 9.66866617e+01] [-9.51936287e-04 9.99998565e-01 -1.40104879e-03 3.61123793e-01] [ 3.21326196e-03 1.40410101e-03 9.99993852e-01 -4.09352472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.195898227 meters Centerline goodness [0,1] 0.49922441621598956 Centerline is valid? [False, False] Translation: X:96.69, Y:0.37, Z:-0.41 [[ 9.99994408e-01 5.98772044e-04 -3.29034015e-03 9.66872785e+01] [-6.06777300e-04 9.99996857e-01 -2.43249756e-03 3.66314890e-01] [ 3.28887330e-03 2.43448046e-03 9.99991628e-01 -4.10089031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.225898227 meters Centerline goodness [0,1] 0.49093001359974897 Centerline is valid? [False, False] Translation: X:96.69, Y:0.37, Z:-0.41 [[ 9.99994503e-01 4.50013727e-04 -3.28514585e-03 9.66869885e+01] [-4.58857351e-04 9.99996272e-01 -2.69174620e-03 3.67503998e-01] [ 3.28392228e-03 2.69323881e-03 9.99990981e-01 -4.09683193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.255898227 meters Centerline goodness [0,1] 0.5862192601341376 Centerline is valid? [False, False] Translation: X:96.69, Y:0.37, Z:-0.41 [[ 9.99994609e-01 3.15368025e-04 -3.26846993e-03 9.66866802e+01] [-3.24646682e-04 9.99995918e-01 -2.83869663e-03 3.68018448e-01] [ 3.26756135e-03 2.83974243e-03 9.99990629e-01 -4.09266203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.285898227 meters Centerline goodness [0,1] 0.5274248333123663 Centerline is valid? [False, False] Translation: X:96.69, Y:0.37, Z:-0.41 [[ 9.99994091e-01 4.31869704e-05 -3.43755277e-03 9.66871055e+01] [-5.36842862e-05 9.99995336e-01 -3.05368403e-03 3.68586002e-01] [ 3.43740486e-03 3.05385052e-03 9.99989429e-01 -4.09084609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.315898227 meters Centerline goodness [0,1] 0.64274315471191 Centerline is valid? [False, False] Translation: X:96.69, Y:0.37, Z:-0.41 [[ 9.99994101e-01 -2.82267910e-05 -3.43457564e-03 9.66869441e+01] [ 1.73169932e-05 9.99994955e-01 -3.17644993e-03 3.69206204e-01] [ 3.43464797e-03 3.17637171e-03 9.99989057e-01 -4.08816794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.345898227 meters Centerline goodness [0,1] 0.4744975191321167 Centerline is valid? [False, False] Translation: X:96.69, Y:0.37, Z:-0.41 [[ 9.99994060e-01 -1.79396968e-04 -3.44203357e-03 9.66869375e+01] [ 1.67058433e-04 9.99993561e-01 -3.58461712e-03 3.71239518e-01] [ 3.44265447e-03 3.58402081e-03 9.99987651e-01 -4.08804993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.375898227 meters Centerline goodness [0,1] 0.6002679674252098 Centerline is valid? [False, False] Translation: X:96.69, Y:0.37, Z:-0.41 [[ 9.99990800e-01 1.33604384e-03 -4.07610000e-03 9.66918357e+01] [-1.34558184e-03 9.99996361e-01 -2.33813742e-03 3.72843919e-01] [ 4.07296131e-03 2.34360064e-03 9.99988959e-01 -4.11978896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.405898227 meters Centerline goodness [0,1] 0.5935082727368532 Centerline is valid? [False, False] Translation: X:96.69, Y:0.38, Z:-0.41 [[ 9.99991145e-01 1.09888924e-03 -4.06224522e-03 9.66920310e+01] [-1.11193854e-03 9.99994225e-01 -3.21147444e-03 3.77312026e-01] [ 4.05869270e-03 3.21596297e-03 9.99986592e-01 -4.12460379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.435898227 meters Centerline goodness [0,1] 0.550664871233799 Centerline is valid? [False, False] Translation: X:96.69, Y:0.38, Z:-0.41 [[ 9.99991021e-01 9.39596891e-04 -4.13227016e-03 9.66923495e+01] [-9.56566967e-04 9.99991110e-01 -4.10666283e-03 3.82142892e-01] [ 4.12837481e-03 4.11057875e-03 9.99983030e-01 -4.12749728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.465898227 meters Centerline goodness [0,1] 0.547396359959555 Centerline is valid? [False, False] Translation: X:96.69, Y:0.39, Z:-0.41 [[ 9.99980305e-01 4.91537833e-03 -3.90242265e-03 9.66913397e+01] [-4.91806202e-03 9.99987676e-01 -6.78400714e-04 3.86439787e-01] [ 3.89903996e-03 6.97579709e-04 9.99992155e-01 -4.12356703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.495898227 meters Centerline goodness [0,1] 0.406040761496967 Centerline is valid? [False, False] Translation: X:96.69, Y:0.39, Z:-0.41 [[ 9.99981764e-01 4.69690858e-03 -3.79611183e-03 9.66907153e+01] [-4.70217488e-03 9.99987993e-01 -1.37955500e-03 3.89963292e-01] [ 3.78958661e-03 1.39737982e-03 9.99991843e-01 -4.11952912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.525898227 meters Centerline goodness [0,1] 0.36899834002227316 Centerline is valid? [False, False] Translation: X:96.69, Y:0.39, Z:-0.41 [[ 9.99983310e-01 4.46910396e-03 -3.66143827e-03 9.66901659e+01] [-4.47650582e-03 9.99987948e-01 -2.01587798e-03 3.93067629e-01] [ 3.65238498e-03 2.03223479e-03 9.99991265e-01 -4.11843668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.555898227 meters Centerline goodness [0,1] 0.4768850329016304 Centerline is valid? [False, False] Translation: X:96.69, Y:0.40, Z:-0.41 [[ 9.99984336e-01 4.20689486e-03 -3.69174092e-03 9.66903308e+01] [-4.21642813e-03 9.99987787e-01 -2.57835069e-03 3.95736224e-01] [ 3.68084898e-03 2.59387627e-03 9.99989862e-01 -4.11983664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.585898227 meters Centerline goodness [0,1] 0.4541508523978276 Centerline is valid? [False, False] Translation: X:96.69, Y:0.40, Z:-0.41 [[ 9.99985074e-01 3.95492355e-03 -3.76972893e-03 9.66907633e+01] [-3.96676183e-03 9.99987209e-01 -3.13806594e-03 3.98331944e-01] [ 3.75726990e-03 3.15297271e-03 9.99987971e-01 -4.12323273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.615898227 meters Centerline goodness [0,1] 0.44902160533129587 Centerline is valid? [False, False] Translation: X:96.69, Y:0.40, Z:-0.41 [[ 9.99985605e-01 3.72436163e-03 -3.86248528e-03 9.66913079e+01] [-3.73833532e-03 9.99986471e-01 -3.61691027e-03 4.00567312e-01] [ 3.84896235e-03 3.63129747e-03 9.99985999e-01 -4.12779962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.645898227 meters Centerline goodness [0,1] 0.564626997849281 Centerline is valid? [False, False] Translation: X:96.69, Y:0.40, Z:-0.41 [[ 9.99986714e-01 3.28514327e-03 -3.97239596e-03 9.66917246e+01] [-3.30301218e-03 9.99984419e-01 -4.50010626e-03 4.04682542e-01] [ 3.95755058e-03 4.51316735e-03 9.99981984e-01 -4.12967735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.675898227 meters Centerline goodness [0,1] 0.6012603169888184 Centerline is valid? [False, False] Translation: X:96.69, Y:0.41, Z:-0.41 [[ 9.99987316e-01 3.07022940e-03 -3.99259137e-03 9.66916996e+01] [-3.09018772e-03 9.99982714e-01 -5.00231452e-03 4.07109649e-01] [ 3.97716410e-03 5.01458893e-03 9.99979518e-01 -4.12857778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.705898227 meters Centerline goodness [0,1] 0.5501249947036142 Centerline is valid? [False, False] Translation: X:96.69, Y:0.41, Z:-0.41 [[ 9.99987697e-01 2.83246406e-03 -4.07221333e-03 9.66918623e+01] [-2.85531424e-03 9.99980151e-01 -5.61642215e-03 4.10126841e-01] [ 4.05622419e-03 5.62798050e-03 9.99975936e-01 -4.12760522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.735898227 meters Centerline goodness [0,1] 0.4492719835533985 Centerline is valid? [False, False] Translation: X:96.69, Y:0.41, Z:-0.41 [[ 9.99988115e-01 2.55031275e-03 -4.15523005e-03 9.66921404e+01] [-2.57653174e-03 9.99976730e-01 -6.31678931e-03 4.13495184e-01] [ 4.13902357e-03 6.32742031e-03 9.99971416e-01 -4.12840250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.765898227 meters Centerline goodness [0,1] 0.5352904040404041 Centerline is valid? [False, False] Translation: X:96.70, Y:0.42, Z:-0.42 [[ 9.99975690e-01 4.73116507e-03 -5.12214711e-03 9.66976358e+01] [-4.75373868e-03 9.99979004e-01 -4.40389151e-03 4.18725200e-01] [ 5.10120402e-03 4.42813380e-03 9.99977184e-01 -4.15779462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.795898227 meters Centerline goodness [0,1] 0.42077829645600884 Centerline is valid? [False, False] Translation: X:96.70, Y:0.42, Z:-0.42 [[ 9.99976836e-01 4.45579642e-03 -5.14528640e-03 9.66977783e+01] [-4.48180580e-03 9.99977182e-01 -5.05457546e-03 4.21870920e-01] [ 5.12264683e-03 5.07751855e-03 9.99973988e-01 -4.15918297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.825898227 meters Centerline goodness [0,1] 0.5392545431546991 Centerline is valid? [False, False] Translation: X:96.70, Y:0.43, Z:-0.42 [[ 9.99978228e-01 4.13310311e-03 -5.14406434e-03 9.66978088e+01] [-4.16275805e-03 9.99974703e-01 -5.76759150e-03 4.25238639e-01] [ 5.12009616e-03 5.78887942e-03 9.99970136e-01 -4.16030872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.855898227 meters Centerline goodness [0,1] 0.5567772511848341 Centerline is valid? [False, False] Translation: X:96.70, Y:0.43, Z:-0.42 [[ 9.99979366e-01 3.87026689e-03 -5.12727429e-03 9.66977946e+01] [-3.90281569e-03 9.99972200e-01 -6.35344670e-03 4.28030029e-01] [ 5.10254222e-03 6.37332641e-03 9.99966672e-01 -4.16144583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.885898227 meters Centerline goodness [0,1] 0.5953278070836473 Centerline is valid? [False, False] Translation: X:96.70, Y:0.43, Z:-0.42 [[ 9.99979888e-01 3.57850446e-03 -5.23623634e-03 9.66980575e+01] [-3.61462479e-03 9.99969627e-01 -6.90502092e-03 4.30556041e-01] [ 5.21136765e-03 6.92380907e-03 9.99962451e-01 -4.16044971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.915898227 meters Centerline goodness [0,1] 0.5787191251335554 Centerline is valid? [False, False] Translation: X:96.70, Y:0.43, Z:-0.42 [[ 9.99981093e-01 3.05669827e-03 -5.33578173e-03 9.66980845e+01] [-3.09850398e-03 9.99964432e-01 -7.84437096e-03 4.34791042e-01] [ 5.31161408e-03 7.86075559e-03 9.99954997e-01 -4.15611174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.945898227 meters Centerline goodness [0,1] 0.5914548833712698 Centerline is valid? [False, False] Translation: X:96.70, Y:0.44, Z:-0.42 [[ 9.99981430e-01 2.81278111e-03 -5.40632116e-03 9.66983176e+01] [-2.85779913e-03 9.99961160e-01 -8.33731407e-03 4.37135930e-01] [ 5.38266014e-03 8.35260943e-03 9.99950629e-01 -4.15624194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.975898227 meters Centerline goodness [0,1] 0.4310941389932065 Centerline is valid? [False, False] Translation: X:96.70, Y:0.44, Z:-0.42 [[ 9.99981875e-01 2.54913733e-03 -5.45441724e-03 9.66984465e+01] [-2.59749450e-03 9.99957225e-01 -8.87705003e-03 4.39668238e-01] [ 5.43155511e-03 8.89105695e-03 9.99945722e-01 -4.15596646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.005898227 meters Centerline goodness [0,1] 0.5749500893138595 Centerline is valid? [False, False] Translation: X:96.70, Y:0.44, Z:-0.42 [[ 9.99982376e-01 2.33108813e-03 -5.46025308e-03 9.66985063e+01] [-2.38191431e-03 9.99953727e-01 -9.32045979e-03 4.41779208e-01] [ 5.43827360e-03 9.33330137e-03 9.99941656e-01 -4.15671301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.035898227 meters Centerline goodness [0,1] 0.6176588178355744 Centerline is valid? [False, False] Translation: X:96.70, Y:0.44, Z:-0.42 [[ 9.99982698e-01 1.83451285e-03 -5.58916801e-03 9.66987453e+01] [-1.89059188e-03 9.99947762e-01 -1.00448147e-02 4.44824291e-01] [ 5.57044870e-03 1.00552077e-02 9.99933929e-01 -4.15449881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.065898227 meters Centerline goodness [0,1] 0.7316742273286132 Centerline is valid? [False, False] Translation: X:96.70, Y:0.45, Z:-0.42 [[ 9.99982819e-01 1.65536004e-03 -5.62336453e-03 9.66987195e+01] [-1.71319428e-03 9.99945533e-01 -1.02954328e-02 4.45886056e-01] [ 5.60601560e-03 1.03048898e-02 9.99931189e-01 -4.15236896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.095898227 meters Centerline goodness [0,1] 0.8075472506750097 Centerline is valid? [False, False] Translation: X:96.68, Y:0.44, Z:-0.42 [[ 9.99999776e-01 -6.40136473e-04 -1.95448627e-04 9.66782651e+01] [ 6.39144320e-04 9.99987121e-01 -5.03483418e-03 4.44915550e-01] [ 1.98669091e-04 5.03470813e-03 9.99987306e-01 -4.20499089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.125898227 meters Centerline goodness [0,1] 0.6983663335350205 Centerline is valid? [False, False] Translation: X:96.74, Y:0.45, Z:-0.42 [[ 9.99992045e-01 -3.28327518e-03 -2.26478797e-03 9.67387060e+01] [ 3.28604359e-03 9.99993857e-01 1.21973466e-03 4.49373327e-01] [ 2.26076933e-03 -1.22716715e-03 9.99996691e-01 -4.17077693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.155898227 meters Centerline goodness [0,1] 0.7521839563208736 Centerline is valid? [False, False] Translation: X:96.74, Y:0.45, Z:-0.42 [[ 9.99991570e-01 -3.40445546e-03 -2.29546306e-03 9.67386075e+01] [ 3.40713721e-03 9.99993517e-01 1.16538891e-03 4.49343937e-01] [ 2.29148067e-03 -1.17320004e-03 9.99996686e-01 -4.16752505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.185898227 meters Centerline goodness [0,1] 0.7564485588049653 Centerline is valid? [False, False] Translation: X:96.74, Y:0.45, Z:-0.42 [[ 9.99990424e-01 -3.63637225e-03 -2.43508274e-03 9.67389774e+01] [ 3.63926758e-03 9.99992675e-01 1.18563173e-03 4.48683254e-01] [ 2.43075350e-03 -1.19448229e-03 9.99996332e-01 -4.16602508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.215898227 meters Centerline goodness [0,1] 0.7198663528620661 Centerline is valid? [False, False] Translation: X:96.74, Y:0.45, Z:-0.42 [[ 9.99990331e-01 -3.62831292e-03 -2.48473347e-03 9.67392470e+01] [ 3.63168042e-03 9.99992491e-01 1.35211116e-03 4.47793701e-01] [ 2.47980893e-03 -1.36112185e-03 9.99995999e-01 -4.16765207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.245898227 meters Centerline goodness [0,1] 0.7996140372957439 Centerline is valid? [False, False] Translation: X:96.74, Y:0.45, Z:-0.42 [[ 9.99990319e-01 -3.57842812e-03 -2.56068100e-03 9.67394594e+01] [ 3.58240373e-03 9.99992382e-01 1.54965827e-03 4.46802223e-01] [ 2.55511616e-03 -1.55881666e-03 9.99995521e-01 -4.16673164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.275898227 meters Centerline goodness [0,1] 0.8090260285474391 Centerline is valid? [False, False] Translation: X:96.74, Y:0.45, Z:-0.42 [[ 9.99990351e-01 -3.53393205e-03 -2.60955884e-03 9.67396890e+01] [ 3.53841796e-03 9.99992267e-01 1.71642057e-03 4.45916958e-01] [ 2.60347295e-03 -1.72563771e-03 9.99995122e-01 -4.16772814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.305898227 meters Centerline goodness [0,1] 0.8235393590935994 Centerline is valid? [False, False] Translation: X:96.74, Y:0.44, Z:-0.42 [[ 9.99990106e-01 -3.46841102e-03 -2.78540661e-03 9.67403952e+01] [ 3.47371147e-03 9.99992161e-01 1.90035853e-03 4.44957583e-01] [ 2.77879355e-03 -1.91001542e-03 9.99994315e-01 -4.17011800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.335898227 meters Centerline goodness [0,1] 0.8918458227686277 Centerline is valid? [False, False] Translation: X:96.74, Y:0.44, Z:-0.42 [[ 9.99990039e-01 -3.42059110e-03 -2.86734036e-03 9.67407918e+01] [ 3.42629836e-03 9.99992154e-01 1.98789405e-03 4.44546357e-01] [ 2.86051809e-03 -1.99769861e-03 9.99993913e-01 -4.17224628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.365898227 meters Centerline goodness [0,1] 0.7019671304274726 Centerline is valid? [False, False] Translation: X:96.76, Y:0.45, Z:-0.42 [[ 9.99998394e-01 -1.79190259e-03 4.20057370e-05 9.67614846e+01] [ 1.79216074e-03 9.99971938e-01 -7.27399615e-03 4.47531891e-01] [-2.89702657e-05 7.27405975e-03 9.99973543e-01 -4.18952247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.395898227 meters Centerline goodness [0,1] 0.7019671304274726 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.42 [[ 9.99997886e-01 2.04938056e-03 1.65536220e-04 9.67611283e+01] [-2.04892520e-03 9.99994241e-01 -2.70565675e-03 4.44383388e-01] [-1.71080187e-04 2.70531186e-03 9.99996326e-01 -4.18844364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.425898227 meters Centerline goodness [0,1] 0.6782707050395878 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.42 [[ 9.99997646e-01 2.16638132e-03 1.21362766e-04 9.67614775e+01] [-2.16605711e-03 9.99994246e-01 -2.61074855e-03 4.44177164e-01] [-1.27017944e-04 2.61047953e-03 9.99996585e-01 -4.19170822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.455898227 meters Centerline goodness [0,1] 0.7247045984007388 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.42 [[ 9.99997400e-01 2.27604898e-03 1.36487406e-04 9.67615500e+01] [-2.27569788e-03 9.99994236e-01 -2.51960946e-03 4.43904526e-01] [-1.42221374e-04 2.51929231e-03 9.99996816e-01 -4.19384893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.485898227 meters Centerline goodness [0,1] 0.7235536495122772 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.42 [[ 9.99996950e-01 2.45449845e-03 2.74725463e-04 9.67610446e+01] [-2.45383746e-03 9.99994155e-01 -2.38102750e-03 4.43555647e-01] [-2.80568085e-04 2.38034611e-03 9.99997128e-01 -4.19310340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.515898227 meters Centerline goodness [0,1] 0.6784852972286863 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.42 [[ 9.99996728e-01 2.53779446e-03 3.21451810e-04 9.67609568e+01] [-2.53705272e-03 9.99994166e-01 -2.28723475e-03 4.43224888e-01] [-3.27254466e-04 2.28641173e-03 9.99997333e-01 -4.19411682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.545898227 meters Centerline goodness [0,1] 0.7213445802393824 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.42 [[ 9.99996471e-01 2.64081924e-03 2.89014959e-04 9.67611725e+01] [-2.64018565e-03 9.99994158e-01 -2.17110564e-03 4.42875918e-01] [-2.94746768e-04 2.17033493e-03 9.99997601e-01 -4.19609828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.575898227 meters Centerline goodness [0,1] 0.6948940951271274 Centerline is valid? [False, False] Translation: X:96.78, Y:0.44, Z:-0.42 [[ 9.99998465e-01 1.67470481e-03 -5.15684384e-04 9.67811076e+01] [-1.67075065e-03 9.99969913e-01 7.57504570e-03 4.41245756e-01] [ 5.28354834e-04 -7.57417249e-03 9.99971176e-01 -4.17171384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.605898227 meters Centerline goodness [0,1] 0.7585625105449637 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.41 [[ 9.99993926e-01 1.69235126e-03 -3.04697659e-03 9.67579811e+01] [-1.70276852e-03 9.99992704e-01 -3.41954041e-03 4.42377014e-01] [ 3.04116729e-03 3.42470793e-03 9.99989511e-01 -4.13757201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.635898227 meters Centerline goodness [0,1] 0.6440713536201469 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.41 [[ 9.99993543e-01 1.80795686e-03 -3.10582481e-03 9.67580405e+01] [-1.81783631e-03 9.99993288e-01 -3.18107121e-03 4.41341865e-01] [ 3.10005273e-03 3.18669655e-03 9.99990117e-01 -4.13521727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.665898227 meters Centerline goodness [0,1] 0.646255230125523 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.41 [[ 9.99993111e-01 2.00393661e-03 -3.12447170e-03 9.67578956e+01] [-2.01251534e-03 9.99994208e-01 -2.74493760e-03 4.39360155e-01] [ 3.11895292e-03 2.75120674e-03 9.99991351e-01 -4.13114556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.695898227 meters Centerline goodness [0,1] 0.7167328489354512 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.41 [[ 9.99992906e-01 2.10372391e-03 -3.12453933e-03 9.67578067e+01] [-2.11169475e-03 9.99994519e-01 -2.54994132e-03 4.38492740e-01] [ 3.11915783e-03 2.55652131e-03 9.99991867e-01 -4.12964718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.725898227 meters Centerline goodness [0,1] 0.6663371958528738 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.41 [[ 9.99992693e-01 2.16723812e-03 -3.14903273e-03 9.67578550e+01] [-2.17505828e-03 9.99994554e-01 -2.48205529e-03 4.38309535e-01] [ 3.14363638e-03 2.48888648e-03 9.99991961e-01 -4.12921988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.755898227 meters Centerline goodness [0,1] 0.7312403803580088 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.41 [[ 9.99992741e-01 2.18727210e-03 -3.12002030e-03 9.67577343e+01] [-2.19497774e-03 9.99994544e-01 -2.46845679e-03 4.38259798e-01] [ 3.11460409e-03 2.47528725e-03 9.99992086e-01 -4.12905046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.785898227 meters Centerline goodness [0,1] 0.7048114434330299 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.41 [[ 9.99992599e-01 2.21454574e-03 -3.14621124e-03 9.67578526e+01] [-2.22223041e-03 9.99994551e-01 -2.44112281e-03 4.38218734e-01] [ 3.14078812e-03 2.44809635e-03 9.99992071e-01 -4.12976750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.815898227 meters Centerline goodness [0,1] 0.8085407897798177 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.41 [[ 9.99992348e-01 2.21080587e-03 -3.22733411e-03 9.67580871e+01] [-2.21827247e-03 9.99994867e-01 -2.31180908e-03 4.37385201e-01] [ 3.22220659e-03 2.31895049e-03 9.99992120e-01 -4.12928392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.845898227 meters Centerline goodness [0,1] 0.7185368349249659 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.41 [[ 9.99991886e-01 2.20994028e-03 -3.36804901e-03 9.67587470e+01] [-2.21728910e-03 9.99995166e-01 -2.17975227e-03 4.36573712e-01] [ 3.36321561e-03 2.18720253e-03 9.99991952e-01 -4.13322479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.875898227 meters Centerline goodness [0,1] 0.7407824491157824 Centerline is valid? [False, False] Translation: X:96.80, Y:0.44, Z:-0.41 [[ 9.99990412e-01 2.18828204e-03 -3.79314590e-03 9.68029585e+01] [-2.19489189e-03 9.99996079e-01 -1.73929217e-03 4.38224443e-01] [ 3.78932497e-03 1.74760104e-03 9.99991293e-01 -4.13362942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.905898227 meters Centerline goodness [0,1] 0.7823452686498086 Centerline is valid? [False, False] Translation: X:96.80, Y:0.44, Z:-0.41 [[ 9.99990264e-01 1.98590704e-03 -3.94066299e-03 9.68035072e+01] [-1.99272007e-03 9.99996525e-01 -1.72573167e-03 4.37608357e-01] [ 3.93722216e-03 1.73356751e-03 9.99990746e-01 -4.13455087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.935898227 meters Centerline goodness [0,1] 0.7834431093621768 Centerline is valid? [False, False] Translation: X:96.80, Y:0.44, Z:-0.41 [[ 9.99990323e-01 1.90410609e-03 -3.96597121e-03 9.68035131e+01] [-1.91127772e-03 9.99996544e-01 -1.80528632e-03 4.37860135e-01] [ 3.96252005e-03 1.81284892e-03 9.99990506e-01 -4.13313405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.965898227 meters Centerline goodness [0,1] 0.8071456977206606 Centerline is valid? [False, False] Translation: X:96.80, Y:0.44, Z:-0.41 [[ 9.99990338e-01 1.82009614e-03 -4.00141121e-03 9.68035286e+01] [-1.82769055e-03 9.99996534e-01 -1.89509417e-03 4.38199552e-01] [ 3.99794808e-03 1.90238920e-03 9.99990199e-01 -4.13132369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.995898227 meters Centerline goodness [0,1] 0.814204425711275 Centerline is valid? [False, False] Translation: X:96.80, Y:0.44, Z:-0.41 [[ 9.99990616e-01 1.75113434e-03 -3.96255688e-03 9.68032108e+01] [-1.75918206e-03 9.99996395e-01 -2.02836756e-03 4.38759388e-01] [ 3.95899065e-03 2.03531939e-03 9.99990092e-01 -4.12846388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.025898227 meters Centerline goodness [0,1] 0.822751882243465 Centerline is valid? [False, False] Translation: X:96.80, Y:0.44, Z:-0.41 [[ 9.99991035e-01 1.69290074e-03 -3.88114900e-03 9.68027359e+01] [-1.70140699e-03 9.99996156e-01 -2.18943121e-03 4.39521924e-01] [ 3.87742759e-03 2.19601500e-03 9.99990071e-01 -4.12489506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.055898227 meters Centerline goodness [0,1] 0.7115784171755966 Centerline is valid? [False, False] Translation: X:96.80, Y:0.44, Z:-0.41 [[ 9.99990863e-01 1.59966883e-03 -3.96427614e-03 9.68029837e+01] [-1.60969470e-03 9.99995511e-01 -2.52715667e-03 4.41298147e-01] [ 3.96021573e-03 2.53351485e-03 9.99988949e-01 -4.12497202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.085898227 meters Centerline goodness [0,1] 0.8223906083244397 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.42 [[ 9.99979362e-01 1.73928923e-03 -6.18467354e-03 9.67645203e+01] [-1.75554598e-03 9.99995016e-01 -2.62409810e-03 4.41607666e-01] [ 6.18007865e-03 2.63490143e-03 9.99977432e-01 -4.15283077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.115898227 meters Centerline goodness [0,1] 0.8409171443460135 Centerline is valid? [False, False] Translation: X:96.81, Y:0.45, Z:-0.42 [[ 9.99977053e-01 1.72473559e-03 -6.55122271e-03 9.68085837e+01] [-1.74201389e-03 9.99995017e-01 -2.63262587e-03 4.45030775e-01] [ 6.54664949e-03 2.64397778e-03 9.99975075e-01 -4.15510332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.145898227 meters Centerline goodness [0,1] 0.884245530797255 Centerline is valid? [False, False] Translation: X:96.76, Y:0.44, Z:-0.42 [[ 9.99979210e-01 1.33171625e-03 -6.30913248e-03 9.67648250e+01] [-1.34872312e-03 9.99995467e-01 -2.69210726e-03 4.43386256e-01] [ 6.30551875e-03 2.70056056e-03 9.99976473e-01 -4.16009403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.175898227 meters Centerline goodness [0,1] 0.9508043833061319 Centerline is valid? [False, True] Translation: X:96.76, Y:0.45, Z:-0.42 [[ 9.99980520e-01 1.00047412e-03 -6.16110221e-03 9.67639690e+01] [-1.02020020e-03 9.99994361e-01 -3.19940296e-03 4.45532522e-01] [ 6.15786655e-03 3.20562620e-03 9.99975902e-01 -4.15400084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.205898227 meters Centerline goodness [0,1] 0.9062066063538817 Centerline is valid? [True, False] Translation: X:96.76, Y:0.45, Z:-0.42 [[ 9.99980373e-01 8.81328768e-04 -6.20290191e-03 9.67638229e+01] [-9.02015494e-04 9.99994039e-01 -3.33300070e-03 4.46041721e-01] [ 6.19992746e-03 3.33853040e-03 9.99975207e-01 -4.15006682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.235898227 meters Centerline goodness [0,1] 0.9745392564184511 Centerline is valid? [False, True] Translation: X:96.72, Y:0.44, Z:-0.42 [[ 9.99978696e-01 9.67889411e-04 -6.45534303e-03 9.67217750e+01] [-9.81163402e-04 9.99997410e-01 -2.05342995e-03 4.42309507e-01] [ 6.45333882e-03 2.05971995e-03 9.99977056e-01 -4.16548815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.265898227 meters Centerline goodness [0,1] 0.9752876459225666 Centerline is valid? [True, True] Translation: X:96.75, Y:0.44, Z:-0.42 [[ 9.99974384e-01 -1.69258430e-03 -6.95461031e-03 9.67507742e+01] [ 1.68979448e-03 9.99998489e-01 -4.07003645e-04 4.44241727e-01] [ 6.95528869e-03 3.95241357e-04 9.99975734e-01 -4.17300025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.295898227 meters Centerline goodness [0,1] 0.9948838290945223 Centerline is valid? [True, True] Translation: X:96.78, Y:0.44, Z:-0.42 [[ 9.99960105e-01 -4.94817284e-03 -7.43667842e-03 9.67818575e+01] [ 4.94507184e-03 9.99987678e-01 -4.35316895e-04 4.39892220e-01] [ 7.43874081e-03 3.98524619e-04 9.99972253e-01 -4.17708129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.325898227 meters Centerline goodness [0,1] 0.9952616705267407 Centerline is valid? [True, True] Translation: X:96.81, Y:0.44, Z:-0.42 [[ 9.99936667e-01 -7.74948866e-03 -8.16130919e-03 9.68107557e+01] [ 7.74584676e-03 9.99969886e-01 -4.77754230e-04 4.42100776e-01] [ 8.16476578e-03 4.14507722e-04 9.99966582e-01 -4.19306526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.355898227 meters Centerline goodness [0,1] 0.9970254927836779 Centerline is valid? [True, True] Translation: X:96.84, Y:0.44, Z:-0.42 [[ 9.99896746e-01 -1.15745022e-02 -8.51629978e-03 9.68402693e+01] [ 1.15706735e-02 9.99932933e-01 -4.98709231e-04 4.43878018e-01] [ 8.52150093e-03 4.00118414e-04 9.99963611e-01 -4.19210630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.385898227 meters Centerline goodness [0,1] 0.9987262498673177 Centerline is valid? [True, True] Translation: X:96.87, Y:0.44, Z:-0.42 [[ 9.99885389e-01 -1.26657990e-02 -8.29381011e-03 9.68688102e+01] [ 1.26622003e-02 9.99919713e-01 -4.86278703e-04 4.42975409e-01] [ 8.29930334e-03 3.81205085e-04 9.99965488e-01 -4.18304826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.415898227 meters Centerline goodness [0,1] 0.9995154017951203 Centerline is valid? [True, True] Translation: X:96.90, Y:0.44, Z:-0.42 [[ 9.99890265e-01 -1.24286232e-02 -8.06151947e-03 9.68974453e+01] [ 1.24252050e-02 9.99922692e-01 -4.73968171e-04 4.41854697e-01] [ 8.06678703e-03 3.73750128e-04 9.99967393e-01 -4.17180920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.445898227 meters Centerline goodness [0,1] 0.9994452978323946 Centerline is valid? [True, True] Translation: X:96.93, Y:0.45, Z:-0.42 [[ 9.99900696e-01 -1.14298086e-02 -8.24361581e-03 9.69257120e+01] [ 1.14261886e-02 9.99934601e-01 -4.86093768e-04 4.46714608e-01] [ 8.24863264e-03 3.91852388e-04 9.99965903e-01 -4.17016898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.475898227 meters Centerline goodness [0,1] 0.9921713101542713 Centerline is valid? [True, True] Translation: X:96.95, Y:0.46, Z:-0.42 [[ 9.99936704e-01 -7.13304242e-03 -8.70098280e-03 9.69545821e+01] [ 7.12883905e-03 9.99974457e-01 -5.14010541e-04 4.62768491e-01] [ 8.70442701e-03 4.51950100e-04 9.99962014e-01 -4.17805086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.505898227 meters Centerline goodness [0,1] 0.9534561340866606 Centerline is valid? [True, True] Translation: X:96.98, Y:0.48, Z:-0.42 [[ 9.99949414e-01 -5.31898332e-03 -8.53685841e-03 9.69825792e+01] [ 5.31486956e-03 9.99985749e-01 -5.04496694e-04 4.75092483e-01] [ 8.53942016e-03 4.59098885e-04 9.99963433e-01 -4.17612784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.535898227 meters Centerline goodness [0,1] 0.9928883449047207 Centerline is valid? [True, True] Translation: X:97.01, Y:0.47, Z:-0.42 [[ 9.99958011e-01 -4.58408530e-03 -7.93494216e-03 9.70118505e+01] [ 4.58050296e-03 9.99989399e-01 -4.69578942e-04 4.65914858e-01] [ 7.93701063e-03 4.33213198e-04 9.99968408e-01 -4.15060379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.565898227 meters Centerline goodness [0,1] 0.9896226015502563 Centerline is valid? [True, True] Translation: X:97.04, Y:0.47, Z:-0.41 [[ 9.99965044e-01 -4.53061895e-03 -7.02744970e-03 9.70408397e+01] [ 4.52780020e-03 9.99989663e-01 -4.16962941e-04 4.67821678e-01] [ 7.02926615e-03 3.85129477e-04 9.99975220e-01 -4.13215499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.595898227 meters Centerline goodness [0,1] 0.9863417924289689 Centerline is valid? [True, True] Translation: X:97.07, Y:0.47, Z:-0.41 [[ 9.99968908e-01 -4.95996406e-03 -6.13039916e-03 9.70689435e+01] [ 4.95782215e-03 9.99987643e-01 -3.64540115e-04 4.69230785e-01] [ 6.13213151e-03 3.34135352e-04 9.99981142e-01 -4.12277871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.625898227 meters Centerline goodness [0,1] 0.987052003554352 Centerline is valid? [True, True] Translation: X:97.10, Y:0.47, Z:-0.41 [[ 9.99967933e-01 -5.59375193e-03 -5.73081056e-03 9.70978339e+01] [ 5.59188825e-03 9.99984307e-01 -3.41175259e-04 4.67883502e-01] [ 5.73262908e-03 3.09118266e-04 9.99983521e-01 -4.11970475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.655898227 meters Centerline goodness [0,1] 0.9694728858551385 Centerline is valid? [True, True] Translation: X:97.13, Y:0.47, Z:-0.41 [[ 9.99960575e-01 -6.76507460e-03 -5.75169373e-03 9.71259314e+01] [ 6.76321160e-03 9.99977070e-01 -3.43293549e-04 4.74197919e-01] [ 5.75388425e-03 3.04380093e-04 9.99983400e-01 -4.13709410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.685898227 meters Centerline goodness [0,1] 0.9856435014610596 Centerline is valid? [True, True] Translation: X:97.15, Y:0.47, Z:-0.41 [[ 9.99958761e-01 -7.18709311e-03 -5.55172814e-03 9.71548551e+01] [ 7.18536214e-03 9.99974130e-01 -3.31672513e-04 4.70653190e-01] [ 5.55396827e-03 2.91767658e-04 9.99984534e-01 -4.12723337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.715898227 meters Centerline goodness [0,1] 0.9857470201181442 Centerline is valid? [True, True] Translation: X:97.18, Y:0.47, Z:-0.41 [[ 9.99956023e-01 -7.36622188e-03 -5.80442818e-03 9.71841237e+01] [ 7.36432704e-03 9.99972823e-01 -3.47751764e-04 4.71563298e-01] [ 5.80683205e-03 3.04990764e-04 9.99983094e-01 -4.12520956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.745898227 meters Centerline goodness [0,1] 0.9822995717980243 Centerline is valid? [True, True] Translation: X:97.21, Y:0.47, Z:-0.41 [[ 9.99953597e-01 -7.28463476e-03 -6.30372965e-03 9.72125929e+01] [ 7.28239231e-03 9.99973411e-01 -3.78614135e-04 4.73727179e-01] [ 6.30632011e-03 3.32690334e-04 9.99980060e-01 -4.12886068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.775898227 meters Centerline goodness [0,1] 0.9812765599360458 Centerline is valid? [True, True] Translation: X:97.24, Y:0.48, Z:-0.41 [[ 9.99951654e-01 -5.59904928e-03 -8.08329894e-03 9.72422474e+01] [ 5.59530416e-03 9.99984228e-01 -4.85855756e-04 4.75575146e-01] [ 8.08589178e-03 4.40603751e-04 9.99967212e-01 -4.14987120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.805898227 meters Centerline goodness [0,1] 0.9950742040505687 Centerline is valid? [True, True] Translation: X:97.27, Y:0.47, Z:-0.42 [[ 9.99946389e-01 -4.82466125e-03 -9.16197042e-03 9.72710625e+01] [ 4.81980988e-03 9.99988233e-01 -5.51518292e-04 4.71320655e-01] [ 9.16452350e-03 5.07329769e-04 9.99957876e-01 -4.16302248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.835898227 meters Centerline goodness [0,1] 0.9709278092697566 Centerline is valid? [True, True] Translation: X:97.30, Y:0.48, Z:-0.42 [[ 9.99949983e-01 -3.59776401e-03 -9.33202300e-03 9.72987573e+01] [ 3.59266753e-03 9.99993388e-01 -5.62834142e-04 4.82209802e-01] [ 9.33398624e-03 5.29279135e-04 9.99956297e-01 -4.16946492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.865898227 meters Centerline goodness [0,1] 0.9882610803178149 Centerline is valid? [True, True] Translation: X:97.33, Y:0.48, Z:-0.42 [[ 9.99955770e-01 -2.55615740e-03 -9.05114448e-03 9.73282889e+01] [ 2.55131707e-03 9.99996596e-01 -5.46281253e-04 4.79367005e-01] [ 9.05251006e-03 5.23164752e-04 9.99958888e-01 -4.15277756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.895898227 meters Centerline goodness [0,1] 0.9850578848229592 Centerline is valid? [True, True] Translation: X:97.36, Y:0.48, Z:-0.41 [[ 9.99965351e-01 -1.76042524e-03 -8.13617393e-03 9.73565379e+01] [ 1.75648501e-03 9.99998337e-01 -4.91405277e-04 4.82919562e-01] [ 8.13702548e-03 4.77097183e-04 9.99966780e-01 -4.13301605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.925898227 meters Centerline goodness [0,1] 0.9654131502306499 Centerline is valid? [True, True] Translation: X:97.38, Y:0.49, Z:-0.41 [[ 9.99971005e-01 -1.40975423e-03 -7.48341376e-03 9.73833847e+01] [ 1.40640774e-03 9.99998909e-01 -4.52431603e-04 4.90854134e-01] [ 7.48404341e-03 4.41893754e-04 9.99971897e-01 -4.12332533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.955898227 meters Centerline goodness [0,1] 0.9784622559514977 Centerline is valid? [True, True] Translation: X:97.41, Y:0.49, Z:-0.41 [[ 9.99965853e-01 -2.83555520e-03 -7.76229712e-03 9.74132828e+01] [ 2.83199404e-03 9.99995880e-01 -4.69729280e-04 4.91438395e-01] [ 7.76359708e-03 4.47730460e-04 9.99969763e-01 -4.12795251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.985898227 meters Centerline goodness [0,1] 0.9316662488510069 Centerline is valid? [True, False] Translation: X:97.45, Y:0.49, Z:-0.41 [[ 9.99968605e-01 -3.05510792e-03 -7.31133821e-03 9.74549877e+01] [ 3.05787601e-03 9.99995257e-01 3.67453282e-04 4.92558030e-01] [ 7.31018092e-03 -3.89798911e-04 9.99973204e-01 -4.11565336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.015898227 meters Centerline goodness [0,1] 0.9935452874331551 Centerline is valid? [False, True] Translation: X:97.46, Y:0.49, Z:-0.41 [[ 9.99967374e-01 -3.24022251e-03 -7.39941037e-03 9.74551769e+01] [ 3.24361272e-03 9.99994640e-01 4.46218169e-04 4.91723615e-01] [ 7.39792487e-03 -4.70204432e-04 9.99972524e-01 -4.11381773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.045898227 meters Centerline goodness [0,1] 0.9982635983263598 Centerline is valid? [True, True] Translation: X:97.49, Y:0.49, Z:-0.41 [[ 9.99951948e-01 -6.96771392e-03 -6.89591074e-03 9.74860725e+01] [ 6.96525844e-03 9.99975670e-01 -3.80030937e-04 4.90442263e-01] [ 6.89839091e-03 3.31980875e-04 9.99976151e-01 -4.09423178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.075898227 meters Centerline goodness [0,1] 0.999155548049316 Centerline is valid? [True, True] Translation: X:97.52, Y:0.49, Z:-0.41 [[ 9.99927570e-01 -1.05958376e-02 -5.70814034e-03 9.75168974e+01] [ 1.05942141e-02 9.99943830e-01 -3.14587550e-04 4.89590700e-01] [ 5.71115303e-03 2.54091503e-04 9.99983659e-01 -4.06939148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.105898227 meters Centerline goodness [0,1] 0.9996653629765964 Centerline is valid? [True, True] Translation: X:97.55, Y:0.49, Z:-0.40 [[ 9.99856931e-01 -1.65795898e-02 -3.35185710e-03 9.75464097e+01] [ 1.65790636e-02 9.99862541e-01 -1.84721773e-04 4.86660526e-01] [ 3.35445897e-03 1.29124693e-04 9.99994365e-01 -4.02223718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.135898227 meters Centerline goodness [0,1] 0.9997076511861009 Centerline is valid? [True, True] Translation: X:97.58, Y:0.49, Z:-0.40 [[ 9.99817780e-01 -1.89247597e-02 -2.50198888e-03 9.75764890e+01] [ 1.89244737e-02 9.99820907e-01 -1.37924021e-04 4.86504991e-01] [ 2.50415097e-03 9.05500655e-05 9.99996861e-01 -4.00440241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.165898227 meters Centerline goodness [0,1] 0.9998939981767686 Centerline is valid? [True, True] Translation: X:97.61, Y:0.48, Z:-0.40 [[ 9.99786591e-01 -2.05264585e-02 -2.33188938e-03 9.76071992e+01] [ 2.05262144e-02 9.99789307e-01 -1.28593163e-04 4.82416947e-01] [ 2.33403762e-03 8.07008589e-05 9.99997273e-01 -3.99808975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.195898227 meters Centerline goodness [0,1] 0.9997695562911133 Centerline is valid? [True, True] Translation: X:97.64, Y:0.49, Z:-0.40 [[ 9.99772185e-01 -2.12521339e-02 -1.98099673e-03 9.76361986e+01] [ 2.12519592e-02 9.99774146e-01 -1.09215136e-04 4.90200765e-01] [ 1.98287037e-03 6.70901938e-05 9.99998032e-01 -3.99476311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.225898227 meters Centerline goodness [0,1] 0.9997065850693717 Centerline is valid? [True, True] Translation: X:97.67, Y:0.49, Z:-0.40 [[ 9.99774742e-01 -2.11017134e-02 -2.27674553e-03 9.76654012e+01] [ 2.11014822e-02 9.99777331e-01 -1.25556517e-04 4.94361623e-01] [ 2.27888803e-03 7.74855296e-05 9.99997400e-01 -3.99303433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.255898227 meters Centerline goodness [0,1] 0.9997287881000563 Centerline is valid? [True, True] Translation: X:97.70, Y:0.50, Z:-0.40 [[ 9.99767453e-01 -2.14192134e-02 -2.50152495e-03 9.76950137e+01] [ 2.14189352e-02 9.99770579e-01 -1.37986261e-04 5.00137699e-01] [ 2.50390660e-03 8.43741718e-05 9.99996862e-01 -4.00286715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.285898227 meters Centerline goodness [0,1] 0.9998936645328683 Centerline is valid? [True, True] Translation: X:97.73, Y:0.49, Z:-0.40 [[ 9.99750606e-01 -2.20746337e-02 -3.38183821e-03 9.77259496e+01] [ 2.20741286e-02 9.99756319e-01 -1.86610864e-04 4.92969139e-01] [ 3.38513349e-03 1.11913193e-04 9.99994264e-01 -4.01401125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.315898227 meters Centerline goodness [0,1] 0.9998936645328683 Centerline is valid? [True, True] Translation: X:97.76, Y:0.49, Z:-0.40 [[ 9.99750606e-01 -2.20746337e-02 -3.38183821e-03 9.77559202e+01] [ 2.20741286e-02 9.99756319e-01 -1.86610864e-04 4.94622922e-01] [ 3.38513349e-03 1.11913193e-04 9.99994264e-01 -4.01271976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.345898227 meters Centerline goodness [0,1] 0.9996391424326045 Centerline is valid? [True, True] Translation: X:97.78, Y:0.51, Z:-0.40 [[ 9.99728656e-01 -2.28687435e-02 -4.43105701e-03 9.77845866e+01] [ 2.28678842e-02 9.99738466e-01 -2.44508745e-04 5.05480705e-01] [ 4.43548974e-03 1.43113501e-04 9.99990153e-01 -4.03193362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.375898227 meters Centerline goodness [0,1] 0.999770436379573 Centerline is valid? [True, True] Translation: X:97.82, Y:0.50, Z:-0.40 [[ 9.99717269e-01 -2.31958959e-02 -5.22811468e-03 9.78154638e+01] [ 2.31947037e-02 9.99730925e-01 -2.88553594e-04 5.04042267e-01] [ 5.23340118e-03 1.67207440e-04 9.99986292e-01 -4.04681118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.405898227 meters Centerline goodness [0,1] 0.999810106551324 Centerline is valid? [True, True] Translation: X:97.85, Y:0.51, Z:-0.40 [[ 9.99742259e-01 -2.20146282e-02 -5.54718574e-03 9.78452214e+01] [ 2.20132678e-02 9.99757632e-01 -3.06193142e-04 5.05579853e-01] [ 5.55258201e-03 1.84002538e-04 9.99984567e-01 -4.04637412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.435898227 meters Centerline goodness [0,1] 0.9998523175594421 Centerline is valid? [True, True] Translation: X:97.88, Y:0.51, Z:-0.40 [[ 9.99772607e-01 -2.06123209e-02 -5.46503717e-03 9.78751660e+01] [ 2.06109789e-02 9.99787526e-01 -3.01771071e-04 5.09917647e-01] [ 5.47009619e-03 1.89062685e-04 9.99985021e-01 -4.03683498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.465898227 meters Centerline goodness [0,1] 0.9996003617777591 Centerline is valid? [True, True] Translation: X:97.90, Y:0.52, Z:-0.40 [[ 9.99810353e-01 -1.86662382e-02 -5.55245491e-03 9.79040176e+01] [ 1.86648225e-02 9.99825750e-01 -3.06678611e-04 5.17118131e-01] [ 5.55721193e-03 2.02984865e-04 9.99984538e-01 -4.04862904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.495898227 meters Centerline goodness [0,1] 0.9997679422809164 Centerline is valid? [True, True] Translation: X:97.93, Y:0.52, Z:-0.40 [[ 9.99846852e-01 -1.62866997e-02 -6.40435736e-03 9.79334352e+01] [ 1.62847665e-02 9.99867332e-01 -3.53897516e-04 5.20626523e-01] [ 6.40927153e-03 2.49549854e-04 9.99979429e-01 -4.04871690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.525898227 meters Centerline goodness [0,1] 0.999598486929693 Centerline is valid? [True, True] Translation: X:97.96, Y:0.53, Z:-0.41 [[ 9.99877750e-01 -1.38047056e-02 -7.34268078e-03 9.79614688e+01] [ 1.38020959e-02 9.99904664e-01 -4.05973474e-04 5.29982157e-01] [ 7.34758510e-03 3.04579460e-04 9.99972960e-01 -4.06716131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.555898227 meters Centerline goodness [0,1] 0.999412085835468 Centerline is valid? [True, True] Translation: X:97.99, Y:0.53, Z:-0.41 [[ 9.99898980e-01 -1.16323571e-02 -8.16807444e-03 9.79908202e+01] [ 1.16290532e-02 9.99932278e-01 -4.51870426e-04 5.34280225e-01] [ 8.17277760e-03 3.56837806e-04 9.99966539e-01 -4.08090905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.585898227 meters Centerline goodness [0,1] 0.9983221120149524 Centerline is valid? [True, True] Translation: X:98.02, Y:0.55, Z:-0.41 [[ 9.99926407e-01 -7.39941322e-03 -9.61400982e-03 9.80206372e+01] [ 7.39463943e-03 9.99972518e-01 -5.31998018e-04 5.45392016e-01] [ 9.61768208e-03 4.60866731e-04 9.99953643e-01 -4.08691556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.615898227 meters Centerline goodness [0,1] 0.9955781095365438 Centerline is valid? [True, True] Translation: X:98.05, Y:0.55, Z:-0.41 [[ 9.99938773e-01 -5.46158740e-03 -9.62396695e-03 9.80485566e+01] [ 5.45671103e-03 9.99984970e-01 -5.32876368e-04 5.54167172e-01] [ 9.62673265e-03 4.80328535e-04 9.99953547e-01 -4.09049425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.645898227 meters Centerline goodness [0,1] 0.9930176463120477 Centerline is valid? [True, True] Translation: X:98.08, Y:0.56, Z:-0.41 [[ 9.99946675e-01 -4.15662396e-03 -9.45360061e-03 9.80781707e+01] [ 4.15185706e-03 9.99991244e-01 -5.23810693e-04 5.59905912e-01] [ 9.45569512e-03 4.84532762e-04 9.99955177e-01 -4.07593957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.675898227 meters Centerline goodness [0,1] 0.9928155134046837 Centerline is valid? [True, True] Translation: X:98.11, Y:0.56, Z:-0.41 [[ 9.99956172e-01 -3.53772122e-03 -8.66827523e-03 9.81072307e+01] [ 3.53368324e-03 9.99993641e-01 -4.81105859e-04 5.61559536e-01] [ 8.66992212e-03 4.50453834e-04 9.99962314e-01 -4.05872023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.705898227 meters Centerline goodness [0,1] 0.9973673595040445 Centerline is valid? [True, True] Translation: X:98.14, Y:0.56, Z:-0.40 [[ 9.99965172e-01 -3.76603782e-03 -7.44789097e-03 9.81358506e+01] [ 3.76305406e-03 9.99992834e-01 -4.14591430e-04 5.57510202e-01] [ 7.44939897e-03 3.86550174e-04 9.99972178e-01 -4.03925317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.735898227 meters Centerline goodness [0,1] 0.9910284417484995 Centerline is valid? [True, True] Translation: X:98.16, Y:0.56, Z:-0.40 [[ 9.99969798e-01 -4.53137711e-03 -6.31424393e-03 9.81634348e+01] [ 4.52924253e-03 9.99989681e-01 -3.52315882e-04 5.62716979e-01] [ 6.31577525e-03 3.23706499e-04 9.99980003e-01 -4.02137257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.765898227 meters Centerline goodness [0,1] 0.991762871829443 Centerline is valid? [True, True] Translation: X:98.19, Y:0.56, Z:-0.40 [[ 9.99966096e-01 -7.11136920e-03 -4.15144667e-03 9.81928357e+01] [ 7.11046798e-03 9.99974693e-01 -2.31804771e-04 5.59006963e-01] [ 4.15299006e-03 2.02278183e-04 9.99991356e-01 -3.98972386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.795898227 meters Centerline goodness [0,1] 0.9983031434268018 Centerline is valid? [True, True] Translation: X:98.22, Y:0.55, Z:-0.40 [[ 9.99958027e-01 -8.26957911e-03 -3.94451033e-03 9.82230785e+01] [ 8.26877414e-03 9.99965789e-01 -2.20336449e-04 5.51652959e-01] [ 3.94619747e-03 1.87710936e-04 9.99992196e-01 -3.98121509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.825898227 meters Centerline goodness [0,1] 0.9798262995910452 Centerline is valid? [True, True] Translation: X:98.25, Y:0.56, Z:-0.40 [[ 9.99952376e-01 -8.83324156e-03 -4.14969061e-03 9.82517647e+01] [ 8.83235507e-03 9.99960967e-01 -2.31905121e-04 5.62323395e-01] [ 4.15157711e-03 1.95242536e-04 9.99991363e-01 -3.98330057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.855898227 meters Centerline goodness [0,1] 0.9912944258969699 Centerline is valid? [True, True] Translation: X:98.28, Y:0.56, Z:-0.40 [[ 9.99967397e-01 -6.32936924e-03 -5.01446177e-03 9.82828352e+01] [ 6.32804305e-03 9.99979938e-01 -2.80295314e-04 5.56008340e-01] [ 5.01613526e-03 2.48554445e-04 9.99987388e-01 -3.98610610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.885898227 meters Centerline goodness [0,1] 0.9918942880060793 Centerline is valid? [True, True] Translation: X:98.31, Y:0.56, Z:-0.40 [[ 9.99978799e-01 -3.67535158e-03 -5.37527607e-03 9.83126740e+01] [ 3.67378936e-03 9.99993206e-01 -3.00476638e-04 5.55872652e-01] [ 5.37634391e-03 2.80722636e-04 9.99985508e-01 -3.98831866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.915898227 meters Centerline goodness [0,1] 0.9698882646297582 Centerline is valid? [True, True] Translation: X:98.34, Y:0.56, Z:-0.40 [[ 9.99980939e-01 -1.84422364e-04 -6.17144760e-03 9.83417237e+01] [ 1.82296435e-04 9.99999924e-01 -3.45038993e-04 5.63261220e-01] [ 6.17151077e-03 3.43907384e-04 9.99980897e-01 -3.99703652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.945898227 meters Centerline goodness [0,1] 0.9346610026917901 Centerline is valid? [True, False] Translation: X:98.34, Y:0.57, Z:-0.40 [[ 9.99980591e-01 4.43562371e-05 -6.23019388e-03 9.83423539e+01] [-4.80024426e-05 9.99999828e-01 -5.85099199e-04 5.65245882e-01] [ 6.23016686e-03 5.85386907e-04 9.99980421e-01 -4.00407649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.975898227 meters Centerline goodness [0,1] 0.874455503882494 Centerline is valid? [False, False] Translation: X:98.34, Y:0.57, Z:-0.40 [[ 9.99980717e-01 2.94535380e-04 -6.20315099e-03 9.83426281e+01] [-3.00033639e-04 9.99999563e-01 -8.85453634e-04 5.67581841e-01] [ 6.20288749e-03 8.87297714e-04 9.99980368e-01 -4.01033256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.005898227 meters Centerline goodness [0,1] 0.8242563314456538 Centerline is valid? [False, False] Translation: X:98.34, Y:0.57, Z:-0.40 [[ 9.99980908e-01 4.83813329e-04 -6.16027724e-03 9.83426655e+01] [-4.91344571e-04 9.99999134e-01 -1.22109442e-03 5.69969271e-01] [ 6.15968113e-03 1.22409792e-03 9.99980280e-01 -4.01334663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.035898227 meters Centerline goodness [0,1] 0.6977701761054098 Centerline is valid? [False, False] Translation: X:98.34, Y:0.57, Z:-0.40 [[ 9.99982399e-01 1.20913398e-03 -5.80861572e-03 9.83416679e+01] [-1.21750930e-03 9.99998224e-01 -1.43855958e-03 5.73304080e-01] [ 5.80686599e-03 1.44560631e-03 9.99982095e-01 -4.01485253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.065898227 meters Centerline goodness [0,1] 0.6702698155664444 Centerline is valid? [False, False] Translation: X:98.34, Y:0.58, Z:-0.40 [[ 9.99982642e-01 1.17202086e-03 -5.77428820e-03 9.83413905e+01] [-1.18236110e-03 9.99997703e-01 -1.78765033e-03 5.75247132e-01] [ 5.77217977e-03 1.79444660e-03 9.99981731e-01 -4.01289591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.095898227 meters Centerline goodness [0,1] 0.6972031841982036 Centerline is valid? [False, False] Translation: X:98.30, Y:0.57, Z:-0.40 [[ 9.99981499e-01 1.52658536e-03 -5.88822312e-03 9.82984414e+01] [-1.53669205e-03 9.99997353e-01 -1.71228149e-03 5.73315188e-01] [ 5.88559359e-03 1.72129819e-03 9.99981198e-01 -4.02377944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.125898227 meters Centerline goodness [0,1] 0.6685943911721557 Centerline is valid? [False, False] Translation: X:98.30, Y:0.57, Z:-0.40 [[ 9.99981327e-01 1.44888765e-03 -5.93688469e-03 9.82988005e+01] [-1.46019833e-03 9.99997127e-01 -1.90126270e-03 5.74250580e-01] [ 5.93411292e-03 1.90989622e-03 9.99980569e-01 -4.02729281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.155898227 meters Centerline goodness [0,1] 0.6853043569996835 Centerline is valid? [False, False] Translation: X:98.30, Y:0.57, Z:-0.40 [[ 9.99980400e-01 1.39384347e-03 -6.10378577e-03 9.82996593e+01] [-1.40586342e-03 9.99997080e-01 -1.96541471e-03 5.74518186e-01] [ 6.10102847e-03 1.97395728e-03 9.99979440e-01 -4.03277284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.185898227 meters Centerline goodness [0,1] 0.6697821931906492 Centerline is valid? [False, False] Translation: X:98.30, Y:0.57, Z:-0.40 [[ 9.99978929e-01 1.37072928e-03 -6.34522111e-03 9.83006455e+01] [-1.38282288e-03 9.99997235e-01 -1.90194349e-03 5.74138276e-01] [ 6.34259651e-03 1.91067774e-03 9.99978060e-01 -4.03612608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.215898227 meters Centerline goodness [0,1] 0.7005157690031285 Centerline is valid? [False, False] Translation: X:98.30, Y:0.57, Z:-0.40 [[ 9.99979093e-01 1.15221824e-03 -6.36292175e-03 9.83005163e+01] [-1.16582686e-03 9.99997040e-01 -2.13544325e-03 5.74913198e-01] [ 6.36044242e-03 2.14281667e-03 9.99977476e-01 -4.03308514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.245898227 meters Centerline goodness [0,1] 0.7063798219584569 Centerline is valid? [False, False] Translation: X:98.30, Y:0.58, Z:-0.40 [[ 9.99979627e-01 1.02482615e-03 -6.30048318e-03 9.83000504e+01] [-1.03954401e-03 9.99996738e-01 -2.33315908e-03 5.75753251e-01] [ 6.29807155e-03 2.33966118e-03 9.99977430e-01 -4.02889228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.275898227 meters Centerline goodness [0,1] 0.6842533823283782 Centerline is valid? [False, False] Translation: X:98.34, Y:0.58, Z:-0.40 [[ 9.99985573e-01 1.79344623e-03 -5.06327356e-03 9.83405914e+01] [-1.79817634e-03 9.99997951e-01 -9.29803623e-04 5.78488570e-01] [ 5.06159563e-03 9.38894868e-04 9.99986749e-01 -4.01517761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.305898227 meters Centerline goodness [0,1] 0.7028136978223327 Centerline is valid? [False, False] Translation: X:98.34, Y:0.58, Z:-0.40 [[ 9.99985759e-01 1.67058988e-03 -5.06857882e-03 9.83405857e+01] [-1.67654002e-03 9.99997910e-01 -1.16990337e-03 5.79556880e-01] [ 5.06661380e-03 1.17838438e-03 9.99986470e-01 -4.01501731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.335898227 meters Centerline goodness [0,1] 0.6679043861684846 Centerline is valid? [False, False] Translation: X:98.34, Y:0.58, Z:-0.40 [[ 9.99985447e-01 1.54486628e-03 -5.16914688e-03 9.83411313e+01] [-1.55275801e-03 9.99997635e-01 -1.52303413e-03 5.81299698e-01] [ 5.16678177e-03 1.53103840e-03 9.99985480e-01 -4.01881981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.365898227 meters Centerline goodness [0,1] 0.6613009407717301 Centerline is valid? [False, False] Translation: X:98.34, Y:0.58, Z:-0.40 [[ 9.99984985e-01 1.38405431e-03 -5.30227256e-03 9.83418474e+01] [-1.39435435e-03 9.99997147e-01 -1.93936614e-03 5.83308476e-01] [ 5.29957324e-03 1.94673027e-03 9.99984062e-01 -4.02422563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.395898227 meters Centerline goodness [0,1] 0.6429181981365928 Centerline is valid? [False, False] Translation: X:98.34, Y:0.59, Z:-0.40 [[ 9.99985885e-01 1.10833448e-03 -5.19632379e-03 9.83413798e+01] [-1.12253980e-03 9.99995639e-01 -2.73160665e-03 5.87215384e-01] [ 5.19327360e-03 2.73740117e-03 9.99982768e-01 -4.02289795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.425898227 meters Centerline goodness [0,1] 0.6407038318809157 Centerline is valid? [False, False] Translation: X:98.38, Y:0.59, Z:-0.40 [[ 9.99991816e-01 1.45780762e-03 -3.77407308e-03 9.83819585e+01] [-1.46550004e-03 9.99996853e-01 -2.03626338e-03 5.90523848e-01] [ 3.77109273e-03 2.04177762e-03 9.99990805e-01 -4.01007230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.455898227 meters Centerline goodness [0,1] 0.6550220189701896 Centerline is valid? [False, False] Translation: X:98.34, Y:0.59, Z:-0.40 [[ 9.99997292e-01 9.82502955e-04 -2.10981537e-03 9.83363391e+01] [-9.87418081e-04 9.99996798e-01 -2.32987104e-03 5.87766375e-01] [ 2.10751951e-03 2.33194800e-03 9.99995060e-01 -4.01447774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.485898227 meters Centerline goodness [0,1] 0.6511413805368986 Centerline is valid? [False, False] Translation: X:98.36, Y:0.59, Z:-0.40 [[ 9.99998824e-01 -1.48582182e-03 3.80931063e-04 9.83588849e+01] [ 1.48350396e-03 9.99980812e-01 6.01447390e-03 5.87819784e-01] [-3.89860191e-04 -6.01390171e-03 9.99981840e-01 -4.04699146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.515898227 meters Centerline goodness [0,1] 0.8430443974630021 Centerline is valid? [False, False] Translation: X:98.36, Y:0.59, Z:-0.40 [[ 9.99947566e-01 -1.02322187e-02 4.08348496e-04 9.83586909e+01] [ 1.02335924e-02 9.99941450e-01 -3.51699848e-03 5.92771216e-01] [-3.72337890e-04 3.52099294e-03 9.99993732e-01 -4.04390276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.545898227 meters Centerline goodness [0,1] 0.7758562296261801 Centerline is valid? [False, False] Translation: X:98.36, Y:0.59, Z:-0.40 [[ 9.99977420e-01 -6.72010728e-03 -3.14429432e-06 9.83600909e+01] [ 6.72010507e-03 9.99976433e-01 1.40480515e-03 5.86579672e-01] [-6.29622114e-06 -1.40479456e-03 9.99999013e-01 -4.04679863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.575898227 meters Centerline goodness [0,1] 0.9871536684120154 Centerline is valid? [False, True] Translation: X:98.36, Y:0.58, Z:-0.40 [[ 9.99977825e-01 -6.65677983e-03 -1.91095728e-04 9.83607902e+01] [ 6.65715723e-03 9.99975745e-01 2.04734508e-03 5.83103852e-01] [ 1.77462367e-04 -2.04857184e-03 9.99997886e-01 -4.04804687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.605898227 meters Centerline goodness [0,1] 0.9809038828771484 Centerline is valid? [True, True] Translation: X:98.39, Y:0.59, Z:-0.41 [[ 9.99952987e-01 -9.68918313e-03 3.78462362e-04 9.83902809e+01] [ 9.68917437e-03 9.99953059e-01 2.49639425e-05 5.85987547e-01] [-3.78686477e-04 -2.12957811e-05 9.99999928e-01 -4.05172813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.635898227 meters Centerline goodness [0,1] 0.9989372329797862 Centerline is valid? [True, True] Translation: X:98.42, Y:0.57, Z:-0.40 [[ 9.99925446e-01 -1.21850162e-02 7.92659852e-04 9.84216288e+01] [ 1.21849785e-02 9.99925759e-01 5.23958745e-05 5.72411361e-01] [-7.93239449e-04 -4.27334249e-05 9.99999684e-01 -4.03594548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.665898227 meters Centerline goodness [0,1] 0.9418599799732977 Centerline is valid? [True, False] Translation: X:98.46, Y:0.57, Z:-0.40 [[ 9.99930939e-01 -1.16947644e-02 1.16159416e-03 9.84638469e+01] [ 1.16916450e-02 9.99928121e-01 2.65681010e-03 5.70315606e-01] [-1.19258144e-03 -2.64304568e-03 9.99995796e-01 -4.03211386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.695898227 meters Centerline goodness [0,1] 0.9956224865951743 Centerline is valid? [False, True] Translation: X:98.46, Y:0.57, Z:-0.40 [[ 9.99935028e-01 -1.13454266e-02 1.10474590e-03 9.84639665e+01] [ 1.13412573e-02 9.99928804e-01 3.70982393e-03 5.65076452e-01] [-1.14675679e-03 -3.69705369e-03 9.99992508e-01 -4.02972396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.725898227 meters Centerline goodness [0,1] 0.9437381203801478 Centerline is valid? [True, False] Translation: X:98.46, Y:0.56, Z:-0.40 [[ 9.99937266e-01 -1.11503615e-02 1.06442303e-03 9.84642784e+01] [ 1.11459643e-02 9.99929675e-01 4.05124005e-03 5.63542150e-01] [-1.10952096e-03 -4.03912188e-03 9.99991227e-01 -4.03226478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.755898227 meters Centerline goodness [0,1] 0.9976349263844203 Centerline is valid? [False, True] Translation: X:98.46, Y:0.56, Z:-0.40 [[ 9.99938530e-01 -1.10397723e-02 1.02911219e-03 9.84646769e+01] [ 1.10354342e-02 9.99930579e-01 4.12983243e-03 5.63317283e-01] [-1.07463316e-03 -4.11822187e-03 9.99990943e-01 -4.03729078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.785898227 meters Centerline goodness [0,1] 0.9502056217407894 Centerline is valid? [True, True] Translation: X:98.49, Y:0.58, Z:-0.41 [[ 9.99964290e-01 -8.38895086e-03 1.02144708e-03 9.84930867e+01] [ 8.38888690e-03 9.99964810e-01 6.68848280e-05 5.81360322e-01] [-1.02197223e-03 -5.83136356e-05 9.99999476e-01 -4.06230543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.815898227 meters Centerline goodness [0,1] 0.9017025580513296 Centerline is valid? [True, False] Translation: X:98.49, Y:0.58, Z:-0.41 [[ 9.99965397e-01 -8.25991443e-03 9.89428452e-04 9.84934228e+01] [ 8.25996633e-03 9.99965885e-01 -4.83813770e-05 5.82419065e-01] [-9.88995072e-04 5.65523485e-05 9.99999509e-01 -4.06642462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.845898227 meters Centerline goodness [0,1] 0.9612270620153383 Centerline is valid? [False, True] Translation: X:98.47, Y:0.58, Z:-0.41 [[ 9.99995126e-01 -3.12061078e-03 9.53959840e-05 9.84719720e+01] [ 3.12111929e-03 9.99977726e-01 -5.89969015e-03 5.79819005e-01] [-7.69832225e-05 5.89995914e-03 9.99982592e-01 -4.06119525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.875898227 meters Centerline goodness [0,1] 0.8672851787471989 Centerline is valid? [True, False] Translation: X:98.52, Y:0.58, Z:-0.41 [[ 9.99999974e-01 -1.42533772e-05 2.29004214e-04 9.85150192e+01] [ 1.45681948e-05 9.99999055e-01 -1.37478116e-03 5.78337436e-01] [-2.28984402e-04 1.37478446e-03 9.99999029e-01 -4.06015227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.905898227 meters Centerline goodness [0,1] 0.9267522042654939 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.41 [[ 9.99999966e-01 2.51356646e-04 6.35384238e-05 9.84709008e+01] [-2.51260721e-04 9.99998836e-01 -1.50525370e-03 5.75275962e-01] [-6.39167053e-05 1.50523768e-03 9.99998865e-01 -4.05817289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.935898227 meters Centerline goodness [0,1] 0.8921945653551959 Centerline is valid? [False, False] Translation: X:98.51, Y:0.58, Z:-0.41 [[ 9.99999170e-01 1.28597300e-03 -7.35983951e-05 9.85135710e+01] [-1.28599910e-03 9.99999110e-01 -3.55654896e-04 5.76839634e-01] [ 7.31409670e-05 3.55749248e-04 9.99999934e-01 -4.05038374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.965898227 meters Centerline goodness [0,1] 0.7908404354062948 Centerline is valid? [False, False] Translation: X:98.51, Y:0.58, Z:-0.41 [[ 9.99999131e-01 1.30547263e-03 -1.81971519e-04 9.85140630e+01] [-1.30555497e-03 9.99999045e-01 -4.53085452e-04 5.77426370e-01] [ 1.81379855e-04 4.53322632e-04 9.99999881e-01 -4.05304287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.995898227 meters Centerline goodness [0,1] 0.7517863218781898 Centerline is valid? [False, False] Translation: X:98.51, Y:0.57, Z:-0.41 [[ 9.99984174e-01 5.61810438e-03 -2.98527355e-04 9.85147996e+01] [-5.61675251e-03 9.99974759e-01 4.35121913e-03 5.74578734e-01] [ 3.22965424e-04 -4.34947351e-03 9.99990489e-01 -4.05804530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.025898227 meters Centerline goodness [0,1] 0.7284060175794456 Centerline is valid? [False, False] Translation: X:98.52, Y:0.58, Z:-0.41 [[ 9.99984530e-01 5.54450296e-03 -4.45970159e-04 9.85157136e+01] [-5.54284006e-03 9.99977987e-01 3.64731587e-03 5.78438542e-01] [ 4.66182895e-04 -3.64478751e-03 9.99993249e-01 -4.06664180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.055898227 meters Centerline goodness [0,1] 0.6897051107146606 Centerline is valid? [False, False] Translation: X:98.52, Y:0.58, Z:-0.41 [[ 9.99985026e-01 5.45655876e-03 -4.16755482e-04 9.85155643e+01] [-5.45515755e-03 9.99979700e-01 3.29241797e-03 5.80292390e-01] [ 4.34712295e-04 -3.29009521e-03 9.99994493e-01 -4.06624469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.085898227 meters Centerline goodness [0,1] 0.8289316749020276 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.41 [[ 9.99992375e-01 3.90365234e-03 -1.09801647e-04 9.84715351e+01] [-3.90364787e-03 9.99992380e-01 4.08762987e-05 5.81246265e-01] [ 1.09960377e-04 -4.04473600e-05 9.99999993e-01 -4.06641955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.115898227 meters Centerline goodness [0,1] 0.6930716130944818 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.41 [[ 9.99992715e-01 3.81184109e-03 -2.01948840e-04 9.84716553e+01] [-3.81187550e-03 9.99992720e-01 -1.70305964e-04 5.82213961e-01] [ 2.01298190e-04 1.71074527e-04 9.99999965e-01 -4.06385197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.145898227 meters Centerline goodness [0,1] 0.6891514818416269 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.41 [[ 9.99993059e-01 3.70400143e-03 -4.03359386e-04 9.84720016e+01] [-3.70412099e-03 9.99993096e-01 -2.96068934e-04 5.82610066e-01] [ 4.02259961e-04 2.97560971e-04 9.99999875e-01 -4.05865787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.175898227 meters Centerline goodness [0,1] 0.694032687191182 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.41 [[ 9.99993214e-01 3.65877628e-03 -4.31288874e-04 9.84721107e+01] [-3.65892848e-03 9.99993244e-01 -3.52653408e-04 5.82779710e-01] [ 4.29995680e-04 3.54229070e-04 9.99999845e-01 -4.05919559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.205898227 meters Centerline goodness [0,1] 0.8053099226256271 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.41 [[ 9.99993180e-01 3.66914416e-03 -4.21413252e-04 9.84719825e+01] [-3.66927530e-03 9.99993220e-01 -3.10818492e-04 5.82531960e-01] [ 4.20269957e-04 3.12362654e-04 9.99999863e-01 -4.05757782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.235898227 meters Centerline goodness [0,1] 0.8053099226256271 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.41 [[ 9.99993180e-01 3.66914416e-03 -4.21413252e-04 9.84719825e+01] [-3.66927530e-03 9.99993220e-01 -3.10818492e-04 5.82531960e-01] [ 4.20269957e-04 3.12362654e-04 9.99999863e-01 -4.05757782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.265898227 meters Centerline goodness [0,1] 0.7337582844358141 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.41 [[ 9.99992857e-01 3.75782623e-03 -4.05870697e-04 9.84716692e+01] [-3.75786524e-03 9.99992935e-01 -9.53874580e-05 5.81554789e-01] [ 4.05509380e-04 9.69119840e-05 9.99999913e-01 -4.05321761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.295898227 meters Centerline goodness [0,1] 0.8261689370987902 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.41 [[ 9.99992637e-01 3.82897855e-03 -2.55863827e-04 9.84710052e+01] [-3.82895048e-03 9.99992663e-01 1.10121053e-04 5.80556650e-01] [ 2.56283601e-04 -1.09140552e-04 9.99999961e-01 -4.05002080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.325898227 meters Centerline goodness [0,1] 0.8081387985985056 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.40 [[ 9.99992271e-01 3.92398409e-03 -2.45370968e-04 9.84707576e+01] [-3.92390227e-03 9.99992246e-01 3.33034551e-04 5.79476657e-01] [ 2.46675888e-04 -3.32069165e-04 9.99999914e-01 -4.04643541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.355898227 meters Centerline goodness [0,1] 0.7307376098825811 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.40 [[ 9.99991378e-01 4.14871173e-03 -1.81774620e-04 9.84700164e+01] [-4.14855818e-03 9.99991044e-01 8.37111264e-04 5.77092570e-01] [ 1.85245926e-04 -8.36349944e-04 9.99999633e-01 -4.03679910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.385898227 meters Centerline goodness [0,1] 0.8149895846618204 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.40 [[ 9.99990868e-01 4.27119622e-03 -1.45997319e-04 9.84697661e+01] [-4.27103212e-03 9.99990267e-01 1.10637400e-03 5.75826003e-01] [ 1.50721438e-04 -1.10574034e-03 9.99999377e-01 -4.03405857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.415898227 meters Centerline goodness [0,1] 0.7063864560197796 Centerline is valid? [False, False] Translation: X:98.51, Y:0.58, Z:-0.40 [[ 9.99993288e-01 3.66312327e-03 -7.24447071e-05 9.85114649e+01] [-3.66312871e-03 9.99993288e-01 -7.50715537e-05 5.78811670e-01] [ 7.21692245e-05 7.53364241e-05 9.99999995e-01 -4.02254682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.445898227 meters Centerline goodness [0,1] 0.8404093278699075 Centerline is valid? [False, False] Translation: X:98.47, Y:0.58, Z:-0.40 [[ 9.99996232e-01 2.55626822e-03 -1.00089200e-03 9.84698041e+01] [-2.55826550e-03 9.99994729e-01 -1.99933046e-03 5.77063822e-01] [ 9.95775898e-04 2.00188348e-03 9.99997500e-01 -4.03679764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.475898227 meters Centerline goodness [0,1] 0.7068672142512027 Centerline is valid? [False, False] Translation: X:98.51, Y:0.58, Z:-0.40 [[ 9.99993867e-01 3.29040069e-03 -1.19960651e-03 9.85135303e+01] [-3.29179534e-03 9.99993906e-01 -1.16247652e-03 5.79309343e-01] [ 1.19577419e-03 1.16641825e-03 9.99998605e-01 -4.03834898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.505898227 meters Centerline goodness [0,1] 0.7457865767803047 Centerline is valid? [False, False] Translation: X:98.47, Y:0.57, Z:-0.40 [[ 9.99993123e-01 3.07174013e-03 -2.07822995e-03 9.84717799e+01] [-3.07375955e-03 9.99994806e-01 -9.69210531e-04 5.74215291e-01] [ 2.07524199e-03 9.75591845e-04 9.99997371e-01 -4.04990282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.535898227 meters Centerline goodness [0,1] 0.6883206779376599 Centerline is valid? [False, False] Translation: X:98.51, Y:0.57, Z:-0.40 [[ 9.99994048e-01 2.91161063e-03 -1.85081291e-03 9.85144761e+01] [-2.91252616e-03 9.99995637e-01 -4.92158750e-04 5.74461866e-01] [ 1.84937186e-03 4.97546362e-04 9.99998166e-01 -4.04557183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.565898227 meters Centerline goodness [0,1] 0.7447584128790273 Centerline is valid? [False, False] Translation: X:98.51, Y:0.57, Z:-0.40 [[ 9.99993318e-01 3.10380673e-03 -1.93144186e-03 9.85147817e+01] [-3.10351123e-03 9.99995172e-01 1.55974108e-04 5.71118001e-01] [ 1.93191665e-03 -1.49978814e-04 9.99998123e-01 -4.04598283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.595898227 meters Centerline goodness [0,1] 0.6651766799423777 Centerline is valid? [False, False] Translation: X:98.51, Y:0.57, Z:-0.40 [[ 9.99998561e-01 1.16532697e-03 -1.23321630e-03 9.85094763e+01] [-1.16718777e-03 9.99998180e-01 -1.50925614e-03 5.69079328e-01] [ 1.23145528e-03 1.51069337e-03 9.99998101e-01 -4.01014146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.625898227 meters Centerline goodness [0,1] 0.6930153250252611 Centerline is valid? [False, False] Translation: X:98.51, Y:0.57, Z:-0.40 [[ 9.99998105e-01 1.35947201e-03 -1.39327436e-03 9.85099850e+01] [-1.36055227e-03 9.99998774e-01 -7.74684611e-04 5.65291964e-01] [ 1.39221949e-03 7.76578766e-04 9.99998729e-01 -4.00958673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.655898227 meters Centerline goodness [0,1] 0.9537417587122186 Centerline is valid? [False, True] Translation: X:98.47, Y:0.56, Z:-0.40 [[ 9.99998434e-01 6.33909526e-04 -1.65228076e-03 9.84670067e+01] [-6.34425306e-04 9.99999750e-01 -3.11656823e-04 5.59079899e-01] [ 1.65208278e-03 3.12704583e-04 9.99998586e-01 -4.01492672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.685898227 meters Centerline goodness [0,1] 0.7395904146838885 Centerline is valid? [True, False] Translation: X:98.47, Y:0.56, Z:-0.40 [[ 9.99993568e-01 -3.16551808e-03 -1.68626357e-03 9.84673712e+01] [ 3.15916020e-03 9.99987942e-01 -3.75980603e-03 5.55394891e-01] [ 1.69814497e-03 3.75445467e-03 9.99991510e-01 -4.01820423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.715898227 meters Centerline goodness [0,1] 0.7100303315552766 Centerline is valid? [False, False] Translation: X:98.51, Y:0.55, Z:-0.40 [[ 9.99996676e-01 -1.52081847e-03 -2.08192141e-03 9.85103389e+01] [ 1.52080778e-03 9.99998844e-01 -6.71931737e-06 5.51808806e-01] [ 2.08192922e-03 3.55309275e-06 9.99997833e-01 -4.01420744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.745898227 meters Centerline goodness [0,1] 0.8586870330954468 Centerline is valid? [False, False] Translation: X:98.51, Y:0.55, Z:-0.40 [[ 9.99996778e-01 -1.23632163e-03 -2.21725463e-03 9.85109743e+01] [ 1.23789098e-03 9.99998984e-01 7.06558272e-04 5.48384845e-01] [ 2.21637885e-03 -7.09300714e-04 9.99997292e-01 -4.01691001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.775898227 meters Centerline goodness [0,1] 0.8423732752973989 Centerline is valid? [False, False] Translation: X:98.47, Y:0.54, Z:-0.40 [[ 9.99998258e-01 -1.53349053e-03 -1.06378427e-03 9.84664192e+01] [ 1.53580323e-03 9.99996452e-01 2.17662829e-03 5.38633440e-01] [ 1.06044265e-03 -2.17825826e-03 9.99997065e-01 -4.01959836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.805898227 meters Centerline goodness [0,1] 0.8752826321239143 Centerline is valid? [False, False] Translation: X:98.47, Y:0.54, Z:-0.40 [[ 9.99998738e-01 -1.22535474e-03 -1.01074710e-03 9.84661675e+01] [ 1.22826606e-03 9.99995085e-01 2.88478570e-03 5.35237061e-01] [ 1.00720724e-03 -2.88602353e-03 9.99995328e-01 -4.01748433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.835898227 meters Centerline goodness [0,1] 0.870268105556024 Centerline is valid? [False, False] Translation: X:98.47, Y:0.53, Z:-0.40 [[ 9.99999084e-01 -8.88927261e-04 -1.02047255e-03 9.84662384e+01] [ 8.92624673e-04 9.99993019e-01 3.62851607e-03 5.31688392e-01] [ 1.01723994e-03 -3.62942365e-03 9.99992896e-01 -4.01723898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.865898227 meters Centerline goodness [0,1] 0.9078305141799209 Centerline is valid? [False, False] Translation: X:98.47, Y:0.53, Z:-0.40 [[ 9.99999223e-01 -5.72521507e-04 -1.10775208e-03 9.84664989e+01] [ 5.77326880e-04 9.99990405e-01 4.34250402e-03 5.28274937e-01] [ 1.10525527e-03 -4.34314018e-03 9.99989958e-01 -4.01610536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.895898227 meters Centerline goodness [0,1] 0.8217669600370573 Centerline is valid? [False, False] Translation: X:98.47, Y:0.52, Z:-0.40 [[ 9.99999359e-01 -2.56561089e-04 -1.10284639e-03 9.84665021e+01] [ 2.62188716e-04 9.99986931e-01 5.10570822e-03 5.24547561e-01] [ 1.10152205e-03 -5.10599410e-03 9.99986358e-01 -4.01571669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.925898227 meters Centerline goodness [0,1] 0.9285789841122088 Centerline is valid? [False, False] Translation: X:98.46, Y:0.52, Z:-0.40 [[ 9.99997853e-01 -2.05184498e-03 -2.88594003e-04 9.84608885e+01] [ 2.05280796e-03 9.99992191e-01 3.37705111e-03 5.22149677e-01] [ 2.81662564e-04 -3.37763629e-03 9.99994256e-01 -3.98039511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.955898227 meters Centerline goodness [0,1] 0.8957586618876942 Centerline is valid? [False, False] Translation: X:98.46, Y:0.51, Z:-0.40 [[ 9.99991514e-01 -4.03457384e-03 8.33285612e-04 9.84552520e+01] [ 4.03294823e-03 9.99989979e-01 1.94339384e-03 5.14405406e-01] [-8.41118028e-04 -1.94001675e-03 9.99997764e-01 -3.95193765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.985898227 meters Centerline goodness [0,1] 0.8934610204997755 Centerline is valid? [False, False] Translation: X:98.46, Y:0.51, Z:-0.40 [[ 9.99993166e-01 -3.60431430e-03 8.22836214e-04 9.84552829e+01] [ 3.60189856e-03 9.99989254e-01 2.91871852e-03 5.09905369e-01] [-8.33347350e-04 -2.91573480e-03 9.99995402e-01 -3.95087004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.015898227 meters Centerline goodness [0,1] 0.901943331849874 Centerline is valid? [False, False] Translation: X:98.46, Y:0.51, Z:-0.40 [[ 9.99994453e-01 -3.25188799e-03 7.20485670e-04 9.84558872e+01] [ 3.24919161e-03 9.99987830e-01 3.71253661e-03 5.06184759e-01] [-7.32549655e-04 -3.71017502e-03 9.99992849e-01 -3.95460964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.045898227 meters Centerline goodness [0,1] 0.7721622988118311 Centerline is valid? [False, False] Translation: X:98.46, Y:0.50, Z:-0.40 [[ 9.99995634e-01 -2.89019875e-03 6.15432189e-04 9.84566083e+01] [ 2.88744469e-03 9.99986020e-01 4.42982899e-03 5.02870546e-01] [-6.28226671e-04 -4.42803262e-03 9.99989999e-01 -3.96060754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.075898227 meters Centerline goodness [0,1] 0.8623499050909633 Centerline is valid? [False, False] Translation: X:98.44, Y:0.50, Z:-0.39 [[ 9.99997612e-01 -1.02799882e-03 -1.92847845e-03 9.84358080e+01] [ 1.01968401e-03 9.99990202e-01 -4.30762923e-03 4.99693055e-01] [ 1.93288780e-03 4.30565251e-03 9.99988863e-01 -3.94732082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.105898227 meters Centerline goodness [0,1] 0.7696146557169931 Centerline is valid? [False, False] Translation: X:98.44, Y:0.49, Z:-0.40 [[ 9.99990120e-01 2.99840789e-03 -3.28173409e-03 9.84402721e+01] [-2.99620660e-03 9.99995283e-01 6.75481603e-04 4.94414028e-01] [ 3.28374398e-03 -6.65642175e-04 9.99994387e-01 -3.95343504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.135898227 meters Centerline goodness [0,1] 0.635870256518974 Centerline is valid? [False, False] Translation: X:98.44, Y:0.49, Z:-0.40 [[ 9.99987918e-01 3.69015988e-03 -3.24749376e-03 9.84406850e+01] [-3.68465879e-03 9.99991769e-01 1.69830736e-03 4.90123435e-01] [ 3.25373406e-03 -1.68632093e-03 9.99993285e-01 -3.96089199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.165898227 meters Centerline goodness [0,1] 0.5701828828446557 Centerline is valid? [False, False] Translation: X:98.44, Y:0.49, Z:-0.40 [[ 9.99987287e-01 3.95031296e-03 -3.13373035e-03 9.84403506e+01] [-3.94378353e-03 9.99990045e-01 2.08704711e-03 4.88505741e-01] [ 3.14194364e-03 -2.07466182e-03 9.99992912e-01 -3.96100794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.195898227 meters Centerline goodness [0,1] 0.5896030805687205 Centerline is valid? [False, False] Translation: X:98.44, Y:0.49, Z:-0.40 [[ 9.99986712e-01 4.14421803e-03 -3.06619611e-03 9.84401218e+01] [-4.13702922e-03 9.99988688e-01 2.34717583e-03 4.87423150e-01] [ 3.07588863e-03 -2.33445970e-03 9.99992545e-01 -3.96056574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.225898227 meters Centerline goodness [0,1] 0.5533780516012364 Centerline is valid? [False, False] Translation: X:98.44, Y:0.49, Z:-0.40 [[ 9.99986272e-01 4.31764830e-03 -2.96892321e-03 9.84398659e+01] [-4.31018473e-03 9.99987547e-01 2.51572021e-03 4.86837005e-01] [ 2.97974823e-03 -2.50288906e-03 9.99992428e-01 -3.96168582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.255898227 meters Centerline goodness [0,1] 0.5312176903762159 Centerline is valid? [False, False] Translation: X:98.44, Y:0.49, Z:-0.40 [[ 9.99986051e-01 4.43920524e-03 -2.86205161e-03 9.84394942e+01] [-4.43159500e-03 9.99986643e-01 2.65989685e-03 4.86279416e-01] [ 2.87382121e-03 -2.64717630e-03 9.99992367e-01 -3.96114248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.285898227 meters Centerline goodness [0,1] 0.5147807072873303 Centerline is valid? [False, False] Translation: X:98.44, Y:0.48, Z:-0.40 [[ 9.99985422e-01 4.64576863e-03 -2.75178335e-03 9.84392232e+01] [-4.63746225e-03 9.99984695e-01 3.01727218e-03 4.84689930e-01] [ 2.76575878e-03 -3.00446690e-03 9.99991662e-01 -3.96236086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.315898227 meters Centerline goodness [0,1] 0.6299170742079523 Centerline is valid? [False, False] Translation: X:98.40, Y:0.48, Z:-0.40 [[ 9.99990937e-01 3.27665452e-03 -2.71852653e-03 9.83958710e+01] [-3.27079605e-03 9.99992325e-01 2.15667067e-03 4.81218414e-01] [ 2.72557233e-03 -2.14775937e-03 9.99993979e-01 -3.97197243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.345898227 meters Centerline goodness [0,1] 0.5338764827557094 Centerline is valid? [False, False] Translation: X:98.40, Y:0.48, Z:-0.40 [[ 9.99990489e-01 3.34530597e-03 -2.79836295e-03 9.83962544e+01] [-3.33893025e-03 9.99991827e-01 2.27995065e-03 4.80624242e-01] [ 2.80596721e-03 -2.27058543e-03 9.99993485e-01 -3.97398315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.375898227 meters Centerline goodness [0,1] 0.5315795079348173 Centerline is valid? [False, False] Translation: X:98.40, Y:0.48, Z:-0.40 [[ 9.99990219e-01 3.31446096e-03 -2.92857142e-03 9.83970056e+01] [-3.30816868e-03 9.99992215e-01 2.15082161e-03 4.81231740e-01] [ 2.93567744e-03 -2.14111237e-03 9.99993399e-01 -3.97957269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.405898227 meters Centerline goodness [0,1] 0.417301403101593 Centerline is valid? [False, False] Translation: X:98.40, Y:0.48, Z:-0.40 [[ 9.99977097e-01 5.50516540e-03 -3.93680867e-03 9.84036097e+01] [-5.48813649e-03 9.99975594e-01 4.32336272e-03 4.81711353e-01] [ 3.96051342e-03 -4.30165796e-03 9.99982905e-01 -4.01947338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.435898227 meters Centerline goodness [0,1] 0.4995026560284438 Centerline is valid? [False, False] Translation: X:98.40, Y:0.49, Z:-0.40 [[ 9.99979024e-01 5.28840487e-03 -3.73969661e-03 9.84031967e+01] [-5.27650157e-03 9.99981005e-01 3.18569375e-03 4.87685890e-01] [ 3.75647281e-03 -3.16589441e-03 9.99987933e-01 -4.02465370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.465898227 meters Centerline goodness [0,1] 0.3922104113272552 Centerline is valid? [False, False] Translation: X:98.40, Y:0.49, Z:-0.40 [[ 9.99980753e-01 5.10739169e-03 -3.52263801e-03 9.84022518e+01] [-5.09854609e-03 9.99983838e-01 2.51549744e-03 4.91152124e-01] [ 3.53542871e-03 -2.49748869e-03 9.99990632e-01 -4.02153568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.495898227 meters Centerline goodness [0,1] 0.504132407901762 Centerline is valid? [False, False] Translation: X:98.36, Y:0.49, Z:-0.40 [[ 9.99991319e-01 3.42204291e-03 -2.37745125e-03 9.83569458e+01] [-3.42276877e-03 9.99994097e-01 -3.01307561e-04 4.92830128e-01] [ 2.37640612e-03 3.09442411e-04 9.99997128e-01 -4.02922078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.525898227 meters Centerline goodness [0,1] 0.49606601420072927 Centerline is valid? [False, False] Translation: X:98.36, Y:0.50, Z:-0.40 [[ 9.99992277e-01 3.15835807e-03 -2.33883898e-03 9.83567602e+01] [-3.16051046e-03 9.99994585e-01 -9.17158891e-04 4.95679812e-01] [ 2.33592960e-03 9.24543733e-04 9.99996844e-01 -4.02869130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.555898227 meters Centerline goodness [0,1] 0.3913474728289543 Centerline is valid? [False, False] Translation: X:98.36, Y:0.50, Z:-0.40 [[ 9.99992822e-01 2.91778028e-03 -2.41708155e-03 9.83570756e+01] [-2.92112745e-03 9.99994778e-01 -1.38242650e-03 4.97784603e-01] [ 2.41303531e-03 1.38947718e-03 9.99996123e-01 -4.03064976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.585898227 meters Centerline goodness [0,1] 0.5476084041126509 Centerline is valid? [False, False] Translation: X:98.36, Y:0.50, Z:-0.40 [[ 9.99992999e-01 2.67446304e-03 -2.61706908e-03 9.83577779e+01] [-2.67890041e-03 9.99994978e-01 -1.69351360e-03 4.98945819e-01] [ 2.61252670e-03 1.70051261e-03 9.99995141e-01 -4.03218943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.615898227 meters Centerline goodness [0,1] 0.5817614070864134 Centerline is valid? [False, False] Translation: X:98.36, Y:0.50, Z:-0.40 [[ 9.99993488e-01 1.61374856e-03 -3.22787529e-03 9.83597976e+01] [-1.62187681e-03 9.99995517e-01 -2.51711305e-03 5.00858242e-01] [ 3.22379884e-03 2.52233188e-03 9.99991622e-01 -4.03543114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.645898227 meters Centerline goodness [0,1] 0.6236789609948644 Centerline is valid? [False, False] Translation: X:98.36, Y:0.50, Z:-0.40 [[ 9.99993366e-01 1.33716370e-03 -3.38830103e-03 9.83602018e+01] [-1.34593539e-03 9.99995746e-01 -2.58786098e-03 5.00646897e-01] [ 3.38482622e-03 2.59240424e-03 9.99990911e-01 -4.03353312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.675898227 meters Centerline goodness [0,1] 0.6487008758848116 Centerline is valid? [False, False] Translation: X:98.38, Y:0.50, Z:-0.41 [[ 9.99995270e-01 -2.94735006e-03 -8.79590682e-04 9.83812485e+01] [ 2.95053277e-03 9.99989025e-01 3.63930653e-03 5.02511649e-01] [ 8.68854718e-04 -3.64188457e-03 9.99992991e-01 -4.05219967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.705898227 meters Centerline goodness [0,1] 0.6858061263078281 Centerline is valid? [False, False] Translation: X:98.38, Y:0.50, Z:-0.40 [[ 9.99994542e-01 -3.14691895e-03 -1.00644562e-03 9.83814907e+01] [ 3.15080074e-03 9.99987513e-01 3.87888944e-03 5.00654546e-01] [ 9.94226506e-04 -3.88203937e-03 9.99991971e-01 -4.04852077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.735898227 meters Centerline goodness [0,1] 0.756333971110784 Centerline is valid? [False, False] Translation: X:98.38, Y:0.50, Z:-0.40 [[ 9.99993750e-01 -3.35352128e-03 -1.11950041e-03 9.83817859e+01] [ 3.35814313e-03 9.99985740e-01 4.15246463e-03 4.98567931e-01] [ 1.10555907e-03 -4.15619812e-03 9.99990752e-01 -4.04667328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.765898227 meters Centerline goodness [0,1] 0.9361219604384529 Centerline is valid? [False, False] Translation: X:98.38, Y:0.50, Z:-0.40 [[ 9.99990037e-01 -4.12195579e-03 -1.71343409e-03 9.83837387e+01] [ 4.12927986e-03 9.99982259e-01 4.29316313e-03 4.95554531e-01] [ 1.69570746e-03 -4.30019561e-03 9.99989316e-01 -4.04717284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.795898227 meters Centerline goodness [0,1] 0.9669265246298617 Centerline is valid? [False, True] Translation: X:98.38, Y:0.50, Z:-0.40 [[ 9.99961922e-01 -8.56182288e-03 -1.68827392e-03 9.83838306e+01] [ 8.56096110e-03 9.99963221e-01 -5.17015991e-04 4.98154823e-01] [ 1.69263842e-03 5.02543057e-04 9.99998441e-01 -4.04880688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.825898227 meters Centerline goodness [0,1] 0.9771307592336393 Centerline is valid? [True, True] Translation: X:98.41, Y:0.50, Z:-0.41 [[ 9.99944211e-01 -1.03809345e-02 -1.95216348e-03 9.84137594e+01] [ 1.03806777e-02 9.99946109e-01 -1.41591167e-04 4.98234900e-01] [ 1.95352812e-03 1.21318487e-04 9.99998085e-01 -4.05640827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.855898227 meters Centerline goodness [0,1] 0.9787498159018705 Centerline is valid? [True, True] Translation: X:98.44, Y:0.50, Z:-0.40 [[ 9.99927859e-01 -1.18817109e-02 -1.76095660e-03 9.84430487e+01] [ 1.18815043e-02 9.99929404e-01 -1.27737061e-04 4.99184980e-01] [ 1.76235002e-03 1.06805033e-04 9.99998441e-01 -4.04954335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.885898227 meters Centerline goodness [0,1] 0.9903965368693131 Centerline is valid? [True, True] Translation: X:98.47, Y:0.49, Z:-0.40 [[ 9.99925825e-01 -1.21582362e-02 -7.22118542e-04 9.84736316e+01] [ 1.21582015e-02 9.99926085e-01 -5.23400756e-05 4.94507086e-01] [ 7.22701530e-04 4.35565305e-05 9.99999738e-01 -4.02695873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.915898227 meters Centerline goodness [0,1] 0.9892384803302164 Centerline is valid? [True, True] Translation: X:98.50, Y:0.50, Z:-0.40 [[ 9.99937633e-01 -1.11681685e-02 5.45283398e-05 9.85038851e+01] [ 1.11681684e-02 9.99937634e-01 3.95228381e-06 4.95075844e-01] [-5.45690788e-05 -3.34305564e-06 9.99999999e-01 -4.01284163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.945898227 meters Centerline goodness [0,1] 0.9941797710004444 Centerline is valid? [True, True] Translation: X:98.53, Y:0.49, Z:-0.40 [[ 9.99955914e-01 -9.32813374e-03 1.07498445e-03 9.85346807e+01] [ 9.32805535e-03 9.99956490e-01 7.79162479e-05 4.93061486e-01] [-1.07566449e-03 -6.78852985e-05 9.99999419e-01 -3.99473312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.975898227 meters Centerline goodness [0,1] 0.9847341264764828 Centerline is valid? [True, True] Translation: X:98.57, Y:0.50, Z:-0.40 [[ 9.99971692e-01 -7.09706000e-03 2.49952365e-03 9.85654010e+01] [ 7.09662922e-03 9.99974802e-01 1.81173537e-04 4.96008639e-01] [-2.50074647e-03 -1.63430216e-04 9.99996860e-01 -3.97728895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.005898227 meters Centerline goodness [0,1] 0.811885733363938 Centerline is valid? [True, False] Translation: X:98.61, Y:0.50, Z:-0.40 [[ 9.99978348e-01 -5.61756993e-03 3.42732503e-03 9.86067728e+01] [ 5.61516630e-03 9.99983982e-01 7.10534291e-04 4.98453095e-01] [-3.43126161e-03 -6.91273906e-04 9.99993874e-01 -3.97074800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.035898227 meters Centerline goodness [0,1] 0.9375330638847155 Centerline is valid? [False, False] Translation: X:98.58, Y:0.50, Z:-0.39 [[ 9.99994015e-01 -3.23336911e-03 1.23089973e-03 9.85840749e+01] [ 3.24277552e-03 9.99964956e-01 -7.71818489e-03 4.98003570e-01] [-1.20590086e-03 7.72213023e-03 9.99969457e-01 -3.94658554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.065898227 meters Centerline goodness [0,1] 0.8078573089034004 Centerline is valid? [False, False] Translation: X:98.59, Y:0.49, Z:-0.40 [[ 9.99998811e-01 1.31141720e-03 8.11023251e-04 9.85861434e+01] [-1.30931200e-03 9.99995787e-01 -2.59084332e-03 4.93811235e-01] [-8.14417510e-04 2.58977836e-03 9.99996315e-01 -3.95867289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.095898227 meters Centerline goodness [0,1] 0.8695218277560727 Centerline is valid? [False, False] Translation: X:98.59, Y:0.49, Z:-0.40 [[ 9.99998837e-01 1.36159041e-03 6.87197663e-04 9.85869073e+01] [-1.35980215e-03 9.99995706e-01 -2.59603691e-03 4.93932967e-01] [-6.90729451e-04 2.59509944e-03 9.99996394e-01 -3.96537760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.125898227 meters Centerline goodness [0,1] 0.8695218277560727 Centerline is valid? [False, False] Translation: X:98.59, Y:0.49, Z:-0.40 [[ 9.99998837e-01 1.36159041e-03 6.87197663e-04 9.85869073e+01] [-1.35980215e-03 9.99995706e-01 -2.59603691e-03 4.93932967e-01] [-6.90729451e-04 2.59509944e-03 9.99996394e-01 -3.96537760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.155898227 meters Centerline goodness [0,1] 0.7467960838690701 Centerline is valid? [False, False] Translation: X:98.59, Y:0.49, Z:-0.40 [[ 9.99983962e-01 5.65400065e-03 3.27205069e-04 9.85880403e+01] [-5.65474701e-03 9.99981305e-01 2.32689629e-03 4.90313426e-01] [-3.14042678e-04 -2.32870924e-03 9.99997239e-01 -3.96407959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.185898227 meters Centerline goodness [0,1] 0.8783015642362595 Centerline is valid? [False, False] Translation: X:98.54, Y:0.49, Z:-0.40 [[ 9.99989845e-01 4.45108025e-03 7.05559276e-04 9.85439302e+01] [-4.45130707e-03 9.99990042e-01 3.20234786e-04 4.90377324e-01] [-7.04126859e-04 -3.23372195e-04 9.99999700e-01 -3.96946224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.215898227 meters Centerline goodness [0,1] 0.6330070518892748 Centerline is valid? [False, False] Translation: X:98.58, Y:0.50, Z:-0.40 [[ 9.99988290e-01 4.38098168e-03 2.05580140e-03 9.85834067e+01] [-4.37677758e-03 9.99988331e-01 -2.04505565e-03 4.96751024e-01] [-2.06473676e-03 2.03603392e-03 9.99995796e-01 -3.95913257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.245898227 meters Centerline goodness [0,1] 0.6752892404661689 Centerline is valid? [False, False] Translation: X:98.58, Y:0.50, Z:-0.40 [[ 9.99987737e-01 4.40009879e-03 2.27261954e-03 9.85825911e+01] [-4.39396589e-03 9.99986711e-01 -2.69658279e-03 5.00553246e-01] [-2.28445457e-03 2.68656391e-03 9.99993782e-01 -3.95782126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.275898227 meters Centerline goodness [0,1] 0.6955590430946725 Centerline is valid? [False, False] Translation: X:98.58, Y:0.50, Z:-0.40 [[ 9.99988066e-01 4.29993493e-03 2.31924015e-03 9.85825685e+01] [-4.29278703e-03 9.99986048e-01 -3.07822351e-03 5.02455716e-01] [-2.33244395e-03 3.06823077e-03 9.99992573e-01 -3.96049878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.305898227 meters Centerline goodness [0,1] 0.643802799142605 Centerline is valid? [False, False] Translation: X:98.59, Y:0.50, Z:-0.40 [[ 9.99978002e-01 6.45694986e-03 1.51737424e-03 9.85882235e+01] [-6.45567920e-03 9.99978808e-01 -8.40819805e-04 5.02444306e-01] [-1.52277122e-03 8.31005628e-04 9.99998495e-01 -3.99570682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.335898227 meters Centerline goodness [0,1] 0.5249984304041186 Centerline is valid? [False, False] Translation: X:98.59, Y:0.50, Z:-0.40 [[ 9.99980088e-01 6.16595370e-03 1.34347527e-03 9.85889312e+01] [-6.16412061e-03 9.99980071e-01 -1.36433521e-03 5.04660377e-01] [-1.35186093e-03 1.35602670e-03 9.99998167e-01 -3.99852131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.365898227 meters Centerline goodness [0,1] 0.6581492005598202 Centerline is valid? [False, False] Translation: X:98.57, Y:0.50, Z:-0.40 [[ 9.99988031e-01 4.13686088e-03 -2.61246918e-03 9.85682097e+01] [-4.11645970e-03 9.99961365e-01 7.76683581e-03 5.01084533e-01] [ 2.64449857e-03 -7.75598872e-03 9.99966425e-01 -3.96804982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.395898227 meters Centerline goodness [0,1] 0.7073523469235841 Centerline is valid? [False, False] Translation: X:98.57, Y:0.50, Z:-0.40 [[ 9.99997085e-01 -3.23452819e-04 -2.39285264e-03 9.85673210e+01] [ 3.30104328e-04 9.99996082e-01 2.77986771e-03 5.04610610e-01] [ 2.39194411e-03 -2.78064950e-03 9.99993273e-01 -3.96598716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.425898227 meters Centerline goodness [0,1] 0.716676907430557 Centerline is valid? [False, False] Translation: X:98.57, Y:0.50, Z:-0.40 [[ 9.99996982e-01 -3.74626386e-04 -2.42829021e-03 9.85670583e+01] [ 3.81770255e-04 9.99995599e-01 2.94213841e-03 5.03555402e-01] [ 2.42717732e-03 -2.94305658e-03 9.99992724e-01 -3.95966022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.455898227 meters Centerline goodness [0,1] 0.7061543635446443 Centerline is valid? [False, False] Translation: X:98.57, Y:0.51, Z:-0.40 [[ 9.99986495e-01 -4.70765952e-03 -2.20194683e-03 9.85662505e+01] [ 4.70326251e-03 9.99986944e-01 -1.99780680e-03 5.07152895e-01] [ 2.21132308e-03 1.98742349e-03 9.99995580e-01 -3.95841932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.485898227 meters Centerline goodness [0,1] 0.7144215731856799 Centerline is valid? [False, False] Translation: X:98.57, Y:0.51, Z:-0.40 [[ 9.99986351e-01 -4.71061929e-03 -2.25992356e-03 9.85664027e+01] [ 4.70619554e-03 9.99987007e-01 -1.95881537e-03 5.06950073e-01] [ 2.26912143e-03 1.94815299e-03 9.99995528e-01 -3.95779438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.515898227 meters Centerline goodness [0,1] 0.7268572150725614 Centerline is valid? [False, False] Translation: X:98.57, Y:0.51, Z:-0.40 [[ 9.99985327e-01 -4.84721762e-03 -2.41864091e-03 9.85671962e+01] [ 4.84155378e-03 9.99985537e-01 -2.34213025e-03 5.08851177e-01] [ 2.42995874e-03 2.33038591e-03 9.99994332e-01 -3.96285225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.545898227 meters Centerline goodness [0,1] 0.825892286043239 Centerline is valid? [False, False] Translation: X:98.52, Y:0.51, Z:-0.40 [[ 9.99989862e-01 -3.54686910e-03 -2.77399679e-03 9.85247375e+01] [ 3.54696061e-03 9.99993709e-01 2.80708392e-05 5.05491892e-01] [ 2.77387978e-03 -3.79098120e-05 9.99996152e-01 -3.97426283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.575898227 meters Centerline goodness [0,1] 0.7171558758079899 Centerline is valid? [False, False] Translation: X:98.53, Y:0.51, Z:-0.40 [[ 9.99992255e-01 -1.88053732e-03 -3.45752753e-03 9.85294844e+01] [ 1.88590837e-03 9.99997019e-01 1.55083485e-03 5.05634275e-01] [ 3.45460082e-03 -1.55734342e-03 9.99992820e-01 -4.00285575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.605898227 meters Centerline goodness [0,1] 0.7146932048681541 Centerline is valid? [False, False] Translation: X:98.53, Y:0.51, Z:-0.40 [[ 9.99992246e-01 -2.00756789e-03 -3.38790738e-03 9.85291144e+01] [ 2.01146094e-03 9.99997320e-01 1.14608585e-03 5.07649915e-01] [ 3.38559746e-03 -1.15289161e-03 9.99993604e-01 -4.00100465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.635898227 meters Centerline goodness [0,1] 0.7842506350550381 Centerline is valid? [False, False] Translation: X:98.53, Y:0.51, Z:-0.40 [[ 9.99992321e-01 -2.10455035e-03 -3.30582513e-03 9.85288469e+01] [ 2.10737899e-03 9.99997416e-01 8.52405214e-04 5.09118743e-01] [ 3.30402266e-03 -8.59365295e-04 9.99994172e-01 -4.00129973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.665898227 meters Centerline goodness [0,1] 0.6783512529719948 Centerline is valid? [False, False] Translation: X:98.53, Y:0.51, Z:-0.40 [[ 9.99991741e-01 -2.23496136e-03 -3.39452922e-03 9.85291952e+01] [ 2.23693455e-03 9.99997331e-01 5.77601729e-04 5.10403269e-01] [ 3.39322924e-03 -5.85190298e-04 9.99994072e-01 -4.00250197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.695898227 meters Centerline goodness [0,1] 0.6100747056092517 Centerline is valid? [False, False] Translation: X:98.53, Y:0.51, Z:-0.40 [[ 9.99990603e-01 -2.49998461e-03 -3.54164964e-03 9.85300408e+01] [ 2.50024794e-03 9.99996872e-01 6.99261025e-05 5.12680824e-01] [ 3.54146375e-03 -7.87804477e-05 9.99993726e-01 -4.00903088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.725898227 meters Centerline goodness [0,1] 0.7544510385756676 Centerline is valid? [False, False] Translation: X:98.53, Y:0.51, Z:-0.40 [[ 9.99990099e-01 -2.60811426e-03 -3.60559504e-03 9.85302190e+01] [ 2.60766996e-03 9.99996592e-01 -1.27922809e-04 5.13561366e-01] [ 3.60591639e-03 1.18519341e-04 9.99993492e-01 -4.00889055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.755898227 meters Centerline goodness [0,1] 0.7211655796339154 Centerline is valid? [False, False] Translation: X:98.53, Y:0.51, Z:-0.40 [[ 9.99989844e-01 -2.69705193e-03 -3.61090476e-03 9.85301665e+01] [ 2.69606449e-03 9.99996327e-01 -2.78301097e-04 5.14245143e-01] [ 3.61164209e-03 2.68563038e-04 9.99993442e-01 -4.00804216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.785898227 meters Centerline goodness [0,1] 0.84881672503449 Centerline is valid? [False, False] Translation: X:98.53, Y:0.51, Z:-0.40 [[ 9.99989412e-01 -2.78818243e-03 -3.66086459e-03 9.85302128e+01] [ 2.78663019e-03 9.99996025e-01 -4.29040762e-04 5.14905746e-01] [ 3.66204628e-03 4.18834743e-04 9.99993207e-01 -4.00624741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.815898227 meters Centerline goodness [0,1] 0.7921734531993654 Centerline is valid? [False, False] Translation: X:98.53, Y:0.52, Z:-0.40 [[ 9.99988135e-01 -2.99231221e-03 -3.84407127e-03 9.85309755e+01] [ 2.98900726e-03 9.99995159e-01 -8.65211077e-04 5.16902972e-01] [ 3.84664164e-03 8.53710854e-04 9.99992237e-01 -4.00969819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.845898227 meters Centerline goodness [0,1] 0.8650436341135554 Centerline is valid? [False, False] Translation: X:98.53, Y:0.52, Z:-0.40 [[ 9.99987349e-01 -3.06643966e-03 -3.98730312e-03 9.85315979e+01] [ 3.06233712e-03 9.99994776e-01 -1.03460096e-03 5.17669528e-01] [ 3.99045484e-03 1.02237740e-03 9.99991515e-01 -4.01275681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.875898227 meters Centerline goodness [0,1] 0.7401324781831564 Centerline is valid? [False, False] Translation: X:98.57, Y:0.52, Z:-0.40 [[ 9.99991492e-01 -1.97740639e-03 -3.62031597e-03 9.85733015e+01] [ 1.97563715e-03 9.99997927e-01 -4.92209342e-04 5.20992309e-01] [ 3.62128176e-03 4.85052724e-04 9.99993325e-01 -4.00040226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.905898227 meters Centerline goodness [0,1] 0.7238562435522243 Centerline is valid? [False, False] Translation: X:98.57, Y:0.52, Z:-0.40 [[ 9.99991597e-01 -2.03010611e-03 -3.56153439e-03 9.85730557e+01] [ 2.02750407e-03 9.99997675e-01 -7.34055754e-04 5.22318119e-01] [ 3.56301632e-03 7.26828560e-04 9.99993388e-01 -3.99971338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.935898227 meters Centerline goodness [0,1] 0.6940952380952381 Centerline is valid? [False, False] Translation: X:98.57, Y:0.52, Z:-0.40 [[ 9.99992017e-01 -2.09907561e-03 -3.39996671e-03 9.85724300e+01] [ 2.09549465e-03 9.99997246e-01 -1.05645318e-03 5.24068286e-01] [ 3.40217492e-03 1.04932013e-03 9.99993662e-01 -3.99793567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.965898227 meters Centerline goodness [0,1] 0.6813313976729997 Centerline is valid? [False, False] Translation: X:98.58, Y:0.52, Z:-0.40 [[ 9.99991820e-01 -3.20962460e-04 -4.03198738e-03 9.85769564e+01] [ 3.22973382e-04 9.99999824e-01 4.98100711e-04 5.24741475e-01] [ 4.03182680e-03 -4.99398861e-04 9.99991747e-01 -4.02480424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.995898227 meters Centerline goodness [0,1] 0.7177975268840011 Centerline is valid? [False, False] Translation: X:98.58, Y:0.53, Z:-0.40 [[ 9.99992835e-01 -3.58866221e-04 -3.76852127e-03 9.85761170e+01] [ 3.56579139e-04 9.99999752e-01 -6.07545287e-04 5.31141658e-01] [ 3.76873837e-03 6.06197158e-04 9.99992715e-01 -4.02594313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.025898227 meters Centerline goodness [0,1] 0.6458101497049993 Centerline is valid? [False, False] Translation: X:98.58, Y:0.53, Z:-0.41 [[ 9.99987645e-01 1.84193581e-03 -4.61708453e-03 9.85820246e+01] [-1.83588077e-03 9.99997450e-01 1.31533768e-03 5.33798856e-01] [ 4.61949553e-03 -1.30684502e-03 9.99988476e-01 -4.06366194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.055898227 meters Centerline goodness [0,1] 0.5893592315000528 Centerline is valid? [False, False] Translation: X:98.58, Y:0.54, Z:-0.41 [[ 9.99988257e-01 1.50913171e-03 -4.60517072e-03 9.85824081e+01] [-1.50755826e-03 9.99998804e-01 3.45122806e-04 5.38536719e-01] [ 4.60568605e-03 -3.38176190e-04 9.99989337e-01 -4.07194033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.085898227 meters Centerline goodness [0,1] 0.6033474914840826 Centerline is valid? [False, False] Translation: X:98.58, Y:0.54, Z:-0.41 [[ 9.99988345e-01 1.17288199e-03 -4.68338423e-03 9.85828498e+01] [-1.17631077e-03 9.99999042e-01 -7.29428686e-04 5.43914373e-01] [ 4.68252421e-03 7.34929300e-04 9.99988767e-01 -4.07660099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.115898227 meters Centerline goodness [0,1] 0.5895233282802763 Centerline is valid? [False, False] Translation: X:98.58, Y:0.55, Z:-0.41 [[ 9.99989505e-01 8.19688375e-04 -4.50763224e-03 9.85822061e+01] [-8.27562947e-04 9.99998134e-01 -1.74535437e-03 5.48938497e-01] [ 4.50619319e-03 1.74906640e-03 9.99988317e-01 -4.07617879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.145898227 meters Centerline goodness [0,1] 0.6584454251747366 Centerline is valid? [False, False] Translation: X:98.58, Y:0.55, Z:-0.41 [[ 9.99990211e-01 4.69222912e-04 -4.39978091e-03 9.85815730e+01] [-4.81086854e-04 9.99996251e-01 -2.69581432e-03 5.53609883e-01] [ 4.39849948e-03 2.69790461e-03 9.99986687e-01 -4.07233020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.175898227 meters Centerline goodness [0,1] 0.6579769493815173 Centerline is valid? [False, False] Translation: X:98.58, Y:0.56, Z:-0.41 [[ 9.99990828e-01 -2.59907781e-04 -4.27514598e-03 9.85805105e+01] [ 2.41476416e-04 9.99990677e-01 -4.31123448e-03 5.61203153e-01] [ 4.27622665e-03 4.31016259e-03 9.99981568e-01 -4.06330134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.205898227 meters Centerline goodness [0,1] 0.5888368396838011 Centerline is valid? [False, False] Translation: X:98.60, Y:0.56, Z:-0.41 [[ 9.99992439e-01 -2.25514325e-03 -3.16801875e-03 9.86021549e+01] [ 2.26855626e-03 9.99988452e-01 4.23668693e-03 5.64901935e-01] [ 3.15842783e-03 -4.24384172e-03 9.99986007e-01 -4.07180682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.235898227 meters Centerline goodness [0,1] 0.5631932282545242 Centerline is valid? [False, False] Translation: X:98.60, Y:0.57, Z:-0.41 [[ 9.99991335e-01 -2.64238084e-03 -3.21663772e-03 9.86021689e+01] [ 2.65373994e-03 9.99990240e-01 3.53222626e-03 5.68025262e-01] [ 3.20727284e-03 -3.54073177e-03 9.99988588e-01 -4.07016574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.265898227 meters Centerline goodness [0,1] 0.7110894115649147 Centerline is valid? [False, False] Translation: X:98.56, Y:0.57, Z:-0.41 [[ 9.99988199e-01 -4.23481939e-03 -2.38058109e-03 9.85568337e+01] [ 4.23689448e-03 9.99990648e-01 8.67304799e-04 5.72099069e-01] [ 2.37688595e-03 -8.77380836e-04 9.99996790e-01 -4.06932835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.295898227 meters Centerline goodness [0,1] 0.7115618401689168 Centerline is valid? [False, False] Translation: X:98.56, Y:0.57, Z:-0.41 [[ 9.99986836e-01 -4.51233133e-03 -2.44271545e-03 9.85567824e+01] [ 4.51300759e-03 9.99989779e-01 2.71406816e-04 5.74842963e-01] [ 2.44146581e-03 -2.82427236e-04 9.99996980e-01 -4.06598344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.325898227 meters Centerline goodness [0,1] 0.7207197569429586 Centerline is valid? [False, False] Translation: X:98.56, Y:0.58, Z:-0.41 [[ 9.99985383e-01 -4.79839832e-03 -2.49171414e-03 9.85569224e+01] [ 4.79757161e-03 9.99988435e-01 -3.37656511e-04 5.77656404e-01] [ 2.49330553e-03 3.25697399e-04 9.99996839e-01 -4.06658792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.355898227 meters Centerline goodness [0,1] 0.6730021963169455 Centerline is valid? [False, False] Translation: X:98.58, Y:0.58, Z:-0.41 [[ 9.99991426e-01 -4.04046937e-03 9.06491675e-04 9.85776909e+01] [ 4.04980682e-03 9.99936180e-01 -1.05467974e-02 5.84786028e-01] [-8.63819810e-04 1.05503781e-02 9.99943970e-01 -4.08484673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.385898227 meters Centerline goodness [0,1] 0.7163070768968892 Centerline is valid? [False, False] Translation: X:98.58, Y:0.58, Z:-0.41 [[ 9.99999816e-01 -1.94906434e-04 5.74470771e-04 9.85788592e+01] [ 1.98465689e-04 9.99980747e-01 -6.20217953e-03 5.83443890e-01] [-5.73250866e-04 6.20229240e-03 9.99980601e-01 -4.08745773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.415898227 meters Centerline goodness [0,1] 0.5982809696666249 Centerline is valid? [False, False] Translation: X:98.62, Y:0.59, Z:-0.41 [[ 9.99999678e-01 8.00578014e-04 -6.26194924e-05 9.86226491e+01] [-8.00864181e-04 9.99988579e-01 -4.71182508e-03 5.87864236e-01] [ 5.88465936e-05 4.71187372e-03 9.99988897e-01 -4.08323279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.445898227 meters Centerline goodness [0,1] 0.6814678284182305 Centerline is valid? [False, False] Translation: X:98.62, Y:0.59, Z:-0.41 [[ 9.99999935e-01 3.47583714e-04 -9.86100467e-05 9.86225527e+01] [-3.48126442e-04 9.99984492e-01 -5.55821322e-03 5.91642178e-01] [ 9.66765731e-05 5.55824719e-03 9.99984548e-01 -4.08072083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.475898227 meters Centerline goodness [0,1] 0.7072610977708833 Centerline is valid? [False, False] Translation: X:98.58, Y:0.59, Z:-0.41 [[ 9.99997964e-01 1.85641649e-03 -7.91117991e-04 9.85806555e+01] [-1.85862175e-03 9.99994364e-01 -2.79597076e-03 5.87855052e-01] [ 7.85923046e-04 2.79743545e-03 9.99995778e-01 -4.08365930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.505898227 meters Centerline goodness [0,1] 0.64827383945031 Centerline is valid? [False, False] Translation: X:98.62, Y:0.59, Z:-0.41 [[ 9.99997234e-01 2.33244012e-03 -3.01943217e-04 9.86223131e+01] [-2.33294363e-03 9.99995871e-01 -1.67808466e-03 5.91873676e-01] [ 2.98027938e-04 1.67878443e-03 9.99998546e-01 -4.07574675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.535898227 meters Centerline goodness [0,1] 0.794420564327361 Centerline is valid? [False, False] Translation: X:98.58, Y:0.59, Z:-0.41 [[ 9.99998302e-01 1.82203592e-03 -2.75385509e-04 9.85789560e+01] [-1.82272077e-03 9.99995195e-01 -2.50743702e-03 5.91270964e-01] [ 2.70815546e-04 2.50793471e-03 9.99996818e-01 -4.08064092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.565898227 meters Centerline goodness [0,1] 0.7576037446737054 Centerline is valid? [False, False] Translation: X:98.62, Y:0.60, Z:-0.41 [[ 9.99998074e-01 1.91920694e-03 4.11179837e-04 9.86204108e+01] [-1.91861278e-03 9.99997122e-01 -1.44056914e-03 5.95909961e-01] [-4.13943404e-04 1.43977747e-03 9.99998878e-01 -4.07198888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.595898227 meters Centerline goodness [0,1] 0.7869161225514817 Centerline is valid? [False, False] Translation: X:98.62, Y:0.60, Z:-0.41 [[ 9.99998292e-01 1.79433626e-03 4.42112623e-04 9.86201193e+01] [-1.79363426e-03 9.99997138e-01 -1.58314689e-03 5.96409210e-01] [-4.44952055e-04 1.58235120e-03 9.99998649e-01 -4.06875391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.625898227 meters Centerline goodness [0,1] 0.7960065783925108 Centerline is valid? [False, False] Translation: X:98.62, Y:0.60, Z:-0.41 [[ 9.99998503e-01 1.66547173e-03 4.68634124e-04 9.86197321e+01] [-1.66464879e-03 9.99997082e-01 -1.75097009e-03 5.96986848e-01] [-4.71548947e-04 1.75018736e-03 9.99998357e-01 -4.06408594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.655898227 meters Centerline goodness [0,1] 0.8026590253049872 Centerline is valid? [False, False] Translation: X:98.62, Y:0.60, Z:-0.41 [[ 9.99998622e-01 1.59145892e-03 4.72486519e-04 9.86195603e+01] [-1.59059845e-03 9.99997086e-01 -1.81596567e-03 5.97286720e-01] [-4.75375177e-04 1.81521163e-03 9.99998240e-01 -4.06149658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.685898227 meters Centerline goodness [0,1] 0.7780959801217124 Centerline is valid? [False, False] Translation: X:98.62, Y:0.60, Z:-0.41 [[ 9.99998796e-01 1.50920485e-03 3.61733863e-04 9.86200498e+01] [-1.50849129e-03 9.99996932e-01 -1.96484520e-03 5.97951854e-01] [-3.64698107e-04 1.96429716e-03 9.99998004e-01 -4.06366077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.715898227 meters Centerline goodness [0,1] 0.9029652460410246 Centerline is valid? [False, False] Translation: X:98.60, Y:0.60, Z:-0.41 [[ 9.99986990e-01 2.95521900e-04 -5.09233696e-03 9.86041500e+01] [-2.58406031e-04 9.99973411e-01 7.28768991e-03 5.95781446e-01] [ 5.09435523e-03 -7.28627921e-03 9.99960478e-01 -4.05998963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.745898227 meters Centerline goodness [0,1] 0.8296350980805738 Centerline is valid? [False, False] Translation: X:98.61, Y:0.60, Z:-0.41 [[ 9.99984798e-01 -5.51362690e-04 -5.48638325e-03 9.86068978e+01] [ 5.85864422e-04 9.99980052e-01 6.28899265e-03 5.98009832e-01] [ 5.48280630e-03 -6.29211132e-03 9.99965173e-01 -4.07879785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.775898227 meters Centerline goodness [0,1] 0.833577866275414 Centerline is valid? [False, False] Translation: X:98.61, Y:0.60, Z:-0.41 [[ 9.99972846e-01 -4.86050209e-03 -5.53912661e-03 9.86070414e+01] [ 4.86777682e-03 9.99987306e-01 1.30061138e-03 6.02011222e-01] [ 5.53273468e-03 -1.32753930e-03 9.99983813e-01 -4.07927073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.805898227 meters Centerline goodness [0,1] 0.9423195361777136 Centerline is valid? [False, False] Translation: X:98.61, Y:0.61, Z:-0.41 [[ 9.99942178e-01 -9.26698972e-03 -5.45554073e-03 9.86067839e+01] [ 9.24730056e-03 9.99950679e-01 -3.62325012e-03 6.05359231e-01] [ 5.48884828e-03 3.57259159e-03 9.99978554e-01 -4.07864235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.835898227 meters Centerline goodness [0,1] 0.9221962173445506 Centerline is valid? [False, False] Translation: X:98.61, Y:0.60, Z:-0.41 [[ 9.99941842e-01 -9.18734295e-03 -5.64852761e-03 9.86074305e+01] [ 9.16928309e-03 9.99952793e-01 -3.21489580e-03 6.03194190e-01] [ 5.67779731e-03 3.16291588e-03 9.99978879e-01 -4.07886836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.865898227 meters Centerline goodness [0,1] 0.9679011304201114 Centerline is valid? [False, True] Translation: X:98.61, Y:0.60, Z:-0.41 [[ 9.99966592e-01 -5.68449548e-03 -5.87386115e-03 9.86081746e+01] [ 5.69430923e-03 9.99982417e-01 1.65537797e-03 5.96546246e-01] [ 5.86434788e-03 -1.68877025e-03 9.99981379e-01 -4.07972095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.895898227 meters Centerline goodness [0,1] 0.9921863419798835 Centerline is valid? [True, True] Translation: X:98.64, Y:0.59, Z:-0.41 [[ 9.99924603e-01 -1.11811540e-02 -5.07646831e-03 9.86379797e+01] [ 1.11796143e-02 9.99937451e-01 -3.31587847e-04 5.88002697e-01] [ 5.07985832e-03 2.74809889e-04 9.99987060e-01 -4.07658912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.925898227 meters Centerline goodness [0,1] 0.9968030009164731 Centerline is valid? [True, True] Translation: X:98.67, Y:0.58, Z:-0.41 [[ 9.99899813e-01 -1.34608124e-02 -4.37851167e-03 9.86681228e+01] [ 1.34596882e-02 9.99909373e-01 -2.86124644e-04 5.81838693e-01] [ 4.38196633e-03 2.27162576e-04 9.99990373e-01 -4.05819543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.955898227 meters Centerline goodness [0,1] 0.995755643305108 Centerline is valid? [True, True] Translation: X:98.70, Y:0.58, Z:-0.40 [[ 9.99884773e-01 -1.48409805e-02 -3.19158362e-03 9.86980224e+01] [ 1.48403902e-02 9.99889854e-01 -2.08562270e-04 5.80918375e-01] [ 3.19432734e-03 1.61173892e-04 9.99994885e-01 -4.03990921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.985898227 meters Centerline goodness [0,1] 0.9963005002732584 Centerline is valid? [True, True] Translation: X:98.73, Y:0.58, Z:-0.40 [[ 9.99885840e-01 -1.49088083e-02 -2.45656512e-03 9.87283506e+01] [ 1.49084587e-02 9.99888850e-01 -1.60530589e-04 5.80795198e-01] [ 2.45868539e-03 1.23888663e-04 9.99996970e-01 -4.02042095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.015898227 meters Centerline goodness [0,1] 0.9917393784463271 Centerline is valid? [True, True] Translation: X:98.76, Y:0.58, Z:-0.40 [[ 9.99923679e-01 -1.18726604e-02 -3.41716818e-03 9.87586073e+01] [ 1.18719664e-02 9.99929501e-01 -2.23313117e-04 5.84275350e-01] [ 3.41957860e-03 1.82727568e-04 9.99994137e-01 -4.02587177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.045898227 meters Centerline goodness [0,1] 0.9917393784463271 Centerline is valid? [True, True] Translation: X:98.79, Y:0.59, Z:-0.40 [[ 9.99923679e-01 -1.18726604e-02 -3.41716818e-03 9.87885863e+01] [ 1.18719664e-02 9.99929501e-01 -2.23313165e-04 5.86234490e-01] [ 3.41957859e-03 1.82727616e-04 9.99994137e-01 -4.02586653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.075898227 meters Centerline goodness [0,1] 0.9768292682926829 Centerline is valid? [True, True] Translation: X:98.82, Y:0.59, Z:-0.40 [[ 9.99948389e-01 -9.09860734e-03 -4.52048410e-03 9.88174853e+01] [ 9.09736446e-03 9.99958574e-01 -2.95430599e-04 5.93181356e-01] [ 4.52298485e-03 2.54290860e-04 9.99989739e-01 -4.04304869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.105898227 meters Centerline goodness [0,1] 0.9912934796424183 Centerline is valid? [True, True] Translation: X:98.85, Y:0.59, Z:-0.40 [[ 9.99967332e-01 -6.30216114e-03 -5.06146469e-03 9.88478106e+01] [ 6.30056703e-03 9.99980097e-01 -3.30832857e-04 5.89705499e-01] [ 5.06344891e-03 2.98931952e-04 9.99987136e-01 -4.04849183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.135898227 meters Centerline goodness [0,1] 0.8713673874438526 Centerline is valid? [True, False] Translation: X:98.87, Y:0.59, Z:-0.41 [[ 9.99989951e-01 -4.13856266e-03 -1.72352068e-03 9.88679202e+01] [ 4.12272877e-03 9.99950174e-01 -9.09133889e-03 5.93405073e-01] [ 1.76105988e-03 9.08414193e-03 9.99957188e-01 -4.06450500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.165898227 meters Centerline goodness [0,1] 0.9675704412546517 Centerline is valid? [False, True] Translation: X:98.82, Y:0.59, Z:-0.41 [[ 9.99998470e-01 -4.51556418e-04 -1.69017248e-03 9.88239959e+01] [ 4.45021143e-04 9.99992432e-01 -3.86501299e-03 5.86568822e-01] [ 1.69190496e-03 3.86425491e-03 9.99991102e-01 -4.06148780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.195898227 meters Centerline goodness [0,1] 0.840636858953974 Centerline is valid? [True, False] Translation: X:98.82, Y:0.59, Z:-0.41 [[ 9.99998905e-01 -2.42685381e-04 -1.45972803e-03 9.88230024e+01] [ 2.37249705e-04 9.99993042e-01 -3.72278049e-03 5.86329243e-01] [ 1.46062134e-03 3.72243009e-03 9.99992005e-01 -4.05703573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.225898227 meters Centerline goodness [0,1] 0.7665064882829865 Centerline is valid? [False, False] Translation: X:98.82, Y:0.59, Z:-0.41 [[ 9.99998895e-01 -1.55681953e-04 -1.47868645e-03 9.88229578e+01] [ 1.50380833e-04 9.99993565e-01 -3.58445461e-03 5.85792028e-01] [ 1.47923496e-03 3.58422829e-03 9.99992483e-01 -4.05532563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.255898227 meters Centerline goodness [0,1] 0.7513268909517667 Centerline is valid? [False, False] Translation: X:98.82, Y:0.59, Z:-0.41 [[ 9.99998933e-01 -5.00221369e-05 -1.45964956e-03 9.88228336e+01] [ 4.50625684e-05 9.99994227e-01 -3.39761542e-03 5.85003828e-01] [ 1.45981109e-03 3.39754602e-03 9.99993163e-01 -4.05429215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.285898227 meters Centerline goodness [0,1] 0.8042570163101661 Centerline is valid? [False, False] Translation: X:98.82, Y:0.58, Z:-0.41 [[ 9.99998850e-01 5.66744343e-05 -1.51547468e-03 9.88229726e+01] [-6.14625208e-05 9.99995007e-01 -3.15960333e-03 5.83937787e-01] [ 1.51528805e-03 3.15969284e-03 9.99993860e-01 -4.05344650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.315898227 meters Centerline goodness [0,1] 0.8558100263852243 Centerline is valid? [False, False] Translation: X:98.82, Y:0.58, Z:-0.41 [[ 9.99998788e-01 3.43365060e-04 -1.51868673e-03 9.88231131e+01] [-3.46996490e-04 9.99997080e-01 -2.39154733e-03 5.80251303e-01] [ 1.51786112e-03 2.39207141e-03 9.99995987e-01 -4.05565003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.345898227 meters Centerline goodness [0,1] 0.8248944704622299 Centerline is valid? [False, False] Translation: X:98.82, Y:0.58, Z:-0.41 [[ 9.99998497e-01 5.19751525e-04 -1.65403075e-03 9.88236728e+01] [-5.22893300e-04 9.99998059e-01 -1.89960036e-03 5.77862259e-01] [ 1.65304022e-03 1.90046239e-03 9.99996828e-01 -4.05725117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.375898227 meters Centerline goodness [0,1] 0.8627991479764441 Centerline is valid? [False, False] Translation: X:98.82, Y:0.57, Z:-0.41 [[ 9.99998083e-01 7.40532057e-04 -1.81254747e-03 9.88242342e+01] [-7.42870583e-04 9.99998892e-01 -1.28985439e-03 5.74852914e-01] [ 1.81159028e-03 1.29119841e-03 9.99997525e-01 -4.05759676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.405898227 meters Centerline goodness [0,1] 0.8825690770135215 Centerline is valid? [False, False] Translation: X:98.82, Y:0.57, Z:-0.41 [[ 9.99997725e-01 9.92863943e-04 -1.88797004e-03 9.88244191e+01] [-9.94000695e-04 9.99999325e-01 -6.01259728e-04 5.71462922e-01] [ 1.88737180e-03 6.03135004e-04 9.99998037e-01 -4.05618994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.435898227 meters Centerline goodness [0,1] 0.8895757117026197 Centerline is valid? [False, False] Translation: X:98.82, Y:0.57, Z:-0.41 [[ 9.99997307e-01 1.23479501e-03 -1.96523464e-03 9.88245455e+01] [-1.23461799e-03 9.99999234e-01 9.12842177e-05 5.68009406e-01] [ 1.96534585e-03 -8.88576578e-05 9.99998065e-01 -4.05346607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.465898227 meters Centerline goodness [0,1] 0.9187699814908296 Centerline is valid? [False, False] Translation: X:98.82, Y:0.57, Z:-0.41 [[ 9.99996776e-01 1.45446540e-03 -2.08165414e-03 9.88249516e+01] [-1.45305410e-03 9.99998714e-01 6.79321670e-04 5.65132302e-01] [ 2.08263951e-03 -6.76294724e-04 9.99997603e-01 -4.05354584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.495898227 meters Centerline goodness [0,1] 0.9439024901923763 Centerline is valid? [False, False] Translation: X:98.83, Y:0.56, Z:-0.41 [[ 9.99995968e-01 1.84618064e-03 -2.15788482e-03 9.88253620e+01] [-1.84293350e-03 9.99997168e-01 1.50579828e-03 5.61224961e-01] [ 2.16065869e-03 -1.50181537e-03 9.99996538e-01 -4.05581490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.525898227 meters Centerline goodness [0,1] 0.936312404416232 Centerline is valid? [False, False] Translation: X:98.83, Y:0.56, Z:-0.41 [[ 9.99995725e-01 1.95127965e-03 -2.17792439e-03 9.88254703e+01] [-1.94776402e-03 9.99996799e-01 1.61516956e-03 5.60802982e-01] [ 2.18106907e-03 -1.61092057e-03 9.99996324e-01 -4.05627815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.555898227 meters Centerline goodness [0,1] 0.8511771890662512 Centerline is valid? [False, False] Translation: X:98.83, Y:0.56, Z:-0.41 [[ 9.99995453e-01 2.06247911e-03 -2.19985750e-03 9.88255939e+01] [-2.05872402e-03 9.99996422e-01 1.70786960e-03 5.60488308e-01] [ 2.20337207e-03 -1.70333293e-03 9.99996122e-01 -4.05718912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.585898227 meters Centerline goodness [0,1] 0.7673835962546975 Centerline is valid? [False, False] Translation: X:98.83, Y:0.56, Z:-0.41 [[ 9.99994778e-01 2.37743722e-03 -2.18909605e-03 9.88257236e+01] [-2.37383501e-03 9.99995827e-01 1.64665612e-03 5.61586574e-01] [ 2.19300173e-03 -1.64145097e-03 9.99996248e-01 -4.06015819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.615898227 meters Centerline goodness [0,1] 0.7136765601697229 Centerline is valid? [False, False] Translation: X:98.87, Y:0.57, Z:-0.40 [[ 9.99996234e-01 2.37072018e-03 -1.38295037e-03 9.88653999e+01] [-2.37152669e-03 9.99997019e-01 -5.81832163e-04 5.67648150e-01] [ 1.38156688e-03 5.85109675e-04 9.99998874e-01 -4.04559764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.645898227 meters Centerline goodness [0,1] 0.6917766411988803 Centerline is valid? [False, False] Translation: X:98.87, Y:0.57, Z:-0.40 [[ 9.99996189e-01 2.38637149e-03 -1.38795351e-03 9.88655042e+01] [-2.38781969e-03 9.99996606e-01 -1.04268543e-03 5.70291406e-01] [ 1.38546057e-03 1.04599564e-03 9.99998493e-01 -4.04809270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.675898227 meters Centerline goodness [0,1] 0.6635322457949455 Centerline is valid? [False, False] Translation: X:98.87, Y:0.57, Z:-0.40 [[ 9.99996355e-01 2.30673603e-03 -1.40349127e-03 9.88656084e+01] [-2.30902667e-03 9.99996001e-01 -1.63267520e-03 5.73478787e-01] [ 1.39971951e-03 1.63590994e-03 9.99997682e-01 -4.04960375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.705898227 meters Centerline goodness [0,1] 0.6314726790897236 Centerline is valid? [False, False] Translation: X:98.87, Y:0.58, Z:-0.40 [[ 9.99996412e-01 2.24672467e-03 -1.45878255e-03 9.88657383e+01] [-2.24998323e-03 9.99994969e-01 -2.23596920e-03 5.76816601e-01] [ 1.45375160e-03 2.23924341e-03 9.99996436e-01 -4.04953567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.735898227 meters Centerline goodness [0,1] 0.6895306859205776 Centerline is valid? [False, False] Translation: X:98.87, Y:0.58, Z:-0.40 [[ 9.99978003e-01 6.46015125e-03 -1.50306251e-03 9.88657142e+01] [-6.45694226e-03 9.99976885e-01 2.13011843e-03 5.76257516e-01] [ 1.51678866e-03 -2.12036639e-03 9.99996602e-01 -4.04572373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.765898227 meters Centerline goodness [0,1] 0.5917418649165983 Centerline is valid? [False, False] Translation: X:98.87, Y:0.58, Z:-0.40 [[ 9.99944033e-01 1.04603340e-02 -1.58493411e-03 9.88655693e+01] [-1.04504946e-02 9.99926821e-01 6.09416819e-03 5.77467742e-01] [ 1.64856516e-03 -6.07726377e-03 9.99980174e-01 -4.03789037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.795898227 meters Centerline goodness [0,1] 0.6191960243424793 Centerline is valid? [False, False] Translation: X:98.86, Y:0.58, Z:-0.40 [[ 9.99980502e-01 6.11127994e-03 -1.28334613e-03 9.88643658e+01] [-6.11030473e-03 9.99981041e-01 7.62448009e-04 5.83219436e-01] [ 1.28798134e-03 -7.54591508e-04 9.99998886e-01 -4.03654551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.825898227 meters Centerline goodness [0,1] 0.5880812735651446 Centerline is valid? [False, False] Translation: X:98.86, Y:0.58, Z:-0.40 [[ 9.99981642e-01 5.91127046e-03 -1.33100973e-03 9.88643537e+01] [-5.91074432e-03 9.99982452e-01 3.98882868e-04 5.84779164e-01] [ 1.33334428e-03 -3.91008287e-04 9.99999035e-01 -4.03407987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.855898227 meters Centerline goodness [0,1] 0.6028945988463555 Centerline is valid? [False, False] Translation: X:98.86, Y:0.59, Z:-0.40 [[ 9.99982809e-01 5.72725131e-03 -1.25698439e-03 9.88639535e+01] [-5.72720648e-03 9.99983599e-01 3.92626026e-05 5.86422224e-01] [ 1.25718864e-03 -3.20629185e-05 9.99999209e-01 -4.03155407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.885898227 meters Centerline goodness [0,1] 0.657761702307676 Centerline is valid? [False, False] Translation: X:98.86, Y:0.59, Z:-0.40 [[ 9.99985095e-01 5.35725442e-03 -1.05329681e-03 9.88627883e+01] [-5.35799397e-03 9.99985400e-01 -7.00562612e-04 5.89760565e-01] [ 1.04952834e-03 7.06195729e-04 9.99999200e-01 -4.02362826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.915898227 meters Centerline goodness [0,1] 0.6329066265060241 Centerline is valid? [False, False] Translation: X:98.86, Y:0.59, Z:-0.40 [[ 9.99986011e-01 5.16971867e-03 -1.11870949e-03 9.88628683e+01] [-5.17093403e-03 9.99986041e-01 -1.08624732e-03 5.91570738e-01] [ 1.11307828e-03 1.09201689e-03 9.99998784e-01 -4.02176478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.945898227 meters Centerline goodness [0,1] 0.5969542287081948 Centerline is valid? [False, False] Translation: X:98.86, Y:0.59, Z:-0.40 [[ 9.99957522e-01 9.11699300e-03 -1.35449202e-03 9.88637976e+01] [-9.11246672e-03 9.99952999e-01 3.31109040e-03 5.90218198e-01] [ 1.38461555e-03 -3.29860699e-03 9.99993601e-01 -4.02312275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.975898227 meters Centerline goodness [0,1] 0.6912077171511134 Centerline is valid? [False, False] Translation: X:98.86, Y:0.60, Z:-0.40 [[ 9.99987900e-01 4.77164387e-03 -1.19596366e-03 9.88631828e+01] [-4.77417079e-03 9.99986358e-01 -2.11900116e-03 5.96640319e-01] [ 1.18583623e-03 2.12468525e-03 9.99997040e-01 -4.02370493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.005898227 meters Centerline goodness [0,1] 0.6509087859793296 Centerline is valid? [False, False] Translation: X:98.88, Y:0.60, Z:-0.40 [[ 9.99984057e-01 4.19716401e-03 -3.77744741e-03 9.88841502e+01] [-4.17062531e-03 9.99966759e-01 7.00623051e-03 5.98252062e-01] [ 3.80672814e-03 -6.99036450e-03 9.99968321e-01 -3.99298176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.035898227 meters Centerline goodness [0,1] 0.6857554933401204 Centerline is valid? [False, False] Translation: X:98.84, Y:0.60, Z:-0.40 [[ 9.99988537e-01 1.67369934e-03 -4.48596963e-03 9.88433805e+01] [-1.66540041e-03 9.99996896e-01 1.85307184e-03 6.03964913e-01] [ 4.48905719e-03 -1.84557966e-03 9.99988221e-01 -4.00974057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.065898227 meters Centerline goodness [0,1] 0.6763139130070047 Centerline is valid? [False, False] Translation: X:98.88, Y:0.61, Z:-0.40 [[ 9.99994414e-01 4.09209241e-04 -3.31729919e-03 9.88832314e+01] [-4.10521919e-04 9.99999838e-01 -3.95035493e-04 6.10863499e-01] [ 3.31713700e-03 3.96395110e-04 9.99994420e-01 -3.99439479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.095898227 meters Centerline goodness [0,1] 0.6063843183344526 Centerline is valid? [False, False] Translation: X:98.88, Y:0.61, Z:-0.40 [[ 9.99994246e-01 2.20477500e-04 -3.38503231e-03 9.88833103e+01] [-2.22885320e-04 9.99999722e-01 -7.10952939e-04 6.12237641e-01] [ 3.38487462e-03 7.11703322e-04 9.99994018e-01 -3.99205702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.125898227 meters Centerline goodness [0,1] 0.7313369347909311 Centerline is valid? [False, False] Translation: X:98.84, Y:0.61, Z:-0.40 [[ 9.99992337e-01 -3.10848473e-04 -3.90243702e-03 9.88409374e+01] [ 3.05686583e-04 9.99999078e-01 -1.32326163e-03 6.10686514e-01] [ 3.90284476e-03 1.32205857e-03 9.99991510e-01 -4.00198494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.155898227 meters Centerline goodness [0,1] 0.7611164172768757 Centerline is valid? [False, False] Translation: X:98.84, Y:0.61, Z:-0.40 [[ 9.99991711e-01 -6.83213351e-04 -4.01387002e-03 9.88412417e+01] [ 6.75180316e-04 9.99997767e-01 -2.00233344e-03 6.13715324e-01] [ 4.01522908e-03 1.99960676e-03 9.99989940e-01 -4.00159863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.185898227 meters Centerline goodness [0,1] 0.7116909695574316 Centerline is valid? [False, False] Translation: X:98.84, Y:0.62, Z:-0.40 [[ 9.99991302e-01 -8.79531278e-04 -4.07716323e-03 9.88413194e+01] [ 8.69559109e-04 9.99996628e-01 -2.44698745e-03 6.15827900e-01] [ 4.07930169e-03 2.44342083e-03 9.99988694e-01 -4.00029121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.215898227 meters Centerline goodness [0,1] 0.6920550713654162 Centerline is valid? [False, False] Translation: X:98.88, Y:0.62, Z:-0.40 [[ 9.99994102e-01 2.37587402e-04 -3.42635355e-03 9.88824795e+01] [-2.40381968e-04 9.99999639e-01 -8.15220511e-04 6.19986515e-01] [ 3.42615863e-03 8.16039337e-04 9.99993798e-01 -3.98860642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.245898227 meters Centerline goodness [0,1] 0.7393550836197988 Centerline is valid? [False, False] Translation: X:98.88, Y:0.62, Z:-0.40 [[ 9.99993876e-01 1.44508497e-05 -3.49969886e-03 9.88827370e+01] [-1.91002484e-05 9.99999117e-01 -1.32848416e-03 6.22433454e-01] [ 3.49967658e-03 1.32854287e-03 9.99992994e-01 -3.98947239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.275898227 meters Centerline goodness [0,1] 0.6858266557301197 Centerline is valid? [False, False] Translation: X:98.88, Y:0.62, Z:-0.40 [[ 9.99993136e-01 -1.77303989e-04 -3.70098864e-03 9.88835761e+01] [ 1.70520081e-04 9.99998305e-01 -1.83323400e-03 6.24949248e-01] [ 3.70130741e-03 1.83259032e-03 9.99991471e-01 -3.99302381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.305898227 meters Centerline goodness [0,1] 0.7230286719362563 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99992598e-01 -3.82993772e-04 -3.82846417e-03 9.88841857e+01] [ 3.74009631e-04 9.99997176e-01 -2.34711011e-03 6.27496078e-01] [ 3.82935229e-03 2.34566086e-03 9.99989917e-01 -3.99716422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.335898227 meters Centerline goodness [0,1] 0.6355209257147684 Centerline is valid? [False, False] Translation: X:98.89, Y:0.63, Z:-0.40 [[ 9.99991345e-01 -7.49115230e-04 -4.09250464e-03 9.88851874e+01] [ 7.35987724e-04 9.99994583e-01 -3.20825966e-03 6.31658379e-01] [ 4.09488582e-03 3.20521986e-03 9.99986479e-01 -4.00079308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.365898227 meters Centerline goodness [0,1] 0.7179627832397992 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99991335e-01 -8.90082520e-04 -4.06657416e-03 9.88847437e+01] [ 8.75748673e-04 9.99993403e-01 -3.52521867e-03 6.33219311e-01] [ 4.06968507e-03 3.52162683e-03 9.99985518e-01 -3.99527234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.395898227 meters Centerline goodness [0,1] 0.7115858150057877 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99991693e-01 -9.76982379e-04 -3.95709053e-03 9.88838070e+01] [ 9.62261095e-04 9.99992616e-01 -3.72042632e-03 6.34157846e-01] [ 3.96069610e-03 3.71658766e-03 9.99985250e-01 -3.98570995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.425898227 meters Centerline goodness [0,1] 0.7464711351534106 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99992840e-01 -1.07617054e-03 -3.62805505e-03 9.88818019e+01] [ 1.06232193e-03 9.99992152e-01 -3.81685744e-03 6.34551369e-01] [ 3.63213417e-03 3.81297595e-03 9.99986134e-01 -3.96971188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.455898227 meters Centerline goodness [0,1] 0.7758371579126296 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99992788e-01 -1.07764798e-03 -3.64169927e-03 9.88817067e+01] [ 1.06393848e-03 9.99992349e-01 -3.76443190e-03 6.34271024e-01] [ 3.64572814e-03 3.76053020e-03 9.99986283e-01 -3.96733369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.485898227 meters Centerline goodness [0,1] 0.828036103862771 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99992924e-01 -1.05209718e-03 -3.61191487e-03 9.88816976e+01] [ 1.03888454e-03 9.99992770e-01 -3.65799914e-03 6.33750387e-01] [ 3.61573733e-03 3.65422090e-03 9.99986786e-01 -3.96885014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.515898227 meters Centerline goodness [0,1] 0.7428134686425205 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99992652e-01 -9.93057540e-04 -3.70278798e-03 9.88819967e+01] [ 9.80312958e-04 9.99993595e-01 -3.44211573e-03 6.32658576e-01] [ 3.70618249e-03 3.43846054e-03 9.99987221e-01 -3.96924111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.545898227 meters Centerline goodness [0,1] 0.7990199171346247 Centerline is valid? [False, False] Translation: X:98.90, Y:0.63, Z:-0.40 [[ 9.99994079e-01 -3.22892606e-03 -1.18981669e-03 9.89045623e+01] [ 3.23497111e-03 9.99981690e-01 5.11425424e-03 6.32693478e-01] [ 1.17328135e-03 -5.11807299e-03 9.99986214e-01 -4.00378453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.575898227 meters Centerline goodness [0,1] 0.7564220953660175 Centerline is valid? [False, False] Translation: X:98.91, Y:0.63, Z:-0.40 [[ 9.99994024e-01 -3.20173124e-03 -1.30390623e-03 9.89050805e+01] [ 3.20853662e-03 9.99981066e-01 5.25101002e-03 6.31968976e-01] [ 1.28706922e-03 -5.25516228e-03 9.99985363e-01 -4.00586283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.605898227 meters Centerline goodness [0,1] 0.8116306315901587 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99986220e-01 -2.25433235e-03 -4.74107870e-03 9.88822983e+01] [ 2.23230647e-03 9.99986716e-01 -4.64592373e-03 6.32905273e-01] [ 4.75148917e-03 4.63527616e-03 9.99977969e-01 -3.96321530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.635898227 meters Centerline goodness [0,1] 0.7830332880434783 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99986113e-01 -2.25181461e-03 -4.76486146e-03 9.88824570e+01] [ 2.22937075e-03 9.99986421e-01 -4.71036530e-03 6.33320462e-01] [ 4.77540363e-03 4.69967724e-03 9.99977554e-01 -3.96464614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.665898227 meters Centerline goodness [0,1] 0.7869028561799646 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99985678e-01 -2.21923276e-03 -4.87023827e-03 9.88827898e+01] [ 2.19611624e-03 9.99986323e-01 -4.74671176e-03 6.33678844e-01] [ 4.88070572e-03 4.73594816e-03 9.99976874e-01 -3.96478967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.695898227 meters Centerline goodness [0,1] 0.744208433608873 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99985639e-01 -2.20457096e-03 -4.88489158e-03 9.88827904e+01] [ 2.18141331e-03 9.99986382e-01 -4.74093554e-03 6.33724987e-01] [ 4.89527679e-03 4.73021149e-03 9.99976830e-01 -3.96396668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.725898227 meters Centerline goodness [0,1] 0.815693123474455 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99985095e-01 -2.16978095e-03 -5.01022894e-03 9.88830760e+01] [ 2.14786649e-03 9.99988122e-01 -4.37518871e-03 6.31748981e-01] [ 5.01966263e-03 4.36436219e-03 9.99977877e-01 -3.96240379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.755898227 meters Centerline goodness [0,1] 0.8603874976384895 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99984053e-01 -2.14409335e-03 -5.22453130e-03 9.88837760e+01] [ 2.12337949e-03 9.99989877e-01 -3.96705620e-03 6.29464515e-01] [ 5.23298415e-03 3.95589927e-03 9.99978483e-01 -3.96250629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.785898227 meters Centerline goodness [0,1] 0.8641287267698883 Centerline is valid? [False, False] Translation: X:98.88, Y:0.63, Z:-0.40 [[ 9.99982093e-01 -2.17310552e-03 -5.57598796e-03 9.88848672e+01] [ 2.15446089e-03 9.99992076e-01 -3.34756538e-03 6.25827866e-01] [ 5.58321839e-03 3.33549218e-03 9.99978851e-01 -3.96236955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.815898227 meters Centerline goodness [0,1] 0.9752579490419035 Centerline is valid? [False, True] Translation: X:98.89, Y:0.62, Z:-0.40 [[ 9.99980936e-01 -2.19040346e-03 -5.77318361e-03 9.88854713e+01] [ 2.17550034e-03 9.99994289e-01 -2.58645541e-03 6.21424894e-01] [ 5.77881602e-03 2.57384654e-03 9.99979990e-01 -3.96121744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.845898227 meters Centerline goodness [0,1] 0.9914660100989025 Centerline is valid? [True, True] Translation: X:98.92, Y:0.61, Z:-0.39 [[ 9.99938092e-01 -9.73389565e-03 -5.39113866e-03 9.89156298e+01] [ 9.73226701e-03 9.99952586e-01 -3.28248466e-04 6.12763107e-01] [ 5.39407819e-03 2.75760143e-04 9.99985414e-01 -3.94925512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.875898227 meters Centerline goodness [0,1] 0.9969917272499373 Centerline is valid? [True, True] Translation: X:98.95, Y:0.61, Z:-0.39 [[ 9.99903590e-01 -1.28878298e-02 -5.16852170e-03 9.89465483e+01] [ 1.28863745e-02 9.99916918e-01 -3.14757776e-04 6.07536583e-01] [ 5.17214883e-03 2.48123924e-04 9.99986594e-01 -3.94057343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.905898227 meters Centerline goodness [0,1] 0.9984688312777917 Centerline is valid? [True, True] Translation: X:98.98, Y:0.60, Z:-0.39 [[ 9.99862678e-01 -1.55484010e-02 -5.73346694e-03 9.89765300e+01] [ 1.55466534e-02 9.99879082e-01 -3.49241382e-04 6.01882761e-01] [ 5.73820380e-03 2.60057200e-04 9.99983503e-01 -3.94493970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.935898227 meters Centerline goodness [0,1] 0.9984688312777917 Centerline is valid? [True, True] Translation: X:99.01, Y:0.60, Z:-0.39 [[ 9.99862678e-01 -1.55484013e-02 -5.73346181e-03 9.90065050e+01] [ 1.55466532e-02 9.99879082e-01 -3.49325475e-04 6.03709102e-01] [ 5.73819999e-03 2.60141362e-04 9.99983503e-01 -3.94384315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.965898227 meters Centerline goodness [0,1] 0.9991792238403906 Centerline is valid? [True, True] Translation: X:99.04, Y:0.60, Z:-0.40 [[ 9.99828657e-01 -1.72130642e-02 -6.80939393e-03 9.90363917e+01] [ 1.72106366e-02 9.99851800e-01 -4.14954305e-04 5.96638497e-01] [ 6.81552741e-03 2.97689201e-04 9.99976730e-01 -3.96599915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.995898227 meters Centerline goodness [0,1] 0.9993478215134749 Centerline is valid? [True, True] Translation: X:99.07, Y:0.59, Z:-0.40 [[ 9.99805291e-01 -1.81570564e-02 -7.72660526e-03 9.90660505e+01] [ 1.81539573e-02 9.99835092e-01 -4.71043501e-04 5.92044702e-01] [ 7.73388385e-03 3.30683323e-04 9.99970038e-01 -3.97932278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.025898227 meters Centerline goodness [0,1] 0.9994963802329242 Centerline is valid? [True, True] Translation: X:99.10, Y:0.59, Z:-0.40 [[ 9.99788942e-01 -1.88105380e-02 -8.26050554e-03 9.90951499e+01] [ 1.88070157e-02 9.99823005e-01 -5.03878580e-04 5.90597471e-01] [ 8.26852170e-03 3.48416775e-04 9.99965754e-01 -3.98800705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.055898227 meters Centerline goodness [0,1] 0.9994920849911115 Centerline is valid? [True, True] Translation: X:99.12, Y:0.58, Z:-0.40 [[ 9.99764672e-01 -1.98277683e-02 -8.80113619e-03 9.91246597e+01] [ 1.98238003e-02 9.99803344e-01 -5.37870545e-04 5.83226487e-01] [ 8.81007017e-03 3.63272002e-04 9.99961125e-01 -3.99233421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.085898227 meters Centerline goodness [0,1] 0.9996819270976908 Centerline is valid? [True, True] Translation: X:99.15, Y:0.58, Z:-0.40 [[ 9.99759601e-01 -1.99790110e-02 -9.03209758e-03 9.91540064e+01] [ 1.99748241e-02 9.99800330e-01 -5.53532407e-04 5.75287417e-01] [ 9.04135317e-03 3.72984778e-04 9.99959057e-01 -3.98934985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.115898227 meters Centerline goodness [0,1] 0.9994297541606826 Centerline is valid? [True, True] Translation: X:99.18, Y:0.58, Z:-0.40 [[ 9.99766972e-01 -1.95365737e-02 -9.18280008e-03 9.91815389e+01] [ 1.95322168e-02 9.99809069e-01 -5.63921948e-04 5.78001483e-01] [ 9.19206391e-03 3.84430097e-04 9.99957678e-01 -3.99950711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.145898227 meters Centerline goodness [0,1] 0.9993662596645401 Centerline is valid? [True, True] Translation: X:99.21, Y:0.58, Z:-0.40 [[ 9.99790997e-01 -1.84570361e-02 -8.79210457e-03 9.92100957e+01] [ 1.84529948e-02 9.99829583e-01 -5.40557836e-04 5.75265368e-01] [ 8.80058334e-03 3.78204198e-04 9.99961203e-01 -3.99205569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.175898227 meters Centerline goodness [0,1] 0.999382124214339 Centerline is valid? [True, True] Translation: X:99.24, Y:0.57, Z:-0.40 [[ 9.99827372e-01 -1.67843676e-02 -7.96940306e-03 9.92396743e+01] [ 1.67809918e-02 9.99859069e-01 -4.90273851e-04 5.74493354e-01] [ 7.97650886e-03 3.56454729e-04 9.99968124e-01 -3.97917087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.205898227 meters Centerline goodness [0,1] 0.9988072569001235 Centerline is valid? [True, True] Translation: X:99.27, Y:0.57, Z:-0.39 [[ 9.99898549e-01 -1.27317572e-02 -6.38701003e-03 9.92696243e+01] [ 1.27295060e-02 9.99918899e-01 -3.92990788e-04 5.71384331e-01] [ 6.39149550e-03 3.11647436e-04 9.99979526e-01 -3.94993710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.235898227 meters Centerline goodness [0,1] 0.9991308956014838 Centerline is valid? [True, True] Translation: X:99.30, Y:0.56, Z:-0.39 [[ 9.99924634e-01 -1.04885352e-02 -6.38093496e-03 9.93008487e+01] [ 1.04862428e-02 9.99944941e-01 -3.92611722e-04 5.64463358e-01] [ 6.38470155e-03 3.25670099e-04 9.99979565e-01 -3.94489672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.265898227 meters Centerline goodness [0,1] 0.9959142623672135 Centerline is valid? [True, True] Translation: X:99.33, Y:0.57, Z:-0.40 [[ 9.99947137e-01 -7.90898060e-03 -6.57045700e-03 9.93298142e+01] [ 7.90649398e-03 9.99968661e-01 -4.04343559e-04 5.71143292e-01] [ 6.57344904e-03 3.52372906e-04 9.99978333e-01 -3.95112112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.295898227 meters Centerline goodness [0,1] 0.9621006473167676 Centerline is valid? [True, True] Translation: X:99.36, Y:0.58, Z:-0.40 [[ 9.99962506e-01 -4.91338241e-03 -7.13059502e-03 9.93589240e+01] [ 4.91037711e-03 9.99987848e-01 -4.38911093e-04 5.79550920e-01] [ 7.13266490e-03 4.03880726e-04 9.99974481e-01 -3.96092606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.325898227 meters Centerline goodness [0,1] 0.8963137055622605 Centerline is valid? [True, False] Translation: X:99.32, Y:0.57, Z:-0.40 [[ 9.99954540e-01 7.46337655e-04 -9.50585556e-03 9.93211260e+01] [-6.79427706e-04 9.99974987e-01 7.04009935e-03 5.66370306e-01] [ 9.51087208e-03 -7.03332076e-03 9.99930035e-01 -3.98274794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.355898227 meters Centerline goodness [0,1] 0.9562586261811232 Centerline is valid? [False, True] Translation: X:99.32, Y:0.56, Z:-0.40 [[ 9.99954550e-01 1.10003832e-03 -9.47041968e-03 9.93211210e+01] [-1.02967324e-03 9.99971855e-01 7.43165794e-03 5.64904141e-01] [ 9.47832824e-03 -7.42156873e-03 9.99927538e-01 -3.98436535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.385898227 meters Centerline goodness [0,1] 0.7817865453554433 Centerline is valid? [True, False] Translation: X:99.34, Y:0.57, Z:-0.40 [[ 9.99978926e-01 3.33579426e-03 -5.56947767e-03 9.93417621e+01] [-3.34171222e-03 9.99993861e-01 -1.05360217e-03 5.66476091e-01] [ 5.56592888e-03 1.07219156e-03 9.99983935e-01 -4.01213202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.415898227 meters Centerline goodness [0,1] 0.7847204493234619 Centerline is valid? [False, False] Translation: X:99.30, Y:0.56, Z:-0.40 [[ 9.99983873e-01 3.14067199e-03 -4.73186329e-03 9.92973714e+01] [-3.14814079e-03 9.99993809e-01 -1.57178497e-03 5.62927266e-01] [ 4.72689753e-03 1.58665619e-03 9.99987569e-01 -4.02212631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.445898227 meters Centerline goodness [0,1] 0.7235794502179014 Centerline is valid? [False, False] Translation: X:99.32, Y:0.56, Z:-0.41 [[ 9.99986891e-01 4.79129827e-03 -1.80583218e-03 9.93201251e+01] [-4.77145854e-03 9.99929914e-01 1.08351579e-02 5.58004229e-01] [ 1.85762009e-03 -1.08263994e-02 9.99939667e-01 -4.05357487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.475898227 meters Centerline goodness [0,1] 0.6935609489127919 Centerline is valid? [False, False] Translation: X:99.32, Y:0.56, Z:-0.41 [[ 9.99998322e-01 1.14237040e-03 -1.43234289e-03 9.93189063e+01] [-1.13302456e-03 9.99978176e-01 6.50878242e-03 5.59785077e-01] [ 1.43974707e-03 -6.50714862e-03 9.99977792e-01 -4.05326390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.505898227 meters Centerline goodness [0,1] 0.7340577577872125 Centerline is valid? [False, False] Translation: X:99.32, Y:0.56, Z:-0.41 [[ 9.99997225e-01 -2.13313552e-03 -9.99923030e-04 9.93173991e+01] [ 2.13601549e-03 9.99993548e-01 2.88802664e-03 5.58630596e-01] [ 9.93756026e-04 -2.89015447e-03 9.99995330e-01 -4.05005007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.535898227 meters Centerline goodness [0,1] 0.6758729616665244 Centerline is valid? [False, False] Translation: X:99.27, Y:0.55, Z:-0.41 [[ 9.99994566e-01 -3.22953671e-03 -6.62296772e-04 9.92736602e+01] [ 3.23105540e-03 9.99992124e-01 2.30495557e-03 5.53683368e-01] [ 6.54847617e-04 -2.30708296e-03 9.99997124e-01 -4.05865735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.565898227 meters Centerline goodness [0,1] 0.7401841667732447 Centerline is valid? [False, False] Translation: X:99.27, Y:0.55, Z:-0.41 [[ 9.99995144e-01 -3.03160564e-03 -7.22332718e-04 9.92738944e+01] [ 3.03361868e-03 9.99991472e-01 2.80226035e-03 5.51290885e-01] [ 7.13831210e-04 -2.80443802e-03 9.99995813e-01 -4.05888830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.595898227 meters Centerline goodness [0,1] 0.6847693279966294 Centerline is valid? [False, False] Translation: X:99.29, Y:0.55, Z:-0.41 [[ 9.99997675e-01 -1.34475724e-03 1.68577759e-03 9.92943059e+01] [ 1.35554624e-03 9.99978503e-01 -6.41529530e-03 5.52527980e-01] [-1.67711433e-03 6.41756553e-03 9.99978001e-01 -4.06920173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.625898227 meters Centerline goodness [0,1] 0.6601094765651727 Centerline is valid? [False, False] Translation: X:99.25, Y:0.54, Z:-0.41 [[ 9.99999408e-01 1.08772459e-03 -3.71369104e-05 9.92546724e+01] [-1.08780070e-03 9.99997172e-01 -2.11482994e-03 5.44105730e-01] [ 3.48364528e-05 2.11486909e-03 9.99997763e-01 -4.08286542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.655898227 meters Centerline goodness [0,1] 0.6601094765651727 Centerline is valid? [False, False] Translation: X:99.25, Y:0.54, Z:-0.41 [[ 9.99999408e-01 1.08772459e-03 -3.71369104e-05 9.92546724e+01] [-1.08780070e-03 9.99997172e-01 -2.11482994e-03 5.44105730e-01] [ 3.48364528e-05 2.11486909e-03 9.99997763e-01 -4.08286542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.685898227 meters Centerline goodness [0,1] 0.6102576023330022 Centerline is valid? [False, False] Translation: X:99.30, Y:0.55, Z:-0.41 [[ 9.99994105e-01 3.38728561e-03 5.62512131e-04 9.92955638e+01] [-3.38620613e-03 9.99992445e-01 -1.90903535e-03 5.49473091e-01] [-5.68974329e-04 1.90711931e-03 9.99998020e-01 -4.06973549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.715898227 meters Centerline goodness [0,1] 0.4955122706446011 Centerline is valid? [False, False] Translation: X:99.30, Y:0.55, Z:-0.41 [[ 9.99970714e-01 7.64555648e-03 3.40629424e-04 9.92961597e+01] [-7.64644360e-03 9.99967163e-01 2.68399395e-03 5.47735815e-01] [-3.20097611e-04 -2.68651995e-03 9.99996340e-01 -4.06667270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.745898227 meters Centerline goodness [0,1] 0.5505452711647161 Centerline is valid? [False, False] Translation: X:99.30, Y:0.55, Z:-0.41 [[ 9.99971318e-01 7.56542675e-03 3.55855289e-04 9.92961632e+01] [-7.56622250e-03 9.99968752e-01 2.29066704e-03 5.49759366e-01] [-3.38514296e-04 -2.29329382e-03 9.99997313e-01 -4.06782222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.775898227 meters Centerline goodness [0,1] 0.6175021856408726 Centerline is valid? [False, False] Translation: X:99.25, Y:0.55, Z:-0.41 [[ 9.99980592e-01 6.22550776e-03 -2.42640906e-04 9.92543209e+01] [-6.22547006e-03 9.99980609e-01 1.55796130e-04 5.49584093e-01] [ 2.43606111e-04 -1.54282553e-04 9.99999958e-01 -4.08428826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.805898227 meters Centerline goodness [0,1] 0.5533495608000847 Centerline is valid? [False, False] Translation: X:99.25, Y:0.55, Z:-0.41 [[ 9.99980921e-01 6.16837377e-03 -3.29878793e-04 9.92547983e+01] [-6.16837838e-03 9.99980975e-01 -1.29664505e-05 5.50392884e-01] [ 3.29792535e-04 1.50010204e-05 9.99999946e-01 -4.08799204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.835898227 meters Centerline goodness [0,1] 0.6836917945867362 Centerline is valid? [False, False] Translation: X:99.26, Y:0.55, Z:-0.41 [[ 9.99982061e-01 5.97770596e-03 -3.79410606e-04 9.92550052e+01] [-5.97779675e-03 9.99982104e-01 -2.38604700e-04 5.51177375e-01] [ 3.77977508e-04 2.40868459e-04 9.99999900e-01 -4.08922576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.865898227 meters Centerline goodness [0,1] 0.5012993598275972 Centerline is valid? [False, False] Translation: X:99.27, Y:0.55, Z:-0.40 [[ 9.99971883e-01 5.37534246e-03 -5.22875702e-03 9.92716233e+01] [-5.34742955e-03 9.99971456e-01 5.33775747e-03 5.49743789e-01] [ 5.25730005e-03 -5.30964697e-03 9.99972084e-01 -4.03481327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.895898227 meters Centerline goodness [0,1] 0.6284587494434196 Centerline is valid? [False, False] Translation: X:99.27, Y:0.55, Z:-0.40 [[ 9.99986518e-01 9.78530611e-04 -5.09956318e-03 9.92709947e+01] [-9.75299259e-04 9.99999322e-01 6.36101051e-04 5.51887287e-01] [ 5.10018217e-03 -6.31118875e-04 9.99986795e-01 -4.03258242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.925898227 meters Centerline goodness [0,1] 0.7478132262835411 Centerline is valid? [False, False] Translation: X:99.27, Y:0.55, Z:-0.40 [[ 9.99986039e-01 4.13735695e-04 -5.26795823e-03 9.92711698e+01] [-4.06788018e-04 9.99999046e-01 1.31985881e-03 5.45998743e-01] [ 5.26849928e-03 -1.31769744e-03 9.99985253e-01 -4.02474091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.955898227 meters Centerline goodness [0,1] 0.7361131699879291 Centerline is valid? [False, False] Translation: X:99.27, Y:0.54, Z:-0.40 [[ 9.99985178e-01 5.13021459e-04 -5.42037440e-03 9.92715981e+01] [-5.02449344e-04 9.99997969e-01 1.95162180e-03 5.42583014e-01] [ 5.42136462e-03 -1.94886941e-03 9.99983405e-01 -4.02305821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.985898227 meters Centerline goodness [0,1] 0.8205193699446574 Centerline is valid? [False, False] Translation: X:99.27, Y:0.54, Z:-0.40 [[ 9.99988320e-01 -1.01876945e-03 -4.72459981e-03 9.92673308e+01] [ 1.02289306e-03 9.99999098e-01 8.70460045e-04 5.41313823e-01] [ 4.72370875e-03 -8.75282639e-04 9.99988460e-01 -3.99798997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.015898227 meters Centerline goodness [0,1] 0.7974350263291999 Centerline is valid? [False, False] Translation: X:99.27, Y:0.54, Z:-0.40 [[ 9.99987729e-01 -8.72023807e-04 -4.87651859e-03 9.92679986e+01] [ 8.78696018e-04 9.99998681e-01 1.36625747e-03 5.38805818e-01] [ 4.87532074e-03 -1.37052568e-03 9.99987176e-01 -4.00059649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.045898227 meters Centerline goodness [0,1] 0.78549454254288 Centerline is valid? [False, False] Translation: X:99.27, Y:0.54, Z:-0.40 [[ 9.99987165e-01 -8.11002116e-04 -5.00115651e-03 9.92686664e+01] [ 8.18823897e-04 9.99998445e-01 1.56214519e-03 5.37785789e-01] [ 4.99988183e-03 -1.56622020e-03 9.99986274e-01 -4.00469684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.075898227 meters Centerline goodness [0,1] 0.7903397479564033 Centerline is valid? [False, False] Translation: X:99.27, Y:0.54, Z:-0.40 [[ 9.99987043e-01 -7.85370834e-04 -5.02952176e-03 9.92689242e+01] [ 7.93083043e-04 9.99998513e-01 1.53157726e-03 5.38002026e-01] [ 5.02831143e-03 -1.53554624e-03 9.99986179e-01 -4.00746118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.105898227 meters Centerline goodness [0,1] 0.6770914612286214 Centerline is valid? [False, False] Translation: X:99.29, Y:0.54, Z:-0.40 [[ 9.99989108e-01 4.37241997e-03 -1.63282968e-03 9.92917558e+01] [-4.37909876e-03 9.99981968e-01 -4.10939202e-03 5.41721982e-01] [ 1.61483225e-03 4.11649758e-03 9.99990223e-01 -4.04888510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.135898227 meters Centerline goodness [0,1] 0.568102958803861 Centerline is valid? [False, False] Translation: X:99.29, Y:0.54, Z:-0.41 [[ 9.99989035e-01 4.38372944e-03 -1.64694874e-03 9.92920272e+01] [-4.39096926e-03 9.99980599e-01 -4.41830564e-03 5.43549855e-01] [ 1.62754813e-03 4.42548889e-03 9.99988883e-01 -4.05320812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.165898227 meters Centerline goodness [0,1] 0.6445101351351351 Centerline is valid? [False, False] Translation: X:99.29, Y:0.54, Z:-0.41 [[ 9.99988923e-01 4.41609094e-03 -1.62823330e-03 9.92919659e+01] [-4.42343890e-03 9.99979923e-01 -4.53720282e-03 5.44325680e-01] [ 1.60816391e-03 4.54435496e-03 9.99988381e-01 -4.05345645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.195898227 meters Centerline goodness [0,1] 0.6277107417095604 Centerline is valid? [False, False] Translation: X:99.29, Y:0.54, Z:-0.41 [[ 9.99988605e-01 4.49951246e-03 -1.59505390e-03 9.92918054e+01] [-4.50645574e-03 9.99980269e-01 -4.37647021e-03 5.43622430e-01] [ 1.57533044e-03 4.38360838e-03 9.99989151e-01 -4.05237691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.225898227 meters Centerline goodness [0,1] 0.6291908243004789 Centerline is valid? [False, False] Translation: X:99.29, Y:0.54, Z:-0.40 [[ 9.99988049e-01 4.58608120e-03 -1.69401566e-03 9.92919782e+01] [-4.59286664e-03 9.99981358e-01 -4.02360023e-03 5.41754863e-01] [ 1.67553152e-03 4.03133253e-03 9.99990470e-01 -4.04981683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.255898227 meters Centerline goodness [0,1] 0.6527568256666312 Centerline is valid? [False, False] Translation: X:99.29, Y:0.54, Z:-0.40 [[ 9.99987611e-01 4.65002279e-03 -1.77642194e-03 9.92919582e+01] [-4.65617813e-03 9.99983116e-01 -3.47674199e-03 5.38684354e-01] [ 1.76022502e-03 3.48497025e-03 9.99992378e-01 -4.04490489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.285898227 meters Centerline goodness [0,1] 0.6979092171132892 Centerline is valid? [False, False] Translation: X:99.31, Y:0.53, Z:-0.40 [[ 9.99998600e-01 -1.55478604e-03 6.18232357e-04 9.93125810e+01] [ 1.55376317e-03 9.99997429e-01 1.65156616e-03 5.34501956e-01] [-6.20798600e-04 -1.65060326e-03 9.99998445e-01 -4.04728481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.315898227 meters Centerline goodness [0,1] 0.7542540309731693 Centerline is valid? [False, False] Translation: X:99.31, Y:0.53, Z:-0.40 [[ 9.99983009e-01 -5.77563735e-03 7.89335258e-04 9.93115899e+01] [ 5.77755610e-03 9.99980307e-01 -2.45057717e-03 5.33524544e-01] [-7.75166068e-04 2.45509596e-03 9.99996686e-01 -4.03878177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.345898227 meters Centerline goodness [0,1] 0.847569986910442 Centerline is valid? [False, False] Translation: X:99.31, Y:0.53, Z:-0.40 [[ 9.99982610e-01 -5.86045685e-03 6.59377591e-04 9.93115912e+01] [ 5.86144747e-03 9.99981681e-01 -1.51058646e-03 5.27865471e-01] [-6.50512785e-04 1.51442510e-03 9.99998642e-01 -4.03055650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.375898227 meters Centerline goodness [0,1] 0.8961966799747846 Centerline is valid? [False, False] Translation: X:99.31, Y:0.52, Z:-0.40 [[ 9.99982710e-01 -5.86705629e-03 3.97426794e-04 9.93120231e+01] [ 5.86724160e-03 9.99982679e-01 -4.66708986e-04 5.21847909e-01] [-3.94681702e-04 4.69032716e-04 9.99999812e-01 -4.02290721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.405898227 meters Centerline goodness [0,1] 0.9727601886156956 Centerline is valid? [False, True] Translation: X:99.31, Y:0.52, Z:-0.40 [[ 9.99983257e-01 -5.78400739e-03 1.74787172e-04 9.93127435e+01] [ 5.78390330e-03 9.99983099e-01 5.90319523e-04 5.15964531e-01] [-1.78198630e-04 -5.89298687e-04 9.99999810e-01 -4.02198758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.435898227 meters Centerline goodness [0,1] 0.9995751640928692 Centerline is valid? [True, True] Translation: X:99.34, Y:0.49, Z:-0.41 [[ 9.99928257e-01 -1.17553707e-02 -2.30028016e-03 9.93449146e+01] [ 1.17550823e-02 9.99930897e-01 -1.38836900e-04 4.90589203e-01] [ 2.30175329e-03 1.11786957e-04 9.99997345e-01 -4.05207892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.465898227 meters Centerline goodness [0,1] 0.9997440109222007 Centerline is valid? [True, True] Translation: X:99.38, Y:0.49, Z:-0.41 [[ 9.99895744e-01 -1.41494820e-02 -2.87973632e-03 9.93752562e+01] [ 1.41490398e-02 9.99899882e-01 -1.73850094e-04 4.86410953e-01] [ 2.88190789e-03 1.33086465e-04 9.99995838e-01 -4.05949798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.495898227 meters Centerline goodness [0,1] 0.9995167965713565 Centerline is valid? [True, True] Translation: X:99.40, Y:0.49, Z:-0.41 [[ 9.99861427e-01 -1.64659951e-02 -2.44921433e-03 9.94043401e+01] [ 1.64656820e-02 9.99864421e-01 -1.47920865e-04 4.88550788e-01] [ 2.45131793e-03 1.07572383e-04 9.99996990e-01 -4.06061190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.525898227 meters Centerline goodness [0,1] 0.999768177028451 Centerline is valid? [True, True] Translation: X:99.43, Y:0.48, Z:-0.40 [[ 9.99826654e-01 -1.85632580e-02 -1.43763839e-03 9.94349921e+01] [ 1.85631522e-02 9.99827686e-01 -8.68812626e-05 4.82160154e-01] [ 1.43900347e-03 6.01791018e-05 9.99998963e-01 -4.04436776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.555898227 meters Centerline goodness [0,1] 0.9998723485734953 Centerline is valid? [True, True] Translation: X:99.46, Y:0.48, Z:-0.40 [[ 9.99787781e-01 -2.05911611e-02 -6.29875998e-04 9.94638127e+01] [ 2.05911411e-02 9.99787979e-01 -3.80915055e-05 4.80901786e-01] [ 6.30526800e-04 2.51135562e-05 9.99999801e-01 -4.03504030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.585898227 meters Centerline goodness [0,1] 0.9997057896395923 Centerline is valid? [True, True] Translation: X:99.49, Y:0.48, Z:-0.40 [[ 9.99710795e-01 -2.40482966e-02 6.96990269e-05 9.94940694e+01] [ 2.40482964e-02 9.99710798e-01 4.21120905e-06 4.75409268e-01] [-6.97801422e-05 -2.53384829e-06 9.99999998e-01 -4.03139255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.615898227 meters Centerline goodness [0,1] 0.9997695466353809 Centerline is valid? [True, True] Translation: X:99.52, Y:0.48, Z:-0.40 [[ 9.99674294e-01 -2.55206846e-02 3.47370699e-05 9.95225487e+01] [ 2.55206845e-02 9.99674294e-01 2.09636223e-06 4.83096455e-01] [-3.47792564e-05 -1.20916563e-06 9.99999999e-01 -4.03234855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.645898227 meters Centerline goodness [0,1] 0.9999577854233067 Centerline is valid? [True, True] Translation: X:99.55, Y:0.47, Z:-0.40 [[ 9.99633861e-01 -2.70575713e-02 1.76077672e-04 9.95522175e+01] [ 2.70575699e-02 9.99633877e-01 1.06577563e-05 4.74110168e-01] [-1.76301579e-04 -5.88962020e-06 9.99999984e-01 -4.03619127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.675898227 meters Centerline goodness [0,1] 0.9999361702127659 Centerline is valid? [True, True] Translation: X:99.58, Y:0.47, Z:-0.40 [[ 9.99588531e-01 -2.86837367e-02 1.10790818e-04 9.95806283e+01] [ 2.86837362e-02 9.99588537e-01 6.71361100e-06 4.74092212e-01] [-1.10937803e-04 -3.53295396e-06 9.99999994e-01 -4.04072831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.705898227 meters Centerline goodness [0,1] 0.9999373472840047 Centerline is valid? [True, True] Translation: X:99.61, Y:0.47, Z:-0.40 [[ 9.99541435e-01 -3.02804763e-02 1.15720994e-04 9.96094441e+01] [ 3.02804757e-02 9.99541441e-01 7.03277134e-06 4.73103154e-01] [-1.15880885e-04 -3.52545961e-06 9.99999993e-01 -4.04936586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.735898227 meters Centerline goodness [0,1] 0.999746846124636 Centerline is valid? [True, True] Translation: X:99.64, Y:0.47, Z:-0.41 [[ 9.99487660e-01 -3.20063073e-02 -1.21430911e-04 9.96384321e+01] [ 3.20063067e-02 9.99487667e-01 -7.45868005e-06 4.72997506e-01] [ 1.21607423e-04 3.56830368e-06 9.99999993e-01 -4.05201907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.765898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.67, Y:0.47, Z:-0.41 [[ 9.99389997e-01 -3.48804602e-02 -1.72855112e-03 9.96681608e+01] [ 3.48803293e-02 9.99391491e-01 -1.05808246e-04 4.68320311e-01] [ 1.73118992e-03 4.54512698e-05 9.99998500e-01 -4.06737818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.795898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.70, Y:0.47, Z:-0.41 [[ 9.99347683e-01 -3.59642803e-02 -3.28313099e-03 9.96957993e+01] [ 3.59638134e-02 9.99353073e-01 -2.01158907e-04 4.67630975e-01] [ 3.28824158e-03 8.29537774e-05 9.99994590e-01 -4.08926294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.825898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:0.46, Z:-0.41 [[ 9.99305079e-01 -3.69771723e-02 -4.69559033e-03 9.97247867e+01] [ 3.69762246e-02 9.99316104e-01 -2.88511542e-04 4.63448355e-01] [ 4.70304738e-03 1.14685846e-04 9.99988934e-01 -4.10529516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.855898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:0.47, Z:-0.41 [[ 9.99297941e-01 -3.71695692e-02 -4.69553444e-03 9.97522276e+01] [ 3.71686194e-02 9.99308966e-01 -2.89419776e-04 4.65312550e-01] [ 4.70304728e-03 1.14690054e-04 9.99988934e-01 -4.10534379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.885898227 meters Centerline goodness [0,1] 0.9999790856234576 Centerline is valid? [True, True] Translation: X:99.78, Y:0.47, Z:-0.41 [[ 9.99256348e-01 -3.80839689e-02 -6.03014627e-03 9.97800221e+01] [ 3.80824161e-02 9.99274532e-01 -3.72173052e-04 4.67898005e-01] [ 6.03994542e-03 1.42253746e-04 9.99981749e-01 -4.13014433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.915898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.81, Y:0.47, Z:-0.41 [[ 9.99222540e-01 -3.88614549e-02 -6.64106645e-03 9.98094285e+01] [ 3.88595813e-02 9.99244597e-01 -4.10984355e-04 4.65622274e-01] [ 6.65202122e-03 1.52595769e-04 9.99977863e-01 -4.13133198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.945898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:0.47, Z:-0.41 [[ 9.99215793e-01 -3.90864228e-02 -6.32858939e-03 9.98360253e+01] [ 3.90847204e-02 9.99235823e-01 -3.92496996e-04 4.66427901e-01] [ 6.33909453e-03 1.44838050e-04 9.99979897e-01 -4.12270295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.975898227 meters Centerline goodness [0,1] 0.9999789593283818 Centerline is valid? [True, True] Translation: X:99.87, Y:0.47, Z:-0.41 [[ 9.99253814e-01 -3.83318904e-02 -4.74155599e-03 9.98654138e+01] [ 3.83309226e-02 9.99265057e-01 -2.94853991e-04 4.65388494e-01] [ 4.74937353e-03 1.12885759e-04 9.99988715e-01 -4.08090017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.005898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.89, Y:0.47, Z:-0.41 [[ 9.99305839e-01 -3.70425746e-02 -3.96075715e-03 9.98940063e+01] [ 3.70418865e-02 9.99313683e-01 -2.46959492e-04 4.66346453e-01] [ 3.96718684e-03 1.00074146e-04 9.99992126e-01 -4.05852632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.035898227 meters Centerline goodness [0,1] 0.9999791262237251 Centerline is valid? [True, True] Translation: X:99.92, Y:0.47, Z:-0.40 [[ 9.99380978e-01 -3.50178576e-02 -3.37785466e-03 9.99211545e+01] [ 3.50173449e-02 9.99386682e-01 -2.10840003e-04 4.70201721e-01] [ 3.38316613e-03 9.24259874e-05 9.99994273e-01 -4.04736084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.065898227 meters Centerline goodness [0,1] 0.9999577863143231 Centerline is valid? [True, True] Translation: X:99.95, Y:0.47, Z:-0.40 [[ 9.99462907e-01 -3.25857532e-02 -3.47355503e-03 9.99501054e+01] [ 3.25851959e-02 9.99468938e-01 -2.16929367e-04 4.72946941e-01] [ 3.47877916e-03 1.03626385e-04 9.99993944e-01 -4.04404942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.095898227 meters Centerline goodness [0,1] 0.9999574775694179 Centerline is valid? [True, True] Translation: X:99.98, Y:0.48, Z:-0.41 [[ 9.99549040e-01 -2.97552749e-02 -4.04222574e-03 9.99777883e+01] [ 2.97544963e-02 9.99557205e-01 -2.52633309e-04 4.79258484e-01] [ 4.04795304e-03 1.32244991e-04 9.99991798e-01 -4.05356758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.125898227 meters Centerline goodness [0,1] 0.9996842105263158 Centerline is valid? [True, True] Translation: X:100.01, Y:0.48, Z:-0.41 [[ 9.99681562e-01 -2.48879820e-02 -4.16698479e-03 1.00008109e+02] [ 2.48871123e-02 9.99690234e-01 -2.60437635e-04 4.83428787e-01] [ 4.17217576e-03 1.56650484e-04 9.99991284e-01 -4.06818977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.155898227 meters Centerline goodness [0,1] 0.9998742402012156 Centerline is valid? [True, True] Translation: X:100.04, Y:0.49, Z:-0.41 [[ 9.99718087e-01 -2.33560833e-02 -4.27089707e-03 1.00035988e+02] [ 2.33551548e-02 9.99727195e-01 -2.67137783e-04 4.87734256e-01] [ 4.27597124e-03 1.67315011e-04 9.99990844e-01 -4.06244531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.185898227 meters Centerline goodness [0,1] 0.9999161654056546 Centerline is valid? [True, True] Translation: X:100.06, Y:0.49, Z:-0.40 [[ 9.99727509e-01 -2.30988621e-02 -3.36909939e-03 1.00064714e+02] [ 2.30982810e-02 9.99733177e-01 -2.11304669e-04 4.86056657e-01] [ 3.37308133e-03 1.33426686e-04 9.99994302e-01 -4.04776336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.215898227 meters Centerline goodness [0,1] 0.9999575353518196 Centerline is valid? [True, True] Translation: X:100.09, Y:0.48, Z:-0.40 [[ 9.99721332e-01 -2.34801007e-02 -2.43767085e-03 1.00093988e+02] [ 2.34797966e-02 9.99724300e-01 -1.53301334e-04 4.83175617e-01] [ 2.44059831e-03 9.60225977e-05 9.99997017e-01 -4.03615317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.245898227 meters Centerline goodness [0,1] 0.9998727276584011 Centerline is valid? [True, True] Translation: X:100.12, Y:0.48, Z:-0.40 [[ 9.99659301e-01 -2.60603981e-02 -1.46231617e-03 1.00123245e+02] [ 2.60602914e-02 9.99660369e-01 -9.19839969e-05 4.77921127e-01] [ 1.46421666e-03 5.38442725e-05 9.99998927e-01 -4.02310130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.275898227 meters Centerline goodness [0,1] 0.999895180394541 Centerline is valid? [True, True] Translation: X:100.15, Y:0.48, Z:-0.40 [[ 9.99612069e-01 -2.78276645e-02 -1.15454864e-03 1.00151161e+02] [ 2.78275991e-02 9.99612735e-01 -7.26980817e-05 4.75761783e-01] [ 1.15612455e-03 4.05415630e-05 9.99999331e-01 -4.02641379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.305898227 meters Centerline goodness [0,1] 0.9999577765110731 Centerline is valid? [True, True] Translation: X:100.18, Y:0.47, Z:-0.40 [[ 9.99558481e-01 -2.96658194e-02 -1.66789780e-03 1.00180963e+02] [ 2.96656850e-02 9.99559871e-01 -1.05293997e-04 4.67564595e-01] [ 1.67028734e-03 5.57681776e-05 9.99998604e-01 -4.03230564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.335898227 meters Centerline goodness [0,1] 0.9998741927367273 Centerline is valid? [True, True] Translation: X:100.21, Y:0.47, Z:-0.40 [[ 9.99521693e-01 -3.08947324e-02 -1.37899110e-03 1.00209343e+02] [ 3.08946413e-02 9.99522643e-01 -8.72917890e-05 4.66355656e-01] [ 1.38102968e-03 4.46466014e-05 9.99999045e-01 -4.03149210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.365898227 meters Centerline goodness [0,1] 0.9998737639385651 Centerline is valid? [True, True] Translation: X:100.24, Y:0.47, Z:-0.40 [[ 9.99507410e-01 -3.13785612e-02 -5.68426837e-04 1.00236694e+02] [ 3.13785458e-02 9.99507572e-01 -3.60132447e-05 4.73156417e-01] [ 5.69276971e-04 1.81590974e-05 9.99999838e-01 -4.01634254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.395898227 meters Centerline goodness [0,1] 0.9998726682370918 Centerline is valid? [True, True] Translation: X:100.27, Y:0.47, Z:-0.40 [[ 9.99514733e-01 -3.11491973e-02 -1.62871448e-04 1.00265808e+02] [ 3.11491960e-02 9.99514746e-01 -1.03660279e-05 4.72283741e-01] [ 1.63115308e-04 5.28768294e-06 9.99999987e-01 -4.00576507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.425898227 meters Centerline goodness [0,1] 0.9999367582267007 Centerline is valid? [True, True] Translation: X:100.30, Y:0.46, Z:-0.40 [[ 9.99583494e-01 -2.87774662e-02 -2.16722685e-03 1.00296030e+02] [ 2.87772353e-02 9.99585840e-01 -1.37671474e-04 4.59393904e-01] [ 2.17029111e-03 7.52473354e-05 9.99997642e-01 -4.02905182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.455898227 meters Centerline goodness [0,1] 0.999936409691163 Centerline is valid? [True, True] Translation: X:100.32, Y:0.46, Z:-0.41 [[ 9.99632326e-01 -2.67717796e-02 -4.29946967e-03 1.00323907e+02] [ 2.67708514e-02 9.99641559e-01 -2.73319463e-04 4.62542009e-01] [ 4.30524581e-03 1.58118507e-04 9.99990720e-01 -4.06247718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.485898227 meters Centerline goodness [0,1] 0.9998934515311015 Centerline is valid? [True, True] Translation: X:100.35, Y:0.46, Z:-0.41 [[ 9.99676783e-01 -2.46930279e-02 -6.04847180e-03 1.00353733e+02] [ 2.46911524e-02 9.99695053e-01 -3.84568861e-04 4.61024807e-01] [ 6.05612351e-03 2.35100823e-04 9.99981634e-01 -4.08324798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.515898227 meters Centerline goodness [0,1] 0.9950410110478741 Centerline is valid? [True, True] Translation: X:100.38, Y:0.48, Z:-0.41 [[ 9.99716378e-01 -2.27866660e-02 -6.92321372e-03 1.00381122e+02] [ 2.27841613e-02 9.99740310e-01 -4.40444267e-04 4.82873311e-01] [ 6.93145209e-03 2.82579728e-04 9.99975937e-01 -4.13180749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.545898227 meters Centerline goodness [0,1] 0.9996647178391065 Centerline is valid? [True, True] Translation: X:100.41, Y:0.47, Z:-0.41 [[ 9.99745615e-01 -2.14103998e-02 -7.09227026e-03 1.00411776e+02] [ 2.14077356e-02 9.99770726e-01 -4.51361459e-04 4.70323157e-01] [ 7.10030802e-03 2.99417193e-04 9.99974748e-01 -4.10265845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.575898227 meters Centerline goodness [0,1] 0.9994534829949132 Centerline is valid? [True, True] Translation: X:100.44, Y:0.47, Z:-0.41 [[ 9.99758354e-01 -2.09130465e-02 -6.77326461e-03 1.00440745e+02] [ 2.09105975e-02 9.99781256e-01 -4.32197764e-04 4.70193757e-01] [ 6.78082157e-03 2.90460316e-04 9.99976968e-01 -4.09018950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.605898227 meters Centerline goodness [0,1] 0.9997032766733076 Centerline is valid? [True, True] Translation: X:100.47, Y:0.47, Z:-0.41 [[ 9.99761307e-01 -2.03219435e-02 -8.02164416e-03 1.00469999e+02] [ 2.03184789e-02 9.99793427e-01 -5.13171291e-04 4.69173907e-01] [ 8.03041574e-03 3.50061193e-04 9.99967694e-01 -4.09630977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.635898227 meters Centerline goodness [0,1] 0.9996411533752692 Centerline is valid? [True, True] Translation: X:100.50, Y:0.47, Z:-0.41 [[ 9.99756047e-01 -2.00815817e-02 -9.19653896e-03 1.00498719e+02] [ 2.00770038e-02 9.99798263e-01 -5.89846143e-04 4.69696667e-01] [ 9.20652871e-03 4.05063301e-04 9.99957537e-01 -4.11193806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.665898227 meters Centerline goodness [0,1] 0.998800830852909 Centerline is valid? [True, True] Translation: X:100.53, Y:0.47, Z:-0.41 [[ 9.99736813e-01 -1.98875756e-02 -1.14362778e-02 1.00527093e+02] [ 1.98804762e-02 9.99802094e-01 -7.34144110e-04 4.69888502e-01] [ 1.14486148e-02 5.06592245e-04 9.99934334e-01 -4.14173888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.695898227 meters Centerline goodness [0,1] 0.9990768714333669 Centerline is valid? [True, True] Translation: X:100.56, Y:0.47, Z:-0.41 [[ 9.99742649e-01 -2.00805778e-02 -1.05549323e-02 1.00555173e+02] [ 2.00745346e-02 9.99798256e-01 -6.78184023e-04 4.72378497e-01] [ 1.05664212e-02 4.66124138e-04 9.99944065e-01 -4.13856507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.725898227 meters Centerline goodness [0,1] 0.9993062417222024 Centerline is valid? [True, True] Translation: X:100.58, Y:0.47, Z:-0.41 [[ 9.99741395e-01 -2.06703188e-02 -9.48054502e-03 1.00583730e+02] [ 2.06654549e-02 9.99786260e-01 -6.10724159e-04 4.72065232e-01] [ 9.49114252e-03 4.14646447e-04 9.99954872e-01 -4.11441871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.755898227 meters Centerline goodness [0,1] 0.9997263561159409 Centerline is valid? [True, True] Translation: X:100.61, Y:0.47, Z:-0.41 [[ 9.99730964e-01 -2.17926432e-02 -7.94232066e-03 1.00611475e+02] [ 2.17892614e-02 9.99762455e-01 -5.12082115e-04 4.72017291e-01] [ 7.95159362e-03 3.38887045e-04 9.99968328e-01 -4.09131868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.785898227 meters Centerline goodness [0,1] 0.9997871706465756 Centerline is valid? [True, True] Translation: X:100.64, Y:0.47, Z:-0.41 [[ 9.99695432e-01 -2.36271204e-02 -7.12761686e-03 1.00640910e+02] [ 2.36244355e-02 9.99720798e-01 -4.60653188e-04 4.69322303e-01] [ 7.13651072e-03 2.92126963e-04 9.99974492e-01 -4.07208218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.815898227 meters Centerline goodness [0,1] 0.9997690628149143 Centerline is valid? [True, True] Translation: X:100.67, Y:0.47, Z:-0.41 [[ 9.99648186e-01 -2.56289884e-02 -6.83076276e-03 1.00670097e+02] [ 2.56265682e-02 9.99671488e-01 -4.41604549e-04 4.66534576e-01] [ 6.83983665e-03 2.66400178e-04 9.99976573e-01 -4.06670489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.845898227 meters Centerline goodness [0,1] 0.9998103985843094 Centerline is valid? [True, True] Translation: X:100.70, Y:0.46, Z:-0.41 [[ 9.99521593e-01 -3.01125695e-02 -7.05824212e-03 1.00699377e+02] [ 3.01100958e-02 9.99546484e-01 -4.56497413e-04 4.60952621e-01] [ 7.06878740e-03 2.43754675e-04 9.99974986e-01 -4.09068519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.875898227 meters Centerline goodness [0,1] 0.9999575524757518 Centerline is valid? [True, True] Translation: X:100.73, Y:0.46, Z:-0.41 [[ 9.99464710e-01 -3.20230105e-02 -6.69477314e-03 1.00728434e+02] [ 3.20208210e-02 9.99487108e-01 -4.34007381e-04 4.55091227e-01] [ 6.70523766e-03 2.19402929e-04 9.99977496e-01 -4.07886694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.905898227 meters Centerline goodness [0,1] 0.9999156847452625 Centerline is valid? [True, True] Translation: X:100.76, Y:0.45, Z:-0.41 [[ 9.99429037e-01 -3.33414624e-02 -5.47241339e-03 1.00757788e+02] [ 3.33400143e-02 9.99444004e-01 -3.55650340e-04 4.52816618e-01] [ 5.48122865e-03 1.72996936e-04 9.99984963e-01 -4.05915137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.935898227 meters Centerline goodness [0,1] 0.9997690628149143 Centerline is valid? [True, True] Translation: X:100.79, Y:0.45, Z:-0.40 [[ 9.99435139e-01 -3.33320661e-02 -4.28674488e-03 1.00786362e+02] [ 3.33311741e-02 9.99444323e-01 -2.79387238e-04 4.51741697e-01] [ 4.29367539e-03 1.36347183e-04 9.99990773e-01 -4.03742381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.965898227 meters Centerline goodness [0,1] 0.9997048655029935 Centerline is valid? [True, True] Translation: X:100.81, Y:0.45, Z:-0.40 [[ 9.99463479e-01 -3.25635400e-02 -3.51706068e-03 1.00814079e+02] [ 3.25629338e-02 9.99469661e-01 -2.29509340e-04 4.52987372e-01] [ 3.52266908e-03 1.14860390e-04 9.99993789e-01 -4.02080348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.995898227 meters Centerline goodness [0,1] 0.9996004290130597 Centerline is valid? [True, True] Translation: X:100.84, Y:0.46, Z:-0.40 [[ 9.99525485e-01 -3.05968111e-02 -3.55522291e-03 1.00843359e+02] [ 3.05961790e-02 9.99531800e-01 -2.32068357e-04 4.56641923e-01] [ 3.56065891e-03 1.23182001e-04 9.99993653e-01 -4.01833782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.025898227 meters Centerline goodness [0,1] 0.999342119224974 Centerline is valid? [True, True] Translation: X:100.87, Y:0.47, Z:-0.40 [[ 9.99693809e-01 -2.42140816e-02 -5.09574661e-03 1.00872486e+02] [ 2.42127000e-02 9.99706774e-01 -3.32656935e-04 4.66465169e-01] [ 5.10230738e-03 2.09173295e-04 9.99986961e-01 -4.03881518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.055898227 meters Centerline goodness [0,1] 0.998193065623605 Centerline is valid? [True, True] Translation: X:100.90, Y:0.47, Z:-0.40 [[ 9.99773356e-01 -2.05807958e-02 -5.44682906e-03 1.00902963e+02] [ 2.05791632e-02 9.99788163e-01 -3.55603418e-04 4.71778951e-01] [ 5.45299382e-03 2.43431638e-04 9.99985103e-01 -4.04781794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.085898227 meters Centerline goodness [0,1] 0.995356004475123 Centerline is valid? [True, True] Translation: X:100.93, Y:0.48, Z:-0.40 [[ 9.99836025e-01 -1.72789058e-02 -5.41872612e-03 1.00933040e+02] [ 1.72772414e-02 9.99850675e-01 -3.53806550e-04 4.77542774e-01] [ 5.42403035e-03 2.60127895e-04 9.99985256e-01 -4.04525658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.115898227 meters Centerline goodness [0,1] 0.9918354363270067 Centerline is valid? [True, True] Translation: X:100.96, Y:0.48, Z:-0.40 [[ 9.99880438e-01 -1.46705566e-02 -4.88716595e-03 1.00962561e+02] [ 1.46691714e-02 9.99892351e-01 -3.19153635e-04 4.83186914e-01] [ 4.89132202e-03 2.47424802e-04 9.99988007e-01 -4.03904884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.145898227 meters Centerline goodness [0,1] 0.9899594557303275 Centerline is valid? [True, True] Translation: X:100.99, Y:0.49, Z:-0.40 [[ 9.99905231e-01 -1.32102615e-02 -3.87539276e-03 1.00991225e+02] [ 1.32093788e-02 9.99912720e-01 -2.53285343e-04 4.87499238e-01] [ 3.87840048e-03 2.02069808e-04 9.99992459e-01 -4.02296054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.175898227 meters Centerline goodness [0,1] 0.9888828177538669 Centerline is valid? [True, True] Translation: X:101.02, Y:0.49, Z:-0.40 [[ 9.99914146e-01 -1.27136982e-02 -3.17230035e-03 1.01019624e+02] [ 1.27131026e-02 9.99919164e-01 -2.07835180e-04 4.89986353e-01] [ 3.17468627e-03 1.67487556e-04 9.99994947e-01 -4.00883957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.205898227 meters Centerline goodness [0,1] 0.9836919831223628 Centerline is valid? [True, True] Translation: X:101.05, Y:0.49, Z:-0.40 [[ 9.99893239e-01 -1.37823011e-02 -4.85363839e-03 1.01047312e+02] [ 1.37809183e-02 9.99904988e-01 -3.18220075e-04 4.87777055e-01] [ 4.85756304e-03 2.51298507e-04 9.99988170e-01 -4.04640729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.235898227 meters Centerline goodness [0,1] 0.9812893313408961 Centerline is valid? [True, True] Translation: X:101.08, Y:0.49, Z:-0.41 [[ 9.99864712e-01 -1.52011715e-02 -6.28344027e-03 1.01076653e+02] [ 1.51988791e-02 9.99884405e-01 -4.12416451e-04 4.85387182e-01] [ 6.28898315e-03 3.16859407e-04 9.99980174e-01 -4.08154333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.265898227 meters Centerline goodness [0,1] 0.97623147734762 Centerline is valid? [True, True] Translation: X:101.11, Y:0.48, Z:-0.41 [[ 9.99838153e-01 -1.61636058e-02 -7.89973926e-03 1.01106181e+02] [ 1.61600075e-02 9.99869284e-01 -5.19126782e-04 4.83083962e-01] [ 7.90709760e-03 3.91382918e-04 9.99968662e-01 -4.11276598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.295898227 meters Centerline goodness [0,1] 0.9696060915433045 Centerline is valid? [True, True] Translation: X:101.13, Y:0.48, Z:-0.41 [[ 9.99818713e-01 -1.68942883e-02 -8.78204768e-03 1.01134131e+02] [ 1.68898653e-02 9.99857189e-01 -5.77571246e-04 4.82405011e-01] [ 8.79055116e-03 4.29138938e-04 9.99961270e-01 -4.14104105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.325898227 meters Centerline goodness [0,1] 0.9585616868175543 Centerline is valid? [True, True] Translation: X:101.16, Y:0.48, Z:-0.41 [[ 9.99857020e-01 -1.45216300e-02 -8.66376848e-03 1.01163042e+02] [ 1.45172350e-02 9.99894457e-01 -5.69970961e-04 4.80749513e-01] [ 8.67113099e-03 4.44115504e-04 9.99962306e-01 -4.12964561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.355898227 meters Centerline goodness [0,1] 0.9476343494989641 Centerline is valid? [True, False] Translation: X:101.16, Y:0.48, Z:-0.41 [[ 9.99863305e-01 -1.41574135e-02 -8.54044251e-03 1.01162234e+02] [ 1.41573997e-02 9.99899777e-01 -6.20663632e-05 4.78793353e-01] [ 8.54046527e-03 -5.88525796e-05 9.99963528e-01 -4.12216542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.385898227 meters Centerline goodness [0,1] 0.9965403128760529 Centerline is valid? [False, True] Translation: X:101.14, Y:0.48, Z:-0.42 [[ 9.99928621e-01 -1.14669630e-02 -3.35569837e-03 1.01141048e+02] [ 1.14536484e-02 9.99926562e-01 -3.96045408e-03 4.76948079e-01] [ 3.40086631e-03 3.92173639e-03 9.99986527e-01 -4.16446145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.415898227 meters Centerline goodness [0,1] 0.8716648710311173 Centerline is valid? [True, False] Translation: X:101.16, Y:0.48, Z:-0.42 [[ 9.99973979e-01 -7.19628872e-03 5.04215598e-04 1.01164468e+02] [ 7.20116022e-03 9.99919598e-01 -1.04374310e-02 4.79687084e-01] [-4.29064292e-04 1.04407903e-02 9.99945401e-01 -4.21740227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.445898227 meters Centerline goodness [0,1] 0.7640561830533905 Centerline is valid? [False, False] Translation: X:101.21, Y:0.48, Z:-0.42 [[ 9.99999155e-01 -1.25247495e-03 -3.48872291e-04 1.01207444e+02] [ 1.25059977e-03 9.99985044e-01 -5.32430159e-03 4.79036789e-01] [ 3.55535628e-04 5.32386079e-03 9.99985765e-01 -4.20466422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.475898227 meters Centerline goodness [0,1] 0.9191574512901527 Centerline is valid? [False, False] Translation: X:101.17, Y:0.48, Z:-0.42 [[ 9.99998004e-01 1.47395577e-03 -1.34871704e-03 1.01166364e+02] [-1.47473734e-03 9.99998745e-01 -5.78677870e-04 4.75934808e-01] [ 1.34786240e-03 5.80665719e-04 9.99998923e-01 -4.21539801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.505898227 meters Centerline goodness [0,1] 0.4956747773469127 Centerline is valid? [False, False] Translation: X:101.13, Y:0.48, Z:-0.42 [[ 9.99987951e-01 4.21719291e-03 -2.51265768e-03 1.01125600e+02] [-4.21063380e-03 9.99987729e-01 2.61002125e-03 4.76164691e-01] [ 2.52363381e-03 -2.59940992e-03 9.99993437e-01 -4.22958213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.535898227 meters Centerline goodness [0,1] 0.9336904558647772 Centerline is valid? [False, False] Translation: X:101.13, Y:0.48, Z:-0.42 [[ 9.99988393e-01 4.10254625e-03 -2.52651655e-03 1.01125620e+02] [-4.09716204e-03 9.99989333e-01 2.13258278e-03 4.78597475e-01] [ 2.53523862e-03 -2.12220648e-03 9.99994534e-01 -4.22964831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.565898227 meters Centerline goodness [0,1] 0.4363562942339164 Centerline is valid? [False, False] Translation: X:101.13, Y:0.48, Z:-0.42 [[ 9.99988740e-01 3.98967733e-03 -2.56968564e-03 1.01125713e+02] [-3.98518629e-03 9.99990527e-01 1.75045464e-03 4.80530738e-01] [ 2.57664504e-03 -1.74019425e-03 9.99995166e-01 -4.22915026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.595898227 meters Centerline goodness [0,1] 0.4312843684726544 Centerline is valid? [False, False] Translation: X:101.13, Y:0.48, Z:-0.42 [[ 9.99989602e-01 3.81724754e-03 -2.49480555e-03 1.01125326e+02] [-3.81391857e-03 9.99991832e-01 1.33775898e-03 4.82493332e-01] [ 2.49989173e-03 -1.32823009e-03 9.99995993e-01 -4.22697792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.625898227 meters Centerline goodness [0,1] 0.4356118496807285 Centerline is valid? [False, False] Translation: X:101.16, Y:0.49, Z:-0.42 [[ 9.99994634e-01 3.18130743e-03 -7.82358398e-04 1.01164729e+02] [-3.18328865e-03 9.99991697e-01 -2.54430380e-03 4.89520846e-01] [ 7.74257689e-04 2.54678062e-03 9.99996457e-01 -4.22403880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.655898227 meters Centerline goodness [0,1] 0.8969417856915469 Centerline is valid? [False, False] Translation: X:101.12, Y:0.49, Z:-0.42 [[ 9.99996738e-01 2.16814573e-03 1.35010961e-03 1.01119222e+02] [-2.16688991e-03 9.99997219e-01 -9.30924307e-04 4.88659603e-01] [-1.35212424e-03 9.27995732e-04 9.99998655e-01 -4.22350164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.685898227 meters Centerline goodness [0,1] 0.920362522552763 Centerline is valid? [False, False] Translation: X:101.12, Y:0.49, Z:-0.42 [[ 9.99997274e-01 1.98172402e-03 1.23464532e-03 1.01119764e+02] [-1.98027772e-03 9.99997353e-01 -1.17155693e-03 4.89644629e-01] [-1.23696375e-03 1.16910880e-03 9.99998552e-01 -4.22682225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.715898227 meters Centerline goodness [0,1] 0.912762281958372 Centerline is valid? [False, False] Translation: X:101.12, Y:0.49, Z:-0.42 [[ 9.99997727e-01 1.80171598e-03 1.13978495e-03 1.01120226e+02] [-1.80000283e-03 9.99997252e-01 -1.50229471e-03 4.91085451e-01] [-1.14248853e-03 1.50023968e-03 9.99998222e-01 -4.22990939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.745898227 meters Centerline goodness [0,1] 0.912762281958372 Centerline is valid? [False, False] Translation: X:101.12, Y:0.49, Z:-0.42 [[ 9.99997727e-01 1.80171598e-03 1.13978495e-03 1.01120226e+02] [-1.80000283e-03 9.99997252e-01 -1.50229471e-03 4.91085451e-01] [-1.14248853e-03 1.50023968e-03 9.99998222e-01 -4.22990939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.775898227 meters Centerline goodness [0,1] 0.9588471252414204 Centerline is valid? [False, True] Translation: X:101.12, Y:0.49, Z:-0.42 [[ 9.99998197e-01 1.57906142e-03 1.05489966e-03 1.01120868e+02] [-1.57703055e-03 9.99996907e-01 -1.92324547e-03 4.92956582e-01] [-1.05793332e-03 1.92157839e-03 9.99997594e-01 -4.23625988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.805898227 meters Centerline goodness [0,1] 0.8549356764483309 Centerline is valid? [True, False] Translation: X:101.12, Y:0.49, Z:-0.42 [[ 9.99998601e-01 1.39886501e-03 9.17570707e-04 1.01121537e+02] [-1.39675754e-03 9.99996395e-01 -2.29342218e-03 4.94656080e-01] [-9.20775587e-04 2.29213735e-03 9.99996949e-01 -4.24038427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.835898227 meters Centerline goodness [0,1] 0.6871027486635518 Centerline is valid? [False, False] Translation: X:101.12, Y:0.50, Z:-0.42 [[ 9.99998918e-01 1.17383473e-03 8.86256483e-04 1.01121789e+02] [-1.17152387e-03 9.99995925e-01 -2.60347539e-03 4.95947475e-01] [-8.89308921e-04 2.60243430e-03 9.99996218e-01 -4.24364797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.865898227 meters Centerline goodness [0,1] 0.9680619762311865 Centerline is valid? [False, True] Translation: X:101.12, Y:0.50, Z:-0.42 [[ 9.99999082e-01 1.13091451e-03 7.45747957e-04 1.01122335e+02] [-1.12899931e-03 9.99996077e-01 -2.56360785e-03 4.95568691e-01] [-7.48644252e-04 2.56276355e-03 9.99996436e-01 -4.24528484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.895898227 meters Centerline goodness [0,1] 0.9292381749686061 Centerline is valid? [True, False] Translation: X:101.12, Y:0.49, Z:-0.42 [[ 9.99999203e-01 1.10228598e-03 6.16369987e-04 1.01122889e+02] [-1.10079203e-03 9.99996469e-01 -2.41889696e-03 4.94624132e-01] [-6.19034127e-04 2.41821654e-03 9.99996885e-01 -4.24756993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.925898227 meters Centerline goodness [0,1] 0.9715679676985195 Centerline is valid? [False, True] Translation: X:101.12, Y:0.49, Z:-0.42 [[ 9.99999225e-01 1.13403825e-03 5.13774362e-04 1.01123310e+02] [-1.13289200e-03 9.99996881e-01 -2.22586222e-03 4.93585576e-01] [-5.16296973e-04 2.22527845e-03 9.99997391e-01 -4.24917039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.955898227 meters Centerline goodness [0,1] 0.9309469355210978 Centerline is valid? [True, False] Translation: X:101.12, Y:0.49, Z:-0.43 [[ 9.99999242e-01 1.19158619e-03 3.10019327e-04 1.01124058e+02] [-1.19097871e-03 9.99997385e-01 -1.95235245e-03 4.92112882e-01] [-3.12344912e-04 1.95198175e-03 9.99998046e-01 -4.25052463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.985898227 meters Centerline goodness [0,1] 0.9740216066249107 Centerline is valid? [False, True] Translation: X:101.12, Y:0.49, Z:-0.42 [[ 9.99999006e-01 1.39023656e-03 2.33633671e-04 1.01123876e+02] [-1.38994678e-03 9.99998270e-01 -1.23595489e-03 4.88462067e-01] [-2.35351536e-04 1.23562892e-03 9.99999209e-01 -4.24310179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.015898227 meters Centerline goodness [0,1] 0.9760600185450561 Centerline is valid? [True, True] Translation: X:101.15, Y:0.49, Z:-0.42 [[ 9.99999301e-01 8.89711482e-04 7.78261060e-04 1.01154528e+02] [-8.89748517e-04 9.99999603e-01 4.72413513e-05 4.86396234e-01] [-7.78218720e-04 -4.79337749e-05 9.99999696e-01 -4.23326292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.045898227 meters Centerline goodness [0,1] 0.9684234917425009 Centerline is valid? [True, True] Translation: X:101.18, Y:0.49, Z:-0.42 [[ 9.99998980e-01 7.45323736e-04 1.21813085e-03 1.01184427e+02] [-7.45414456e-04 9.99999719e-01 7.40221767e-05 4.89018758e-01] [-1.21807534e-03 -7.49301135e-05 9.99999255e-01 -4.23701368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.075898227 meters Centerline goodness [0,1] 0.9781465589769477 Centerline is valid? [True, True] Translation: X:101.22, Y:0.49, Z:-0.42 [[ 9.99998201e-01 1.43207119e-03 1.24351988e-03 1.01215622e+02] [-1.43216634e-03 9.99998972e-01 7.56295527e-05 4.86508180e-01] [-1.24341030e-03 -7.74103440e-05 9.99999224e-01 -4.23296901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.105898227 meters Centerline goodness [0,1] 0.9665513020723421 Centerline is valid? [True, True] Translation: X:101.25, Y:0.49, Z:-0.42 [[ 9.99996961e-01 2.26026575e-03 9.84013266e-04 1.01246298e+02] [-2.26032615e-03 9.99997444e-01 6.02778244e-05 4.89416330e-01] [-9.83874506e-04 -6.25018321e-05 9.99999514e-01 -4.23839570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.135898227 meters Centerline goodness [0,1] 0.959268215750184 Centerline is valid? [True, True] Translation: X:101.28, Y:0.49, Z:-0.42 [[ 9.99994381e-01 3.28692076e-03 6.58628272e-04 1.01277359e+02] [-3.28694781e-03 9.99994597e-01 3.99900617e-05 4.89729698e-01] [-6.58493269e-04 -4.21547138e-05 9.99999782e-01 -4.24377360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.165898227 meters Centerline goodness [0,1] 0.90132648694908 Centerline is valid? [True, False] Translation: X:101.24, Y:0.48, Z:-0.42 [[ 9.99990242e-01 4.40867496e-03 -2.83224940e-04 1.01235677e+02] [-4.40753437e-03 9.99982647e-01 3.90889038e-03 4.83327087e-01] [ 3.00453052e-04 -3.90760391e-03 9.99992320e-01 -4.24258795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.195898227 meters Centerline goodness [0,1] 0.9494037478705281 Centerline is valid? [False, False] Translation: X:101.24, Y:0.48, Z:-0.42 [[ 9.99989943e-01 4.47863663e-03 -2.37354967e-04 1.01235476e+02] [-4.47766328e-03 9.99982158e-01 3.95389077e-03 4.83219184e-01] [ 2.55058773e-04 -3.95278821e-03 9.99992155e-01 -4.24166022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.225898227 meters Centerline goodness [0,1] 0.8857920066959615 Centerline is valid? [False, False] Translation: X:101.28, Y:0.49, Z:-0.42 [[ 9.99992050e-01 3.83707660e-03 1.08467493e-03 1.01275081e+02] [-3.83654173e-03 9.99992518e-01 -4.94766130e-04 4.88912860e-01] [-1.08656527e-03 4.90600796e-04 9.99999289e-01 -4.24298943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.255898227 meters Centerline goodness [0,1] 0.8834042553191489 Centerline is valid? [False, False] Translation: X:101.23, Y:0.49, Z:-0.42 [[ 9.99980093e-01 5.71002944e-03 2.68497632e-03 1.01229166e+02] [-5.71925028e-03 9.99977731e-01 3.43918889e-03 4.85210656e-01] [-2.66527865e-03 -3.45447647e-03 9.99990481e-01 -4.23587853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.285898227 meters Centerline goodness [0,1] 0.8162039564870427 Centerline is valid? [False, False] Translation: X:101.27, Y:0.49, Z:-0.42 [[ 9.99979713e-01 5.19760125e-03 3.68231496e-03 1.01268732e+02] [-5.19233077e-03 9.99985484e-01 -1.43941153e-03 4.91896632e-01] [-3.68974300e-03 1.42026253e-03 9.99992184e-01 -4.23990455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.315898227 meters Centerline goodness [0,1] 0.6662403823979539 Centerline is valid? [False, False] Translation: X:101.27, Y:0.49, Z:-0.42 [[ 9.99979870e-01 5.15445590e-03 3.70012273e-03 1.01268792e+02] [-5.14761087e-03 9.99985027e-01 -1.85709328e-03 4.94187556e-01] [-3.70963963e-03 1.83800911e-03 9.99991430e-01 -4.24255960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.345898227 meters Centerline goodness [0,1] 0.8757719160494875 Centerline is valid? [False, False] Translation: X:101.27, Y:0.49, Z:-0.42 [[ 9.99948667e-01 8.87721835e-03 4.88456212e-03 1.01265483e+02] [-8.88873607e-03 9.99957753e-01 2.34134793e-03 4.93500644e-01] [-4.86357111e-03 -2.38464532e-03 9.99985329e-01 -4.23936305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.375898227 meters Centerline goodness [0,1] 0.7159223506948127 Centerline is valid? [False, False] Translation: X:101.27, Y:0.50, Z:-0.42 [[ 9.99949782e-01 8.72987687e-03 4.92173146e-03 1.01265594e+02] [-8.73851250e-03 9.99960312e-01 1.73582669e-03 4.96567720e-01] [-4.90638257e-03 -1.77874813e-03 9.99986382e-01 -4.24388446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.405898227 meters Centerline goodness [0,1] 0.6902313893833106 Centerline is valid? [False, False] Translation: X:101.27, Y:0.50, Z:-0.42 [[ 9.99908650e-01 1.27050864e-02 4.61220782e-03 1.01266379e+02] [-1.27317920e-02 9.99902081e-01 5.80776646e-03 4.97138499e-01] [-4.53796802e-03 -5.86595759e-03 9.99972498e-01 -4.23885431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.435898227 meters Centerline goodness [0,1] 0.6663578557291447 Centerline is valid? [False, False] Translation: X:101.27, Y:0.50, Z:-0.42 [[ 9.99951988e-01 8.44714173e-03 4.96665237e-03 1.01265412e+02] [-8.45031840e-03 9.99964104e-01 6.18961706e-04 5.02290466e-01] [-4.96124563e-03 -6.60901782e-04 9.99987475e-01 -4.24462017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.465898227 meters Centerline goodness [0,1] 0.826132860340386 Centerline is valid? [False, False] Translation: X:101.26, Y:0.50, Z:-0.42 [[ 9.99970204e-01 5.31701008e-03 5.59650914e-03 1.01261273e+02] [-5.30029834e-03 9.99981463e-01 -2.99671034e-03 5.04806802e-01] [-5.61233894e-03 2.96695788e-03 9.99979849e-01 -4.22187234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.495898227 meters Centerline goodness [0,1] 0.6878566296124097 Centerline is valid? [False, False] Translation: X:101.26, Y:0.50, Z:-0.42 [[ 9.99971508e-01 5.18317115e-03 5.48789490e-03 1.01261408e+02] [-5.16683486e-03 9.99982191e-01 -2.98679088e-03 5.04390344e-01] [-5.50327822e-03 2.95835073e-03 9.99980481e-01 -4.21880689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.525898227 meters Centerline goodness [0,1] 0.8946150252686117 Centerline is valid? [False, False] Translation: X:101.26, Y:0.50, Z:-0.42 [[ 9.99973128e-01 5.09731449e-03 5.26882920e-03 1.01261916e+02] [-5.08268385e-03 9.99983201e-01 -2.78649968e-03 5.02990285e-01] [-5.28294435e-03 2.75964501e-03 9.99982237e-01 -4.21566762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.555898227 meters Centerline goodness [0,1] 0.7856498100216218 Centerline is valid? [False, False] Translation: X:101.26, Y:0.50, Z:-0.42 [[ 9.99975092e-01 4.99362994e-03 4.98794253e-03 1.01262873e+02] [-4.98122900e-03 9.99984480e-01 -2.49551891e-03 5.00946639e-01] [-5.00032681e-03 2.47061066e-03 9.99984446e-01 -4.21699346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.585898227 meters Centerline goodness [0,1] 0.9507635710313556 Centerline is valid? [False, True] Translation: X:101.22, Y:0.49, Z:-0.42 [[ 9.99988998e-01 3.27992678e-03 3.35363346e-03 1.01223282e+02] [-3.27840214e-03 9.99994520e-01 -4.60019239e-04 4.93705881e-01] [-3.35512391e-03 4.49019619e-04 9.99994271e-01 -4.21752856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.615898227 meters Centerline goodness [0,1] 0.9728910519125683 Centerline is valid? [True, True] Translation: X:101.26, Y:0.49, Z:-0.42 [[ 9.99991663e-01 3.14564742e-03 2.60354875e-03 1.01255967e+02] [-3.14611028e-03 9.99995036e-01 1.73705787e-04 4.90429639e-01] [-2.60298941e-03 -1.81895390e-04 9.99996596e-01 -4.22400918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.645898227 meters Centerline goodness [0,1] 0.9457826233941853 Centerline is valid? [True, False] Translation: X:101.26, Y:0.49, Z:-0.43 [[ 9.99984531e-01 5.30774835e-03 1.66329113e-03 1.01262024e+02] [-5.31194031e-03 9.99982701e-01 2.52607851e-03 4.89008489e-01] [-1.64985457e-03 -2.53487474e-03 9.99995426e-01 -4.25931460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.675898227 meters Centerline goodness [0,1] 0.9270569887034227 Centerline is valid? [False, False] Translation: X:101.26, Y:0.49, Z:-0.43 [[ 9.99985204e-01 5.24116627e-03 1.45664188e-03 1.01263083e+02] [-5.24446530e-03 9.99983671e-01 2.27030516e-03 4.90236965e-01] [-1.44471905e-03 -2.27791088e-03 9.99996362e-01 -4.26637004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.705898227 meters Centerline goodness [0,1] 0.9160132024302563 Centerline is valid? [False, False] Translation: X:101.26, Y:0.49, Z:-0.43 [[ 9.99985189e-01 5.32202001e-03 1.13923541e-03 1.01264689e+02] [-5.32453154e-03 9.99983376e-01 2.21300645e-03 4.90625298e-01] [-1.12743881e-03 -2.21903957e-03 9.99996902e-01 -4.27625727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.735898227 meters Centerline goodness [0,1] 0.9048091957908971 Centerline is valid? [False, False] Translation: X:101.26, Y:0.49, Z:-0.42 [[ 9.99992582e-01 3.43547429e-03 1.74175959e-03 1.01259678e+02] [-3.43589332e-03 9.99994069e-01 2.37643563e-04 4.90378211e-01] [-1.74093284e-03 -2.43626300e-04 9.99998455e-01 -4.24163465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.765898227 meters Centerline goodness [0,1] 0.9240048250904704 Centerline is valid? [False, False] Translation: X:101.26, Y:0.49, Z:-0.42 [[ 9.99991665e-01 3.64459583e-03 1.84056367e-03 1.01258956e+02] [-3.64611940e-03 9.99993012e-01 8.25102369e-04 4.87434685e-01] [-1.83754365e-03 -8.31806406e-04 9.99997966e-01 -4.23424064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.795898227 meters Centerline goodness [0,1] 0.9291610226887911 Centerline is valid? [False, False] Translation: X:101.26, Y:0.48, Z:-0.42 [[ 9.99990748e-01 3.87373430e-03 1.87044735e-03 1.01258343e+02] [-3.87660533e-03 9.99991310e-01 1.53376720e-03 4.83918413e-01] [-1.86448969e-03 -1.54100399e-03 9.99997074e-01 -4.22515411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.825898227 meters Centerline goodness [0,1] 0.9345487655105239 Centerline is valid? [False, False] Translation: X:101.26, Y:0.48, Z:-0.42 [[ 9.99997780e-01 -2.00960278e-04 2.09762006e-03 1.01257676e+02] [ 2.06478637e-04 9.99996518e-01 -2.63088649e-03 4.83667665e-01] [-2.09708405e-03 2.63131376e-03 9.99994339e-01 -4.22695021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.855898227 meters Centerline goodness [0,1] 0.9321866806502359 Centerline is valid? [False, False] Translation: X:101.28, Y:0.48, Z:-0.42 [[ 9.99992293e-01 -3.91948157e-03 2.29295431e-04 1.01277247e+02] [ 3.91870576e-03 9.99986905e-01 3.29134399e-03 4.80095335e-01] [-2.42192791e-04 -3.29042008e-03 9.99994557e-01 -4.18644460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.885898227 meters Centerline goodness [0,1] 0.9692698950937798 Centerline is valid? [False, True] Translation: X:101.28, Y:0.47, Z:-0.42 [[ 9.99972501e-01 -7.40781237e-03 3.48589386e-04 1.01276685e+02] [ 7.40751374e-03 9.99972202e-01 8.50326974e-04 4.71321467e-01] [-3.54878759e-04 -8.47721410e-04 9.99999578e-01 -4.18098123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.915898227 meters Centerline goodness [0,1] 0.9841918144495704 Centerline is valid? [True, True] Translation: X:101.31, Y:0.47, Z:-0.42 [[ 9.99964202e-01 -8.28624600e-03 1.71276864e-03 1.01306986e+02] [ 8.28604756e-03 9.99965663e-01 1.22921548e-04 4.65209925e-01] [-1.71372839e-03 -1.08725065e-04 9.99998526e-01 -4.15797744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.945898227 meters Centerline goodness [0,1] 0.9547696505404555 Centerline is valid? [True, True] Translation: X:101.34, Y:0.47, Z:-0.41 [[ 9.99963623e-01 -8.09420010e-03 2.68993205e-03 1.01335845e+02] [ 8.09370957e-03 9.99967227e-01 1.93191247e-04 4.71295656e-01] [-2.69140762e-03 -1.71412690e-04 9.99996363e-01 -4.13727921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.975898227 meters Centerline goodness [0,1] 0.9903384733508221 Centerline is valid? [True, True] Translation: X:101.37, Y:0.46, Z:-0.41 [[ 9.99976005e-01 -6.50586259e-03 2.37981951e-03 1.01366703e+02] [ 6.50547414e-03 9.99978825e-01 1.70930009e-04 4.58533866e-01] [-2.38088116e-03 -1.55444053e-04 9.99997154e-01 -4.13262199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.005898227 meters Centerline goodness [0,1] 0.8807615230460922 Centerline is valid? [True, False] Translation: X:101.37, Y:0.45, Z:-0.41 [[ 9.99997273e-01 -1.50541382e-03 1.78523693e-03 1.01368722e+02] [ 1.49471659e-03 9.99981013e-01 5.97832292e-03 4.51530389e-01] [-1.79420288e-03 -5.97563819e-03 9.99980536e-01 -4.13440708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.035898227 meters Centerline goodness [0,1] 0.8948204639339054 Centerline is valid? [False, False] Translation: X:101.37, Y:0.45, Z:-0.41 [[ 9.99997892e-01 -1.15605813e-03 1.69688746e-03 1.01369257e+02] [ 1.14552963e-03 9.99980170e-01 6.19250868e-03 4.51137457e-01] [-1.70401271e-03 -6.19055179e-03 9.99979386e-01 -4.13931483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.065898227 meters Centerline goodness [0,1] 0.8666638429445774 Centerline is valid? [False, False] Translation: X:101.37, Y:0.45, Z:-0.41 [[ 9.99997873e-01 -8.55408961e-04 1.87653580e-03 1.01368773e+02] [ 8.43378111e-04 9.99979147e-01 6.40265203e-03 4.50683369e-01] [-1.88197355e-03 -6.40105579e-03 9.99977742e-01 -4.14031657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.095898227 meters Centerline goodness [0,1] 0.7696600817151763 Centerline is valid? [False, False] Translation: X:101.39, Y:0.45, Z:-0.41 [[ 9.99992503e-01 1.81900964e-03 -3.41845573e-03 1.01386609e+02] [-1.81476549e-03 9.99997579e-01 1.24423234e-03 4.50790360e-01] [ 3.42071072e-03 -1.23801931e-03 9.99993383e-01 -4.08135964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.125898227 meters Centerline goodness [0,1] 0.5709972340111062 Centerline is valid? [False, False] Translation: X:101.39, Y:0.45, Z:-0.41 [[ 9.99992352e-01 2.10316430e-03 -3.29747352e-03 1.01385758e+02] [-2.09726398e-03 9.99996195e-01 1.79178245e-03 4.48333639e-01] [ 3.30122939e-03 -1.78485307e-03 9.99992958e-01 -4.07365333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.155898227 meters Centerline goodness [0,1] 0.7926544521340373 Centerline is valid? [False, False] Translation: X:101.39, Y:0.44, Z:-0.41 [[ 9.99992948e-01 -1.77416294e-03 -3.30998037e-03 1.01386143e+02] [ 1.76855898e-03 9.99996999e-01 -1.69521067e-03 4.44542093e-01] [ 3.31297801e-03 1.68934482e-03 9.99993085e-01 -4.07918672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.185898227 meters Centerline goodness [0,1] 0.7680361250026376 Centerline is valid? [False, False] Translation: X:101.39, Y:0.44, Z:-0.41 [[ 9.99991981e-01 -1.64893968e-03 -3.64963103e-03 1.01387363e+02] [ 1.64566263e-03 9.99998240e-01 -9.00733092e-04 4.40193903e-01] [ 3.65110987e-03 8.94719807e-04 9.99992934e-01 -4.08112596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.215898227 meters Centerline goodness [0,1] 0.8466243287017304 Centerline is valid? [False, False] Translation: X:101.39, Y:0.44, Z:-0.41 [[ 9.99991222e-01 -1.57050961e-03 -3.88449633e-03 1.01388084e+02] [ 1.56997477e-03 9.99998758e-01 -1.40731189e-04 4.35907839e-01] [ 3.88471252e-03 1.34631393e-04 9.99992445e-01 -4.08062598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.245898227 meters Centerline goodness [0,1] 0.8863866824404258 Centerline is valid? [False, False] Translation: X:101.39, Y:0.43, Z:-0.41 [[ 9.99984323e-01 -3.21130679e-03 -4.58704277e-03 1.01393097e+02] [ 3.20482554e-03 9.99993857e-01 -1.41959801e-03 4.33446531e-01] [ 4.59157336e-03 1.40487509e-03 9.99988472e-01 -4.11184761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.275898227 meters Centerline goodness [0,1] 0.9401822735787502 Centerline is valid? [False, False] Translation: X:101.39, Y:0.42, Z:-0.41 [[ 9.99979951e-01 -3.78458599e-03 -5.07680327e-03 1.01394487e+02] [ 3.78283057e-03 9.99992782e-01 -3.55330038e-04 4.24605235e-01] [ 5.07811140e-03 3.36118228e-04 9.99987050e-01 -4.10422700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.305898227 meters Centerline goodness [0,1] 0.9549658735727499 Centerline is valid? [False, True] Translation: X:101.39, Y:0.42, Z:-0.41 [[ 9.99954967e-01 -8.04999381e-03 -5.02608097e-03 1.01394707e+02] [ 8.02677381e-03 9.99957098e-01 -4.62310607e-03 4.24509324e-01] [ 5.06308132e-03 4.58255466e-03 9.99976682e-01 -4.10932146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.335898227 meters Centerline goodness [0,1] 0.9978710268037725 Centerline is valid? [True, True] Translation: X:101.43, Y:0.40, Z:-0.41 [[ 9.99915975e-01 -1.15150685e-02 -5.95365312e-03 1.01427090e+02] [ 1.15128007e-02 9.99933639e-01 -4.15037932e-04 4.04186059e-01] [ 5.95803722e-03 3.46459836e-04 9.99982191e-01 -4.09554176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.365898227 meters Centerline goodness [0,1] 0.9938687921520539 Centerline is valid? [True, True] Translation: X:101.46, Y:0.41, Z:-0.41 [[ 9.99867956e-01 -1.50970934e-02 -6.01227845e-03 1.01456459e+02] [ 1.50948449e-02 9.99885978e-01 -4.19196188e-04 4.08356465e-01] [ 6.01792156e-03 3.28386425e-04 9.99981838e-01 -4.10320649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.395898227 meters Centerline goodness [0,1] 0.9874540296311863 Centerline is valid? [True, True] Translation: X:101.49, Y:0.41, Z:-0.41 [[ 9.99813802e-01 -1.84359467e-02 -5.69895654e-03 1.01485897e+02] [ 1.84339801e-02 9.99830001e-01 -3.97427565e-04 4.13405583e-01] [ 5.70531467e-03 2.92299113e-04 9.99983682e-01 -4.09699451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.425898227 meters Centerline goodness [0,1] 0.9930821803633939 Centerline is valid? [True, True] Translation: X:101.52, Y:0.41, Z:-0.41 [[ 9.99763711e-01 -2.12158544e-02 -4.73380449e-03 1.01516005e+02] [ 2.12145286e-02 9.99774892e-01 -3.30122899e-04 4.12664765e-01] [ 4.73974271e-03 2.29619464e-04 9.99988741e-01 -4.08480206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.455898227 meters Centerline goodness [0,1] 0.9995338094128118 Centerline is valid? [True, True] Translation: X:101.55, Y:0.40, Z:-0.40 [[ 9.99663099e-01 -2.58214564e-02 -2.63456043e-03 1.01547297e+02] [ 2.58210617e-02 9.99666564e-01 -1.83721093e-04 3.99960941e-01] [ 2.63842592e-03 1.15632049e-04 9.99996513e-01 -4.04927911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.485898227 meters Centerline goodness [0,1] 0.9989956057752668 Centerline is valid? [True, True] Translation: X:101.57, Y:0.41, Z:-0.40 [[ 9.99622784e-01 -2.73563614e-02 -2.43307005e-03 1.01574863e+02] [ 2.73560292e-02 9.99625739e-01 -1.69697597e-04 4.12571248e-01] [ 2.43680176e-03 1.03074449e-04 9.99997026e-01 -4.04269782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.515898227 meters Centerline goodness [0,1] 0.9994372303395377 Centerline is valid? [True, True] Translation: X:101.60, Y:0.42, Z:-0.40 [[ 9.99592894e-01 -2.84173526e-02 -2.54967871e-03 1.01603431e+02] [ 2.84169908e-02 9.99596140e-01 -1.78019111e-04 4.16124019e-01] [ 2.55370783e-03 1.05492442e-04 9.99996734e-01 -4.03883367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.545898227 meters Centerline goodness [0,1] 0.999872185416356 Centerline is valid? [True, True] Translation: X:101.63, Y:0.41, Z:-0.40 [[ 9.99577795e-01 -2.89707581e-02 -2.21963920e-03 1.01632785e+02] [ 2.89704846e-02 9.99580255e-01 -1.55274070e-04 4.10574709e-01] [ 2.22320593e-03 9.09044897e-05 9.99997525e-01 -4.02892722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.575898227 meters Centerline goodness [0,1] 0.9995800436754577 Centerline is valid? [True, True] Translation: X:101.66, Y:0.42, Z:-0.40 [[ 9.99580919e-01 -2.88640955e-02 -2.20246348e-03 1.01660091e+02] [ 2.88638252e-02 9.99583341e-01 -1.54398181e-04 4.20732057e-01] [ 2.20600236e-03 9.07619545e-05 9.99997563e-01 -4.02600954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.605898227 meters Centerline goodness [0,1] 0.9994057598845476 Centerline is valid? [True, True] Translation: X:101.69, Y:0.43, Z:-0.40 [[ 9.99596329e-01 -2.83422128e-02 -1.97427860e-03 1.01686973e+02] [ 2.83419944e-02 9.99598275e-01 -1.38506428e-04 4.28366005e-01] [ 1.97741106e-03 8.24955239e-05 9.99998042e-01 -4.01797941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.635898227 meters Centerline goodness [0,1] 0.999766523750902 Centerline is valid? [True, True] Translation: X:101.71, Y:0.44, Z:-0.40 [[ 9.99619909e-01 -2.75029104e-02 -1.90465574e-03 1.01714564e+02] [ 2.75027053e-02 9.99621720e-01 -1.33801481e-04 4.38754534e-01] [ 1.90761517e-03 8.13674390e-05 9.99998177e-01 -4.01811348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.665898227 meters Centerline goodness [0,1] 0.999766523750902 Centerline is valid? [True, True] Translation: X:101.74, Y:0.44, Z:-0.40 [[ 9.99614854e-01 -2.76860154e-02 -1.90464414e-03 1.01742032e+02] [ 2.76858103e-02 9.99616666e-01 -1.33966296e-04 4.40852916e-01] [ 1.90762302e-03 8.11830830e-05 9.99998177e-01 -4.01758391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.695898227 meters Centerline goodness [0,1] 0.999410687601288 Centerline is valid? [True, True] Translation: X:101.77, Y:0.45, Z:-0.40 [[ 9.99605058e-01 -2.79994406e-02 -2.39980669e-03 1.01768667e+02] [ 2.79991147e-02 9.99607934e-01 -1.69266943e-04 4.52288259e-01] [ 2.40360519e-03 1.02007629e-04 9.99997106e-01 -4.02836965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.725898227 meters Centerline goodness [0,1] 0.9995781569677923 Centerline is valid? [True, True] Translation: X:101.80, Y:0.45, Z:-0.40 [[ 9.99567526e-01 -2.92991753e-02 -2.51372506e-03 1.01798138e+02] [ 2.92988214e-02 9.99570682e-01 -1.77506456e-04 4.52654803e-01] [ 2.51784667e-03 1.03780507e-04 9.99996825e-01 -4.03991419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.755898227 meters Centerline goodness [0,1] 0.999131595111516 Centerline is valid? [True, True] Translation: X:101.83, Y:0.46, Z:-0.41 [[ 9.99493999e-01 -3.16806232e-02 -2.84330868e-03 1.01826974e+02] [ 3.16801790e-02 9.99498037e-01 -2.01128106e-04 4.59239063e-01] [ 2.84825331e-03 1.10949807e-04 9.99995938e-01 -4.05098141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.785898227 meters Centerline goodness [0,1] 0.9993910761154856 Centerline is valid? [True, True] Translation: X:101.86, Y:0.46, Z:-0.41 [[ 9.99379752e-01 -3.50043848e-02 -3.84758446e-03 1.01856496e+02] [ 3.50035957e-02 9.99387149e-01 -2.72271586e-04 4.59559406e-01] [ 3.85475717e-03 1.37423419e-04 9.99992561e-01 -4.06480066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.815898227 meters Centerline goodness [0,1] 0.9999357271402862 Centerline is valid? [True, True] Translation: X:101.89, Y:0.45, Z:-0.41 [[ 9.99053020e-01 -4.31171819e-02 -5.82845811e-03 1.01886857e+02] [ 4.31155083e-02 9.99070009e-01 -4.12539673e-04 4.54775979e-01] [ 5.84082525e-03 1.60852072e-04 9.99982929e-01 -4.09124595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.845898227 meters Centerline goodness [0,1] 0.9998313410494803 Centerline is valid? [True, True] Translation: X:101.92, Y:0.46, Z:-0.41 [[ 9.98883226e-01 -4.68644246e-02 -6.00228083e-03 1.01915763e+02] [ 4.68627167e-02 9.98901249e-01 -4.24952755e-04 4.58165112e-01] [ 6.01560098e-03 1.43194993e-04 9.99981896e-01 -4.09869744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.875898227 meters Centerline goodness [0,1] 0.999872136387853 Centerline is valid? [True, True] Translation: X:101.94, Y:0.46, Z:-0.41 [[ 9.98738946e-01 -4.99303075e-02 -5.24241166e-03 1.01944843e+02] [ 4.99290458e-02 9.98752698e-01 -3.71349856e-04 4.56554771e-01] [ 5.25441441e-03 1.09132952e-04 9.99986190e-01 -4.07929216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.905898227 meters Centerline goodness [0,1] 0.9999156207151144 Centerline is valid? [True, True] Translation: X:101.97, Y:0.46, Z:-0.41 [[ 9.98628769e-01 -5.21402030e-02 -4.68844413e-03 1.01972738e+02] [ 5.21392167e-02 9.98639771e-01 -3.32425193e-04 4.60846158e-01] [ 4.69939949e-03 8.75175562e-05 9.99988954e-01 -4.06635173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.935898227 meters Centerline goodness [0,1] 0.9998520585002959 Centerline is valid? [True, True] Translation: X:102.00, Y:0.46, Z:-0.40 [[ 9.98524409e-01 -5.41402530e-02 -4.22352010e-03 1.02001560e+02] [ 5.41394691e-02 9.98533338e-01 -2.99806437e-04 4.64166346e-01] [ 4.23355722e-03 7.07049090e-05 9.99991036e-01 -4.04875565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.965898227 meters Centerline goodness [0,1] 0.9999363543788188 Centerline is valid? [True, True] Translation: X:102.03, Y:0.47, Z:-0.40 [[ 9.98498821e-01 -5.45821282e-02 -4.57111576e-03 1.02029545e+02] [ 5.45812113e-02 9.98509282e-01 -3.25167209e-04 4.68615077e-01] [ 4.58204983e-03 7.51820395e-05 9.99989500e-01 -4.04130209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.995898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.06, Y:0.47, Z:-0.40 [[ 9.98469633e-01 -5.51224595e-02 -4.46177330e-03 1.02056952e+02] [ 5.51215891e-02 9.98479599e-01 -3.17898349e-04 4.73240775e-01] [ 4.47251296e-03 7.14718132e-05 9.99989996e-01 -4.04303535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.025898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.09, Y:0.48, Z:-0.41 [[ 9.98376346e-01 -5.67647824e-02 -4.73617686e-03 1.02085100e+02] [ 5.67638174e-02 9.98387577e-01 -3.38031889e-04 4.76422288e-01] [ 4.74772844e-03 6.86395633e-05 9.99988727e-01 -4.05181596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.055898227 meters Centerline goodness [0,1] 0.9997894914112496 Centerline is valid? [True, True] Translation: X:102.11, Y:0.48, Z:-0.41 [[ 9.98224999e-01 -5.93689135e-02 -4.71003023e-03 1.02114022e+02] [ 5.93679845e-02 9.98236109e-01 -3.36935474e-04 4.76759401e-01] [ 4.72172574e-03 5.67124117e-05 9.99988851e-01 -4.05572368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:0.47, Z:-0.40 [[ 9.98012418e-01 -6.28534015e-02 -4.54576693e-03 1.02142705e+02] [ 6.28525690e-02 9.98022769e-01 -3.25918680e-04 4.74958302e-01] [ 4.55726400e-03 3.95577597e-05 9.99989615e-01 -4.04463569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.115898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:0.47, Z:-0.40 [[ 9.97536608e-01 -7.01211218e-02 -1.93497472e-03 1.02170675e+02] [ 7.01209844e-02 9.97538485e-01 -1.38867096e-04 4.68497048e-01] [ 1.93994927e-03 2.84267926e-06 9.99998118e-01 -4.00164422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.20, Y:0.47, Z:-0.40 [[ 9.97312646e-01 -7.32599797e-02 -6.79290149e-04 1.02197939e+02] [ 7.32599636e-02 9.97312877e-01 -4.86907014e-05 4.66615769e-01] [ 6.81031893e-04 -1.20491928e-06 9.99999768e-01 -3.98275179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.175898227 meters Centerline goodness [0,1] 0.9998740818467996 Centerline is valid? [True, True] Translation: X:102.23, Y:0.47, Z:-0.40 [[ 9.97124903e-01 -7.57748971e-02 -3.03886853e-04 1.02227339e+02] [ 7.57748940e-02 9.97124950e-01 -2.15922250e-05 4.66480801e-01] [ 3.04649311e-04 -1.49684881e-06 9.99999954e-01 -3.98185174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.205898227 meters Centerline goodness [0,1] 0.9999156954075074 Centerline is valid? [True, True] Translation: X:102.26, Y:0.47, Z:-0.40 [[ 9.97035057e-01 -7.69426081e-02 -9.64641002e-04 1.02255771e+02] [ 7.69425770e-02 9.97035523e-01 -6.93423739e-05 4.67929544e-01] [ 9.67116730e-04 -5.08518689e-06 9.99999532e-01 -3.98439567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.235898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.28, Y:0.47, Z:-0.40 [[ 9.97004805e-01 -7.72967995e-02 -2.57381296e-03 1.02282224e+02] [ 7.72965769e-02 9.97008127e-01 -1.86003580e-04 4.70868295e-01] [ 2.58048992e-03 -1.35004683e-05 9.99996670e-01 -4.01303027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.31, Y:0.48, Z:-0.40 [[ 9.97017792e-01 -7.71239924e-02 -2.72253240e-03 1.02310415e+02] [ 7.71237418e-02 9.97021509e-01 -1.97073012e-04 4.75712366e-01] [ 2.72962242e-03 -1.34865861e-05 9.99996274e-01 -4.01033537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.295898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.34, Y:0.48, Z:-0.40 [[ 9.97082507e-01 -7.62978228e-02 -2.26187005e-03 1.02337644e+02] [ 7.62976469e-02 9.97085073e-01 -1.64066460e-04 4.78849169e-01] [ 2.26779477e-03 -8.98756533e-06 9.99997429e-01 -4.00324695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.325898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.37, Y:0.48, Z:-0.40 [[ 9.97129291e-01 -7.56959334e-02 -1.81729769e-03 1.02365439e+02] [ 7.56958188e-02 9.97130947e-01 -1.31895752e-04 4.83221857e-01] [ 1.82206774e-03 -6.04471940e-06 9.99998340e-01 -3.99456091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.355898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.39, Y:0.49, Z:-0.40 [[ 9.97152696e-01 -7.53834023e-02 -1.96053392e-03 1.02393031e+02] [ 7.53832675e-02 9.97154623e-01 -1.42680452e-04 4.87775580e-01] [ 1.96571120e-03 -5.51725601e-06 9.99998068e-01 -3.99446713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.42, Y:0.49, Z:-0.40 [[ 9.97150467e-01 -7.53984737e-02 -2.45267431e-03 1.02419550e+02] [ 7.53982613e-02 9.97153484e-01 -1.79048127e-04 4.90223251e-01] [ 2.45919269e-03 -6.38945556e-06 9.99996976e-01 -4.00718349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41589822699999 meters Centerline goodness [0,1] 0.9999363921635146 Centerline is valid? [True, True] Translation: X:102.45, Y:0.49, Z:-0.40 [[ 9.96992060e-01 -7.74134290e-02 -3.74088670e-03 1.02448111e+02] [ 7.74129466e-02 9.96999078e-01 -2.73788623e-04 4.91750248e-01] [ 3.75085550e-03 -1.66279796e-05 9.99992965e-01 -4.03906972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.445898227 meters Centerline goodness [0,1] 0.999894911620673 Centerline is valid? [True, True] Translation: X:102.48, Y:0.49, Z:-0.40 [[ 9.96907944e-01 -7.85295064e-02 -2.76914820e-03 1.02475617e+02] [ 7.85292454e-02 9.96911790e-01 -2.03012798e-04 4.92294292e-01] [ 2.77653898e-03 -1.50740471e-05 9.99996145e-01 -4.02070500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.475898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.50, Y:0.50, Z:-0.40 [[ 9.96885289e-01 -7.88456946e-02 -1.75389475e-03 1.02503220e+02] [ 7.88455902e-02 9.96886832e-01 -1.28707964e-04 4.95619124e-01] [ 1.75858265e-03 -9.97979104e-06 9.99998454e-01 -3.99899165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.53, Y:0.50, Z:-0.40 [[ 9.96945738e-01 -7.80709144e-02 -2.03168026e-03 1.02531169e+02] [ 7.80707718e-02 9.96947808e-01 -1.49525428e-04 5.03992186e-01] [ 2.03715277e-03 -9.54610833e-06 9.99997925e-01 -4.00007483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.535898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.56, Y:0.51, Z:-0.40 [[ 9.96998683e-01 -7.73551570e-02 -3.13142654e-03 1.02558549e+02] [ 7.73548123e-02 9.97003601e-01 -2.31243339e-04 5.10943162e-01] [ 3.13993140e-03 -1.16816080e-05 9.99995070e-01 -4.01749450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.59, Y:0.52, Z:-0.40 [[ 9.97036116e-01 -7.68116445e-02 -4.35372721e-03 1.02586538e+02] [ 7.68109686e-02 9.97045621e-01 -3.22471974e-04 5.17378022e-01] [ 4.36563426e-03 -1.28978002e-05 9.99990470e-01 -4.04175234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.595898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.61, Y:0.52, Z:-0.41 [[ 9.97017167e-01 -7.70360801e-02 -4.71277028e-03 1.02613964e+02] [ 7.70352864e-02 9.97028306e-01 -3.49985477e-04 5.22355677e-01] [ 4.72572688e-03 -1.41080796e-05 9.99988834e-01 -4.05090334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.64, Y:0.53, Z:-0.40 [[ 9.96923162e-01 -7.82864530e-02 -3.92942662e-03 1.02641994e+02] [ 7.82859082e-02 9.96930906e-01 -2.92496557e-04 5.26232924e-01] [ 3.94026536e-03 -1.60221398e-05 9.99992237e-01 -4.04470900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.655898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.67, Y:0.53, Z:-0.40 [[ 9.96781430e-01 -8.01188455e-02 -2.78425479e-03 1.02670006e+02] [ 8.01185782e-02 9.96785318e-01 -2.07562984e-04 5.28140673e-01] [ 2.79193401e-03 -1.61756073e-05 9.99996102e-01 -4.02405948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.685898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.70, Y:0.53, Z:-0.40 [[ 9.96322089e-01 -8.56662356e-02 -1.89514028e-03 1.02698399e+02] [ 8.56661217e-02 9.96323891e-01 -1.41353865e-04 5.27474432e-01] [ 1.90028279e-03 -2.15153400e-05 9.99998194e-01 -4.00970858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.715898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:0.53, Z:-0.40 [[ 9.96019150e-01 -8.90894831e-02 -2.98601920e-03 1.02725919e+02] [ 8.90892140e-02 9.96023625e-01 -2.23295031e-04 5.26423162e-01] [ 2.99403891e-03 -4.36159765e-05 9.99995517e-01 -4.03038100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.745898227 meters Centerline goodness [0,1] 0.9999789433787455 Centerline is valid? [True, True] Translation: X:102.76, Y:0.52, Z:-0.41 [[ 9.95672101e-01 -9.28364903e-02 -4.29571321e-03 1.02755034e+02] [ 9.28359668e-02 9.95681365e-01 -3.21539682e-04 5.24326310e-01] [ 4.30701221e-03 -7.86485979e-05 9.99990722e-01 -4.05837800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.775898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.78, Y:0.52, Z:-0.41 [[ 9.95281856e-01 -9.69027484e-02 -4.88713867e-03 1.02784822e+02] [ 9.69021190e-02 9.95293849e-01 -3.65980752e-04 5.24081381e-01] [ 4.89960359e-03 -1.09320091e-04 9.99987991e-01 -4.06929010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.805898227 meters Centerline goodness [0,1] 0.9999577292133407 Centerline is valid? [True, True] Translation: X:102.81, Y:0.52, Z:-0.41 [[ 9.94949683e-01 -1.00264822e-01 -4.70036312e-03 1.02814529e+02] [ 1.00264277e-01 9.94960779e-01 -3.52105483e-04 5.23204413e-01] [ 4.71198075e-03 -1.20951270e-04 9.99988891e-01 -4.06323922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.835898227 meters Centerline goodness [0,1] 0.9997664593108426 Centerline is valid? [True, True] Translation: X:102.84, Y:0.52, Z:-0.41 [[ 9.94667648e-01 -1.03048412e-01 -4.15881634e-03 1.02844000e+02] [ 1.03048009e-01 9.94676335e-01 -3.11634023e-04 5.23547388e-01] [ 4.16878958e-03 -1.18585463e-04 9.99991304e-01 -4.05448236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.865898227 meters Centerline goodness [0,1] 0.999790220059158 Centerline is valid? [True, True] Translation: X:102.87, Y:0.52, Z:-0.40 [[ 9.94353443e-01 -1.06069082e-01 -3.25272365e-03 1.02872802e+02] [ 1.06068852e-01 9.94358758e-01 -2.43849890e-04 5.18161624e-01] [ 3.26023918e-03 -1.02539684e-04 9.99994680e-01 -4.04011327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.895898227 meters Centerline goodness [0,1] 0.9999154083661126 Centerline is valid? [True, True] Translation: X:102.90, Y:0.52, Z:-0.40 [[ 9.94247164e-01 -1.07063508e-01 -3.15956955e-03 1.02900799e+02] [ 1.07063295e-01 9.94252179e-01 -2.37048041e-04 5.23559043e-01] [ 3.16678810e-03 -1.02589583e-04 9.99994980e-01 -4.03351347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.925898227 meters Centerline goodness [0,1] 0.9999578530335279 Centerline is valid? [True, True] Translation: X:102.93, Y:0.52, Z:-0.40 [[ 9.94124796e-01 -1.08196608e-01 -3.06320461e-03 1.02928626e+02] [ 1.08196413e-01 9.94129510e-01 -2.30001464e-04 5.20778614e-01] [ 3.07010748e-03 -1.02777591e-04 9.99995282e-01 -4.03217113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.955898227 meters Centerline goodness [0,1] 0.9994337485843715 Centerline is valid? [True, True] Translation: X:102.96, Y:0.52, Z:-0.40 [[ 9.93954931e-01 -1.09740277e-01 -3.26597938e-03 1.02956263e+02] [ 1.09740062e-01 9.93960290e-01 -2.45488344e-04 5.18016385e-01] [ 3.27319377e-03 -1.14404432e-04 9.99994637e-01 -4.03767457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.985898227 meters Centerline goodness [0,1] 0.9999367675575416 Centerline is valid? [True, True] Translation: X:102.98, Y:0.53, Z:-0.40 [[ 9.93928363e-01 -1.09980301e-01 -3.27745178e-03 1.02983838e+02] [ 1.09980084e-01 9.93933760e-01 -2.46806599e-04 5.26350363e-01] [ 3.28471384e-03 -1.15146344e-04 9.99994599e-01 -4.02244193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.015898227 meters Centerline goodness [0,1] 0.9997283233370253 Centerline is valid? [True, True] Translation: X:103.01, Y:0.53, Z:-0.40 [[ 9.93927056e-01 -1.10008532e-01 -2.67015401e-03 1.03010518e+02] [ 1.10008388e-01 9.93930638e-01 -2.01435596e-04 5.27030636e-01] [ 2.67610752e-03 -9.35270485e-05 9.99996415e-01 -4.00884625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.045898227 meters Centerline goodness [0,1] 0.9997877668831444 Centerline is valid? [True, True] Translation: X:103.04, Y:0.53, Z:-0.40 [[ 9.93885332e-01 -1.10400900e-01 -1.89413965e-03 1.03038900e+02] [ 1.10400828e-01 9.93887135e-01 -1.43002510e-04 5.34026626e-01] [ 1.89834864e-03 -6.69864892e-05 9.99998196e-01 -3.99329887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.075898227 meters Centerline goodness [0,1] 0.9997287994158757 Centerline is valid? [True, True] Translation: X:103.07, Y:0.54, Z:-0.40 [[ 9.93880320e-01 -1.10453450e-01 -1.39490777e-03 1.03065924e+02] [ 1.10453411e-01 9.93881297e-01 -1.05503171e-04 5.37593279e-01] [ 1.39802594e-03 -4.92147969e-05 9.99999022e-01 -3.99291115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.105898227 meters Centerline goodness [0,1] 0.9995115632100915 Centerline is valid? [True, True] Translation: X:103.09, Y:0.54, Z:-0.40 [[ 9.93706665e-01 -1.12004325e-01 -1.44728400e-03 1.03094490e+02] [ 1.12004284e-01 9.93707718e-01 -1.09552293e-04 5.41697549e-01] [ 1.45044761e-03 -5.32391644e-05 9.99998947e-01 -4.00009342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.135898227 meters Centerline goodness [0,1] 0.9995586102528533 Centerline is valid? [True, True] Translation: X:103.12, Y:0.54, Z:-0.40 [[ 9.93618910e-01 -1.12771171e-01 -2.03077705e-03 1.03121700e+02] [ 1.12771091e-01 9.93620983e-01 -1.54171470e-04 5.44584346e-01] [ 2.03520879e-03 -7.58252558e-05 9.99997926e-01 -4.01665723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.16589822699999 meters Centerline goodness [0,1] 0.9995395466627598 Centerline is valid? [True, True] Translation: X:103.15, Y:0.55, Z:-0.40 [[ 9.93513298e-01 -1.13693255e-01 -2.27377012e-03 1.03150500e+02] [ 1.13693156e-01 9.93515896e-01 -1.72895062e-04 5.47845243e-01] [ 2.27868376e-03 -8.67385585e-05 9.99997400e-01 -4.02650651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.195898227 meters Centerline goodness [0,1] 0.9993690055527511 Centerline is valid? [True, True] Translation: X:103.18, Y:0.55, Z:-0.40 [[ 9.93431871e-01 -1.14401252e-01 -2.33926396e-03 1.03178542e+02] [ 1.14401149e-01 9.93434621e-01 -1.78217226e-04 5.52074170e-01] [ 2.34429408e-03 -9.05678132e-05 9.99997248e-01 -4.03036834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.225898227 meters Centerline goodness [0,1] 0.9993673155197503 Centerline is valid? [True, True] Translation: X:103.21, Y:0.56, Z:-0.40 [[ 9.93384772e-01 -1.14815656e-01 -2.01497924e-03 1.03206773e+02] [ 1.14815580e-01 9.93386812e-01 -1.53622241e-04 5.56632082e-01] [ 2.01929205e-03 -7.87450157e-05 9.99997958e-01 -4.02081752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.255898227 meters Centerline goodness [0,1] 0.9997050147492625 Centerline is valid? [True, True] Translation: X:103.23, Y:0.57, Z:-0.40 [[ 9.93334171e-01 -1.15267552e-01 -7.84820771e-04 1.03234957e+02] [ 1.15267540e-01 9.93334481e-01 -5.97785633e-05 5.67810018e-01] [ 7.86480062e-04 -3.10842701e-05 9.99999690e-01 -4.00667421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.285898227 meters Centerline goodness [0,1] 0.9993671153115903 Centerline is valid? [True, True] Translation: X:103.26, Y:0.57, Z:-0.40 [[ 9.93271625e-01 -1.15804009e-01 -9.54673357e-04 1.03262116e+02] [ 1.15803992e-01 9.93272083e-01 -7.30096187e-05 5.71988569e-01] [ 9.56705200e-04 -3.80366030e-05 9.99999542e-01 -4.01392633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.315898227 meters Centerline goodness [0,1] 0.9983227808293849 Centerline is valid? [True, True] Translation: X:103.29, Y:0.57, Z:-0.40 [[ 9.93219905e-01 -1.16243416e-01 -1.29919966e-03 1.03290232e+02] [ 1.16243385e-01 9.93220754e-01 -9.95082267e-05 5.70392410e-01] [ 1.30195924e-03 -5.21898151e-05 9.99999151e-01 -4.02000956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.345898227 meters Centerline goodness [0,1] 0.999553647338888 Centerline is valid? [True, True] Translation: X:103.32, Y:0.58, Z:-0.40 [[ 9.93067258e-01 -1.17528779e-01 -2.09918439e-03 1.03317894e+02] [ 1.17528701e-01 9.93069473e-01 -1.60975033e-04 5.79252020e-01] [ 2.10355514e-03 -8.68553795e-05 9.99997784e-01 -4.04036001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.375898227 meters Centerline goodness [0,1] 0.9994869053981827 Centerline is valid? [True, True] Translation: X:103.35, Y:0.58, Z:-0.41 [[ 9.92869609e-01 -1.19165641e-01 -3.08056082e-03 1.03346733e+02] [ 1.19165480e-01 9.92874379e-01 -2.36441231e-04 5.83282015e-01] [ 3.08678558e-03 -1.32341195e-04 9.99995227e-01 -4.05981043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.405898227 meters Centerline goodness [0,1] 0.9968288636411365 Centerline is valid? [True, True] Translation: X:103.38, Y:0.58, Z:-0.41 [[ 9.92607046e-01 -1.21316049e-01 -3.69721205e-03 1.03375859e+02] [ 1.21315832e-01 9.92613917e-01 -2.83917944e-04 5.79746983e-01] [ 3.70434794e-03 -1.66711403e-04 9.99993125e-01 -4.07384405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.435898227 meters Centerline goodness [0,1] 0.9891711173724715 Centerline is valid? [True, True] Translation: X:103.41, Y:0.58, Z:-0.41 [[ 9.92055231e-01 -1.25737629e-01 -4.05795172e-03 1.03406253e+02] [ 1.25737403e-01 9.92063510e-01 -3.11714107e-04 5.78160141e-01] [ 4.06494002e-03 -2.00998700e-04 9.99991718e-01 -4.07878267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.465898227 meters Centerline goodness [0,1] 0.9766017654263631 Centerline is valid? [True, True] Translation: X:103.43, Y:0.58, Z:-0.41 [[ 9.91845135e-01 -1.27368499e-01 -4.52702628e-03 1.03434868e+02] [ 1.27368235e-01 9.91855439e-01 -3.47856395e-04 5.77564496e-01] [ 4.53446158e-03 -2.31579673e-04 9.99989692e-01 -4.08783941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.495898227 meters Centerline goodness [0,1] 0.965411705517357 Centerline is valid? [True, True] Translation: X:103.46, Y:0.58, Z:-0.41 [[ 9.91718261e-01 -1.28338912e-01 -4.90051240e-03 1.03462210e+02] [ 1.28338612e-01 9.91730336e-01 -3.76929889e-04 5.77345845e-01] [ 4.90836158e-03 -2.55116706e-04 9.99987921e-01 -4.09186508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.525898227 meters Centerline goodness [0,1] 0.968125394487692 Centerline is valid? [True, True] Translation: X:103.49, Y:0.58, Z:-0.41 [[ 9.91623359e-01 -1.29063627e-01 -5.06897704e-03 1.03490400e+02] [ 1.29063314e-01 9.91636278e-01 -3.90271436e-04 5.80685194e-01] [ 5.07695137e-03 -2.67216701e-04 9.99987076e-01 -4.09271831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.555898227 meters Centerline goodness [0,1] 0.968125394487692 Centerline is valid? [True, True] Translation: X:103.52, Y:0.58, Z:-0.41 [[ 9.91599576e-01 -1.29246226e-01 -5.06892378e-03 1.03517865e+02] [ 1.29245911e-01 9.91612496e-01 -3.90962310e-04 5.82990853e-01] [ 5.07693856e-03 -2.67459611e-04 9.99987076e-01 -4.09218836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.585898227 meters Centerline goodness [0,1] 0.9440101723886353 Centerline is valid? [True, False] Translation: X:103.52, Y:0.58, Z:-0.41 [[ 9.92098719e-01 -1.25324276e-01 -5.82726010e-03 1.03518447e+02] [ 1.25350570e-01 9.92102804e-01 4.38870841e-03 5.78933189e-01] [ 5.23122938e-03 -5.08448237e-03 9.99973391e-01 -4.08686944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.615898227 meters Centerline goodness [0,1] 0.9278545729975384 Centerline is valid? [False, False] Translation: X:103.52, Y:0.58, Z:-0.41 [[ 9.92097864e-01 -1.25330846e-01 -5.83159965e-03 1.03518296e+02] [ 1.25358051e-01 9.92101091e-01 4.55888720e-03 5.77880256e-01] [ 5.21416719e-03 -5.25390023e-03 9.99972604e-01 -4.08349004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.645898227 meters Centerline goodness [0,1] 0.9046435360223926 Centerline is valid? [False, False] Translation: X:103.52, Y:0.57, Z:-0.41 [[ 9.92591348e-01 -1.21330067e-01 -6.43661259e-03 1.03518787e+02] [ 1.21387597e-01 9.92560096e-01 9.46082165e-03 5.73440498e-01] [ 5.24084269e-03 -1.01720547e-02 9.99934529e-01 -4.08278401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.675898227 meters Centerline goodness [0,1] 0.9082455442226737 Centerline is valid? [False, False] Translation: X:103.52, Y:0.57, Z:-0.41 [[ 9.92605236e-01 -1.21214674e-01 -6.46903727e-03 1.03518884e+02] [ 1.21273613e-01 9.92572060e-01 9.66523677e-03 5.72552156e-01] [ 5.24941713e-03 -1.03782881e-02 9.99932365e-01 -4.08234641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.705898227 meters Centerline goodness [0,1] 0.9706674522346603 Centerline is valid? [False, True] Translation: X:103.52, Y:0.57, Z:-0.41 [[ 9.92634382e-01 -1.20978995e-01 -6.40830256e-03 1.03518180e+02] [ 1.21038763e-01 9.92597957e-01 9.94554491e-03 5.71520680e-01] [ 5.15766600e-03 -1.06479428e-02 9.99930007e-01 -4.07374218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.735898227 meters Centerline goodness [0,1] 0.9737204354899262 Centerline is valid? [True, True] Translation: X:103.55, Y:0.58, Z:-0.41 [[ 9.92826206e-01 -1.19446768e-01 -5.34739763e-03 1.03546965e+02] [ 1.19446521e-01 9.92840568e-01 -3.66730194e-04 5.77621866e-01] [ 5.35291804e-03 -2.74628696e-04 9.99985635e-01 -4.07782036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.765898227 meters Centerline goodness [0,1] 0.9931899414165768 Centerline is valid? [True, True] Translation: X:103.58, Y:0.59, Z:-0.41 [[ 9.92898789e-01 -1.18829568e-01 -5.61511819e-03 1.03575096e+02] [ 1.18829283e-01 9.92914625e-01 -3.85417123e-04 5.86358295e-01] [ 5.62113192e-03 -2.84560276e-04 9.99984161e-01 -4.08287396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.795898227 meters Centerline goodness [0,1] 0.9955710017165017 Centerline is valid? [True, True] Translation: X:103.60, Y:0.59, Z:-0.41 [[ 9.93056701e-01 -1.17449439e-01 -6.63466437e-03 1.03603953e+02] [ 1.17449005e-01 9.93078810e-01 -4.56359556e-04 5.90514958e-01] [ 6.64234378e-03 -3.26043815e-04 9.99977886e-01 -4.09234814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.825898227 meters Centerline goodness [0,1] 0.9697154386112395 Centerline is valid? [True, True] Translation: X:103.63, Y:0.58, Z:-0.41 [[ 9.93167238e-01 -1.16444638e-01 -7.71254100e-03 1.03632139e+02] [ 1.16444017e-01 9.93197115e-01 -5.30939985e-04 5.83727934e-01] [ 7.72189859e-03 -3.70767060e-04 9.99970117e-01 -4.11924845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.855898227 meters Centerline goodness [0,1] 0.9932964638846992 Centerline is valid? [True, True] Translation: X:103.66, Y:0.59, Z:-0.41 [[ 9.93215073e-01 -1.16014797e-01 -8.02406750e-03 1.03660563e+02] [ 1.16014105e-01 9.93247412e-01 -5.53250391e-04 5.93201770e-01] [ 8.03406951e-03 -3.81408384e-04 9.99967654e-01 -4.11983110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.885898227 meters Centerline goodness [0,1] 0.9953992908998818 Centerline is valid? [True, True] Translation: X:103.69, Y:0.60, Z:-0.41 [[ 9.93244318e-01 -1.15832680e-01 -6.96533976e-03 1.03689453e+02] [ 1.15832147e-01 9.93268686e-01 -4.81260127e-04 5.99804477e-01] [ 6.97419952e-03 -3.28801371e-04 9.99975626e-01 -4.08860810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91589822699999 meters Centerline goodness [0,1] 0.9961119255529352 Centerline is valid? [True, True] Translation: X:103.72, Y:0.60, Z:-0.41 [[ 9.93239351e-01 -1.15923135e-01 -6.11711874e-03 1.03716944e+02] [ 1.15922720e-01 9.93258146e-01 -4.23572561e-04 6.04352403e-01] [ 6.12497987e-03 -2.88404105e-04 9.99981201e-01 -4.06893450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.945898227 meters Centerline goodness [0,1] 0.9957901417389465 Centerline is valid? [True, True] Translation: X:103.74, Y:0.61, Z:-0.41 [[ 9.93248743e-01 -1.15858460e-01 -5.80953829e-03 1.03744417e+02] [ 1.15858080e-01 9.93265696e-01 -4.03131129e-04 6.08038608e-01] [ 5.81712124e-03 -2.72672463e-04 9.99983043e-01 -4.05924089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.975898227 meters Centerline goodness [0,1] 0.9952141004828066 Centerline is valid? [True, True] Translation: X:103.77, Y:0.61, Z:-0.41 [[ 9.93249341e-01 -1.15847754e-01 -5.91984260e-03 1.03772616e+02] [ 1.15847356e-01 9.93266943e-01 -4.11304277e-04 6.12853851e-01] [ 5.92763265e-03 -2.77270412e-04 9.99982393e-01 -4.05491153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.005898227 meters Centerline goodness [0,1] 0.9951539519627552 Centerline is valid? [True, True] Translation: X:103.80, Y:0.62, Z:-0.41 [[ 9.93318554e-01 -1.15227213e-01 -6.39841756e-03 1.03799978e+02] [ 1.15226729e-01 9.93339118e-01 -4.45429014e-04 6.21281394e-01] [ 6.40712400e-03 -2.94815821e-04 9.99979431e-01 -4.06133060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.035898227 meters Centerline goodness [0,1] 0.994957103996652 Centerline is valid? [True, True] Translation: X:103.83, Y:0.63, Z:-0.41 [[ 9.93286383e-01 -1.15518261e-01 -6.13936578e-03 1.03827455e+02] [ 1.15517817e-01 9.93305316e-01 -4.27970185e-04 6.26208020e-01] [ 6.14770304e-03 -2.84109178e-04 9.99981062e-01 -4.06026137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.065898227 meters Centerline goodness [0,1] 0.992455851982973 Centerline is valid? [True, True] Translation: X:103.86, Y:0.63, Z:-0.40 [[ 9.93201104e-01 -1.16270381e-01 -5.72416950e-03 1.03855658e+02] [ 1.16270003e-01 9.93217563e-01 -3.99841900e-04 6.29711880e-01] [ 5.73183544e-03 -2.68425788e-04 9.99983537e-01 -4.04932630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.095898227 meters Centerline goodness [0,1] 0.9825215860508005 Centerline is valid? [True, True] Translation: X:103.88, Y:0.63, Z:-0.40 [[ 9.93032740e-01 -1.17713458e-01 -5.43308197e-03 1.03884007e+02] [ 1.17713138e-01 9.93047568e-01 -3.79793656e-04 6.31146795e-01] [ 5.44001567e-03 -2.62397592e-04 9.99985169e-01 -4.03927808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.125898227 meters Centerline goodness [0,1] 0.9630960637202363 Centerline is valid? [True, True] Translation: X:103.91, Y:0.63, Z:-0.40 [[ 9.92752312e-01 -1.20066930e-01 -5.17494449e-03 1.03914038e+02] [ 1.20066670e-01 9.92765765e-01 -3.61947001e-04 6.32134504e-01] [ 5.18096559e-03 -2.62014633e-04 9.99986544e-01 -4.03226932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.155898227 meters Centerline goodness [0,1] 0.9155091865166656 Centerline is valid? [True, False] Translation: X:103.91, Y:0.63, Z:-0.40 [[ 9.93174812e-01 -1.16502344e-01 -5.56753886e-03 1.03913869e+02] [ 1.16526487e-01 9.93178586e-01 4.22789385e-03 6.28444718e-01] [ 5.03700083e-03 -4.84780342e-03 9.99975563e-01 -4.02975324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.185898227 meters Centerline goodness [0,1] 0.824139665506979 Centerline is valid? [False, False] Translation: X:103.91, Y:0.63, Z:-0.40 [[ 9.93107622e-01 -1.17070188e-01 -5.64118794e-03 1.03914360e+02] [ 1.17094440e-01 9.93111992e-01 4.17891439e-03 6.27272995e-01] [ 5.11310510e-03 -4.81066347e-03 9.99975357e-01 -4.03110213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.215898227 meters Centerline goodness [0,1] 0.7873428914292933 Centerline is valid? [False, False] Translation: X:103.91, Y:0.63, Z:-0.40 [[ 9.93100153e-01 -1.17131575e-01 -5.68161779e-03 1.03914543e+02] [ 1.17156722e-01 9.93104065e-01 4.31495816e-03 6.26342916e-01] [ 5.13701988e-03 -4.95082533e-03 9.99974550e-01 -4.03145284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.245898227 meters Centerline goodness [0,1] 0.747718687661814 Centerline is valid? [False, False] Translation: X:103.91, Y:0.63, Z:-0.40 [[ 9.93096082e-01 -1.17164587e-01 -5.71236162e-03 1.03914763e+02] [ 1.17190353e-01 9.93099700e-01 4.40525547e-03 6.25724781e-01] [ 5.15680468e-03 -5.04427562e-03 9.99973981e-01 -4.03302000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.275898227 meters Centerline goodness [0,1] 0.7341577159256367 Centerline is valid? [False, False] Translation: X:103.91, Y:0.63, Z:-0.40 [[ 9.93091534e-01 -1.17203606e-01 -5.70264550e-03 1.03914837e+02] [ 1.17229857e-01 9.93094572e-01 4.50907554e-03 6.25055240e-01] [ 5.13478638e-03 -5.14644506e-03 9.99973574e-01 -4.03454579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.305898227 meters Centerline goodness [0,1] 0.7192696652985233 Centerline is valid? [False, False] Translation: X:103.92, Y:0.62, Z:-0.40 [[ 9.93091624e-01 -1.17201247e-01 -5.73542026e-03 1.03915016e+02] [ 1.17228256e-01 9.93094236e-01 4.62325975e-03 6.24435080e-01] [ 5.15396100e-03 -5.26367384e-03 9.99972865e-01 -4.03569498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.335898227 meters Centerline goodness [0,1] 0.7041128233235661 Centerline is valid? [False, False] Translation: X:103.92, Y:0.62, Z:-0.40 [[ 9.93091376e-01 -1.17203370e-01 -5.73484433e-03 1.03915074e+02] [ 1.17231799e-01 9.93092489e-01 4.90026791e-03 6.22863454e-01] [ 5.12090292e-03 -5.53871992e-03 9.99971549e-01 -4.03605198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.365898227 meters Centerline goodness [0,1] 0.6937095576535484 Centerline is valid? [False, False] Translation: X:103.92, Y:0.62, Z:-0.40 [[ 9.93099819e-01 -1.17131195e-01 -5.74739904e-03 1.03915005e+02] [ 1.17160705e-01 9.93099885e-01 5.09772686e-03 6.21952983e-01] [ 5.11063849e-03 -5.73592095e-03 9.99970490e-01 -4.03402160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.395898227 meters Centerline goodness [0,1] 0.6895344914825434 Centerline is valid? [False, False] Translation: X:103.92, Y:0.62, Z:-0.40 [[ 9.93101442e-01 -1.17116814e-01 -5.75995059e-03 1.03915206e+02] [ 1.17146894e-01 9.93101010e-01 5.19510394e-03 6.21404939e-01] [ 5.11177872e-03 -5.83402554e-03 9.99969916e-01 -4.03642827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.425898227 meters Centerline goodness [0,1] 0.6810688730818752 Centerline is valid? [False, False] Translation: X:103.92, Y:0.62, Z:-0.40 [[ 9.93581417e-01 -1.12944326e-01 -6.28861686e-03 1.03915537e+02] [ 1.13004250e-01 9.93542487e-01 1.01669384e-02 6.17136045e-01] [ 5.09971003e-03 -1.08123215e-02 9.99928541e-01 -4.03642696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.455898227 meters Centerline goodness [0,1] 0.653825044329984 Centerline is valid? [False, False] Translation: X:103.92, Y:0.62, Z:-0.40 [[ 9.93583067e-01 -1.12918924e-01 -6.48110565e-03 1.03916439e+02] [ 1.12981010e-01 9.93544979e-01 1.01816821e-02 6.17073654e-01] [ 5.28956539e-03 -1.08485887e-02 9.99927162e-01 -4.04101064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.485898227 meters Centerline goodness [0,1] 0.8700348728417113 Centerline is valid? [False, False] Translation: X:103.92, Y:0.62, Z:-0.40 [[ 9.93585109e-01 -1.12890222e-01 -6.66546196e-03 1.03917301e+02] [ 1.12954457e-01 9.93547726e-01 1.02082075e-02 6.16962664e-01] [ 5.47004775e-03 -1.08956166e-02 9.99925679e-01 -4.04563195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.515898227 meters Centerline goodness [0,1] 0.8776897898849119 Centerline is valid? [False, False] Translation: X:103.92, Y:0.62, Z:-0.41 [[ 9.94057793e-01 -1.08703567e-01 -5.71298244e-03 1.03922071e+02] [ 1.08676627e-01 9.94065409e-01 -4.83244981e-03 6.19603885e-01] [ 6.20438276e-03 4.18286674e-03 9.99972004e-01 -4.08341134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.545898227 meters Centerline goodness [0,1] 0.6177071799676348 Centerline is valid? [False, False] Translation: X:103.92, Y:0.62, Z:-0.41 [[ 9.94521762e-01 -1.04346459e-01 -6.18724492e-03 1.03922192e+02] [ 1.04349717e-01 9.94540645e-01 2.05297462e-04 6.15395914e-01] [ 6.13204449e-03 -8.49810051e-04 9.99980838e-01 -4.08245173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.575898227 meters Centerline goodness [0,1] 0.6318118599064357 Centerline is valid? [False, False] Translation: X:103.92, Y:0.62, Z:-0.41 [[ 9.94526886e-01 -1.04291877e-01 -6.28306777e-03 1.03922620e+02] [ 1.04295211e-01 9.94546363e-01 2.04339577e-04 6.15523996e-01] [ 6.22749123e-03 -8.58515079e-04 9.99980240e-01 -4.08483929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.605898227 meters Centerline goodness [0,1] 0.6101627044343281 Centerline is valid? [False, False] Translation: X:103.92, Y:0.61, Z:-0.41 [[ 9.94963243e-01 -1.00017328e-01 -6.68423954e-03 1.03922419e+02] [ 1.00052422e-01 9.94968895e-01 5.13913940e-03 6.11725409e-01] [ 6.13660744e-03 -5.78202916e-03 9.99964454e-01 -4.08118157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.635898227 meters Centerline goodness [0,1] 0.6212230828155587 Centerline is valid? [False, False] Translation: X:103.92, Y:0.61, Z:-0.41 [[ 9.94967204e-01 -9.99774856e-02 -6.69070772e-03 1.03922302e+02] [ 1.00012751e-01 9.94972769e-01 5.16117659e-03 6.11743976e-01] [ 6.14107054e-03 -5.80435753e-03 9.99964298e-01 -4.07907928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.66589822699999 meters Centerline goodness [0,1] 0.8946249362136418 Centerline is valid? [False, False] Translation: X:103.92, Y:0.61, Z:-0.41 [[ 9.94968871e-01 -9.99624120e-02 -6.66798388e-03 1.03922006e+02] [ 9.99977373e-02 9.94974116e-01 5.19247006e-03 6.11618572e-01] [ 6.11541953e-03 -5.83312937e-03 9.99964287e-01 -4.07560156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.695898227 meters Centerline goodness [0,1] 0.6006708559782609 Centerline is valid? [False, False] Translation: X:103.92, Y:0.61, Z:-0.41 [[ 9.94977428e-01 -9.98752081e-02 -6.69774369e-03 1.03921905e+02] [ 9.99126441e-02 9.94980964e-01 5.50853701e-03 6.09956857e-01] [ 6.11396119e-03 -6.15005927e-03 9.99962397e-01 -4.07170150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.725898227 meters Centerline goodness [0,1] 0.6011624979016283 Centerline is valid? [False, False] Translation: X:103.92, Y:0.61, Z:-0.41 [[ 9.94980026e-01 -9.98471765e-02 -6.72971172e-03 1.03921815e+02] [ 9.98858421e-02 9.94982709e-01 5.67684877e-03 6.09012254e-01] [ 6.12912947e-03 -6.32055406e-03 9.99961241e-01 -4.06816430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.755898227 meters Centerline goodness [0,1] 0.7839840050510365 Centerline is valid? [False, False] Translation: X:103.92, Y:0.61, Z:-0.41 [[ 9.94984431e-01 -9.98127886e-02 -6.58705953e-03 1.03921102e+02] [ 9.98516266e-02 9.94985103e-01 5.85635192e-03 6.08109475e-01] [ 5.96948729e-03 -6.48470759e-03 9.99961156e-01 -4.06381624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.785898227 meters Centerline goodness [0,1] 0.7680206129417433 Centerline is valid? [False, False] Translation: X:103.92, Y:0.61, Z:-0.41 [[ 9.94986438e-01 -9.97998848e-02 -6.47853748e-03 1.03920323e+02] [ 9.98389430e-02 9.94985435e-01 6.01407548e-03 6.07222907e-01] [ 5.84584640e-03 -6.63073387e-03 9.99960929e-01 -4.05674352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.815898227 meters Centerline goodness [0,1] 0.7686204356518994 Centerline is valid? [False, False] Translation: X:103.92, Y:0.61, Z:-0.41 [[ 9.94994721e-01 -9.97364000e-02 -6.17709041e-03 1.03919018e+02] [ 9.97756722e-02 9.94989287e-01 6.41362309e-03 6.05191442e-01] [ 5.50646710e-03 -6.99784447e-03 9.99960354e-01 -4.05046830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.845898227 meters Centerline goodness [0,1] 0.7801718690762037 Centerline is valid? [False, False] Translation: X:103.92, Y:0.60, Z:-0.41 [[ 9.95000899e-01 -9.96694204e-02 -6.26245784e-03 1.03919524e+02] [ 9.97104810e-02 9.94994424e-01 6.62688122e-03 6.04152934e-01] [ 5.57061323e-03 -7.21818545e-03 9.99958432e-01 -4.05401912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.875898227 meters Centerline goodness [0,1] 0.7856673241288625 Centerline is valid? [False, False] Translation: X:103.92, Y:0.60, Z:-0.41 [[ 9.95007823e-01 -9.95899856e-02 -6.42386776e-03 1.03920397e+02] [ 9.96332613e-02 9.95000923e-01 6.81004641e-03 6.03297220e-01] [ 5.71354192e-03 -7.41608035e-03 9.99956178e-01 -4.05974064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.905898227 meters Centerline goodness [0,1] 0.7937078368324821 Centerline is valid? [False, False] Translation: X:103.92, Y:0.60, Z:-0.41 [[ 9.95012389e-01 -9.95276021e-02 -6.67851628e-03 1.03921419e+02] [ 9.95732454e-02 9.95006382e-01 6.88976832e-03 6.02914856e-01] [ 5.95944420e-03 -7.52040637e-03 9.99953963e-01 -4.06340801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.935898227 meters Centerline goodness [0,1] 0.8498922620698484 Centerline is valid? [False, False] Translation: X:103.91, Y:0.60, Z:-0.41 [[ 9.95017110e-01 -9.96968712e-02 -1.21874987e-03 1.03905665e+02] [ 9.96983014e-02 9.95017019e-01 1.17508930e-03 6.04833230e-01] [ 1.09552414e-03 -1.29074125e-03 9.99998567e-01 -4.12720957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.965898227 meters Centerline goodness [0,1] 0.7525675958918465 Centerline is valid? [False, False] Translation: X:103.93, Y:0.61, Z:-0.42 [[ 9.95233745e-01 -9.75033564e-02 1.69940669e-03 1.03927782e+02] [ 9.75133891e-02 9.95206348e-01 -7.44736792e-03 6.07748313e-01] [-9.65116957e-04 7.57758678e-03 9.99970824e-01 -4.15483215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.995898227 meters Centerline goodness [0,1] 0.8085106382978724 Centerline is valid? [False, False] Translation: X:103.93, Y:0.61, Z:-0.41 [[ 9.96010147e-01 -8.92330233e-02 1.12021283e-03 1.03926555e+02] [ 8.92313157e-02 9.96009813e-01 1.49160996e-03 6.05029182e-01] [-1.24884384e-03 -1.38570059e-03 9.99998260e-01 -4.14380667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.025898227 meters Centerline goodness [0,1] 0.8269618551503949 Centerline is valid? [False, False] Translation: X:103.93, Y:0.60, Z:-0.41 [[ 9.96381623e-01 -8.49880650e-02 8.31154735e-04 1.03926059e+02] [ 8.49814515e-02 9.96363816e-01 6.10736502e-03 6.03119414e-01] [-1.34718564e-03 -6.01463354e-03 9.99981004e-01 -4.13905879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.055898227 meters Centerline goodness [0,1] 0.8407620492718805 Centerline is valid? [False, False] Translation: X:103.93, Y:0.60, Z:-0.41 [[ 9.96372535e-01 -8.50941784e-02 8.67490870e-04 1.03925944e+02] [ 8.50878282e-02 9.96356840e-01 5.75407341e-03 6.04972661e-01] [-1.35396861e-03 -5.65938780e-03 9.99983069e-01 -4.13996665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.085898227 meters Centerline goodness [0,1] 0.8426144507208498 Centerline is valid? [False, False] Translation: X:103.93, Y:0.61, Z:-0.41 [[ 9.96365408e-01 -8.51776935e-02 8.56467455e-04 1.03926043e+02] [ 8.51717339e-02 9.96351068e-01 5.50687299e-03 6.06183262e-01] [-1.32240500e-03 -5.41391093e-03 9.99984470e-01 -4.14189828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.115898227 meters Centerline goodness [0,1] 0.8408591703979049 Centerline is valid? [False, False] Translation: X:103.93, Y:0.61, Z:-0.41 [[ 9.96361735e-01 -8.52208080e-02 8.40346901e-04 1.03926345e+02] [ 8.52147617e-02 9.96346650e-01 5.63898535e-03 6.05360053e-01] [-1.31783571e-03 -5.54685927e-03 9.99983748e-01 -4.14605241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.145898227 meters Centerline goodness [0,1] 0.9276205439605937 Centerline is valid? [False, False] Translation: X:103.93, Y:0.60, Z:-0.41 [[ 9.96367091e-01 -8.51588643e-02 7.67220785e-04 1.03926761e+02] [ 8.51528054e-02 9.96350006e-01 5.97209173e-03 6.03618798e-01] [-1.27299698e-03 -5.88506466e-03 9.99981873e-01 -4.14878469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.175898227 meters Centerline goodness [0,1] 0.8199000147657519 Centerline is valid? [False, False] Translation: X:103.93, Y:0.60, Z:-0.42 [[ 9.96371948e-01 -8.51034751e-02 5.82386585e-04 1.03927504e+02] [ 8.50981008e-02 9.96352410e-01 6.33945860e-03 6.01573735e-01] [-1.11977223e-03 -6.26689872e-03 9.99979736e-01 -4.15053696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.205898227 meters Centerline goodness [0,1] 0.7990666974964791 Centerline is valid? [False, False] Translation: X:103.93, Y:0.60, Z:-0.42 [[ 9.96378458e-01 -8.50281215e-02 4.31407873e-04 1.03928150e+02] [ 8.50233637e-02 9.96356584e-01 6.67721792e-03 5.99729710e-01] [-9.97587372e-04 -6.61635635e-03 9.99977614e-01 -4.15274763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.235898227 meters Centerline goodness [0,1] 0.8680412371134021 Centerline is valid? [False, False] Translation: X:103.93, Y:0.60, Z:-0.42 [[ 9.96383525e-01 -8.49694672e-02 2.46007449e-04 1.03928789e+02] [ 8.49658304e-02 9.96360594e-01 6.80980862e-03 5.99075841e-01] [-8.23737938e-04 -6.76427889e-03 9.99976783e-01 -4.15324488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.265898227 meters Centerline goodness [0,1] 0.8648989103734963 Centerline is valid? [False, False] Translation: X:103.95, Y:0.60, Z:-0.41 [[ 9.96712445e-01 -8.09600335e-02 -3.12634085e-03 1.03949074e+02] [ 8.09638075e-02 9.96716435e-01 1.09988386e-03 6.01078355e-01] [ 3.02702868e-03 -1.34938839e-03 9.99994508e-01 -4.10758549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.295898227 meters Centerline goodness [0,1] 0.8959968024906915 Centerline is valid? [False, False] Translation: X:103.95, Y:0.60, Z:-0.41 [[ 9.97056519e-01 -7.65962592e-02 -3.36307481e-03 1.03948487e+02] [ 7.66146982e-02 9.97044212e-01 5.74696078e-03 5.99226509e-01] [ 2.91293858e-03 -5.98770567e-03 9.99977831e-01 -4.10253367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.325898227 meters Centerline goodness [0,1] 0.9608381563938997 Centerline is valid? [False, True] Translation: X:103.95, Y:0.60, Z:-0.41 [[ 9.97057900e-01 -7.65840828e-02 -3.22835006e-03 1.03947707e+02] [ 7.66005962e-02 9.97047525e-01 5.34621522e-03 6.01605332e-01] [ 2.80938345e-03 -5.57777966e-03 9.99980498e-01 -4.09780001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.355898227 meters Centerline goodness [0,1] 0.938613198267021 Centerline is valid? [True, False] Translation: X:103.97, Y:0.60, Z:-0.41 [[ 9.97376529e-01 -7.22806310e-02 -3.94595113e-03 1.03965836e+02] [ 7.22762998e-02 9.97383890e-01 -1.22958171e-03 6.03696061e-01] [ 4.02450303e-03 9.41157190e-04 9.99991459e-01 -4.05926378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.385898227 meters Centerline goodness [0,1] 0.9137716467337426 Centerline is valid? [False, False] Translation: X:103.97, Y:0.60, Z:-0.41 [[ 9.97678633e-01 -6.79690242e-02 -4.19006470e-03 1.03965642e+02] [ 6.79835613e-02 9.97680544e-01 3.43037417e-03 6.01681787e-01] [ 3.94718684e-03 -3.70726654e-03 9.99985338e-01 -4.05893055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41589822699999 meters Centerline goodness [0,1] 0.963149433068201 Centerline is valid? [False, True] Translation: X:103.97, Y:0.60, Z:-0.41 [[ 9.97672247e-01 -6.80530235e-02 -4.34442222e-03 1.03966307e+02] [ 6.80668944e-02 9.97675853e-01 3.12886915e-03 6.03227668e-01] [ 4.12139614e-03 -3.41729724e-03 9.99985668e-01 -4.06232120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.445898227 meters Centerline goodness [0,1] 0.963149433068201 Centerline is valid? [True, True] Translation: X:103.99, Y:0.61, Z:-0.41 [[ 9.97659889e-01 -6.82364723e-02 -4.30459034e-03 1.03993847e+02] [ 6.82368695e-02 9.97669147e-01 -5.47021835e-05 6.05009492e-01] [ 4.29828966e-03 -2.39157595e-04 9.99990734e-01 -4.06831395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.475898227 meters Centerline goodness [0,1] 0.986420538934861 Centerline is valid? [True, True] Translation: X:104.02, Y:0.61, Z:-0.41 [[ 9.97696224e-01 -6.75661344e-02 -6.08779953e-03 1.04022341e+02] [ 6.75669105e-02 9.97714742e-01 -7.83385776e-05 6.11302534e-01] [ 6.07918038e-03 -3.33175703e-04 9.99981466e-01 -4.09027222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.505898227 meters Centerline goodness [0,1] 0.9884753447950123 Centerline is valid? [True, True] Translation: X:104.05, Y:0.61, Z:-0.41 [[ 9.97707670e-01 -6.74320823e-02 -5.68509445e-03 1.04050787e+02] [ 6.74327516e-02 9.97723819e-01 -7.40992183e-05 6.13770181e-01] [ 5.67715081e-03 -3.09432203e-04 9.99983837e-01 -4.09082988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.535898227 meters Centerline goodness [0,1] 0.9817275051339005 Centerline is valid? [True, True] Translation: X:104.08, Y:0.61, Z:-0.41 [[ 9.97718063e-01 -6.73216287e-02 -5.14438295e-03 1.04078229e+02] [ 6.73221738e-02 9.97731287e-01 -6.73274096e-05 6.13433494e-01] [ 5.13724441e-03 -2.79157270e-04 9.99986765e-01 -4.08076945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.565898227 meters Centerline goodness [0,1] 0.959219033934835 Centerline is valid? [True, True] Translation: X:104.11, Y:0.61, Z:-0.41 [[ 9.97715400e-01 -6.74225965e-02 -4.26319863e-03 1.04105210e+02] [ 6.74229703e-02 9.97724481e-01 -5.61467231e-05 6.11322784e-01] [ 4.25728319e-03 -2.31419064e-04 9.99990911e-01 -4.06830127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.595898227 meters Centerline goodness [0,1] 0.9741584638408195 Centerline is valid? [True, True] Translation: X:104.13, Y:0.62, Z:-0.40 [[ 9.97646919e-01 -6.84960692e-02 -2.98558614e-03 1.04134051e+02] [ 6.84962557e-02 9.97651373e-01 -3.98362055e-05 6.18637093e-01] [ 2.98130273e-03 -1.64759004e-04 9.99995542e-01 -4.03566342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.625898227 meters Centerline goodness [0,1] 0.902914055411365 Centerline is valid? [True, False] Translation: X:104.13, Y:0.62, Z:-0.40 [[ 9.97911489e-01 -6.45245441e-02 -3.04028403e-03 1.04133393e+02] [ 6.45380840e-02 9.97904696e-01 4.58834839e-03 6.15906116e-01] [ 2.73785263e-03 -4.77497968e-03 9.99984852e-01 -4.03447035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.655898227 meters Centerline goodness [0,1] 0.9423519719470205 Centerline is valid? [False, False] Translation: X:104.13, Y:0.62, Z:-0.40 [[ 9.97905109e-01 -6.46236370e-02 -3.02982158e-03 1.04133405e+02] [ 6.46367307e-02 9.97898967e-01 4.44354088e-03 6.16527574e-01] [ 2.73629805e-03 -4.63006991e-03 9.99985537e-01 -4.03555443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.685898227 meters Centerline goodness [0,1] 0.8624003701289142 Centerline is valid? [False, False] Translation: X:104.13, Y:0.62, Z:-0.40 [[ 9.97896799e-01 -6.47524241e-02 -3.01694441e-03 1.04133565e+02] [ 6.47651490e-02 9.97891138e-01 4.33043594e-03 6.16919374e-01] [ 2.73017587e-03 -4.51672101e-03 9.99986073e-01 -4.03897150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.715898227 meters Centerline goodness [0,1] 0.9081596163150256 Centerline is valid? [False, False] Translation: X:104.13, Y:0.62, Z:-0.40 [[ 9.97892704e-01 -6.48167701e-02 -2.98945366e-03 1.04133437e+02] [ 6.48293641e-02 9.97886978e-01 4.32810439e-03 6.16783905e-01] [ 2.70260313e-03 -4.51278817e-03 9.99986165e-01 -4.03825349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.745898227 meters Centerline goodness [0,1] 0.8410601581011092 Centerline is valid? [False, False] Translation: X:104.13, Y:0.62, Z:-0.40 [[ 9.97885325e-01 -6.49349366e-02 -2.88651860e-03 1.04132827e+02] [ 6.49470617e-02 9.97879332e-01 4.32653322e-03 6.16523049e-01] [ 2.59945410e-03 -4.50485491e-03 9.99986474e-01 -4.03359532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.775898227 meters Centerline goodness [0,1] 0.9250370057094524 Centerline is valid? [False, False] Translation: X:104.13, Y:0.62, Z:-0.40 [[ 9.97876431e-01 -6.50643541e-02 -3.04276008e-03 1.04133241e+02] [ 6.50764902e-02 9.97871955e-01 4.07575788e-03 6.17589045e-01] [ 2.77109839e-03 -4.26511487e-03 9.99987065e-01 -4.03238409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.805898227 meters Centerline goodness [0,1] 0.8232083781107107 Centerline is valid? [False, False] Translation: X:104.13, Y:0.62, Z:-0.40 [[ 9.97862499e-01 -6.52681461e-02 -3.24067608e-03 1.04134108e+02] [ 6.52797786e-02 9.97860421e-01 3.62370118e-03 6.19704899e-01] [ 2.99723014e-03 -3.82750613e-03 9.99988183e-01 -4.03647196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.835898227 meters Centerline goodness [0,1] 0.8132113649776579 Centerline is valid? [False, False] Translation: X:104.13, Y:0.62, Z:-0.40 [[ 9.98110396e-01 -6.13442773e-02 -3.53799103e-03 1.04134459e+02] [ 6.13707158e-02 9.98083591e-01 7.92339628e-03 6.18726004e-01] [ 3.04515577e-03 -8.12555324e-03 9.99962350e-01 -4.03955785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.865898227 meters Centerline goodness [0,1] 0.8518976724680226 Centerline is valid? [False, False] Translation: X:104.13, Y:0.62, Z:-0.40 [[ 9.98091911e-01 -6.16370963e-02 -3.66126930e-03 1.04134969e+02] [ 6.16624437e-02 9.98070592e-01 7.26881075e-03 6.21695792e-01] [ 3.20617683e-03 -7.48070402e-03 9.99966879e-01 -4.04205652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.895898227 meters Centerline goodness [0,1] 0.8087014558044466 Centerline is valid? [False, False] Translation: X:104.15, Y:0.63, Z:-0.40 [[ 9.98154141e-01 -6.07302231e-02 -3.87218404e-04 1.04151197e+02] [ 6.07283478e-02 9.98147265e-01 -3.75561077e-03 6.30032666e-01] [ 6.14580072e-04 3.72516331e-03 9.99992873e-01 -4.02863405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.925898227 meters Centerline goodness [0,1] 0.8578583655614024 Centerline is valid? [False, False] Translation: X:104.14, Y:0.63, Z:-0.40 [[ 9.98245451e-01 -5.92099266e-02 4.52216852e-04 1.04144859e+02] [ 5.92108584e-02 9.98242512e-01 -2.44162638e-03 6.32116227e-01] [-3.06853568e-04 2.46411858e-03 9.99996917e-01 -3.98876193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.955898227 meters Centerline goodness [0,1] 0.8960205933240495 Centerline is valid? [False, False] Translation: X:104.14, Y:0.63, Z:-0.40 [[ 9.98473613e-01 -5.52286163e-02 4.94920663e-04 1.04143634e+02] [ 5.52277667e-02 9.98472514e-01 1.59151774e-03 6.32932971e-01] [-5.82062001e-04 -1.56175510e-03 9.99998611e-01 -3.98323369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.985898227 meters Centerline goodness [0,1] 0.9662271373883454 Centerline is valid? [False, True] Translation: X:104.14, Y:0.63, Z:-0.40 [[ 9.98691462e-01 -5.11391884e-02 3.83678558e-04 1.04143202e+02] [ 5.11361679e-02 9.98675344e-01 5.71397644e-03 6.33472833e-01] [-6.75378434e-04 -5.68687964e-03 9.99983601e-01 -3.98191053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.015898227 meters Centerline goodness [0,1] 0.933884819398838 Centerline is valid? [True, False] Translation: X:104.14, Y:0.64, Z:-0.40 [[ 9.98675947e-01 -5.14423833e-02 1.83608138e-04 1.04144050e+02] [ 5.14409009e-02 9.98664387e-01 4.82441632e-03 6.37757441e-01] [-4.31542382e-04 -4.80858357e-03 9.99988346e-01 -3.98669803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.045898227 meters Centerline goodness [0,1] 0.9689661024139833 Centerline is valid? [False, True] Translation: X:104.15, Y:0.64, Z:-0.40 [[ 9.98647925e-01 -5.19837146e-02 -1.19673492e-04 1.04145940e+02] [ 5.19838010e-02 9.98641059e-01 3.70412061e-03 6.42789901e-01] [-7.30430859e-05 -3.70533345e-03 9.99993133e-01 -4.00298688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.075898227 meters Centerline goodness [0,1] 0.8902078396006795 Centerline is valid? [True, False] Translation: X:104.15, Y:0.64, Z:-0.40 [[ 9.98632556e-01 -5.22778382e-02 -2.14611689e-04 1.04146586e+02] [ 5.22782644e-02 9.98626903e-01 3.36016613e-03 6.44097134e-01] [ 3.86547851e-05 -3.36679082e-03 9.99994332e-01 -4.00897987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.105898227 meters Centerline goodness [0,1] 0.767707460184409 Centerline is valid? [False, False] Translation: X:104.15, Y:0.64, Z:-0.40 [[ 9.98618064e-01 -5.25541339e-02 -1.58588186e-04 1.04146449e+02] [ 5.25543726e-02 9.98613078e-01 3.15556723e-03 6.44620851e-01] [-7.46986664e-06 -3.15954094e-03 9.99995009e-01 -4.00954088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.135898227 meters Centerline goodness [0,1] 0.7864077669902912 Centerline is valid? [False, False] Translation: X:104.15, Y:0.64, Z:-0.40 [[ 9.98573714e-01 -5.33896762e-02 2.84287963e-04 1.04145316e+02] [ 5.33886328e-02 9.98569613e-01 2.89505761e-03 6.43987285e-01] [-4.38447510e-04 -2.87575069e-03 9.99995769e-01 -4.01103300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.16589822699999 meters Centerline goodness [0,1] 0.7286541550426917 Centerline is valid? [False, False] Translation: X:104.15, Y:0.64, Z:-0.40 [[ 9.98567308e-01 -5.35090313e-02 3.39274507e-04 1.04145199e+02] [ 5.35077986e-02 9.98563053e-01 2.95708146e-03 6.43302897e-01] [-4.97017552e-04 -2.93469104e-03 9.99995570e-01 -4.01185437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.195898227 meters Centerline goodness [0,1] 0.659631819796477 Centerline is valid? [False, False] Translation: X:104.15, Y:0.64, Z:-0.40 [[ 9.98452594e-01 -5.56087104e-02 -2.96917450e-04 1.04150561e+02] [ 5.56089290e-02 9.98452316e-01 7.86979753e-04 6.44747893e-01] [ 2.52694987e-04 -8.02273237e-04 9.99999646e-01 -4.04634784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.225898227 meters Centerline goodness [0,1] 0.6141170581118852 Centerline is valid? [False, False] Translation: X:104.15, Y:0.64, Z:-0.40 [[ 9.98647897e-01 -5.19840437e-02 -1.92258498e-04 1.04149786e+02] [ 5.19843249e-02 9.98633386e-01 5.38428107e-03 6.41181539e-01] [-8.79009475e-05 -5.38699540e-03 9.99985486e-01 -4.04814525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.255898227 meters Centerline goodness [0,1] 0.6166165112902208 Centerline is valid? [False, False] Translation: X:104.15, Y:0.64, Z:-0.40 [[ 9.98646899e-01 -5.20031747e-02 -2.00690483e-04 1.04149855e+02] [ 5.20034987e-02 9.98632229e-01 5.41370434e-03 6.40994266e-01] [-8.11138286e-05 -5.41681566e-03 9.99985326e-01 -4.04889034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.285898227 meters Centerline goodness [0,1] 0.6726130653266331 Centerline is valid? [False, False] Translation: X:104.15, Y:0.64, Z:-0.41 [[ 9.98647675e-01 -5.19877212e-02 -3.14619567e-04 1.04150467e+02] [ 5.19886655e-02 9.98632527e-01 5.50047888e-03 6.40493777e-01] [ 2.82319707e-05 -5.50939709e-03 9.99984823e-01 -4.05279495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.315898227 meters Centerline goodness [0,1] 0.64103047045036 Centerline is valid? [False, False] Translation: X:104.15, Y:0.64, Z:-0.41 [[ 9.98652978e-01 -5.18841215e-02 -5.16347710e-04 1.04151817e+02] [ 5.18862393e-02 9.98636352e-01 5.76668336e-03 6.39196438e-01] [ 2.16444293e-04 -5.78570685e-03 9.99983239e-01 -4.06399804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.345898227 meters Centerline goodness [0,1] 0.6244383607448121 Centerline is valid? [False, False] Translation: X:104.15, Y:0.64, Z:-0.41 [[ 9.98657064e-01 -5.18054408e-02 -5.15080080e-04 1.04151953e+02] [ 5.18075895e-02 9.98639411e-01 5.94137361e-03 6.38352048e-01] [ 2.06583789e-04 -5.96007978e-03 9.99982217e-01 -4.06620911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.375898227 meters Centerline goodness [0,1] 0.6161896940215217 Centerline is valid? [False, False] Translation: X:104.15, Y:0.64, Z:-0.41 [[ 9.98662097e-01 -5.17084858e-02 -4.97873357e-04 1.04151928e+02] [ 5.17105783e-02 9.98642961e-01 6.18489935e-03 6.37227235e-01] [ 1.77385944e-04 -6.20236987e-03 9.99980749e-01 -4.06696056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.405898227 meters Centerline goodness [0,1] 0.5882659767572869 Centerline is valid? [False, False] Translation: X:104.15, Y:0.64, Z:-0.41 [[ 9.98447613e-01 -5.56974263e-02 -4.00602628e-04 1.04152226e+02] [ 5.56980735e-02 9.98445955e-01 1.84373232e-03 6.38184004e-01] [ 2.97288929e-04 -1.86318293e-03 9.99998220e-01 -4.06528895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.435898227 meters Centerline goodness [0,1] 0.6081255732510631 Centerline is valid? [False, False] Translation: X:104.15, Y:0.64, Z:-0.41 [[ 9.98458943e-01 -5.54939616e-02 -3.99778554e-04 1.04152387e+02] [ 5.54947344e-02 9.98456356e-01 2.28910671e-03 6.36108414e-01] [ 2.72129838e-04 -2.30776467e-03 9.99997300e-01 -4.06783591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.465898227 meters Centerline goodness [0,1] 0.5900591270919082 Centerline is valid? [False, False] Translation: X:104.15, Y:0.63, Z:-0.41 [[ 9.98471621e-01 -5.52643222e-02 -5.26948851e-04 1.04152843e+02] [ 5.52655669e-02 9.98467910e-01 2.74767288e-03 6.34005601e-01] [ 3.74293239e-04 -2.77259552e-03 9.99996086e-01 -4.06838868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.495898227 meters Centerline goodness [0,1] 0.5878458414417463 Centerline is valid? [False, False] Translation: X:104.15, Y:0.63, Z:-0.41 [[ 9.98484345e-01 -5.50334945e-02 -5.72349148e-04 1.04153049e+02] [ 5.50350605e-02 9.98479213e-01 3.22530530e-03 6.31819242e-01] [ 3.93978906e-04 -3.25191612e-03 9.99994635e-01 -4.06914386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.525898227 meters Centerline goodness [0,1] 0.6013405948889821 Centerline is valid? [False, False] Translation: X:104.15, Y:0.63, Z:-0.41 [[ 9.98495993e-01 -5.48197677e-02 -7.37868248e-04 1.04153409e+02] [ 5.48220690e-02 9.98489721e-01 3.58005976e-03 6.30224879e-01] [ 5.40495817e-04 -3.61512679e-03 9.99993319e-01 -4.06650139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.555898227 meters Centerline goodness [0,1] 0.6381420672772549 Centerline is valid? [False, False] Translation: X:104.15, Y:0.63, Z:-0.41 [[ 9.98505390e-01 -5.46477417e-02 -7.80726491e-04 1.04153206e+02] [ 5.46503222e-02 9.98498349e-01 3.79320393e-03 6.29420864e-01] [ 5.72264084e-04 -3.83020152e-03 9.99992501e-01 -4.06083446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.585898227 meters Centerline goodness [0,1] 0.6888090457571594 Centerline is valid? [False, False] Translation: X:104.15, Y:0.63, Z:-0.41 [[ 9.98921671e-01 -4.61763199e-02 4.82098863e-03 1.04154780e+02] [ 4.62007354e-02 9.98919248e-01 -5.08216048e-03 6.28936761e-01] [-4.58110286e-03 5.29941346e-03 9.99975465e-01 -4.09894200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.615898227 meters Centerline goodness [0,1] 0.7263807531380753 Centerline is valid? [False, False] Translation: X:104.16, Y:0.63, Z:-0.41 [[ 9.98930226e-01 -4.60157818e-02 4.57724017e-03 1.04155463e+02] [ 4.60401815e-02 9.98925121e-01 -5.37627814e-03 6.31009065e-01] [-4.32492655e-03 5.58126370e-03 9.99975072e-01 -4.09829077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.645898227 meters Centerline goodness [0,1] 0.7545509899846725 Centerline is valid? [False, False] Translation: X:104.16, Y:0.63, Z:-0.41 [[ 9.99123995e-01 -4.16112605e-02 4.44353072e-03 1.04155247e+02] [ 4.16145038e-02 9.99133536e-01 -6.39920729e-04 6.28866558e-01] [-4.41305266e-03 8.24275481e-04 9.99989923e-01 -4.09752923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.675898227 meters Centerline goodness [0,1] 0.8947746681322398 Centerline is valid? [False, False] Translation: X:104.16, Y:0.63, Z:-0.41 [[ 9.99297479e-01 -3.72322484e-02 4.27885744e-03 1.04155164e+02] [ 3.72147854e-02 9.99298916e-01 4.09088488e-03 6.26663555e-01] [-4.42817045e-03 -3.92877419e-03 9.99982478e-01 -4.09629887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.705898227 meters Centerline goodness [0,1] 0.9081682073743393 Centerline is valid? [False, False] Translation: X:104.16, Y:0.63, Z:-0.41 [[ 9.99406978e-01 -3.31491135e-02 9.31818041e-03 1.04159745e+02] [ 3.32350974e-02 9.99404947e-01 -9.22929352e-03 6.30788172e-01] [-9.00669271e-03 9.53351098e-03 9.99913992e-01 -4.14681096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.735898227 meters Centerline goodness [0,1] 0.9058653764536118 Centerline is valid? [False, False] Translation: X:104.16, Y:0.63, Z:-0.41 [[ 9.99530166e-01 -2.91684611e-02 9.41534319e-03 1.04158866e+02] [ 2.92173725e-02 9.99560072e-01 -5.09976960e-03 6.31188558e-01] [-9.26244869e-03 5.37246514e-03 9.99942670e-01 -4.14388771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.765898227 meters Centerline goodness [0,1] 0.8979929954071681 Centerline is valid? [False, False] Translation: X:104.16, Y:0.63, Z:-0.41 [[ 9.99524959e-01 -2.93766189e-02 9.32041919e-03 1.04159182e+02] [ 2.94287607e-02 9.99551708e-01 -5.50740048e-03 6.33144994e-01] [-9.15445211e-03 5.77907262e-03 9.99941397e-01 -4.14431280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.795898227 meters Centerline goodness [0,1] 0.8657654226961158 Centerline is valid? [False, False] Translation: X:104.16, Y:0.63, Z:-0.41 [[ 9.99628928e-01 -2.56047678e-02 9.29522655e-03 1.04158970e+02] [ 2.56151706e-02 9.99671376e-01 -1.00181262e-03 6.30774576e-01] [-9.26652074e-03 1.23953969e-03 9.99956297e-01 -4.14497615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.825898227 meters Centerline goodness [0,1] 0.8516373546821104 Centerline is valid? [False, False] Translation: X:104.16, Y:0.63, Z:-0.41 [[ 9.99625717e-01 -2.57628933e-02 9.20320447e-03 1.04159517e+02] [ 2.57750941e-02 9.99667035e-01 -1.20956061e-03 6.31607403e-01] [-9.16897834e-03 1.44632135e-03 9.99956918e-01 -4.14947564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.855898227 meters Centerline goodness [0,1] 0.7843689565290507 Centerline is valid? [False, False] Translation: X:104.16, Y:0.63, Z:-0.42 [[ 9.99616424e-01 -2.61900209e-02 9.00484506e-03 1.04160469e+02] [ 2.62049020e-02 9.99655409e-01 -1.53855152e-03 6.32378685e-01] [-8.96144737e-03 1.77393245e-03 9.99958272e-01 -4.15543476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.885898227 meters Centerline goodness [0,1] 0.7246047307162822 Centerline is valid? [False, False] Translation: X:104.16, Y:0.63, Z:-0.42 [[ 9.99611418e-01 -2.63911398e-02 8.97330526e-03 1.04160562e+02] [ 2.64082743e-02 9.99649627e-01 -1.79637906e-03 6.33405040e-01] [-8.92275276e-03 2.03265052e-03 9.99958126e-01 -4.15510285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91589822699999 meters Centerline goodness [0,1] 0.7197185458200703 Centerline is valid? [False, False] Translation: X:104.16, Y:0.63, Z:-0.42 [[ 9.99699468e-01 -2.27073096e-02 9.23855694e-03 1.04159367e+02] [ 2.26847220e-02 9.99739436e-01 2.54242021e-03 6.31813092e-01] [-9.29388122e-03 -2.33208204e-03 9.99954092e-01 -4.15349070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.945898227 meters Centerline goodness [0,1] 0.7157763291567897 Centerline is valid? [False, False] Translation: X:104.16, Y:0.63, Z:-0.42 [[ 9.99694659e-01 -2.29127367e-02 9.25180851e-03 1.04159171e+02] [ 2.28945086e-02 9.99735741e-01 2.07136663e-03 6.34024553e-01] [-9.29682431e-03 -1.85891854e-03 9.99955056e-01 -4.15099816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.975898227 meters Centerline goodness [0,1] 0.7205148189497188 Centerline is valid? [False, False] Translation: X:104.16, Y:0.64, Z:-0.41 [[ 9.99593162e-01 -2.70090973e-02 9.16621172e-03 1.04159637e+02] [ 2.70389504e-02 9.99629422e-01 -3.14869640e-03 6.39738585e-01] [-9.07777147e-03 3.39526013e-03 9.99953032e-01 -4.14881716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.005898227 meters Centerline goodness [0,1] 0.7116519482693676 Centerline is valid? [False, False] Translation: X:104.16, Y:0.64, Z:-0.41 [[ 9.99695173e-01 -2.29414188e-02 9.12430660e-03 1.04159311e+02] [ 2.29290826e-02 9.99736036e-01 1.45434870e-03 6.37598732e-01] [-9.15526294e-03 -1.24469339e-03 9.99957315e-01 -4.14731897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.035898227 meters Centerline goodness [0,1] 0.7322577243488347 Centerline is valid? [False, False] Translation: X:104.16, Y:0.64, Z:-0.41 [[ 9.99692437e-01 -2.30497008e-02 9.15109401e-03 1.04159354e+02] [ 2.30443751e-02 9.99734207e-01 6.87011356e-04 6.41740999e-01] [-9.16449712e-03 -4.75918814e-04 9.99957892e-01 -4.14920431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.065898227 meters Centerline goodness [0,1] 0.752437223042836 Centerline is valid? [False, False] Translation: X:104.16, Y:0.64, Z:-0.42 [[ 9.99692841e-01 -2.31034928e-02 8.96955851e-03 1.04160086e+02] [ 2.31022507e-02 9.99733078e-01 2.42074313e-04 6.44157094e-01] [-8.97275710e-03 -3.47829679e-05 9.99959743e-01 -4.15223854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.095898227 meters Centerline goodness [0,1] 0.7812237879550411 Centerline is valid? [False, False] Translation: X:104.17, Y:0.64, Z:-0.42 [[ 9.99735923e-01 -2.15243056e-02 8.04912524e-03 1.04165497e+02] [ 2.15118071e-02 9.99767255e-01 1.63615382e-03 6.43940185e-01] [-8.08246893e-03 -1.46257052e-03 9.99966267e-01 -4.18358649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.125898227 meters Centerline goodness [0,1] 0.8809138145023876 Centerline is valid? [False, False] Translation: X:104.17, Y:0.65, Z:-0.42 [[ 9.99736806e-01 -2.15275957e-02 7.92973151e-03 1.04165981e+02] [ 2.15195735e-02 9.99767827e-01 1.09561073e-03 6.46994890e-01] [-7.95147631e-03 -9.24677935e-04 9.99967959e-01 -4.18505473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.155898227 meters Centerline goodness [0,1] 0.9370949294700724 Centerline is valid? [False, False] Translation: X:104.15, Y:0.65, Z:-0.42 [[ 9.99897999e-01 -1.23597725e-02 7.15739826e-03 1.04145419e+02] [ 1.23693808e-02 9.99922652e-01 -1.29971320e-03 6.51265588e-01] [-7.14078048e-03 1.38811322e-03 9.99973541e-01 -4.19017943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.185898227 meters Centerline goodness [0,1] 0.9706980451380149 Centerline is valid? [False, True] Translation: X:104.15, Y:0.66, Z:-0.42 [[ 9.99900045e-01 -1.21909977e-02 7.16091386e-03 1.04145111e+02] [ 1.22072601e-02 9.99922998e-01 -2.23169644e-03 6.57053485e-01] [-7.13315585e-03 2.31888851e-03 9.99971870e-01 -4.18461325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.215898227 meters Centerline goodness [0,1] 0.9938686500495143 Centerline is valid? [True, True] Translation: X:104.18, Y:0.67, Z:-0.42 [[ 9.99931179e-01 -7.97558558e-03 8.60391508e-03 1.04175742e+02] [ 7.97838906e-03 9.99968130e-01 -2.91561981e-04 6.66660530e-01] [-8.60131549e-03 3.60187297e-04 9.99962943e-01 -4.17335824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.245898227 meters Centerline goodness [0,1] 0.9976505139500734 Centerline is valid? [True, True] Translation: X:104.21, Y:0.67, Z:-0.42 [[ 9.99948404e-01 -4.02935619e-03 9.32489006e-03 1.04205553e+02] [ 4.03247770e-03 9.99991820e-01 -3.15973336e-04 6.73722958e-01] [-9.32354061e-03 3.53559445e-04 9.99956472e-01 -4.15135247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.275898227 meters Centerline goodness [0,1] 0.999429922722858 Centerline is valid? [True, True] Translation: X:104.24, Y:0.68, Z:-0.42 [[ 9.99956609e-01 4.65178978e-04 9.30398658e-03 1.04235787e+02] [-4.62266444e-04 9.99999843e-01 -3.15189625e-04 6.83970990e-01] [-9.30413174e-03 3.10875027e-04 9.99956667e-01 -4.16298894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.305898227 meters Centerline goodness [0,1] 0.9998951825919249 Centerline is valid? [True, True] Translation: X:104.27, Y:0.70, Z:-0.42 [[ 9.99964409e-01 1.55618483e-03 8.29213630e-03 1.04268745e+02] [-1.55390863e-03 9.99998753e-01 -2.80937413e-04 6.96333448e-01] [-8.29256315e-03 2.68042192e-04 9.99965580e-01 -4.18829731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.335898227 meters Centerline goodness [0,1] 0.9999579611140305 Centerline is valid? [True, True] Translation: X:104.30, Y:0.70, Z:-0.42 [[ 9.99967500e-01 2.55961481e-03 7.64503328e-03 1.04300707e+02] [-2.55770678e-03 9.99996695e-01 -2.59344538e-04 6.99276359e-01] [-7.64567183e-03 2.39782356e-04 9.99970743e-01 -4.20362663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.365898227 meters Centerline goodness [0,1] 0.9999579611140305 Centerline is valid? [True, True] Translation: X:104.33, Y:0.70, Z:-0.42 [[ 9.99967007e-01 2.74566304e-03 7.64501637e-03 1.04333206e+02] [-2.74375664e-03 9.99996202e-01 -2.59841647e-04 6.97988414e-01] [-7.64570078e-03 2.38857009e-04 9.99970743e-01 -4.20578560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.395898227 meters Centerline goodness [0,1] 0.9999790733687691 Centerline is valid? [True, True] Translation: X:104.36, Y:0.70, Z:-0.42 [[ 9.99967095e-01 4.12213858e-03 6.98691997e-03 1.04364341e+02] [-4.12057187e-03 9.99991482e-01 -2.38615602e-04 7.00446155e-01] [-6.98784406e-03 2.09817645e-04 9.99975563e-01 -4.21445412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.425898227 meters Centerline goodness [0,1] 0.9999785743363401 Centerline is valid? [True, True] Translation: X:104.40, Y:0.71, Z:-0.42 [[ 9.99958031e-01 5.78878401e-03 7.10114144e-03 1.04397241e+02] [-5.78720566e-03 9.99983225e-01 -2.42794781e-04 7.07848821e-01] [-7.10242780e-03 2.01688825e-04 9.99974757e-01 -4.21737577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.455898227 meters Centerline goodness [0,1] 0.9999578032364917 Centerline is valid? [True, True] Translation: X:104.43, Y:0.71, Z:-0.42 [[ 9.99942567e-01 7.54502512e-03 7.61155099e-03 1.04428324e+02] [-7.54325679e-03 9.99971515e-01 -2.61003532e-04 7.05457848e-01] [-7.61330345e-03 2.03572658e-04 9.99970998e-01 -4.21046621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.485898227 meters Centerline goodness [0,1] 0.9999791336282448 Centerline is valid? [True, True] Translation: X:104.46, Y:0.72, Z:-0.42 [[ 9.99909239e-01 1.08370120e-02 8.00456810e-03 1.04458959e+02] [-1.08351562e-02 9.99941260e-01 -2.75169851e-04 7.15215232e-01] [-8.00707993e-03 1.88414130e-04 9.99967925e-01 -4.20333323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.515898227 meters Centerline goodness [0,1] 0.9999581283366482 Centerline is valid? [True, True] Translation: X:104.49, Y:0.71, Z:-0.42 [[ 9.99900134e-01 1.24954900e-02 6.60186196e-03 1.04490473e+02] [-1.24942635e-02 9.99921918e-01 -2.27006171e-04 7.12798277e-01] [-6.60418303e-03 1.44498098e-04 9.99978182e-01 -4.23489303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.545898227 meters Centerline goodness [0,1] 0.9999789562289563 Centerline is valid? [True, True] Translation: X:104.52, Y:0.73, Z:-0.43 [[ 9.99895500e-01 1.40983797e-02 3.19761744e-03 1.04523653e+02] [-1.40980992e-02 9.99900611e-01 -1.10248772e-04 7.27104608e-01] [-3.19885396e-03 6.51569230e-05 9.99994882e-01 -4.29751940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.575898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.56, Y:0.73, Z:-0.43 [[ 9.99894500e-01 1.43467215e-02 2.27150294e-03 1.04555412e+02] [-1.43465802e-02 9.99897079e-01 -7.84900388e-05 7.28558065e-01] [-2.27239523e-03 4.58934591e-05 9.99997417e-01 -4.30884531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.605898227 meters Centerline goodness [0,1] 0.9999370712982191 Centerline is valid? [True, True] Translation: X:104.59, Y:0.73, Z:-0.43 [[ 9.99904266e-01 1.36349314e-02 2.35549745e-03 1.04585660e+02] [-1.36347772e-02 9.99907039e-01 -8.15039113e-05 7.28232058e-01] [-2.35638978e-03 4.93794256e-05 9.99997222e-01 -4.31109932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.635898227 meters Centerline goodness [0,1] 0.9999579946653225 Centerline is valid? [True, True] Translation: X:104.62, Y:0.73, Z:-0.43 [[ 9.99915658e-01 1.25955630e-02 3.16681105e-03 1.04615983e+02] [-1.25952789e-02 9.99920670e-01 -1.09640843e-04 7.26051955e-01] [-3.16794081e-03 6.97447273e-05 9.99994980e-01 -4.29542438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.66589822699999 meters Centerline goodness [0,1] 0.9999577880962431 Centerline is valid? [True, True] Translation: X:104.65, Y:0.72, Z:-0.43 [[ 9.99934634e-01 1.07280095e-02 3.95445139e-03 1.04647421e+02] [-1.07275531e-02 9.99942449e-01 -1.36605412e-04 7.22737856e-01] [-3.95568931e-03 9.41748952e-05 9.99992172e-01 -4.28628825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.695898227 meters Centerline goodness [0,1] 0.9998731286475514 Centerline is valid? [True, True] Translation: X:104.68, Y:0.72, Z:-0.43 [[ 9.99953923e-01 8.40969615e-03 4.62915114e-03 1.04679854e+02] [-8.40904095e-03 9.99964630e-01 -1.60982770e-04 7.19105528e-01] [-4.63034122e-03 1.22048631e-04 9.99989272e-01 -4.27436857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.725898227 meters Centerline goodness [0,1] 0.9998733803233022 Centerline is valid? [True, True] Translation: X:104.71, Y:0.71, Z:-0.43 [[ 9.99976995e-01 3.69640364e-03 5.68734167e-03 1.04710495e+02] [-3.69533639e-03 9.99993153e-01 -1.98150348e-04 7.11072630e-01] [-5.68803517e-03 1.77129149e-04 9.99983807e-01 -4.26142532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.755898227 meters Centerline goodness [0,1] 0.9997022036926743 Centerline is valid? [True, True] Translation: X:104.74, Y:0.71, Z:-0.43 [[ 9.99981758e-01 1.49776863e-03 5.85157820e-03 1.04741975e+02] [-1.49660149e-03 9.99998859e-01 -2.03832419e-04 7.07728906e-01] [-5.85187682e-03 1.95071220e-04 9.99982859e-01 -4.26466273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.785898227 meters Centerline goodness [0,1] 0.9996228233765689 Centerline is valid? [True, True] Translation: X:104.77, Y:0.70, Z:-0.43 [[ 9.99981555e-01 -6.42202541e-04 6.03957984e-03 1.04772950e+02] [ 6.43490659e-04 9.99999771e-01 -2.11338545e-04 6.97704972e-01] [-6.03944273e-03 2.15221060e-04 9.99981739e-01 -4.26383871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.815898227 meters Centerline goodness [0,1] 0.9947019867549669 Centerline is valid? [True, True] Translation: X:104.80, Y:0.68, Z:-0.43 [[ 9.99977783e-01 -3.05122437e-03 5.92648026e-03 1.04802732e+02] [ 3.05251267e-03 9.99995319e-01 -2.08347931e-04 6.77078095e-01] [-5.92581680e-03 2.26433958e-04 9.99982417e-01 -4.26674987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.845898227 meters Centerline goodness [0,1] 0.9760144881757112 Centerline is valid? [True, True] Translation: X:104.83, Y:0.67, Z:-0.43 [[ 9.99962437e-01 -6.83548467e-03 5.32919396e-03 1.04832763e+02] [ 6.83658097e-03 9.99976613e-01 -1.87526302e-04 6.66695065e-01] [-5.32778749e-03 2.23952724e-04 9.99985782e-01 -4.27035719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.875898227 meters Centerline goodness [0,1] 0.9994110222970131 Centerline is valid? [True, True] Translation: X:104.86, Y:0.68, Z:-0.43 [[ 9.99952983e-01 -8.09290316e-03 5.34200054e-03 1.04864973e+02] [ 8.09402262e-03 9.99967225e-01 -1.87971420e-04 6.84535198e-01] [-5.34030422e-03 2.31200855e-04 9.99985714e-01 -4.26591599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.905898227 meters Centerline goodness [0,1] 0.9395505855048001 Centerline is valid? [True, False] Translation: X:104.87, Y:0.68, Z:-0.43 [[ 9.99953220e-01 -8.09436473e-03 5.29517884e-03 1.04865215e+02] [ 8.09502086e-03 9.99967230e-01 -1.02490213e-04 6.84070718e-01] [-5.29417572e-03 1.45350002e-04 9.99985975e-01 -4.26758263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.935898227 meters Centerline goodness [0,1] 0.9989276703111859 Centerline is valid? [False, True] Translation: X:104.87, Y:0.68, Z:-0.43 [[ 9.99953472e-01 -8.11362105e-03 5.21754787e-03 1.04865509e+02] [ 8.11411319e-03 9.99967077e-01 -7.31612367e-05 6.83909091e-01] [-5.21678250e-03 1.15493607e-04 9.99986386e-01 -4.26809690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.965898227 meters Centerline goodness [0,1] 0.9118824818748946 Centerline is valid? [True, False] Translation: X:104.87, Y:0.68, Z:-0.43 [[ 9.99953728e-01 -8.11260928e-03 5.16979189e-03 1.04865586e+02] [ 8.11281172e-03 9.99967090e-01 -1.81876622e-05 6.83630982e-01] [-5.16947421e-03 6.01283688e-05 9.99986636e-01 -4.26695902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.995898227 meters Centerline goodness [0,1] 0.8753805135095417 Centerline is valid? [False, False] Translation: X:104.87, Y:0.68, Z:-0.43 [[ 9.99953801e-01 -8.10981091e-03 5.16020575e-03 1.04865525e+02] [ 8.10928008e-03 9.99967112e-01 1.23785491e-04 6.82811677e-01] [-5.16103991e-03 -8.19342190e-05 9.99986678e-01 -4.26568240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.025898227 meters Centerline goodness [0,1] 0.9979710022403517 Centerline is valid? [False, True] Translation: X:104.87, Y:0.68, Z:-0.43 [[ 9.99954138e-01 -8.01808650e-03 5.23763529e-03 1.04865235e+02] [ 8.01575879e-03 9.99967765e-01 4.65261940e-04 6.81119902e-01] [-5.24119697e-03 -4.23256981e-04 9.99986175e-01 -4.26519085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.055898227 meters Centerline goodness [0,1] 0.9950177334909643 Centerline is valid? [True, True] Translation: X:104.90, Y:0.67, Z:-0.43 [[ 9.99921331e-01 -1.09877328e-02 6.04984986e-03 1.04895502e+02] [ 1.09893977e-02 9.99939585e-01 -2.42031873e-04 6.74765266e-01] [-6.04682498e-03 3.08497039e-04 9.99981670e-01 -4.25169213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.085898227 meters Centerline goodness [0,1] 0.6858019281332165 Centerline is valid? [True, False] Translation: X:104.90, Y:0.67, Z:-0.43 [[ 9.99895249e-01 -1.34994466e-02 5.22080806e-03 1.04901002e+02] [ 1.35138076e-02 9.99904970e-01 -2.72529261e-03 6.72813074e-01] [-5.18352198e-03 2.79556013e-03 9.99982658e-01 -4.28490527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.115898227 meters Centerline goodness [0,1] 0.9838179572526116 Centerline is valid? [False, True] Translation: X:104.90, Y:0.66, Z:-0.43 [[ 9.99900633e-01 -1.32370884e-02 4.84802593e-03 1.04903238e+02] [ 1.32427133e-02 9.99911673e-01 -1.12999960e-03 6.64408209e-01] [-4.83263981e-03 1.19408834e-03 9.99987610e-01 -4.30297577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.145898227 meters Centerline goodness [0,1] 0.9785064059339177 Centerline is valid? [True, True] Translation: X:104.93, Y:0.66, Z:-0.43 [[ 9.99890608e-01 -1.43216248e-02 3.69627825e-03 1.04933561e+02] [ 1.43223184e-02 9.99897417e-01 -1.61242318e-04 6.57218217e-01] [-3.69358983e-03 2.14163954e-04 9.99993156e-01 -4.32381661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.175898227 meters Centerline goodness [0,1] 0.9799592823514442 Centerline is valid? [True, True] Translation: X:104.96, Y:0.65, Z:-0.43 [[ 9.99889503e-01 -1.45630846e-02 2.98294796e-03 1.04964234e+02] [ 1.45635377e-02 9.99893938e-01 -1.30240355e-04 6.52590539e-01] [-2.98073488e-03 1.73668239e-04 9.99995543e-01 -4.33298604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.205898227 meters Centerline goodness [0,1] 0.9668019258667452 Centerline is valid? [True, True] Translation: X:104.99, Y:0.65, Z:-0.43 [[ 9.99898070e-01 -1.39836804e-02 2.88210785e-03 1.04993857e+02] [ 1.39841012e-02 9.99902210e-01 -1.25923980e-04 6.45395702e-01] [-2.88006512e-03 1.66214833e-04 9.99995839e-01 -4.33875738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.235898227 meters Centerline goodness [0,1] 0.996371243169399 Centerline is valid? [True, True] Translation: X:105.02, Y:0.65, Z:-0.43 [[ 9.99915127e-01 -1.27579746e-02 2.64068069e-03 1.05024461e+02] [ 1.27583238e-02 9.99918603e-01 -1.15437114e-04 6.51700581e-01] [-2.63899301e-03 1.49117975e-04 9.99996507e-01 -4.33320237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.265898227 meters Centerline goodness [0,1] 0.9961710674980123 Centerline is valid? [True, True] Translation: X:105.05, Y:0.64, Z:-0.44 [[ 9.99951743e-01 -9.63726586e-03 1.90651830e-03 1.05053325e+02] [ 9.63744227e-03 9.99953555e-01 -8.33630760e-05 6.42771560e-01] [-1.90562636e-03 1.01733013e-04 9.99998179e-01 -4.35731070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.295898227 meters Centerline goodness [0,1] 0.9945181403523455 Centerline is valid? [True, True] Translation: X:105.08, Y:0.64, Z:-0.44 [[ 9.99962060e-01 -8.57587206e-03 1.52713964e-03 1.05083101e+02] [ 8.57598387e-03 9.99963223e-01 -6.66821371e-05 6.35308093e-01] [-1.52651162e-03 7.97763321e-05 9.99998832e-01 -4.37292800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.325898227 meters Centerline goodness [0,1] 0.9942689813846476 Centerline is valid? [True, True] Translation: X:105.11, Y:0.63, Z:-0.44 [[ 9.99966997e-01 -7.88312268e-03 1.96509435e-03 1.05113079e+02] [ 7.88330648e-03 9.99968923e-01 -8.58053107e-05 6.31121447e-01] [-1.96435687e-03 1.01293920e-04 9.99998066e-01 -4.36813007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.355898227 meters Centerline goodness [0,1] 0.9981062621018363 Centerline is valid? [True, True] Translation: X:105.14, Y:0.63, Z:-0.44 [[ 9.99967029e-01 -7.69585352e-03 2.59126168e-03 1.05143335e+02] [ 7.69617249e-03 9.99970378e-01 -1.13146737e-04 6.32492839e-01] [-2.59031416e-03 1.33085803e-04 9.99996636e-01 -4.35268317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.385898227 meters Centerline goodness [0,1] 0.9967156185933643 Centerline is valid? [True, True] Translation: X:105.17, Y:0.63, Z:-0.44 [[ 9.99968796e-01 -7.34473321e-03 2.90908235e-03 1.05173021e+02] [ 7.34513358e-03 9.99973016e-01 -1.26967045e-04 6.25513341e-01] [-2.90807131e-03 1.48330682e-04 9.99995761e-01 -4.35526205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41589822699999 meters Centerline goodness [0,1] 0.9988901694625859 Centerline is valid? [True, True] Translation: X:105.20, Y:0.62, Z:-0.44 [[ 9.99973518e-01 -7.26099757e-03 4.91166115e-04 1.05203420e+02] [ 7.26100898e-03 9.99973638e-01 -2.14524335e-05 6.23646357e-01] [-4.90997401e-04 2.50182269e-05 9.99999879e-01 -4.38309549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.445898227 meters Centerline goodness [0,1] 0.998190806773956 Centerline is valid? [True, True] Translation: X:105.23, Y:0.62, Z:-0.44 [[ 9.99976532e-01 -6.84344670e-03 -3.19486642e-04 1.05232593e+02] [ 6.84345152e-03 9.99976583e-01 1.39855810e-05 6.17906614e-01] [ 3.19383451e-04 -1.61716441e-05 9.99999949e-01 -4.39819890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.475898227 meters Centerline goodness [0,1] 0.9989644532735956 Centerline is valid? [True, True] Translation: X:105.26, Y:0.62, Z:-0.44 [[ 9.99978808e-01 -6.50030789e-03 -3.60940319e-04 1.05262229e+02] [ 6.50031393e-03 9.99978873e-01 1.55739778e-05 6.17454768e-01] [ 3.60831457e-04 -1.79198731e-05 9.99999935e-01 -4.39295775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.505898227 meters Centerline goodness [0,1] 0.9980851780153186 Centerline is valid? [True, True] Translation: X:105.29, Y:0.61, Z:-0.44 [[ 9.99978796e-01 -6.49269893e-03 5.01910215e-04 1.05291837e+02] [ 6.49271078e-03 9.99978922e-01 -2.19975325e-05 6.10499795e-01] [-5.01756812e-04 2.52558240e-05 9.99999874e-01 -4.38331031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.535898227 meters Centerline goodness [0,1] 0.9952269812233226 Centerline is valid? [True, True] Translation: X:105.32, Y:0.60, Z:-0.43 [[ 9.99971123e-01 -7.00031953e-03 2.95774184e-03 1.05321154e+02] [ 7.00073207e-03 9.99975486e-01 -1.29145682e-04 6.04927510e-01] [-2.95676528e-03 1.49848311e-04 9.99995618e-01 -4.34804236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.565898227 meters Centerline goodness [0,1] 0.9897352103234456 Centerline is valid? [True, True] Translation: X:105.35, Y:0.60, Z:-0.43 [[ 9.99970709e-01 -6.71195923e-03 3.67830625e-03 1.05350964e+02] [ 6.71259490e-03 9.99977457e-01 -1.60497273e-04 5.99493929e-01] [-3.67714608e-03 1.85183552e-04 9.99993222e-01 -4.34641863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.595898227 meters Centerline goodness [0,1] 0.9968539608632732 Centerline is valid? [True, True] Translation: X:105.38, Y:0.60, Z:-0.43 [[ 9.99971558e-01 -6.35701641e-03 4.05839726e-03 1.05382049e+02] [ 6.35778697e-03 9.99979773e-01 -1.76996728e-04 6.02516800e-01] [-4.05719001e-03 2.02794119e-04 9.99991749e-01 -4.33843142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.625898227 meters Centerline goodness [0,1] 0.997213121729141 Centerline is valid? [True, True] Translation: X:105.41, Y:0.60, Z:-0.43 [[ 9.99970436e-01 -6.26903388e-03 4.45257796e-03 1.05413236e+02] [ 6.26996107e-03 9.99980325e-01 -1.94307029e-04 6.01592572e-01] [-4.45127223e-03 2.22218775e-04 9.99990068e-01 -4.33530678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.655898227 meters Centerline goodness [0,1] 0.9986696792448846 Centerline is valid? [True, True] Translation: X:105.44, Y:0.60, Z:-0.43 [[ 9.99969168e-01 -6.41110571e-03 4.53443054e-03 1.05444951e+02] [ 6.41206924e-03 9.99979423e-01 -1.97985785e-04 6.02546459e-01] [-4.53306793e-03 2.27054763e-04 9.99989700e-01 -4.33440855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.685898227 meters Centerline goodness [0,1] 0.997728768228227 Centerline is valid? [True, True] Translation: X:105.48, Y:0.60, Z:-0.43 [[ 9.99964999e-01 -7.13361628e-03 4.37178422e-03 1.05475514e+02] [ 7.13451924e-03 9.99974531e-01 -1.90982270e-04 5.99650510e-01] [-4.37031048e-03 2.22166164e-04 9.99990425e-01 -4.34108379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.715898227 meters Centerline goodness [0,1] 0.9920956114834957 Centerline is valid? [True, True] Translation: X:105.51, Y:0.59, Z:-0.43 [[ 9.99959794e-01 -7.83806156e-03 4.35613783e-03 1.05505787e+02] [ 7.83896536e-03 9.99969257e-01 -1.90443832e-04 5.91103434e-01] [-4.35451120e-03 2.24583788e-04 9.99990494e-01 -4.34812062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.745898227 meters Centerline goodness [0,1] 0.9886486372011266 Centerline is valid? [True, True] Translation: X:105.54, Y:0.59, Z:-0.43 [[ 9.99956452e-01 -8.17003819e-03 4.51058619e-03 1.05536340e+02] [ 8.17101085e-03 9.99966597e-01 -1.97254215e-04 5.87315707e-01] [-4.50882395e-03 2.34101673e-04 9.99989808e-01 -4.34905248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.775898227 meters Centerline goodness [0,1] 0.9834316025275259 Centerline is valid? [True, True] Translation: X:105.57, Y:0.58, Z:-0.44 [[ 9.99959031e-01 -7.95887854e-03 4.31197820e-03 1.05566814e+02] [ 7.95976567e-03 9.99968303e-01 -1.88614332e-04 5.83366445e-01] [-4.31034036e-03 2.22928941e-04 9.99990686e-01 -4.35941759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.805898227 meters Centerline goodness [0,1] 0.9891176717269143 Centerline is valid? [True, True] Translation: X:105.60, Y:0.59, Z:-0.44 [[ 9.99974724e-01 -6.14940626e-03 3.56868040e-03 1.05597557e+02] [ 6.15000267e-03 9.99981076e-01 -1.56173363e-04 5.85224930e-01] [-3.56765249e-03 1.78116810e-04 9.99993620e-01 -4.36472561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.835898227 meters Centerline goodness [0,1] 0.9984981808951688 Centerline is valid? [True, True] Translation: X:105.63, Y:0.59, Z:-0.44 [[ 9.99980036e-01 -5.17881279e-03 3.62044812e-03 1.05628904e+02] [ 5.17942011e-03 9.99986574e-01 -1.58390391e-04 5.94373816e-01] [-3.61957924e-03 1.77139050e-04 9.99993434e-01 -4.36075471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.865898227 meters Centerline goodness [0,1] 0.9981722738188851 Centerline is valid? [True, True] Translation: X:105.66, Y:0.59, Z:-0.44 [[ 9.99982778e-01 -4.52058467e-03 3.74277107e-03 1.05659252e+02] [ 4.52122930e-03 9.99989766e-01 -1.63789036e-04 5.94566100e-01] [-3.74199234e-03 1.80708141e-04 9.99992982e-01 -4.36780353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.895898227 meters Centerline goodness [0,1] 0.9969041560644614 Centerline is valid? [True, True] Translation: X:105.69, Y:0.59, Z:-0.44 [[ 9.99986370e-01 -2.85637919e-03 4.37041540e-03 1.05689420e+02] [ 2.85724258e-03 9.99995900e-01 -1.91321582e-04 5.91496276e-01] [-4.36985100e-03 2.03806311e-04 9.99990431e-01 -4.35494217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.925898227 meters Centerline goodness [0,1] 0.9987378518238041 Centerline is valid? [True, True] Translation: X:105.72, Y:0.60, Z:-0.43 [[ 9.99988554e-01 -1.38798606e-03 4.57883794e-03 1.05721261e+02] [ 1.38891850e-03 9.99999015e-01 -2.00466747e-04 5.98572596e-01] [-4.57855519e-03 2.06824085e-04 9.99989497e-01 -4.34734602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.955898227 meters Centerline goodness [0,1] 0.9992862840589445 Centerline is valid? [True, True] Translation: X:105.75, Y:0.60, Z:-0.44 [[ 9.99990745e-01 1.00626658e-03 4.18294198e-03 1.05752229e+02] [-1.00550880e-03 9.99999478e-01 -1.83257017e-04 6.03585976e-01] [-4.18312420e-03 1.79049336e-04 9.99991235e-01 -4.35797191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.985898227 meters Centerline goodness [0,1] 0.999238948903875 Centerline is valid? [True, True] Translation: X:105.78, Y:0.60, Z:-0.44 [[ 9.99992644e-01 1.53160233e-03 3.51660598e-03 1.05784463e+02] [-1.53107042e-03 9.99998816e-01 -1.53943034e-04 6.04558634e-01] [-3.51683760e-03 1.48557730e-04 9.99993805e-01 -4.37571031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.015898227 meters Centerline goodness [0,1] 0.9996619694504891 Centerline is valid? [True, True] Translation: X:105.82, Y:0.61, Z:-0.44 [[ 9.99994617e-01 1.83156797e-03 2.72253069e-03 1.05816627e+02] [-1.83125183e-03 9.99998316e-01 -1.18610691e-04 6.09761331e-01] [-2.72274335e-03 1.13624413e-04 9.99996287e-01 -4.38386877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.045898227 meters Centerline goodness [0,1] 0.9997233983701781 Centerline is valid? [True, True] Translation: X:105.85, Y:0.61, Z:-0.44 [[ 9.99996836e-01 1.58065123e-03 1.95692487e-03 1.05848267e+02] [-1.58048734e-03 9.99998747e-01 -8.52915924e-05 6.09375029e-01] [-1.95705724e-03 8.21984276e-05 9.99998082e-01 -4.39893794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.075898227 meters Centerline goodness [0,1] 0.9992862540935427 Centerline is valid? [True, True] Translation: X:105.88, Y:0.60, Z:-0.44 [[ 9.99999021e-01 -2.07104295e-04 1.38372656e-03 1.05878271e+02] [ 2.07189023e-04 9.99999977e-01 -6.10889155e-05 6.03180474e-01] [-1.38371387e-03 6.13755486e-05 9.99999041e-01 -4.42503797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.105898227 meters Centerline goodness [0,1] 0.9988289173759385 Centerline is valid? [True, True] Translation: X:105.91, Y:0.60, Z:-0.44 [[ 9.99997543e-01 -1.54752622e-03 1.58722952e-03 1.05908484e+02] [ 1.54763915e-03 9.99998800e-01 -6.99219647e-05 6.00146054e-01] [-1.58711941e-03 7.23782514e-05 9.99998738e-01 -4.42761281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.135898227 meters Centerline goodness [0,1] 0.9989678126053252 Centerline is valid? [True, True] Translation: X:105.94, Y:0.60, Z:-0.44 [[ 9.99992966e-01 -3.30096003e-03 1.78087707e-03 1.05939200e+02] [ 3.30110562e-03 9.99994548e-01 -7.88156871e-05 5.98646092e-01] [-1.78060719e-03 8.46939960e-05 9.99998411e-01 -4.42506480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.16589822699999 meters Centerline goodness [0,1] 0.9980295153446251 Centerline is valid? [True, True] Translation: X:105.97, Y:0.60, Z:-0.44 [[ 9.99984811e-01 -5.03491812e-03 2.24208473e-03 1.05969527e+02] [ 5.03515323e-03 9.99987319e-01 -9.92272021e-05 5.95298510e-01] [-2.24155670e-03 1.10514935e-04 9.99997482e-01 -4.42301911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.195898227 meters Centerline goodness [0,1] 0.9977324263038548 Centerline is valid? [True, True] Translation: X:106.00, Y:0.59, Z:-0.44 [[ 9.99969606e-01 -7.66780138e-03 1.41128106e-03 1.06000670e+02] [ 7.66789691e-03 9.99970599e-01 -6.22931329e-05 5.92539917e-01] [-1.41076192e-03 7.31127973e-05 9.99999002e-01 -4.44245024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.225898227 meters Centerline goodness [0,1] 0.9974322517666532 Centerline is valid? [True, True] Translation: X:106.03, Y:0.59, Z:-0.44 [[ 9.99964532e-01 -8.38952688e-03 7.41879577e-04 1.06030555e+02] [ 8.38955361e-03 9.99964807e-01 -3.29340534e-05 5.90897412e-01] [-7.41577167e-04 3.91569238e-05 9.99999724e-01 -4.44969995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.255898227 meters Centerline goodness [0,1] 0.9974322517666532 Centerline is valid? [True, True] Translation: X:106.06, Y:0.59, Z:-0.45 [[ 9.99964337e-01 -8.41270339e-03 7.41876366e-04 1.06059735e+02] [ 8.41273018e-03 9.99964612e-01 -3.30066212e-05 5.89648570e-01] [-7.41572438e-04 3.92466498e-05 9.99999724e-01 -4.45196798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.285898227 meters Centerline goodness [0,1] 0.9943618117939116 Centerline is valid? [True, True] Translation: X:106.09, Y:0.58, Z:-0.45 [[ 9.99955639e-01 -9.41913889e-03 -3.88118229e-06 1.06089205e+02] [ 9.41913889e-03 9.99955639e-01 8.20570585e-08 5.84987643e-01] [ 3.88023721e-06 -1.18610811e-07 1.00000000e+00 -4.47262024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.315898227 meters Centerline goodness [0,1] 0.9755782974584514 Centerline is valid? [True, True] Translation: X:106.12, Y:0.58, Z:-0.45 [[ 9.99945251e-01 -1.04558813e-02 -4.10965153e-04 1.06117293e+02] [ 1.04558895e-02 9.99945336e-01 1.78984155e-05 5.76211978e-01] [ 4.10755544e-04 -2.21944418e-05 9.99999915e-01 -4.48928054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.345898227 meters Centerline goodness [0,1] 0.9914359060685127 Centerline is valid? [True, True] Translation: X:106.15, Y:0.58, Z:-0.45 [[ 9.99939595e-01 -1.09909886e-02 6.40472049e-05 1.06146872e+02] [ 1.09909888e-02 9.99939597e-01 -3.00687583e-06 5.80576472e-01] [-6.40102877e-05 3.71063631e-06 9.99999998e-01 -4.46751046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.375898227 meters Centerline goodness [0,1] 0.97201977046159 Centerline is valid? [True, True] Translation: X:106.17, Y:0.57, Z:-0.44 [[ 9.99939782e-01 -1.08594935e-02 1.58240597e-03 1.06174958e+02] [ 1.08596180e-02 9.99941030e-01 -7.01201015e-05 5.74283526e-01] [-1.58155119e-03 8.73002034e-05 9.99998746e-01 -4.44456593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.405898227 meters Centerline goodness [0,1] 0.9237386165268051 Centerline is valid? [True, False] Translation: X:106.17, Y:0.58, Z:-0.44 [[ 9.99964200e-01 -8.14882716e-03 2.27915723e-03 1.06168997e+02] [ 8.14335169e-03 9.99963959e-01 2.40146034e-03 5.76821668e-01] [-2.29864417e-03 -2.38281439e-03 9.99994519e-01 -4.39756414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.435898227 meters Centerline goodness [0,1] 0.99755722618822 Centerline is valid? [False, True] Translation: X:106.17, Y:0.58, Z:-0.44 [[ 9.99989628e-01 -3.93457117e-03 2.29393456e-03 1.06168717e+02] [ 3.91903625e-03 9.99969621e-01 6.73778565e-03 5.76422676e-01] [-2.32037517e-03 -6.72872575e-03 9.99974670e-01 -4.39499970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.465898227 meters Centerline goodness [0,1] 0.9990996084343656 Centerline is valid? [True, True] Translation: X:106.20, Y:0.58, Z:-0.44 [[ 9.99998026e-01 -5.42078962e-04 1.91184019e-03 1.06200063e+02] [ 5.42243561e-04 9.99999849e-01 -8.55774170e-05 5.83829072e-01] [-1.91179352e-03 8.66139311e-05 9.99998169e-01 -4.40273828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.495898227 meters Centerline goodness [0,1] 0.9996411760981067 Centerline is valid? [True, True] Translation: X:106.23, Y:0.60, Z:-0.44 [[ 9.99990113e-01 4.39116963e-03 7.00387488e-04 1.06231514e+02] [-4.39114874e-03 9.99990358e-01 -3.13656667e-05 5.96788063e-01] [-7.00518468e-04 2.82898509e-05 9.99999754e-01 -4.42511793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.525898227 meters Centerline goodness [0,1] 0.9997061046267529 Centerline is valid? [True, True] Translation: X:106.26, Y:0.60, Z:-0.44 [[ 9.99983542e-01 5.73614681e-03 1.15283219e-04 1.06261470e+02] [-5.73614625e-03 9.99983548e-01 -5.16109845e-06 5.97604374e-01] [-1.15310927e-04 4.49973211e-06 9.99999993e-01 -4.43472286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.555898227 meters Centerline goodness [0,1] 0.9995601449427142 Centerline is valid? [True, True] Translation: X:106.29, Y:0.59, Z:-0.44 [[ 9.99976736e-01 6.81014902e-03 3.85177089e-04 1.06291350e+02] [-6.81014288e-03 9.99976811e-01 -1.72439397e-05 5.92302907e-01] [-3.85285591e-04 1.46204276e-05 9.99999926e-01 -4.43922284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.585898227 meters Centerline goodness [0,1] 0.9994375351540529 Centerline is valid? [True, True] Translation: X:106.32, Y:0.60, Z:-0.44 [[ 9.99966126e-01 8.16365441e-03 1.04995776e-03 1.06322563e+02] [-8.16360958e-03 9.99966676e-01 -4.69741305e-05 5.99135013e-01] [-1.05030625e-03 3.84010940e-05 9.99999448e-01 -4.41943725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.615898227 meters Centerline goodness [0,1] 0.9998728436400627 Centerline is valid? [True, True] Translation: X:106.35, Y:0.61, Z:-0.44 [[ 9.99927483e-01 1.19455415e-02 1.52705358e-03 1.06353907e+02] [-1.19454510e-02 9.99928648e-01 -6.83323948e-05 6.08679058e-01] [-1.52776089e-03 5.00860958e-05 9.99998832e-01 -4.40412382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.645898227 meters Centerline goodness [0,1] 0.9998943207997801 Centerline is valid? [True, True] Translation: X:106.39, Y:0.61, Z:-0.44 [[ 9.99898927e-01 1.41331183e-02 1.54589864e-03 1.06385072e+02] [-1.41330283e-02 9.99900121e-01 -6.91510162e-05 6.11602451e-01] [-1.54672155e-03 4.72957978e-05 9.99998803e-01 -4.40978907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.675898227 meters Centerline goodness [0,1] 0.9997679080071737 Centerline is valid? [True, True] Translation: X:106.42, Y:0.61, Z:-0.44 [[ 9.99859618e-01 1.67074455e-02 1.26715362e-03 1.06415226e+02] [-1.67073870e-02 9.99860420e-01 -5.67371816e-05 6.13597555e-01] [-1.26792469e-03 3.55583907e-05 9.99999196e-01 -4.41840792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.705898227 meters Centerline goodness [0,1] 0.9998739045457411 Centerline is valid? [True, True] Translation: X:106.45, Y:0.62, Z:-0.44 [[ 9.99805644e-01 1.96564684e-02 1.51591928e-03 1.06446922e+02] [-1.96563881e-02 9.99806792e-01 -6.78622827e-05 6.20782208e-01] [-1.51696033e-03 3.80515955e-05 9.99998849e-01 -4.40809795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.735898227 meters Centerline goodness [0,1] 0.9998520928856678 Centerline is valid? [True, True] Translation: X:106.48, Y:0.62, Z:-0.44 [[ 9.99741917e-01 2.25952943e-02 2.35634152e-03 1.06477985e+02] [-2.25951081e-02 9.99744692e-01 -1.05610995e-04 6.23351019e-01] [-2.35812624e-03 5.23419469e-05 9.99997218e-01 -4.39656106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.765898227 meters Centerline goodness [0,1] 0.999916616289008 Centerline is valid? [True, True] Translation: X:106.51, Y:0.63, Z:-0.44 [[ 9.99614974e-01 2.72723982e-02 5.11076458e-03 1.06509295e+02] [-2.72715821e-02 9.99628035e-01 -2.29331269e-04 6.31057142e-01] [-5.11511797e-03 8.98643350e-05 9.99986914e-01 -4.35677866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.795898227 meters Centerline goodness [0,1] 0.9999791074711684 Centerline is valid? [True, True] Translation: X:106.54, Y:0.64, Z:-0.44 [[ 9.99582441e-01 2.84140036e-02 5.25244486e-03 1.06541997e+02] [-2.84131566e-02 9.99596237e-01 -2.35824365e-04 6.35463427e-01] [-5.25702483e-03 8.64873565e-05 9.99986178e-01 -4.35754531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.825898227 meters Centerline goodness [0,1] 0.9998938113239604 Centerline is valid? [True, True] Translation: X:106.57, Y:0.64, Z:-0.44 [[ 9.99559661e-01 2.93074728e-02 4.64287178e-03 1.06574380e+02] [-2.93068175e-02 9.99570441e-01 -2.09119946e-04 6.36895756e-01] [-4.64700617e-03 7.29600663e-05 9.99989200e-01 -4.36584510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.855898227 meters Centerline goodness [0,1] 0.9999790180444817 Centerline is valid? [True, True] Translation: X:106.61, Y:0.64, Z:-0.44 [[ 9.99544909e-01 2.99036919e-02 3.96799456e-03 1.06605919e+02] [-2.99032152e-02 9.99552783e-01 -1.79417662e-04 6.38195825e-01] [-3.97158526e-03 6.06802155e-05 9.99992111e-01 -4.38206208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.885898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.64, Y:0.64, Z:-0.44 [[ 9.99546294e-01 2.99169691e-02 3.49017795e-03 1.06637701e+02] [-2.99166001e-02 9.99552386e-01 -1.57879952e-04 6.37871588e-01] [-3.49333899e-03 5.33940624e-05 9.99993897e-01 -4.39252150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91589822699999 meters Centerline goodness [0,1] 0.9999158939422612 Centerline is valid? [True, True] Translation: X:106.67, Y:0.64, Z:-0.44 [[ 9.99569141e-01 2.91548049e-02 3.39554040e-03 1.06667613e+02] [-2.91544510e-02 9.99574907e-01 -1.53696931e-04 6.36647844e-01] [-3.39857798e-03 5.46355933e-05 9.99994223e-01 -4.39239246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.945898227 meters Centerline goodness [0,1] 0.999916204043155 Centerline is valid? [True, True] Translation: X:106.70, Y:0.64, Z:-0.44 [[ 9.99584211e-01 2.86465879e-02 3.28308791e-03 1.06698787e+02] [-2.86462542e-02 9.99589601e-01 -1.48621873e-04 6.35020910e-01] [-3.28599805e-03 5.45119072e-05 9.99994600e-01 -4.40053185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.975898227 meters Centerline goodness [0,1] 0.9999155405405405 Centerline is valid? [True, True] Translation: X:106.73, Y:0.63, Z:-0.44 [[ 9.99628110e-01 2.72363316e-02 1.35081141e-03 1.06729471e+02] [-2.72362740e-02 9.99629022e-01 -6.10160512e-05 6.30567725e-01] [-1.35197214e-03 2.42022903e-05 9.99999086e-01 -4.43322093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.005898227 meters Centerline goodness [0,1] 0.9999161935091873 Centerline is valid? [True, True] Translation: X:106.76, Y:0.63, Z:-0.45 [[ 9.99647834e-01 2.65369047e-02 -2.85530151e-05 1.06759673e+02] [-2.65369047e-02 9.99647834e-01 1.29496969e-06 6.26673565e-01] [ 2.85773242e-05 -5.36805002e-07 1.00000000e+00 -4.46048112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.035898227 meters Centerline goodness [0,1] 0.999874720731631 Centerline is valid? [True, True] Translation: X:106.79, Y:0.62, Z:-0.45 [[ 9.99669274e-01 2.57055653e-02 -7.52120903e-04 1.06789878e+02] [-2.57055470e-02 9.99669557e-01 3.41110656e-05 6.22590516e-01] [ 7.52749215e-04 -1.47661050e-05 9.99999717e-01 -4.47319338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.065898227 meters Centerline goodness [0,1] 0.9999369058635484 Centerline is valid? [True, True] Translation: X:106.82, Y:0.62, Z:-0.45 [[ 9.99686535e-01 2.50303894e-02 -5.57415327e-04 1.06820600e+02] [-2.50303792e-02 9.99686691e-01 2.52805509e-05 6.19396841e-01] [ 5.57873465e-04 -1.13203093e-05 9.99999844e-01 -4.46717917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.095898227 meters Centerline goodness [0,1] 0.9997667564301012 Centerline is valid? [True, True] Translation: X:106.85, Y:0.62, Z:-0.45 [[ 9.99693723e-01 2.47477917e-02 -8.49650204e-05 1.06851160e+02] [-2.47477914e-02 9.99693727e-01 3.85343283e-06 6.20189284e-01] [ 8.50343618e-05 -1.74955601e-06 9.99999996e-01 -4.45637970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.125898227 meters Centerline goodness [0,1] 0.9998951166303071 Centerline is valid? [True, True] Translation: X:106.88, Y:0.61, Z:-0.45 [[ 9.99686168e-01 2.50467576e-02 4.75544020e-04 1.06881555e+02] [-2.50467502e-02 9.99686281e-01 -2.15109325e-05 6.12049751e-01] [-4.75933611e-04 9.59334941e-06 9.99999887e-01 -4.45106422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.155898227 meters Centerline goodness [0,1] 0.9999154459170947 Centerline is valid? [True, True] Translation: X:106.91, Y:0.61, Z:-0.45 [[ 9.99648100e-01 2.65226231e-02 4.76699574e-04 1.06911720e+02] [-2.65226158e-02 9.99648213e-01 -2.16255655e-05 6.08459496e-01] [-4.77105444e-04 8.97463584e-06 9.99999886e-01 -4.45546898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.185898227 meters Centerline goodness [0,1] 0.9998943252668288 Centerline is valid? [True, True] Translation: X:106.94, Y:0.61, Z:-0.45 [[ 9.99630076e-01 2.71947146e-02 3.98140692e-04 1.06942262e+02] [-2.71947095e-02 9.99630155e-01 -1.80617271e-05 6.07682593e-01] [-3.98484625e-04 7.22772519e-06 9.99999921e-01 -4.45551715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.215898227 meters Centerline goodness [0,1] 0.9999373982721923 Centerline is valid? [True, True] Translation: X:106.97, Y:0.60, Z:-0.45 [[ 9.99609477e-01 2.79335227e-02 7.82707935e-04 1.06972152e+02] [-2.79335036e-02 9.99609783e-01 -3.52379021e-05 6.04465538e-01] [-7.83386827e-04 1.33603660e-05 9.99999693e-01 -4.45277502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.245898227 meters Centerline goodness [0,1] 0.999894911620673 Centerline is valid? [True, True] Translation: X:107.00, Y:0.60, Z:-0.44 [[ 9.99597359e-01 2.83474682e-02 1.24112533e-03 1.07002644e+02] [-2.83474201e-02 9.99598130e-01 -5.63801039e-05 6.01610703e-01] [-1.24222479e-03 2.11747018e-05 9.99999228e-01 -4.44435534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.275898227 meters Centerline goodness [0,1] 0.999958122199422 Centerline is valid? [True, True] Translation: X:107.03, Y:0.59, Z:-0.44 [[ 9.99598779e-01 2.82763787e-02 1.65176745e-03 1.07032261e+02] [-2.82762933e-02 9.99600143e-01 -7.49935679e-05 5.93962526e-01] [-1.65322753e-03 2.82576178e-05 9.99998633e-01 -4.44663782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.305898227 meters Centerline goodness [0,1] 0.9999581931060432 Centerline is valid? [True, True] Translation: X:107.06, Y:0.59, Z:-0.45 [[ 9.99613478e-01 2.77774168e-02 1.14481022e-03 1.07063483e+02] [-2.77773755e-02 9.99614133e-01 -5.19259466e-05 5.88601709e-01] [-1.14581085e-03 2.01060527e-05 9.99999343e-01 -4.45783139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.335898227 meters Centerline goodness [0,1] 0.9997243251267044 Centerline is valid? [True, True] Translation: X:107.09, Y:0.59, Z:-0.45 [[ 9.99631986e-01 2.71241791e-02 4.13032934e-04 1.07094815e+02] [-2.71241737e-02 9.99632072e-01 -1.86620882e-05 5.86664735e-01] [-4.13387161e-04 7.45204325e-06 9.99999915e-01 -4.47752339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.365898227 meters Centerline goodness [0,1] 0.9999577149139498 Centerline is valid? [True, True] Translation: X:107.12, Y:0.58, Z:-0.45 [[ 9.99633030e-01 2.70886638e-02 9.98662535e-05 1.07124939e+02] [-2.70886635e-02 9.99633035e-01 -4.48169073e-06 5.79854787e-01] [-9.99510091e-05 1.77480275e-06 9.99999995e-01 -4.47471451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.395898227 meters Centerline goodness [0,1] 0.9999359001752062 Centerline is valid? [True, True] Translation: X:107.16, Y:0.58, Z:-0.45 [[ 9.99620239e-01 2.75568236e-02 -1.53718575e-05 1.07155679e+02] [-2.75568236e-02 9.99620239e-01 8.21652715e-07 5.76253792e-01] [ 1.53886620e-05 -3.97741117e-07 1.00000000e+00 -4.47394236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.425898227 meters Centerline goodness [0,1] 0.999936764891868 Centerline is valid? [True, True] Translation: X:107.19, Y:0.57, Z:-0.45 [[ 9.99595295e-01 2.84404858e-02 6.20014605e-04 1.07186086e+02] [-2.84404738e-02 9.99595488e-01 -2.81699272e-05 5.71082018e-01] [-6.20564968e-04 1.05250176e-05 9.99999807e-01 -4.46916853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.455898227 meters Centerline goodness [0,1] 0.999957791659632 Centerline is valid? [True, True] Translation: X:107.22, Y:0.57, Z:-0.44 [[ 9.99548984e-01 2.99323048e-02 2.42615348e-03 1.07216814e+02] [-2.99321250e-02 9.99551927e-01 -1.10407165e-04 5.66860639e-01] [-2.42837113e-03 3.77374402e-05 9.99997051e-01 -4.44044662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.485898227 meters Centerline goodness [0,1] 0.9999574522401395 Centerline is valid? [True, True] Translation: X:107.25, Y:0.57, Z:-0.44 [[ 9.99532908e-01 3.03948061e-02 3.18131425e-03 1.07248546e+02] [-3.03944998e-02 9.99537970e-01 -1.44600036e-04 5.65309368e-01] [-3.18423948e-03 4.78380396e-05 9.99994929e-01 -4.42332555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.515898227 meters Centerline goodness [0,1] 0.9999369919979837 Centerline is valid? [True, True] Translation: X:107.28, Y:0.56, Z:-0.44 [[ 9.99526610e-01 3.05457878e-02 3.67557964e-03 1.07280967e+02] [-3.05453772e-02 9.99533367e-01 -1.67789935e-04 5.61872336e-01] [-3.67898976e-03 5.54385383e-05 9.99993231e-01 -4.41785505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.545898227 meters Centerline goodness [0,1] 0.9999787523372429 Centerline is valid? [True, True] Translation: X:107.31, Y:0.56, Z:-0.44 [[ 9.99526676e-01 3.04775509e-02 4.18852476e-03 1.07313428e+02] [-3.04770139e-02 9.99535449e-01 -1.92003561e-04 5.59611858e-01] [-4.19243077e-03 6.42589536e-05 9.99991210e-01 -4.41563438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.575898227 meters Centerline goodness [0,1] 0.9999787234042553 Centerline is valid? [True, True] Translation: X:107.34, Y:0.55, Z:-0.44 [[ 9.99550154e-01 2.95923635e-02 4.87657696e-03 1.07344412e+02] [-2.95916202e-02 9.99562047e-01 -2.24528076e-04 5.51678684e-01] [-4.88108557e-03 8.01212601e-05 9.99988084e-01 -4.41503841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.605898227 meters Centerline goodness [0,1] 0.9999578148070027 Centerline is valid? [True, True] Translation: X:107.38, Y:0.55, Z:-0.44 [[ 9.99564961e-01 2.89272698e-02 5.75341858e-03 1.07375218e+02] [-2.89262183e-02 9.99581514e-01 -2.65917826e-04 5.46883113e-01] [-5.75870313e-03 9.93774991e-05 9.99983414e-01 -4.40249468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.635898227 meters Centerline goodness [0,1] 0.9999369270877134 Centerline is valid? [True, True] Translation: X:107.41, Y:0.54, Z:-0.44 [[ 9.99576232e-01 2.82898423e-02 6.85871335e-03 1.07406505e+02] [-2.82883272e-02 9.99599755e-01 -3.17831946e-04 5.42302696e-01] [-6.86495960e-03 1.23675731e-04 9.99976428e-01 -4.38863800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.66589822699999 meters Centerline goodness [0,1] 0.999978826568422 Centerline is valid? [True, True] Translation: X:107.44, Y:0.54, Z:-0.44 [[ 9.99588785e-01 2.77536606e-02 7.21083778e-03 1.07438105e+02] [-2.77519637e-02 9.99614784e-01 -3.35292866e-04 5.39800066e-01] [-7.21736565e-03 1.35040080e-04 9.99973945e-01 -4.38461290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.695898227 meters Centerline goodness [0,1] 0.9999163634842972 Centerline is valid? [True, True] Translation: X:107.47, Y:0.54, Z:-0.44 [[ 9.99604018e-01 2.73918707e-02 6.44147894e-03 1.07469064e+02] [-2.73905033e-02 9.99624765e-01 -3.00413371e-04 5.36178570e-01] [-6.44729075e-03 1.23859062e-04 9.99979208e-01 -4.40323757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.725898227 meters Centerline goodness [0,1] 0.9999580378498594 Centerline is valid? [True, True] Translation: X:107.50, Y:0.53, Z:-0.44 [[ 9.99638588e-01 2.65396645e-02 4.28252919e-03 1.07501388e+02] [-2.65390507e-02 9.99647757e-01 -2.00102693e-04 5.30851871e-01] [-4.28633136e-03 8.63761147e-05 9.99990810e-01 -4.44326041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.755898227 meters Centerline goodness [0,1] 0.9999371938198719 Centerline is valid? [True, True] Translation: X:107.53, Y:0.53, Z:-0.45 [[ 9.99647222e-01 2.63068999e-02 3.65770336e-03 1.07533739e+02] [-2.63064488e-02 9.99653911e-01 -1.71378353e-04 5.27403411e-01] [-3.66094590e-03 7.50967083e-05 9.99993296e-01 -4.45347160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.785898227 meters Centerline goodness [0,1] 0.9998953537044789 Centerline is valid? [True, True] Translation: X:107.57, Y:0.52, Z:-0.45 [[ 9.99643948e-01 2.64629593e-02 3.41900658e-03 1.07565864e+02] [-2.64625645e-02 9.99649792e-01 -1.60674376e-04 5.19478771e-01] [-3.42206113e-03 7.01414860e-05 9.99994142e-01 -4.46162477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.815898227 meters Centerline goodness [0,1] 0.9999580475321461 Centerline is valid? [True, True] Translation: X:107.60, Y:0.52, Z:-0.45 [[ 9.99633470e-01 2.68588455e-02 3.39519272e-03 1.07598884e+02] [-2.68584566e-02 9.99639234e-01 -1.60112204e-04 5.24141892e-01] [-3.39826828e-03 6.88638820e-05 9.99994223e-01 -4.45180167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.845898227 meters Centerline goodness [0,1] 0.9999578183658835 Centerline is valid? [True, True] Translation: X:107.63, Y:0.53, Z:-0.45 [[ 9.99594418e-01 2.83670477e-02 2.51206002e-03 1.07631665e+02] [-2.83668384e-02 9.99597573e-01 -1.18905688e-04 5.26831783e-01] [-2.51442210e-03 4.75982617e-05 9.99996838e-01 -4.46298205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.875898227 meters Centerline goodness [0,1] 0.9998299175099924 Centerline is valid? [True, True] Translation: X:107.66, Y:0.53, Z:-0.45 [[ 9.99566939e-01 2.94201631e-02 6.22678661e-04 1.07664380e+02] [-2.94201509e-02 9.99567133e-01 -2.88341383e-05 5.29680061e-01] [-6.23257429e-04 1.05023512e-05 9.99999806e-01 -4.49600899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.905898227 meters Centerline goodness [0,1] 0.9998530739038264 Centerline is valid? [True, True] Translation: X:107.70, Y:0.53, Z:-0.45 [[ 9.99541364e-01 3.02524179e-02 -1.36142651e-03 1.07695802e+02] [-3.02523561e-02 9.99542291e-01 6.59826975e-05 5.30058233e-01] [ 1.36279951e-03 -2.47660759e-05 9.99999071e-01 -4.53349379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.935898227 meters Centerline goodness [0,1] 0.9999577131258457 Centerline is valid? [True, True] Translation: X:107.73, Y:0.53, Z:-0.45 [[ 9.99551224e-01 2.99128645e-02 -1.60318013e-03 1.07726781e+02] [-2.99127796e-02 9.99552510e-01 7.69095015e-05 5.31393671e-01] [ 1.60476331e-03 -2.89194123e-05 9.99998712e-01 -4.53820807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.965898227 meters Centerline goodness [0,1] 0.9998742744588563 Centerline is valid? [True, True] Translation: X:107.76, Y:0.52, Z:-0.45 [[ 9.99610577e-01 2.79015437e-02 4.45829386e-04 1.07756079e+02] [-2.79015370e-02 9.99610676e-01 -2.11183151e-05 5.16946103e-01] [-4.46245047e-04 8.67076599e-06 9.99999900e-01 -4.53465191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.995898227 meters Centerline goodness [0,1] 0.9999577193835486 Centerline is valid? [True, True] Translation: X:107.79, Y:0.53, Z:-0.45 [[ 9.99682469e-01 2.50862686e-02 2.37497859e-03 1.07788833e+02] [-2.50860691e-02 9.99685289e-01 -1.13737113e-04 5.25061769e-01] [-2.37708439e-03 5.41221213e-05 9.99997173e-01 -4.47530954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.025898227 meters Centerline goodness [0,1] 0.9999576898667231 Centerline is valid? [True, True] Translation: X:107.82, Y:0.52, Z:-0.45 [[ 9.99757770e-01 2.17744782e-02 3.20531511e-03 1.07820095e+02] [-2.17740970e-02 9.99762904e-01 -1.53789750e-04 5.20399631e-01] [-3.20790383e-03 8.39596551e-05 9.99994851e-01 -4.46721750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.055898227 meters Centerline goodness [0,1] 0.9999160880236632 Centerline is valid? [True, True] Translation: X:107.85, Y:0.51, Z:-0.45 [[ 9.99831493e-01 1.82204807e-02 2.23614763e-03 1.07849913e+02] [-1.82202862e-02 9.99833991e-01 -1.07340920e-04 5.09373855e-01] [-2.23773222e-03 6.65795829e-05 9.99997494e-01 -4.48744495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.085898227 meters Centerline goodness [0,1] 0.9997458327155656 Centerline is valid? [True, True] Translation: X:107.88, Y:0.50, Z:-0.45 [[ 9.99930446e-01 1.17846753e-02 4.73394829e-04 1.07880094e+02] [-1.17846658e-02 9.99930558e-01 -2.27402004e-05 5.03538410e-01] [-4.73629941e-04 1.71598189e-05 9.99999888e-01 -4.51415953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.115898227 meters Centerline goodness [0,1] 0.9997035531275145 Centerline is valid? [True, True] Translation: X:107.91, Y:0.50, Z:-0.45 [[ 9.99954588e-01 9.40397868e-03 1.54530473e-03 1.07911704e+02] [-9.40387533e-03 9.99955780e-01 -7.41343442e-05 5.03754318e-01] [-1.54593355e-03 5.95991246e-05 9.99998803e-01 -4.49410358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.145898227 meters Centerline goodness [0,1] 0.9997021530082546 Centerline is valid? [True, True] Translation: X:107.94, Y:0.50, Z:-0.45 [[ 9.99964022e-01 7.71348512e-03 3.52943680e-03 1.07943386e+02] [-7.71293462e-03 9.99970241e-01 -1.69560826e-04 5.04226151e-01] [-3.53063967e-03 1.42332410e-04 9.99993757e-01 -4.45892904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.175898227 meters Centerline goodness [0,1] 0.9991171277221895 Centerline is valid? [True, True] Translation: X:107.97, Y:0.50, Z:-0.44 [[ 9.99963092e-01 6.75379753e-03 5.31042154e-03 1.07974263e+02] [-6.75253664e-03 9.99977169e-01 -2.55331538e-04 4.99583473e-01] [-5.31202475e-03 2.19463298e-04 9.99985867e-01 -4.43950612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.205898227 meters Centerline goodness [0,1] 0.9991171277221895 Centerline is valid? [True, True] Translation: X:108.01, Y:0.50, Z:-0.44 [[ 9.99961833e-01 6.93769204e-03 5.31038157e-03 1.08006747e+02] [-6.93642934e-03 9.99975910e-01 -2.56160207e-04 4.97832232e-01] [-5.31203080e-03 2.19315344e-04 9.99985867e-01 -4.44119227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.235898227 meters Centerline goodness [0,1] 0.9985562135130045 Centerline is valid? [True, True] Translation: X:108.04, Y:0.49, Z:-0.44 [[ 9.99955193e-01 7.09150017e-03 6.27071919e-03 1.08039103e+02] [-7.08973424e-03 9.99974821e-01 -3.03799480e-04 4.94051312e-01] [-6.27271570e-03 2.59328135e-04 9.99980293e-01 -4.41946033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.265898227 meters Centerline goodness [0,1] 0.9990694329886005 Centerline is valid? [True, True] Translation: X:108.07, Y:0.50, Z:-0.45 [[ 9.99967311e-01 6.33482092e-03 5.02455430e-03 1.08071183e+02] [-6.33367413e-03 9.99979912e-01 -2.44116984e-04 4.99876583e-01] [-5.02599980e-03 2.12285114e-04 9.99987347e-01 -4.45461517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.295898227 meters Centerline goodness [0,1] 0.9990165100755404 Centerline is valid? [True, True] Translation: X:108.10, Y:0.50, Z:-0.45 [[ 9.99975178e-01 5.57543543e-03 4.30799995e-03 1.08102851e+02] [-5.57458310e-03 9.99984440e-01 -2.09831593e-04 5.00799386e-01] [-4.30910282e-03 1.85811081e-04 9.99990699e-01 -4.47982032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.325898227 meters Centerline goodness [0,1] 0.9995545562531818 Centerline is valid? [True, True] Translation: X:108.14, Y:0.50, Z:-0.45 [[ 9.99974751e-01 5.48372246e-03 4.51956943e-03 1.08135134e+02] [-5.48278024e-03 9.99984945e-01 -2.20839077e-04 5.02564910e-01] [-4.52071241e-03 1.96053695e-04 9.99989762e-01 -4.46341236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.355898227 meters Centerline goodness [0,1] 0.999346322537112 Centerline is valid? [True, True] Translation: X:108.17, Y:0.51, Z:-0.45 [[ 9.99974714e-01 5.05256134e-03 5.00422460e-03 1.08167190e+02] [-5.05139631e-03 9.99987212e-01 -2.45421671e-04 5.08006985e-01] [-5.00540061e-03 2.20137144e-04 9.99987449e-01 -4.45225240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.385898227 meters Centerline goodness [0,1] 0.998712618449655 Centerline is valid? [True, True] Translation: X:108.20, Y:0.51, Z:-0.45 [[ 9.99975408e-01 4.97495751e-03 4.94306055e-03 1.08198466e+02] [-4.97381620e-03 9.99987601e-01 -2.43157933e-04 5.05625065e-01] [-4.94420896e-03 2.18566079e-04 9.99987753e-01 -4.46200315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41589822699999 meters Centerline goodness [0,1] 0.9976387495820795 Centerline is valid? [True, True] Translation: X:108.23, Y:0.51, Z:-0.45 [[ 9.99969502e-01 5.76242575e-03 5.27164983e-03 1.08229865e+02] [-5.76113414e-03 9.99983371e-01 -2.60164793e-04 5.05495815e-01] [-5.27306135e-03 2.29786176e-04 9.99986071e-01 -4.45254068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.445898227 meters Centerline goodness [0,1] 0.9989133841813812 Centerline is valid? [True, True] Translation: X:108.26, Y:0.51, Z:-0.45 [[ 9.99962001e-01 6.87650635e-03 5.35813393e-03 1.08262498e+02] [-6.87518374e-03 9.99976330e-01 -2.65220284e-04 5.12265364e-01] [-5.35983089e-03 2.28372051e-04 9.99985610e-01 -4.45492119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.475898227 meters Centerline goodness [0,1] 0.9996827075621364 Centerline is valid? [True, True] Translation: X:108.30, Y:0.52, Z:-0.45 [[ 9.99953384e-01 8.28475899e-03 4.95902517e-03 1.08295487e+02] [-8.28363986e-03 9.99965660e-01 -2.46173421e-04 5.22863653e-01] [-4.96089436e-03 2.05083167e-04 9.99987674e-01 -4.45857510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.505898227 meters Centerline goodness [0,1] 0.9995795404376984 Centerline is valid? [True, True] Translation: X:108.33, Y:0.52, Z:-0.45 [[ 9.99946548e-01 9.46135205e-03 4.16929202e-03 1.08326502e+02] [-9.46056886e-03 9.99955226e-01 -2.07530259e-04 5.23842153e-01] [-4.17106886e-03 1.68075292e-04 9.99991287e-01 -4.47698207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.535898227 meters Centerline goodness [0,1] 0.9993927591766651 Centerline is valid? [True, True] Translation: X:108.36, Y:0.53, Z:-0.45 [[ 9.99950755e-01 9.66936007e-03 2.23419136e-03 1.08358127e+02] [-9.66913572e-03 9.99953247e-01 -1.11200596e-04 5.29002553e-01] [-2.23516215e-03 8.95924204e-05 9.99997498e-01 -4.51138547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.565898227 meters Centerline goodness [0,1] 0.9996396014415942 Centerline is valid? [True, True] Translation: X:108.39, Y:0.53, Z:-0.45 [[ 9.99963015e-01 8.46141884e-03 1.54046962e-03 1.08390066e+02] [-8.46131007e-03 9.99964200e-01 -7.71119746e-05 5.33657016e-01] [-1.54106695e-03 6.40747315e-05 9.99998811e-01 -4.52861495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.595898227 meters Centerline goodness [0,1] 0.99933029174166 Centerline is valid? [True, True] Translation: X:108.42, Y:0.53, Z:-0.45 [[ 9.99977271e-01 6.56797726e-03 1.52296237e-03 1.08419835e+02] [-6.56786858e-03 9.99978428e-01 -7.63516754e-05 5.32923327e-01] [-1.52343099e-03 6.63473233e-05 9.99998837e-01 -4.53258290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.625898227 meters Centerline goodness [0,1] 0.998368269110079 Centerline is valid? [True, True] Translation: X:108.45, Y:0.53, Z:-0.45 [[ 9.99988911e-01 4.47259212e-03 1.47464922e-03 1.08449421e+02] [-4.47248824e-03 9.99989996e-01 -7.37344807e-05 5.29027421e-01] [-1.47496425e-03 6.71383117e-05 9.99998910e-01 -4.53510660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.655898227 meters Centerline goodness [0,1] 0.9959756020876565 Centerline is valid? [True, True] Translation: X:108.48, Y:0.53, Z:-0.45 [[ 9.99999360e-01 -9.33446020e-04 6.39781347e-04 1.08479582e+02] [ 9.33466780e-04 9.99999564e-01 -3.21503127e-05 5.31274961e-01] [-6.39751058e-04 3.27475068e-05 9.99999795e-01 -4.53729234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.685898227 meters Centerline goodness [0,1] 0.9963015406724856 Centerline is valid? [True, True] Translation: X:108.51, Y:0.53, Z:-0.45 [[ 9.99993073e-01 -3.70247955e-03 3.82298257e-04 1.08510313e+02] [ 3.70248714e-03 9.99993146e-01 -1.91481326e-05 5.34056031e-01] [-3.82224741e-04 2.05634544e-05 9.99999927e-01 -4.53511048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.715898227 meters Centerline goodness [0,1] 0.9983814634977426 Centerline is valid? [True, True] Translation: X:108.54, Y:0.54, Z:-0.45 [[ 9.99978621e-01 -6.52185048e-03 4.71183068e-04 1.08541483e+02] [ 6.52186233e-03 9.99978732e-01 -2.36318376e-05 5.41433748e-01] [-4.71018924e-04 2.67043235e-05 9.99999889e-01 -4.52459659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.745898227 meters Centerline goodness [0,1] 0.9907549107985157 Centerline is valid? [True, True] Translation: X:108.57, Y:0.53, Z:-0.45 [[ 9.99961786e-01 -8.69456003e-03 9.11169457e-04 1.08570733e+02] [ 8.69460529e-03 9.99962200e-01 -4.57291624e-05 5.33122198e-01] [-9.10737420e-04 5.36496737e-05 9.99999584e-01 -4.52383010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.775898227 meters Centerline goodness [0,1] 0.995312666453606 Centerline is valid? [True, True] Translation: X:108.60, Y:0.54, Z:-0.45 [[ 9.99942168e-01 -1.06256316e-02 1.66059591e-03 1.08601794e+02] [ 1.06257845e-02 9.99943541e-01 -8.32990400e-05 5.38098524e-01] [-1.65961705e-03 1.00939357e-04 9.99998618e-01 -4.50256207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.805898227 meters Centerline goodness [0,1] 0.9946390431439556 Centerline is valid? [True, True] Translation: X:108.63, Y:0.54, Z:-0.45 [[ 9.99924919e-01 -1.21308424e-02 1.73153285e-03 1.08632459e+02] [ 1.21310110e-02 9.99926413e-01 -8.69216251e-05 5.39369611e-01] [-1.73035100e-03 1.07920343e-04 9.99998497e-01 -4.50235481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.835898227 meters Centerline goodness [0,1] 0.9893497162050127 Centerline is valid? [True, True] Translation: X:108.66, Y:0.54, Z:-0.45 [[ 9.99908885e-01 -1.34361730e-02 1.30023639e-03 1.08662904e+02] [ 1.34362691e-02 9.99909727e-01 -6.52243217e-05 5.39351397e-01] [-1.29924264e-03 8.26887048e-05 9.99999153e-01 -4.51015235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.865898227 meters Centerline goodness [0,1] 0.9901171226107618 Centerline is valid? [True, True] Translation: X:108.69, Y:0.54, Z:-0.45 [[ 9.99903855e-01 -1.38623190e-02 3.40987450e-04 1.08693184e+02] [ 1.38623257e-02 9.99903913e-01 -1.71214062e-05 5.39499262e-01] [-3.40717343e-04 2.18466392e-05 9.99999942e-01 -4.52927086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.895898227 meters Centerline goodness [0,1] 0.9633222061262623 Centerline is valid? [True, True] Translation: X:108.72, Y:0.53, Z:-0.45 [[ 9.99904895e-01 -1.37903840e-02 1.59102242e-04 1.08721992e+02] [ 1.37903855e-02 9.99904908e-01 -7.98872250e-06 5.32897936e-01] [-1.58976945e-04 1.01820440e-05 9.99999987e-01 -4.53507750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.925898227 meters Centerline goodness [0,1] 0.9559207204174381 Centerline is valid? [True, True] Translation: X:108.75, Y:0.53, Z:-0.45 [[ 9.99898963e-01 -1.42138306e-02 1.77008070e-04 1.08751787e+02] [ 1.42138323e-02 9.99898978e-01 -8.60250433e-06 5.32541476e-01] [-1.76867914e-04 1.11175982e-05 9.99999984e-01 -4.53073937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.955898227 meters Centerline goodness [0,1] 0.9624947764312578 Centerline is valid? [True, True] Translation: X:108.78, Y:0.53, Z:-0.45 [[ 9.99889506e-01 -1.48094520e-02 1.28646779e-03 1.08782536e+02] [ 1.48095474e-02 9.99890331e-01 -6.46685955e-05 5.31930990e-01] [-1.28536899e-03 8.37134557e-05 9.99999170e-01 -4.51572107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.985898227 meters Centerline goodness [0,1] 0.9696659850034083 Centerline is valid? [True, True] Translation: X:108.81, Y:0.53, Z:-0.45 [[ 9.99874125e-01 -1.57110931e-02 2.21251360e-03 1.08813288e+02] [ 1.57113775e-02 9.99876563e-01 -1.11219378e-04 5.32103851e-01] [-2.21049312e-03 1.45967015e-04 9.99997546e-01 -4.50239920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.015898227 meters Centerline goodness [0,1] 0.7806273756317614 Centerline is valid? [True, False] Translation: X:108.84, Y:0.53, Z:-0.45 [[ 9.99857339e-01 -1.68608794e-02 1.00580636e-03 1.08841910e+02] [ 1.68737638e-02 9.99751214e-01 -1.45871936e-02 5.34991717e-01] [-7.59603216e-04 1.46020844e-02 9.99893095e-01 -4.46595513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.045898227 meters Centerline goodness [0,1] 0.9286975160761568 Centerline is valid? [False, False] Translation: X:108.84, Y:0.53, Z:-0.45 [[ 9.99917285e-01 -1.28051799e-02 1.20465073e-03 1.08841202e+02] [ 1.28160289e-02 9.99872967e-01 -9.47626630e-03 5.29757231e-01] [-1.08315240e-03 9.49092130e-03 9.99954374e-01 -4.46909299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.075898227 meters Centerline goodness [0,1] 0.8351897776470094 Centerline is valid? [False, False] Translation: X:108.84, Y:0.53, Z:-0.45 [[ 9.99960136e-01 -8.81969927e-03 1.39258607e-03 1.08840700e+02] [ 8.82587044e-03 9.99950974e-01 -4.48929833e-03 5.25073301e-01] [-1.35292354e-03 4.50141016e-03 9.99988953e-01 -4.47393925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.105898227 meters Centerline goodness [0,1] 0.9193398222598392 Centerline is valid? [False, False] Translation: X:108.84, Y:0.52, Z:-0.45 [[ 9.99959913e-01 -8.86932889e-03 1.22766177e-03 1.08841275e+02] [ 8.87475082e-03 9.99950566e-01 -4.48381860e-03 5.24939996e-01] [-1.18783262e-03 4.49453405e-03 9.99989194e-01 -4.47478149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.135898227 meters Centerline goodness [0,1] 0.8532301593995109 Centerline is valid? [False, False] Translation: X:108.84, Y:0.52, Z:-0.45 [[ 9.99987955e-01 -4.76077357e-03 1.19400552e-03 1.08841478e+02] [ 4.76063978e-03 9.99988661e-01 1.14870238e-04 5.22816926e-01] [-1.19453886e-03 -1.09184624e-04 9.99999281e-01 -4.47858203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.16589822699999 meters Centerline goodness [0,1] 0.8921160079134571 Centerline is valid? [False, False] Translation: X:108.84, Y:0.53, Z:-0.45 [[ 9.99987254e-01 -4.93585422e-03 1.06284647e-03 1.08841721e+02] [ 4.93641724e-03 9.99987677e-01 -5.27759403e-04 5.26107546e-01] [-1.06022843e-03 5.32999330e-04 9.99999296e-01 -4.47492374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.195898227 meters Centerline goodness [0,1] 0.8909544129452026 Centerline is valid? [False, False] Translation: X:108.84, Y:0.53, Z:-0.45 [[ 9.99998616e-01 -1.06889793e-03 1.27494173e-03 1.08840700e+02] [ 1.06564392e-03 9.99996180e-01 2.55024153e-03 5.32127585e-01] [-1.27766281e-03 -2.54887937e-03 9.99995935e-01 -4.46916745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.225898227 meters Centerline goodness [0,1] 0.9609598251807027 Centerline is valid? [False, True] Translation: X:108.84, Y:0.54, Z:-0.45 [[ 9.99998676e-01 -1.22357608e-03 1.07289256e-03 1.08841230e+02] [ 1.22188479e-03 9.99998012e-01 1.57562338e-03 5.37400936e-01] [-1.07481832e-03 -1.57431034e-03 9.99998183e-01 -4.46739759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.255898227 meters Centerline goodness [0,1] 0.7689500398506649 Centerline is valid? [True, False] Translation: X:108.84, Y:0.54, Z:-0.45 [[ 9.99998560e-01 -1.46909465e-03 8.49291308e-04 1.08841949e+02] [ 1.46859107e-03 9.99998746e-01 5.93265614e-04 5.42519147e-01] [-8.50161806e-04 -5.92017498e-04 9.99999463e-01 -4.46773434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.285898227 meters Centerline goodness [0,1] 0.9926336334445633 Centerline is valid? [False, True] Translation: X:108.84, Y:0.55, Z:-0.45 [[ 9.99998272e-01 -1.74801582e-03 6.32576190e-04 1.08842722e+02] [ 1.74817890e-03 9.99998439e-01 -2.57327978e-04 5.46791608e-01] [-6.32125389e-04 2.58433390e-04 9.99999767e-01 -4.46887441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.315898227 meters Centerline goodness [0,1] 0.9915632437946277 Centerline is valid? [True, True] Translation: X:108.87, Y:0.55, Z:-0.45 [[ 9.99998329e-01 -1.77656120e-03 -4.32022588e-04 1.08873583e+02] [ 1.77657174e-03 9.99998422e-01 2.40079397e-05 5.47463046e-01] [ 4.31979255e-04 -2.47754187e-05 9.99999906e-01 -4.48559063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.345898227 meters Centerline goodness [0,1] 0.9703929511003466 Centerline is valid? [True, True] Translation: X:108.90, Y:0.54, Z:-0.45 [[ 9.99995144e-01 -2.53149927e-03 -1.81762473e-03 1.08902772e+02] [ 2.53168687e-03 9.99996790e-01 1.00916541e-04 5.41936575e-01] [ 1.81736342e-03 -1.05517708e-04 9.99998343e-01 -4.51782195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.375898227 meters Centerline goodness [0,1] 0.9869613072559479 Centerline is valid? [True, True] Translation: X:108.93, Y:0.55, Z:-0.46 [[ 9.99970291e-01 -6.25818997e-03 -4.50017824e-03 1.08933355e+02] [ 6.25937742e-03 9.99980379e-01 2.49830184e-04 5.47667390e-01] [ 4.49852646e-03 -2.77991076e-04 9.99989843e-01 -4.56948527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.405898227 meters Centerline goodness [0,1] 0.9277747379940233 Centerline is valid? [True, False] Translation: X:108.93, Y:0.55, Z:-0.46 [[ 9.99969263e-01 -6.40703219e-03 -4.51908749e-03 1.08933573e+02] [ 6.40826496e-03 9.99979433e-01 2.58363443e-04 5.47233583e-01] [ 4.51733920e-03 -2.87315011e-04 9.99989755e-01 -4.57274715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.435898227 meters Centerline goodness [0,1] 0.898620124755844 Centerline is valid? [False, False] Translation: X:108.93, Y:0.55, Z:-0.46 [[ 9.99968703e-01 -6.50194275e-03 -4.50742488e-03 1.08933559e+02] [ 6.50357430e-03 9.99978791e-01 3.47408040e-04 5.46516840e-01] [ 4.50507046e-03 -3.76711540e-04 9.99989781e-01 -4.57308949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.465898227 meters Centerline goodness [0,1] 0.7885596054171543 Centerline is valid? [False, False] Translation: X:108.93, Y:0.55, Z:-0.46 [[ 9.99966596e-01 -6.68917067e-03 -4.69708418e-03 1.08934556e+02] [ 6.69120696e-03 9.99977526e-01 4.17942797e-04 5.45723765e-01] [ 4.69418292e-03 -4.49357998e-04 9.99988881e-01 -4.57946155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.495898227 meters Centerline goodness [0,1] 0.7477866823312214 Centerline is valid? [False, False] Translation: X:108.94, Y:0.54, Z:-0.46 [[ 9.99966060e-01 -6.64851689e-03 -4.86571529e-03 1.08935453e+02] [ 6.65139357e-03 9.99977714e-01 5.75270921e-04 5.44959715e-01] [ 4.86178215e-03 -6.07615184e-04 9.99987997e-01 -4.58547817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.525898227 meters Centerline goodness [0,1] 0.7294754424170666 Centerline is valid? [False, False] Translation: X:108.94, Y:0.54, Z:-0.46 [[ 9.99965946e-01 -6.60537299e-03 -4.94723501e-03 1.08935806e+02] [ 6.60891869e-03 9.99977915e-01 7.00698468e-04 5.44360351e-01] [ 4.94249737e-03 -7.33370480e-04 9.99987517e-01 -4.58709791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.555898227 meters Centerline goodness [0,1] 0.7132053150812261 Centerline is valid? [False, False] Translation: X:108.94, Y:0.54, Z:-0.46 [[ 9.99966716e-01 -6.54985230e-03 -4.86475624e-03 1.08935417e+02] [ 6.55370330e-03 9.99978223e-01 7.76092725e-04 5.44109349e-01] [ 4.85956701e-03 -8.07949063e-04 9.99987866e-01 -4.58479915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.585898227 meters Centerline goodness [0,1] 0.7291548912474617 Centerline is valid? [False, False] Translation: X:108.94, Y:0.55, Z:-0.46 [[ 9.99932021e-01 -1.05260028e-02 -5.01567920e-03 1.08935511e+02] [ 1.05057637e-02 9.99936633e-01 -4.04456790e-03 5.47968587e-01] [ 5.05793450e-03 3.99159941e-03 9.99979242e-01 -4.57595162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.615898227 meters Centerline goodness [0,1] 0.7365458135529135 Centerline is valid? [False, False] Translation: X:108.93, Y:0.54, Z:-0.46 [[ 9.99969784e-01 -6.21142456e-03 -4.67429735e-03 1.08934166e+02] [ 6.21578325e-03 9.99980260e-01 9.18530347e-04 5.44147008e-01] [ 4.66849970e-03 -9.47557012e-04 9.99988654e-01 -4.57426309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.645898227 meters Centerline goodness [0,1] 0.9648040943032133 Centerline is valid? [False, True] Translation: X:108.93, Y:0.55, Z:-0.46 [[ 9.99970796e-01 -6.06952993e-03 -4.64421640e-03 1.08933562e+02] [ 6.07264097e-03 9.99981346e-01 6.56066058e-04 5.46038455e-01] [ 4.64014776e-03 -6.84249556e-04 9.99989000e-01 -4.56548746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.675898227 meters Centerline goodness [0,1] 0.7970665269774752 Centerline is valid? [True, False] Translation: X:108.93, Y:0.55, Z:-0.46 [[ 9.99970091e-01 -6.10749260e-03 -4.74503137e-03 1.08933937e+02] [ 6.10926666e-03 9.99981274e-01 3.59473853e-04 5.47674461e-01] [ 4.74274703e-03 -3.88451764e-04 9.99988678e-01 -4.56613838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.705898227 meters Centerline goodness [0,1] 0.9927601620044908 Centerline is valid? [False, True] Translation: X:108.93, Y:0.55, Z:-0.46 [[ 9.99968519e-01 -6.17267963e-03 -4.98579550e-03 1.08934833e+02] [ 6.17292304e-03 9.99980947e-01 3.34342432e-05 5.49461413e-01] [ 4.98549412e-03 -6.42101226e-05 9.99987570e-01 -4.56821889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.735898227 meters Centerline goodness [0,1] 0.8370584295998661 Centerline is valid? [True, False] Translation: X:108.94, Y:0.55, Z:-0.46 [[ 9.99967324e-01 -6.21863992e-03 -5.16516822e-03 1.08935816e+02] [ 6.21739202e-03 9.99980639e-01 -2.57621165e-04 5.51144523e-01] [ 5.16667027e-03 2.25498872e-04 9.99986627e-01 -4.57470041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.765898227 meters Centerline goodness [0,1] 0.8461071069393229 Centerline is valid? [False, False] Translation: X:108.94, Y:0.55, Z:-0.46 [[ 9.99965834e-01 -6.38397381e-03 -5.25130019e-03 1.08935864e+02] [ 6.38050245e-03 9.99979415e-01 -6.77535716e-04 5.53248624e-01] [ 5.25551747e-03 6.44006634e-04 9.99985982e-01 -4.57098421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.795898227 meters Centerline goodness [0,1] 0.7975479541665788 Centerline is valid? [False, False] Translation: X:108.94, Y:0.55, Z:-0.46 [[ 9.99966139e-01 -6.44090772e-03 -5.12207554e-03 1.08935246e+02] [ 6.43751222e-03 9.99979048e-01 -6.79125429e-04 5.53109942e-01] [ 5.12634240e-03 6.46129009e-04 9.99986651e-01 -4.56771670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.825898227 meters Centerline goodness [0,1] 0.9785081908607238 Centerline is valid? [False, True] Translation: X:108.93, Y:0.55, Z:-0.46 [[ 9.99965905e-01 -6.49433587e-03 -5.10025611e-03 1.08934883e+02] [ 6.49140450e-03 9.99978756e-01 -5.91094671e-04 5.52478310e-01] [ 5.10398653e-03 5.57966692e-04 9.99986819e-01 -4.56311346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.855898227 meters Centerline goodness [0,1] 0.9397179639197086 Centerline is valid? [True, False] Translation: X:108.93, Y:0.55, Z:-0.46 [[ 9.99966093e-01 -6.53406180e-03 -5.01188253e-03 1.08934562e+02] [ 6.53186517e-03 9.99978564e-01 -4.54526245e-04 5.51591218e-01] [ 5.01474499e-03 4.21773893e-04 9.99987337e-01 -4.56263745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.885898227 meters Centerline goodness [0,1] 0.9092095843685518 Centerline is valid? [False, False] Translation: X:108.93, Y:0.55, Z:-0.46 [[ 9.99965648e-01 -6.63952886e-03 -4.96179665e-03 1.08934314e+02] [ 6.63785434e-03 9.99977907e-01 -3.53874330e-04 5.50794564e-01] [ 4.96403659e-03 3.20926491e-04 9.99987628e-01 -4.56107297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91589822699999 meters Centerline goodness [0,1] 0.8873662474188099 Centerline is valid? [False, False] Translation: X:108.93, Y:0.56, Z:-0.46 [[ 9.99928525e-01 -1.07484510e-02 -5.23603946e-03 1.08934915e+02] [ 1.07199671e-02 9.99927753e-01 -5.43800194e-03 5.55920088e-01] [ 5.29411126e-03 5.38148309e-03 9.99971506e-01 -4.55347865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.945898227 meters Centerline goodness [0,1] 0.9072723092037878 Centerline is valid? [False, False] Translation: X:108.93, Y:0.55, Z:-0.46 [[ 9.99965921e-01 -6.55110579e-03 -5.02400845e-03 1.08934067e+02] [ 6.54626785e-03 9.99978094e-01 -9.78804873e-04 5.54770653e-01] [ 5.03031064e-03 9.45883010e-04 9.99986901e-01 -4.55276250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.975898227 meters Centerline goodness [0,1] 0.9226779124934107 Centerline is valid? [False, False] Translation: X:108.93, Y:0.56, Z:-0.45 [[ 9.99964096e-01 -6.75895034e-03 -5.11118882e-03 1.08934088e+02] [ 6.75002656e-03 9.99975667e-01 -1.76116926e-03 5.58747678e-01] [ 5.12296811e-03 1.72660537e-03 9.99985387e-01 -4.54824851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.005898227 meters Centerline goodness [0,1] 0.9496535409993929 Centerline is valid? [False, False] Translation: X:108.93, Y:0.56, Z:-0.45 [[ 9.99961927e-01 -6.95861969e-03 -5.26512402e-03 1.08934485e+02] [ 6.94500459e-03 9.99972504e-01 -2.59978394e-03 5.63132069e-01] [ 5.28307016e-03 2.56311865e-03 9.99982760e-01 -4.54630038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.035898227 meters Centerline goodness [0,1] 0.9745892845873914 Centerline is valid? [False, True] Translation: X:108.94, Y:0.57, Z:-0.46 [[ 9.99980514e-01 -3.02495072e-03 -5.46082521e-03 1.08935820e+02] [ 3.03101561e-03 9.99994799e-01 1.10268438e-03 5.65795598e-01] [ 5.45746124e-03 -1.11921474e-03 9.99984482e-01 -4.55898033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.065898227 meters Centerline goodness [0,1] 0.9745892845873914 Centerline is valid? [True, True] Translation: X:108.96, Y:0.56, Z:-0.46 [[ 9.99979776e-01 -3.18189321e-03 -5.50661061e-03 1.08964160e+02] [ 3.18371843e-03 9.99994880e-01 3.22724104e-04 5.64559277e-01] [ 5.50555554e-03 -3.40249075e-04 9.99984786e-01 -4.55794277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.095898227 meters Centerline goodness [0,1] 0.9613440442980892 Centerline is valid? [True, True] Translation: X:108.99, Y:0.56, Z:-0.46 [[ 9.99976193e-01 -3.34394847e-03 -6.03592670e-03 1.08993074e+02] [ 3.34614138e-03 9.99994339e-01 3.53248215e-04 5.62889415e-01] [ 6.03471128e-03 -3.73436870e-04 9.99981721e-01 -4.57389945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.125898227 meters Centerline goodness [0,1] 0.9618092775921139 Centerline is valid? [True, True] Translation: X:109.02, Y:0.56, Z:-0.46 [[ 9.99974026e-01 -4.30845650e-03 -5.77788843e-03 1.09022505e+02] [ 4.31048087e-03 9.99990653e-01 3.37957416e-04 5.63570504e-01] [ 5.77637835e-03 -3.62854116e-04 9.99983251e-01 -4.56923389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.155898227 meters Centerline goodness [0,1] 0.9768936982813494 Centerline is valid? [True, True] Translation: X:109.05, Y:0.57, Z:-0.46 [[ 9.99970442e-01 -5.48905542e-03 -5.38378908e-03 1.09052569e+02] [ 5.49082933e-03 9.99984876e-01 3.14765529e-04 5.66638978e-01] [ 5.38197989e-03 -3.44317692e-04 9.99985458e-01 -4.55910269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.185898227 meters Centerline goodness [0,1] 0.8462299290809991 Centerline is valid? [True, False] Translation: X:109.06, Y:0.57, Z:-0.46 [[ 9.99942200e-01 -8.78426977e-03 -6.19949402e-03 1.09057597e+02] [ 8.76302796e-03 9.99955669e-01 -3.44526460e-03 5.70596562e-01] [ 6.22948332e-03 3.39073912e-03 9.99974848e-01 -4.58539384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.215898227 meters Centerline goodness [0,1] 0.9652640736732658 Centerline is valid? [False, True] Translation: X:109.06, Y:0.57, Z:-0.46 [[ 9.99940687e-01 -8.93294938e-03 -6.23091249e-03 1.09057840e+02] [ 8.91042767e-03 9.99953702e-01 -3.63295682e-03 5.71358054e-01] [ 6.26307703e-03 3.57722124e-03 9.99973988e-01 -4.58756556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.245898227 meters Centerline goodness [0,1] 0.8586428360163941 Centerline is valid? [True, False] Translation: X:109.06, Y:0.57, Z:-0.46 [[ 9.99967942e-01 -5.17240395e-03 -6.11232123e-03 1.09057732e+02] [ 5.17818039e-03 9.99986161e-01 9.29601242e-04 5.68328718e-01] [ 6.10742836e-03 -9.61222143e-04 9.99980888e-01 -4.59440462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.275898227 meters Centerline goodness [0,1] 0.8149195761388104 Centerline is valid? [False, False] Translation: X:109.06, Y:0.57, Z:-0.46 [[ 9.99968122e-01 -5.23495359e-03 -6.02907737e-03 1.09057338e+02] [ 5.24054066e-03 9.99985853e-01 9.11262990e-04 5.68289251e-01] [ 6.02422166e-03 -9.42829566e-04 9.99981410e-01 -4.59229902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.305898227 meters Centerline goodness [0,1] 0.7582472718150269 Centerline is valid? [False, False] Translation: X:109.08, Y:0.57, Z:-0.46 [[ 9.99970636e-01 -6.49061800e-03 -4.07412403e-03 1.09075722e+02] [ 6.44505475e-03 9.99917636e-01 -1.10988033e-02 5.70618283e-01] [ 4.14582656e-03 1.10722194e-02 9.99930107e-01 -4.57212671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.335898227 meters Centerline goodness [0,1] 0.5409298732750162 Centerline is valid? [False, False] Translation: X:109.08, Y:0.57, Z:-0.46 [[ 9.99989319e-01 -2.33301210e-03 -3.98990297e-03 1.09075676e+02] [ 2.30801612e-03 9.99977755e-01 -6.25797988e-03 5.67267642e-01] [ 4.00441415e-03 6.24870427e-03 9.99972459e-01 -4.57748549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.365898227 meters Centerline goodness [0,1] 0.871873286371114 Centerline is valid? [False, False] Translation: X:109.06, Y:0.57, Z:-0.46 [[ 9.99992711e-01 -2.68861233e-03 -2.71100996e-03 1.09056031e+02] [ 2.69784648e-03 9.99990553e-01 3.40828256e-03 5.67402539e-01] [ 2.70182080e-03 -3.41557161e-03 9.99990517e-01 -4.61950341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.395898227 meters Centerline goodness [0,1] 0.6208032433802103 Centerline is valid? [False, False] Translation: X:109.06, Y:0.57, Z:-0.46 [[ 9.99991964e-01 -2.80097114e-03 -2.86815222e-03 1.09056482e+02] [ 2.80955286e-03 9.99991576e-01 2.99242789e-03 5.69488527e-01] [ 2.85974636e-03 -3.00046207e-03 9.99991410e-01 -4.61815538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.425898227 meters Centerline goodness [0,1] 0.7655315281036633 Centerline is valid? [False, False] Translation: X:109.06, Y:0.57, Z:-0.46 [[ 9.99991289e-01 -2.95255156e-03 -2.95025613e-03 1.09056657e+02] [ 2.95976482e-03 9.99992634e-01 2.44359154e-03 5.72270066e-01] [ 2.94301957e-03 -2.45230232e-03 9.99992662e-01 -4.61641031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.455898227 meters Centerline goodness [0,1] 0.921198900937559 Centerline is valid? [False, False] Translation: X:109.08, Y:0.58, Z:-0.46 [[ 9.99996532e-01 2.39560357e-03 -1.09422062e-03 1.09077104e+02] [-2.39893056e-03 9.99992473e-01 -3.04938841e-03 5.76649588e-01] [ 1.08690726e-03 3.05200279e-03 9.99994752e-01 -4.61652030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.485898227 meters Centerline goodness [0,1] 0.78935703084161 Centerline is valid? [False, False] Translation: X:109.08, Y:0.58, Z:-0.46 [[ 9.99996549e-01 2.24364197e-03 -1.36682810e-03 1.09077880e+02] [-2.24904847e-03 9.99989603e-01 -3.96689375e-03 5.81661139e-01] [ 1.35791359e-03 3.96995412e-03 9.99991198e-01 -4.61446411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.515898227 meters Centerline goodness [0,1] 0.9918769699405581 Centerline is valid? [False, True] Translation: X:109.08, Y:0.58, Z:-0.46 [[ 9.99979236e-01 6.31652105e-03 -1.27610191e-03 1.09077893e+02] [-6.31650017e-03 9.99980051e-01 2.03952542e-05 5.82878846e-01] [ 1.27620528e-03 -1.23343328e-05 9.99999186e-01 -4.61829778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.545898227 meters Centerline goodness [0,1] 0.9974796679091833 Centerline is valid? [True, True] Translation: X:109.11, Y:0.59, Z:-0.46 [[ 9.99968963e-01 7.67017596e-03 -1.80054821e-03 1.09108352e+02] [-7.66996793e-03 9.99970578e-01 1.22415820e-04 5.89117513e-01] [ 1.80143418e-03 -1.08601874e-04 9.99998372e-01 -4.63132502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.575898227 meters Centerline goodness [0,1] 0.9967081510427728 Centerline is valid? [True, True] Translation: X:109.14, Y:0.59, Z:-0.46 [[ 9.99966102e-01 7.81081808e-03 -2.60514426e-03 1.09137026e+02] [-7.81038336e-03 9.99969483e-01 1.77002047e-04 5.89969729e-01] [ 2.60644729e-03 -1.56648872e-04 9.99996591e-01 -4.64714889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.605898227 meters Centerline goodness [0,1] 0.9801314735999326 Centerline is valid? [True, True] Translation: X:109.17, Y:0.59, Z:-0.46 [[ 9.99991910e-01 3.22087143e-03 -2.40942788e-03 1.09166204e+02] [-3.22048639e-03 9.99994801e-01 1.63668582e-04 5.87251905e-01] [ 2.40994251e-03 -1.55907728e-04 9.99997084e-01 -4.64886156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.635898227 meters Centerline goodness [0,1] 0.8951846108712963 Centerline is valid? [True, False] Translation: X:109.17, Y:0.59, Z:-0.47 [[ 9.99994250e-01 1.03634887e-03 -3.22906804e-03 1.09171057e+02] [-1.04301522e-03 9.99997327e-01 -2.06348115e-03 5.90700917e-01] [ 3.22692092e-03 2.06683725e-03 9.99992658e-01 -4.67390592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.66589822699999 meters Centerline goodness [0,1] 0.8043112866627448 Centerline is valid? [False, False] Translation: X:109.17, Y:0.59, Z:-0.47 [[ 9.99994459e-01 7.08688447e-04 -3.25271475e-03 1.09171256e+02] [-7.16037518e-04 9.99997193e-01 -2.25875708e-03 5.90986648e-01] [ 3.25110486e-03 2.26107363e-03 9.99992159e-01 -4.67574739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.695898227 meters Centerline goodness [0,1] 0.7318681318681319 Centerline is valid? [False, False] Translation: X:109.17, Y:0.59, Z:-0.47 [[ 9.99994135e-01 4.21875336e-04 -3.39885037e-03 1.09172198e+02] [-4.29891802e-04 9.99997127e-01 -2.35819637e-03 5.90966694e-01] [ 3.39784574e-03 2.35964368e-03 9.99991443e-01 -4.68384283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.725898227 meters Centerline goodness [0,1] 0.6317301241194231 Centerline is valid? [False, False] Translation: X:109.17, Y:0.59, Z:-0.47 [[ 9.99994187e-01 -2.83692302e-04 -3.39798839e-03 1.09172803e+02] [ 2.73871460e-04 9.99995786e-01 -2.89030965e-03 5.92344482e-01] [ 3.39879403e-03 2.88936223e-03 9.99990050e-01 -4.69258874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.755898227 meters Centerline goodness [0,1] 0.5789550924567068 Centerline is valid? [False, False] Translation: X:109.17, Y:0.59, Z:-0.47 [[ 9.99994159e-01 -5.26319499e-04 -3.37699907e-03 1.09172572e+02] [ 5.15186934e-04 9.99994433e-01 -3.29660841e-03 5.94113489e-01] [ 3.37871534e-03 3.29484937e-03 9.99988864e-01 -4.68924999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.785898227 meters Centerline goodness [0,1] 0.5392467145941188 Centerline is valid? [False, False] Translation: X:109.17, Y:0.60, Z:-0.47 [[ 9.99994251e-01 -7.05515196e-04 -3.31672182e-03 1.09171995e+02] [ 6.93236008e-04 9.99992908e-01 -3.70189917e-03 5.96045375e-01] [ 3.31931004e-03 3.69957862e-03 9.99987648e-01 -4.68261843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.815898227 meters Centerline goodness [0,1] 0.5408082243303105 Centerline is valid? [False, False] Translation: X:109.17, Y:0.60, Z:-0.47 [[ 9.99994439e-01 -8.35991622e-04 -3.22832799e-03 1.09171304e+02] [ 8.22863993e-04 9.99991397e-01 -4.06557581e-03 5.97807734e-01] [ 3.23169900e-03 4.06289673e-03 9.99986524e-01 -4.67535077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.845898227 meters Centerline goodness [0,1] 0.6271719310012367 Centerline is valid? [False, False] Translation: X:109.17, Y:0.60, Z:-0.47 [[ 9.99994461e-01 -9.16686739e-04 -3.19959198e-03 1.09170975e+02] [ 9.02839809e-04 9.99990233e-01 -4.32648233e-03 5.99171357e-01] [ 3.20352676e-03 4.32356965e-03 9.99985522e-01 -4.67138110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.875898227 meters Centerline goodness [0,1] 0.6558639363682518 Centerline is valid? [False, False] Translation: X:109.17, Y:0.60, Z:-0.47 [[ 9.99990360e-01 3.30308904e-03 -2.89308254e-03 1.09170220e+02] [-3.30203095e-03 9.99994480e-01 3.70431985e-04 5.96595018e-01] [ 2.89429014e-03 -3.60875366e-04 9.99995746e-01 -4.67499455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.905898227 meters Centerline goodness [0,1] 0.5663661407463061 Centerline is valid? [False, False] Translation: X:109.21, Y:0.60, Z:-0.47 [[ 9.99990935e-01 3.24360720e-03 -2.75858872e-03 1.09212344e+02] [-3.24215444e-03 9.99994603e-01 5.30939856e-04 5.97076031e-01] [ 2.76029600e-03 -5.21991272e-04 9.99996054e-01 -4.65597430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.935898227 meters Centerline goodness [0,1] 0.9005378058372128 Centerline is valid? [False, False] Translation: X:109.17, Y:0.60, Z:-0.46 [[ 9.99987905e-01 3.76478327e-03 -3.16476675e-03 1.09169414e+02] [-3.77365009e-03 9.99988958e-01 -2.80044018e-03 6.03764786e-01] [ 3.15418876e-03 2.81234903e-03 9.99991071e-01 -4.64350999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.965898227 meters Centerline goodness [0,1] 0.944770437672198 Centerline is valid? [False, False] Translation: X:109.19, Y:0.60, Z:-0.47 [[ 9.99980499e-01 6.08119037e-03 1.42168637e-03 1.09192563e+02] [-6.09548334e-03 9.99928630e-01 1.02752023e-02 5.97694142e-01] [-1.35909944e-03 -1.02836678e-02 9.99946198e-01 -4.70280484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.995898227 meters Centerline goodness [0,1] 0.9571154211426038 Centerline is valid? [False, True] Translation: X:109.19, Y:0.60, Z:-0.47 [[ 9.99996294e-01 2.45242599e-03 1.18193812e-03 1.09192841e+02] [-2.45873902e-03 9.99982560e-01 5.36972739e-03 6.03067958e-01] [-1.16874864e-03 -5.37261356e-03 9.99984884e-01 -4.69325159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.025898227 meters Centerline goodness [0,1] 0.9906303779718274 Centerline is valid? [True, True] Translation: X:109.22, Y:0.61, Z:-0.47 [[ 9.99954613e-01 9.12651890e-03 2.73477870e-03 1.09223660e+02] [-9.12601593e-03 9.99958338e-01 -1.96339168e-04 6.10895596e-01] [-2.73645665e-03 1.71372622e-04 9.99996241e-01 -4.66035314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.055898227 meters Centerline goodness [0,1] 0.9720881646296876 Centerline is valid? [True, True] Translation: X:109.25, Y:0.60, Z:-0.46 [[ 9.99921672e-01 1.21425138e-02 3.03481193e-03 1.09252489e+02] [-1.21419083e-02 9.99926261e-01 -2.17866661e-04 6.03623673e-01] [-3.03723360e-03 1.81001188e-04 9.99995371e-01 -4.64984269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.085898227 meters Centerline goodness [0,1] 0.9973400886637112 Centerline is valid? [True, True] Translation: X:109.28, Y:0.61, Z:-0.47 [[ 9.99883539e-01 1.49942034e-02 2.84293773e-03 1.09283844e+02] [-1.49936836e-02 9.99887568e-01 -2.04064711e-04 6.10769387e-01] [-2.84567788e-03 1.61414837e-04 9.99995938e-01 -4.65782245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.115898227 meters Centerline goodness [0,1] 0.9985560486696536 Centerline is valid? [True, True] Translation: X:109.31, Y:0.61, Z:-0.47 [[ 9.99843358e-01 1.75619933e-02 2.19912361e-03 1.09313672e+02] [-1.75616884e-02 9.99845769e-01 -1.57856299e-04 6.10333888e-01] [-2.20155671e-03 1.19211249e-04 9.99997569e-01 -4.67196277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.145898227 meters Centerline goodness [0,1] 0.9998313197124001 Centerline is valid? [True, True] Translation: X:109.34, Y:0.62, Z:-0.47 [[ 9.99795687e-01 2.01743450e-02 1.25667067e-03 1.09344286e+02] [-2.01742475e-02 9.99796475e-01 -9.01967438e-05 6.15937753e-01] [-1.25823457e-03 6.48259304e-05 9.99999206e-01 -4.68421384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.175898227 meters Centerline goodness [0,1] 0.9995805896908946 Centerline is valid? [True, True] Translation: X:109.37, Y:0.61, Z:-0.47 [[ 9.99739028e-01 2.28189284e-02 1.08284702e-03 1.09373025e+02] [-2.28188575e-02 9.99739613e-01 -7.77313658e-05 6.11057766e-01] [-1.08433880e-03 5.30017483e-05 9.99999411e-01 -4.69222066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.205898227 meters Centerline goodness [0,1] 0.9997680694948132 Centerline is valid? [True, True] Translation: X:109.40, Y:0.62, Z:-0.47 [[ 9.99568469e-01 2.93209382e-02 1.77743404e-03 1.09404009e+02] [-2.93207577e-02 9.99570046e-01 -1.27486523e-04 6.15586958e-01] [-1.78040785e-03 7.53157953e-05 9.99998412e-01 -4.68272533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.235898227 meters Centerline goodness [0,1] 0.9999582524474503 Centerline is valid? [True, True] Translation: X:109.43, Y:0.62, Z:-0.47 [[ 9.99450435e-01 3.31003901e-02 1.78693721e-03 1.09433562e+02] [-3.31002137e-02 9.99452030e-01 -1.28186266e-04 6.16810506e-01] [-1.79020104e-03 6.89678161e-05 9.99998395e-01 -4.68516911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.265898227 meters Centerline goodness [0,1] 0.999958240243877 Centerline is valid? [True, True] Translation: X:109.46, Y:0.62, Z:-0.47 [[ 9.99320600e-01 3.68378372e-02 1.14521699e-03 1.09463304e+02] [-3.68377672e-02 9.99321256e-01 -8.21621789e-05 6.18531325e-01] [-1.14746636e-03 3.99191211e-05 9.99999341e-01 -4.70454687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.295898227 meters Centerline goodness [0,1] 0.9999788766608225 Centerline is valid? [True, True] Translation: X:109.49, Y:0.62, Z:-0.47 [[ 9.99197159e-01 4.00609151e-02 4.00556807e-04 1.09493042e+02] [-4.00609068e-02 9.99197239e-01 -2.87677423e-05 6.19319451e-01] [-4.01387718e-04 1.26979774e-05 9.99999919e-01 -4.72413167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.325898227 meters Centerline goodness [0,1] 0.9998939239646979 Centerline is valid? [True, True] Translation: X:109.52, Y:0.62, Z:-0.47 [[ 9.99084704e-01 4.27746439e-02 -2.88995062e-04 1.09523709e+02] [-4.27746397e-02 9.99084746e-01 2.06093857e-05 6.24308377e-01] [ 2.89612118e-04 -8.22886239e-06 9.99999958e-01 -4.74716662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.355898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.55, Y:0.63, Z:-0.47 [[ 9.98868259e-01 4.75624455e-02 1.20901447e-04 1.09552822e+02] [-4.75624448e-02 9.98868266e-01 -8.72375753e-06 6.25121065e-01] [-1.21179542e-04 2.96351611e-06 9.99999993e-01 -4.73201441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.58, Y:0.62, Z:-0.47 [[ 9.98768824e-01 4.95931242e-02 1.16519012e-03 1.09580862e+02] [-4.95930605e-02 9.98769504e-01 -8.35123144e-05 6.21333035e-01] [-1.16789800e-03 2.56241519e-05 9.99999318e-01 -4.71498639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.61, Y:0.63, Z:-0.47 [[ 9.98652503e-01 5.18712237e-02 1.59818137e-03 1.09610602e+02] [-5.18711070e-02 9.98653781e-01 -1.14413065e-04 6.25082752e-01] [-1.60196461e-03 3.13594573e-05 9.99998716e-01 -4.69801718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.445898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.64, Y:0.62, Z:-0.47 [[ 9.98522744e-01 5.43078963e-02 1.72683349e-03 1.09638214e+02] [-5.43077638e-02 9.98524237e-01 -1.23578949e-04 6.23140436e-01] [-1.73099640e-03 2.96159260e-05 9.99998501e-01 -4.69530515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.475898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.67, Y:0.63, Z:-0.47 [[ 9.98362887e-01 5.71703068e-02 1.76128583e-03 1.09667884e+02] [-5.71701736e-02 9.98364440e-01 -1.25917230e-04 6.25954709e-01] [-1.76560387e-03 2.50180725e-05 9.99998441e-01 -4.69281614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.70, Y:0.63, Z:-0.47 [[ 9.98163012e-01 6.05459565e-02 2.18830275e-03 1.09697163e+02] [-6.05457592e-02 9.98165410e-01 -1.56360033e-04 6.31431948e-01] [-2.19375508e-03 2.35803497e-05 9.99997593e-01 -4.68340616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.535898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.73, Y:0.64, Z:-0.47 [[ 9.97752423e-01 6.69150786e-02 3.53182032e-03 1.09726091e+02] [-6.69146053e-02 9.97758674e-01 -2.52122153e-04 6.38714386e-01] [-3.54077514e-03 1.52251261e-05 9.99993731e-01 -4.66412374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.76, Y:0.64, Z:-0.47 [[ 9.97613028e-01 6.89162240e-02 4.33600548e-03 1.09755311e+02] [-6.89155306e-02 9.97622451e-01 -3.09305969e-04 6.40631974e-01] [-4.34701262e-03 9.74954578e-06 9.99990552e-01 -4.66121947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.595898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.78, Y:0.64, Z:-0.47 [[ 9.97525437e-01 7.01788697e-02 4.23422138e-03 1.09783783e+02] [-7.01782208e-02 9.97534424e-01 -3.01824598e-04 6.40557460e-01] [-4.24496330e-03 3.92759126e-06 9.99990990e-01 -4.65912310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.81, Y:0.64, Z:-0.47 [[ 9.97466556e-01 7.10238787e-02 4.00989798e-03 1.09811679e+02] [-7.10233046e-02 9.97474616e-01 -2.85575336e-04 6.39678171e-01] [-4.02005411e-03 5.56415786e-08 9.99991920e-01 -4.67186986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.655898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.84, Y:0.64, Z:-0.47 [[ 9.97408622e-01 7.18778596e-02 3.10080832e-03 1.09839580e+02] [-7.18775209e-02 9.97413442e-01 -2.20664550e-04 6.37747374e-01] [-3.10864879e-03 -2.78569044e-06 9.99995168e-01 -4.69532802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.685898227 meters Centerline goodness [0,1] 0.9999370277078086 Centerline is valid? [True, True] Translation: X:109.87, Y:0.64, Z:-0.47 [[ 9.97350633e-01 7.27047936e-02 2.39311292e-03 1.09866372e+02] [-7.27045946e-02 9.97353505e-01 -1.70180607e-04 6.36315185e-01] [-2.39915250e-03 -4.26056772e-06 9.99997122e-01 -4.71504321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.715898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.90, Y:0.64, Z:-0.47 [[ 9.97141433e-01 7.55013409e-02 2.91726916e-03 1.09895209e+02] [-7.55010579e-02 9.97145700e-01 -2.07172315e-04 6.35846725e-01] [-2.92458419e-03 -1.36768093e-05 9.99995723e-01 -4.70265848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.745898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.92, Y:0.64, Z:-0.47 [[ 9.97036029e-01 7.68719438e-02 3.14023372e-03 1.09922788e+02] [-7.68716232e-02 9.97040974e-01 -2.22848867e-04 6.36957986e-01] [-3.14807252e-03 -1.92065139e-05 9.99995045e-01 -4.69742906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.775898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.95, Y:0.63, Z:-0.47 [[ 9.96936132e-01 7.81794253e-02 2.51514302e-03 1.09951763e+02] [-7.81792240e-02 9.96939305e-01 -1.78396275e-04 6.34527672e-01] [-2.52139185e-03 -1.87822368e-05 9.99996821e-01 -4.70599713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.805898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.98, Y:0.63, Z:-0.47 [[ 9.96841312e-01 7.93894674e-02 2.17037619e-03 1.09979753e+02] [-7.93893205e-02 9.96843675e-01 -1.53879934e-04 6.34813168e-01] [-2.17574222e-03 -1.89108154e-05 9.99997633e-01 -4.72329781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.835898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:0.63, Z:-0.47 [[ 9.96663752e-01 8.15907912e-02 2.07570669e-03 1.10008096e+02] [-8.15906620e-02 9.96665913e-01 -1.46969526e-04 6.31518139e-01] [-2.08077746e-03 -2.28790834e-05 9.99997835e-01 -4.73364045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.865898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.04, Y:0.63, Z:-0.47 [[ 9.96616692e-01 8.21442528e-02 2.73702352e-03 1.10036395e+02] [-8.21440307e-02 9.96620450e-01 -1.93637410e-04 6.26309922e-01] [-2.74367981e-03 -3.18478691e-05 9.99996236e-01 -4.72609968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.895898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.06, Y:0.63, Z:-0.47 [[ 9.96604136e-01 8.22861845e-02 3.02979254e-03 1.10064144e+02] [-8.22859136e-02 9.96608741e-01 -2.14192827e-04 6.25227514e-01] [-3.03714284e-03 -3.58437900e-05 9.99995387e-01 -4.71903895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.925898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.09, Y:0.62, Z:-0.47 [[ 9.96607815e-01 8.22312438e-02 3.29934262e-03 1.10091904e+02] [-8.22309229e-02 9.96613276e-01 -2.33037803e-04 6.18243783e-01] [-3.30733165e-03 -3.90606930e-05 9.99994530e-01 -4.71627727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.955898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.12, Y:0.61, Z:-0.47 [[ 9.96649793e-01 8.17080350e-02 3.60366407e-03 1.10119548e+02] [-8.17076496e-02 9.96656308e-01 -2.54275459e-04 6.12655785e-01] [-3.61239087e-03 -4.10233376e-05 9.99993474e-01 -4.71266827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.985898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.15, Y:0.60, Z:-0.47 [[ 9.96648720e-01 8.17389857e-02 3.17293924e-03 1.10145581e+02] [-8.17386877e-02 9.96653770e-01 -2.23709991e-04 6.04700927e-01] [-3.18060768e-03 -3.63916135e-05 9.99994941e-01 -4.71880903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.015898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.17, Y:0.60, Z:-0.47 [[ 9.96654236e-01 8.16717032e-02 3.17295658e-03 1.10173005e+02] [-8.16714056e-02 9.96659286e-01 -2.23463700e-04 6.02905915e-01] [-3.18060730e-03 -3.64237808e-05 9.99994941e-01 -4.71956033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.045898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:0.60, Z:-0.47 [[ 9.96588093e-01 8.24936113e-02 2.64155098e-03 1.10200645e+02] [-8.24934083e-02 9.96591593e-01 -1.85888868e-04 5.99877582e-01] [-2.64788214e-03 -3.26559112e-05 9.99996494e-01 -4.72715251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.075898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.23, Y:0.60, Z:-0.47 [[ 9.96502108e-01 8.35268777e-02 2.60940596e-03 1.10229157e+02] [-8.35266835e-02 9.96505524e-01 -1.83480559e-04 5.96951354e-01] [-2.61561302e-03 -3.51162625e-05 9.99996579e-01 -4.72710115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.105898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.26, Y:0.59, Z:-0.47 [[ 9.96396851e-01 8.47584528e-02 3.05297107e-03 1.10258074e+02] [-8.47581933e-02 9.96401527e-01 -2.14510630e-04 5.93602172e-01] [-3.06016662e-03 -4.50265954e-05 9.99995317e-01 -4.72041068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.135898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.29, Y:0.59, Z:-0.47 [[ 9.96286494e-01 8.60239825e-02 3.61891353e-03 1.10286806e+02] [-8.60236269e-02 9.96293065e-01 -2.54084137e-04 5.91307412e-01] [-3.62735578e-03 -5.81714732e-05 9.99993419e-01 -4.71174935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16589822699999 meters Centerline goodness [0,1] 0.9998307952622674 Centerline is valid? [True, True] Translation: X:110.32, Y:0.59, Z:-0.47 [[ 9.96178390e-01 8.72414900e-02 4.18778889e-03 1.10315682e+02] [-8.72410255e-02 9.96187190e-01 -2.93811183e-04 5.89241072e-01] [-4.19745417e-03 -7.26586460e-05 9.99991188e-01 -4.71423296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.195898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.34, Y:0.59, Z:-0.47 [[ 9.95887935e-01 9.04925475e-02 4.28020560e-03 1.10344012e+02] [-9.04920932e-02 9.95897129e-01 -3.00093804e-04 5.87970430e-01] [-4.28980072e-03 -8.84649648e-05 9.99990795e-01 -4.70173209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.225898227 meters Centerline goodness [0,1] 0.999978910517325 Centerline is valid? [True, True] Translation: X:110.37, Y:0.58, Z:-0.47 [[ 9.95766411e-01 9.18313411e-02 4.03241585e-03 1.10372641e+02] [-9.18309495e-02 9.95774571e-01 -2.82539601e-04 5.82195898e-01] [-4.04132316e-03 -8.89571321e-05 9.99991830e-01 -4.71005525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.255898227 meters Centerline goodness [0,1] 0.9999788072733438 Centerline is valid? [True, True] Translation: X:110.40, Y:0.58, Z:-0.47 [[ 9.95658408e-01 9.30010074e-02 3.89188143e-03 1.10400716e+02] [-9.30006523e-02 9.95666010e-01 -2.72497972e-04 5.77476883e-01] [-3.90035665e-03 -9.06326147e-05 9.99992389e-01 -4.71432104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.285898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:0.58, Z:-0.47 [[ 9.95546773e-01 9.42142049e-02 3.21036404e-03 1.10428550e+02] [-9.42139702e-02 9.95551946e-01 -2.24614753e-04 5.75828772e-01] [-3.21724607e-03 -7.88466500e-05 9.99994822e-01 -4.72302109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.315898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.46, Y:0.57, Z:-0.47 [[ 9.95398815e-01 9.57719118e-02 2.98987203e-03 1.10457407e+02] [-9.57717157e-02 9.95403303e-01 -2.09022308e-04 5.70654324e-01] [-2.99614696e-03 -7.82846157e-05 9.99995508e-01 -4.73590656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.345898227 meters Centerline goodness [0,1] 0.999979035639413 Centerline is valid? [True, True] Translation: X:110.49, Y:0.57, Z:-0.47 [[ 9.95259462e-01 9.72222003e-02 2.53917368e-03 1.10485547e+02] [-9.72220638e-02 9.95262698e-01 -1.77412410e-04 5.71334887e-01] [-2.54439327e-03 -7.02923255e-05 9.99996761e-01 -4.73999705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.375898227 meters Centerline goodness [0,1] 0.9999578556979096 Centerline is valid? [True, True] Translation: X:110.52, Y:0.57, Z:-0.47 [[ 9.94854898e-01 1.01262563e-01 3.10247000e-03 1.10515770e+02] [-1.01262379e-01 9.94859731e-01 -2.16567601e-04 5.66124767e-01] [-3.10845266e-03 -9.87101544e-05 9.99995164e-01 -4.72199310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.405898227 meters Centerline goodness [0,1] 0.9999150634900412 Centerline is valid? [True, True] Translation: X:110.54, Y:0.56, Z:-0.47 [[ 9.94627480e-01 1.03474329e-01 3.03960423e-03 1.10544687e+02] [-1.03474163e-01 9.94632119e-01 -2.12167523e-04 5.60314083e-01] [-3.04524189e-03 -1.03492857e-04 9.99995358e-01 -4.72520479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.435898227 meters Centerline goodness [0,1] 0.9998737719058338 Centerline is valid? [True, True] Translation: X:110.57, Y:0.56, Z:-0.47 [[ 9.94324494e-01 1.06339450e-01 3.27431202e-03 1.10573511e+02] [-1.06339273e-01 9.94329878e-01 -2.28411120e-04 5.60095682e-01] [-3.28003538e-03 -1.21073189e-04 9.99994613e-01 -4.72883886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.465898227 meters Centerline goodness [0,1] 0.9997479256380633 Centerline is valid? [True, True] Translation: X:110.60, Y:0.56, Z:-0.47 [[ 9.94041028e-01 1.08966201e-01 2.96668559e-03 1.10602571e+02] [-1.08966068e-01 9.94045448e-01 -2.06810088e-04 5.58176468e-01] [-2.97155562e-03 -1.17690351e-04 9.99995578e-01 -4.73430114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.495898227 meters Centerline goodness [0,1] 0.9998293660950431 Centerline is valid? [True, True] Translation: X:110.63, Y:0.56, Z:-0.47 [[ 9.93813103e-01 1.11034530e-01 2.61716222e-03 1.10631906e+02] [-1.11034434e-01 9.93816543e-01 -1.82359387e-04 5.55001466e-01] [-2.62122730e-03 -1.09363977e-04 9.99996559e-01 -4.74286963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.525898227 meters Centerline goodness [0,1] 0.9991721327134943 Centerline is valid? [True, True] Translation: X:110.66, Y:0.55, Z:-0.48 [[ 9.93460355e-01 1.14163701e-01 1.78106914e-03 1.10661174e+02] [-1.14163661e-01 9.93461948e-01 -1.24079430e-04 5.52372644e-01] [-1.78358979e-03 -8.00653795e-05 9.99998406e-01 -4.76647301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.555898227 meters Centerline goodness [0,1] 0.9989337904793761 Centerline is valid? [True, True] Translation: X:110.69, Y:0.55, Z:-0.48 [[ 9.93335410e-01 1.15245936e-01 1.77099800e-03 1.10688456e+02] [-1.15245899e-01 9.93336986e-01 -1.23380432e-04 5.49106026e-01] [-1.77341691e-03 -8.15421047e-05 9.99998424e-01 -4.76503610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.585898227 meters Centerline goodness [0,1] 0.9986998825700386 Centerline is valid? [True, True] Translation: X:110.72, Y:0.54, Z:-0.48 [[ 9.93291931e-01 1.15623492e-01 1.53217028e-03 1.10717372e+02] [-1.15623465e-01 9.93293110e-01 -1.06629464e-04 5.44170723e-01] [-1.53422306e-03 -7.12406509e-05 9.99998821e-01 -4.76834586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.615898227 meters Centerline goodness [0,1] 0.9985229574611749 Centerline is valid? [True, True] Translation: X:110.75, Y:0.54, Z:-0.48 [[ 9.93279858e-01 1.15722924e-01 1.82466200e-03 1.10745683e+02] [-1.15722886e-01 9.93281530e-01 -1.26874753e-04 5.37308697e-01] [-1.82708538e-03 -8.51330154e-05 9.99998327e-01 -4.76763837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.645898227 meters Centerline goodness [0,1] 0.9929479021051972 Centerline is valid? [True, True] Translation: X:110.77, Y:0.54, Z:-0.48 [[ 9.93293682e-01 1.15600047e-01 2.07111546e-03 1.10772481e+02] [-1.15599998e-01 9.93295837e-01 -1.43949176e-04 5.38147514e-01] [-2.07387089e-03 -9.64371352e-05 9.99997845e-01 -4.77036110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.675898227 meters Centerline goodness [0,1] 0.9982984623140913 Centerline is valid? [True, True] Translation: X:110.80, Y:0.52, Z:-0.48 [[ 9.93341227e-01 1.15185754e-01 2.33410021e-03 1.10800619e+02] [-1.15185691e-01 9.93343964e-01 -1.61848371e-04 5.24479662e-01] [-2.33720699e-03 -1.08084287e-04 9.99997263e-01 -4.77122522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.705898227 meters Centerline goodness [0,1] 0.998864830775699 Centerline is valid? [True, True] Translation: X:110.83, Y:0.51, Z:-0.48 [[ 9.93417936e-01 1.14530280e-01 1.90260959e-03 1.10828477e+02] [-1.14530237e-01 9.93419754e-01 -1.31863053e-04 5.12288862e-01] [-1.90519227e-03 -8.69112052e-05 9.99998181e-01 -4.78168378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.735898227 meters Centerline goodness [0,1] 0.9987242728355162 Centerline is valid? [True, True] Translation: X:110.86, Y:0.51, Z:-0.48 [[ 9.93450031e-01 1.14247436e-01 2.13537860e-03 1.10856622e+02] [-1.14247382e-01 9.93452321e-01 -1.47880356e-04 5.05677806e-01] [-2.13829178e-03 -9.70496690e-05 9.99997709e-01 -4.77916871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.765898227 meters Centerline goodness [0,1] 0.9982199995761903 Centerline is valid? [True, True] Translation: X:110.88, Y:0.50, Z:-0.48 [[ 9.93470009e-01 1.14064491e-01 2.57540378e-03 1.10884161e+02] [-1.14064411e-01 9.93473341e-01 -1.78207264e-04 5.01568233e-01] [-2.57892212e-03 -1.16718344e-04 9.99996668e-01 -4.77120029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.795898227 meters Centerline goodness [0,1] 0.9983231448463237 Centerline is valid? [True, True] Translation: X:110.91, Y:0.50, Z:-0.48 [[ 9.93441554e-01 1.14313841e-01 2.49498978e-03 1.10912130e+02] [-1.14313768e-01 9.93444680e-01 -1.72540387e-04 4.95640400e-01] [-2.49835808e-03 -1.13802893e-04 9.99996873e-01 -4.76800275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.825898227 meters Centerline goodness [0,1] 0.9990029698769622 Centerline is valid? [True, True] Translation: X:110.94, Y:0.49, Z:-0.48 [[ 9.93371196e-01 1.14925384e-01 2.41316254e-03 1.10940513e+02] [-1.14925317e-01 9.93374121e-01 -1.66672496e-04 4.86699171e-01] [-2.41632812e-03 -1.11765814e-04 9.99997074e-01 -4.77677641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.855898227 meters Centerline goodness [0,1] 0.9993607500532709 Centerline is valid? [True, True] Translation: X:110.97, Y:0.48, Z:-0.48 [[ 9.93257183e-01 1.15910051e-01 2.24254618e-03 1.10968722e+02] [-1.15909996e-01 9.93259709e-01 -1.54791937e-04 4.77719606e-01] [-2.24537271e-03 -1.06185316e-04 9.99997474e-01 -4.78106353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.885898227 meters Centerline goodness [0,1] 0.9980085226664382 Centerline is valid? [True, True] Translation: X:111.00, Y:0.47, Z:-0.48 [[ 9.92855129e-01 1.19282905e-01 3.20635326e-03 1.10997585e+02] [-1.19282811e-01 9.92860293e-01 -2.21118903e-04 4.74232735e-01] [-3.20983655e-03 -1.62923795e-04 9.99994835e-01 -4.77445618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91589822699999 meters Centerline goodness [0,1] 0.9373679476183503 Centerline is valid? [True, False] Translation: X:111.04, Y:0.47, Z:-0.48 [[ 9.92954972e-01 1.18422240e-01 4.07394944e-03 1.11037421e+02] [-1.18412578e-01 9.92961240e-01 -2.53722195e-03 4.72387942e-01] [-4.34573739e-03 2.03694030e-03 9.99988483e-01 -4.76168249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.945898227 meters Centerline goodness [0,1] 0.8952565833896016 Centerline is valid? [False, False] Translation: X:111.04, Y:0.47, Z:-0.48 [[ 9.92937874e-01 1.18564748e-01 4.09617266e-03 1.11037467e+02] [-1.18555197e-01 9.92944313e-01 -2.50146572e-03 4.72523810e-01] [-4.36385700e-03 1.99817749e-03 9.99988482e-01 -4.76326041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.975898227 meters Centerline goodness [0,1] 0.8552187846924028 Centerline is valid? [False, False] Translation: X:111.04, Y:0.48, Z:-0.48 [[ 9.93344485e-01 1.15119481e-01 3.77347241e-03 1.11037661e+02] [-1.15090619e-01 9.93329362e-01 -7.13634976e-03 4.76724787e-01] [-4.56983382e-03 6.65456241e-03 9.99967416e-01 -4.76944573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.005898227 meters Centerline goodness [0,1] 0.7549347995533927 Centerline is valid? [False, False] Translation: X:111.04, Y:0.48, Z:-0.48 [[ 9.93326370e-01 1.15273252e-01 3.84698356e-03 1.11037805e+02] [-1.15243206e-01 9.93310591e-01 -7.28515766e-03 4.77875046e-01] [-4.66103333e-03 6.79320049e-03 9.99966063e-01 -4.77453377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.035898227 meters Centerline goodness [0,1] 0.762163648671518 Centerline is valid? [False, False] Translation: X:111.04, Y:0.48, Z:-0.48 [[ 9.93318315e-01 1.15339108e-01 3.95149108e-03 1.11037677e+02] [-1.15306890e-01 9.93300912e-01 -7.59079079e-03 4.79712360e-01] [-4.80053472e-03 7.08443737e-03 9.99963382e-01 -4.77617511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.065898227 meters Centerline goodness [0,1] 0.7221802935010482 Centerline is valid? [False, False] Translation: X:111.04, Y:0.48, Z:-0.48 [[ 9.93245664e-01 1.15962719e-01 3.96212641e-03 1.11038483e+02] [-1.15927371e-01 9.93223693e-01 -8.21830242e-03 4.84908916e-01] [-4.88829452e-03 7.70347435e-03 9.99958380e-01 -4.78495559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.095898227 meters Centerline goodness [0,1] 0.7209272838697407 Centerline is valid? [False, False] Translation: X:111.04, Y:0.49, Z:-0.48 [[ 9.93261068e-01 1.15836460e-01 3.79013316e-03 1.11039329e+02] [-1.15799352e-01 9.93233038e-01 -8.86804266e-03 4.88338365e-01] [-4.79172814e-03 8.36938656e-03 9.99953495e-01 -4.78825694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.125898227 meters Centerline goodness [0,1] 0.6843475157952184 Centerline is valid? [False, False] Translation: X:111.04, Y:0.49, Z:-0.48 [[ 9.93282381e-01 1.15657319e-01 3.67369113e-03 1.11040101e+02] [-1.15618067e-01 9.93248018e-01 -9.53087501e-03 4.91677713e-01] [-4.75120188e-03 9.04210516e-03 9.99947832e-01 -4.79339392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.155898227 meters Centerline goodness [0,1] 0.6472714282712391 Centerline is valid? [False, False] Translation: X:111.04, Y:0.49, Z:-0.48 [[ 9.93306495e-01 1.15452180e-01 3.60570450e-03 1.11040375e+02] [-1.15411271e-01 9.93267306e-01 -1.00148189e-02 4.93958518e-01] [-4.73766107e-03 9.53164572e-03 9.99943350e-01 -4.79343594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.185898227 meters Centerline goodness [0,1] 0.756917374912135 Centerline is valid? [False, False] Translation: X:111.02, Y:0.50, Z:-0.48 [[ 9.93483857e-01 1.13561593e-01 9.67422880e-03 1.11020211e+02] [-1.13511165e-01 9.93520865e-01 -5.61308139e-03 4.95491865e-01] [-1.02489786e-02 4.47837277e-03 9.99937449e-01 -4.84143712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.215898227 meters Centerline goodness [0,1] 0.7142438022590583 Centerline is valid? [False, False] Translation: X:111.04, Y:0.49, Z:-0.49 [[ 9.93756034e-01 1.10744843e-01 1.35840006e-02 1.11041521e+02] [-1.10780181e-01 9.93843165e-01 1.87485884e-03 4.94157929e-01] [-1.32927352e-02 -3.36799032e-03 9.99905975e-01 -4.87240121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.245898227 meters Centerline goodness [0,1] 0.7637381132710594 Centerline is valid? [False, False] Translation: X:111.04, Y:0.50, Z:-0.49 [[ 9.94252565e-01 1.06218948e-01 1.33929697e-02 1.11039739e+02] [-1.06190325e-01 9.94341788e-01 -2.83246172e-03 4.95797239e-01] [-1.36180505e-02 1.39397852e-03 9.99906298e-01 -4.85707945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.275898227 meters Centerline goodness [0,1] 0.8541896830118128 Centerline is valid? [False, False] Translation: X:111.04, Y:0.49, Z:-0.49 [[ 9.94266428e-01 1.06101288e-01 1.32961287e-02 1.11039903e+02] [-1.06076314e-01 9.94354666e-01 -2.57167753e-03 4.94027047e-01] [-1.34939259e-02 1.14652831e-03 9.99908296e-01 -4.85623499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.305898227 meters Centerline goodness [0,1] 0.8587588341069711 Centerline is valid? [False, False] Translation: X:111.04, Y:0.49, Z:-0.49 [[ 9.94285431e-01 1.05958519e-01 1.30105198e-02 1.11040886e+02] [-1.05938111e-01 9.94370180e-01 -2.24975181e-03 4.91999329e-01] [-1.31756532e-02 8.58585554e-04 9.99912829e-01 -4.86043900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.335898227 meters Centerline goodness [0,1] 0.9116580805189849 Centerline is valid? [False, False] Translation: X:111.00, Y:0.49, Z:-0.49 [[ 9.94828659e-01 1.00687604e-01 1.33396158e-02 1.11000538e+02] [-1.00836875e-01 9.94841795e-01 1.10330365e-02 4.91168731e-01] [-1.21599173e-02 -1.23211061e-02 9.99850152e-01 -4.87852548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.365898227 meters Centerline goodness [0,1] 0.9440717299578059 Centerline is valid? [False, False] Translation: X:111.00, Y:0.50, Z:-0.49 [[ 9.95598320e-01 9.28744628e-02 1.25825068e-02 1.11000577e+02] [-9.29038926e-02 9.95673501e-01 1.77371770e-03 4.96894234e-01] [-1.23633355e-02 -2.93487422e-03 9.99919264e-01 -4.87840215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.395898227 meters Centerline goodness [0,1] 0.9610172716318204 Centerline is valid? [False, True] Translation: X:111.00, Y:0.50, Z:-0.49 [[ 9.95989235e-01 8.86485176e-02 1.21195357e-02 1.11000838e+02] [-8.86193579e-02 9.96061275e-01 -2.92329033e-03 4.99187197e-01] [-1.23309455e-02 1.83754023e-03 9.99922283e-01 -4.87789527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.425898227 meters Centerline goodness [0,1] 0.9740134543244546 Centerline is valid? [True, True] Translation: X:111.03, Y:0.49, Z:-0.49 [[ 9.96181357e-01 8.66217264e-02 1.09261540e-02 1.11029954e+02] [-8.66230005e-02 9.96241099e-01 -3.57471101e-04 4.94223323e-01] [-1.09160484e-02 -5.90350194e-04 9.99940244e-01 -4.90715847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.455898227 meters Centerline goodness [0,1] 0.982634047407783 Centerline is valid? [True, True] Translation: X:111.06, Y:0.49, Z:-0.49 [[ 9.96223623e-01 8.61582823e-02 1.07351269e-02 1.11058691e+02] [-8.61594877e-02 9.96281295e-01 -3.51002782e-04 4.90111397e-01] [-1.07254479e-02 -5.75255773e-04 9.99942315e-01 -4.90999459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.485898227 meters Centerline goodness [0,1] 0.9823407931891938 Centerline is valid? [True, True] Translation: X:111.09, Y:0.49, Z:-0.49 [[ 9.96236716e-01 8.59643642e-02 1.10694762e-02 1.11087422e+02] [-8.59656398e-02 9.96298037e-01 -3.61408985e-04 4.87364786e-01] [-1.10595657e-02 -5.91545700e-04 9.99938666e-01 -4.90570336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.515898227 meters Centerline goodness [0,1] 0.9767319435670667 Centerline is valid? [True, True] Translation: X:111.12, Y:0.48, Z:-0.49 [[ 9.96179026e-01 8.65455954e-02 1.17135704e-02 1.11115924e+02] [-8.65470705e-02 9.96247689e-01 -3.81869078e-04 4.84902976e-01] [-1.17026665e-02 -6.33365236e-04 9.99931321e-01 -4.89711048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.545898227 meters Centerline goodness [0,1] 0.9970358681281187 Centerline is valid? [True, True] Translation: X:111.14, Y:0.47, Z:-0.49 [[ 9.96126362e-01 8.70781376e-02 1.22339010e-02 1.11144265e+02] [-8.70797939e-02 9.96201260e-01 -3.98246223e-04 4.72675846e-01] [-1.22221062e-02 -6.68622020e-04 9.99925084e-01 -4.88860520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.575898227 meters Centerline goodness [0,1] 0.9924102694566347 Centerline is valid? [True, True] Translation: X:111.17, Y:0.47, Z:-0.49 [[ 9.96048447e-01 8.78685517e-02 1.29077003e-02 1.11172428e+02] [-8.78704704e-02 9.96131821e-01 -4.19503744e-04 4.71981923e-01] [-1.28946322e-02 -7.16359643e-04 9.99916604e-01 -4.88095581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.605898227 meters Centerline goodness [0,1] 0.891898128723672 Centerline is valid? [True, False] Translation: X:111.17, Y:0.47, Z:-0.49 [[ 9.96344876e-01 8.44441348e-02 1.28870598e-02 1.11171467e+02] [-8.43956113e-02 9.96423200e-01 -4.26475421e-03 4.71350091e-01] [-1.32010988e-02 3.16155472e-03 9.99907864e-01 -4.88177572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.635898227 meters Centerline goodness [0,1] 0.946416041166089 Centerline is valid? [False, False] Translation: X:111.17, Y:0.47, Z:-0.49 [[ 9.96040198e-01 8.75291038e-02 1.55749553e-02 1.11165183e+02] [-8.75528838e-02 9.96159510e-01 8.50248155e-04 4.65606447e-01] [-1.54407184e-02 -2.21051359e-03 9.99878342e-01 -4.89774249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66589822699999 meters Centerline goodness [0,1] 0.9485702181741157 Centerline is valid? [False, False] Translation: X:111.17, Y:0.47, Z:-0.49 [[ 9.96390689e-01 8.35200258e-02 1.51657318e-02 1.11165740e+02] [-8.34757130e-02 9.96503549e-01 -3.53289635e-03 4.66553437e-01] [-1.54077732e-02 2.25417476e-03 9.99878752e-01 -4.90431875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.695898227 meters Centerline goodness [0,1] 0.9890681383994906 Centerline is valid? [False, True] Translation: X:111.17, Y:0.47, Z:-0.49 [[ 9.96714775e-01 7.96276901e-02 1.48016168e-02 1.11166001e+02] [-7.95203272e-02 9.96803453e-01 -7.70668292e-03 4.66632414e-01] [-1.53679681e-02 6.50433532e-03 9.99860750e-01 -4.90773983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.725898227 meters Centerline goodness [0,1] 0.9831458280064774 Centerline is valid? [True, True] Translation: X:111.19, Y:0.46, Z:-0.49 [[ 9.96730807e-01 7.93642899e-02 1.51330198e-02 1.11194573e+02] [-7.93684025e-02 9.96845298e-01 -3.29566211e-04 4.60020974e-01] [-1.51114355e-02 -8.72594816e-04 9.99885435e-01 -4.91596572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.755898227 meters Centerline goodness [0,1] 0.9872207880869583 Centerline is valid? [True, True] Translation: X:111.22, Y:0.45, Z:-0.49 [[ 9.96722193e-01 7.92221992e-02 1.63924900e-02 1.11224190e+02] [-7.92270189e-02 9.96856536e-01 -3.56197791e-04 4.52995313e-01] [-1.63691796e-02 -9.43697874e-04 9.99865571e-01 -4.90257517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.785898227 meters Centerline goodness [0,1] 0.9395389024698643 Centerline is valid? [True, False] Translation: X:111.22, Y:0.44, Z:-0.49 [[ 9.96649468e-01 8.00767438e-02 1.66599375e-02 1.11222433e+02] [-8.01167140e-02 9.96783963e-01 1.74468808e-03 4.43223955e-01] [-1.64666496e-02 -3.07358190e-03 9.99859691e-01 -4.89072910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.815898227 meters Centerline goodness [0,1] 0.9757773724175964 Centerline is valid? [False, True] Translation: X:111.22, Y:0.44, Z:-0.49 [[ 9.96950129e-01 7.62886188e-02 1.64464737e-02 1.11222282e+02] [-7.62587777e-02 9.97085087e-01 -2.43491324e-03 4.43544132e-01] [-1.65842898e-02 1.17329909e-03 9.99861783e-01 -4.89377836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.845898227 meters Centerline goodness [0,1] 0.8928197174833382 Centerline is valid? [True, False] Translation: X:111.22, Y:0.44, Z:-0.49 [[ 9.96927437e-01 7.66109679e-02 1.63231153e-02 1.11223006e+02] [-7.65921333e-02 9.97060925e-01 -1.77682286e-03 4.40459052e-01] [-1.64112645e-02 5.21141236e-04 9.99865190e-01 -4.90030330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.875898227 meters Centerline goodness [0,1] 0.8928197174833382 Centerline is valid? [False, False] Translation: X:111.22, Y:0.44, Z:-0.49 [[ 9.96927437e-01 7.66109679e-02 1.63231153e-02 1.11223006e+02] [-7.65921333e-02 9.97060925e-01 -1.77682286e-03 4.40459052e-01] [-1.64112645e-02 5.21141236e-04 9.99865190e-01 -4.90030330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.905898227 meters Centerline goodness [0,1] 0.8312416051040967 Centerline is valid? [False, False] Translation: X:111.22, Y:0.44, Z:-0.49 [[ 9.97157039e-01 7.36330921e-02 1.60002503e-02 1.11224093e+02] [-7.35553572e-02 9.97276546e-01 -5.39451842e-03 4.39848557e-01] [-1.63538894e-02 4.20227789e-03 9.99857435e-01 -4.91563866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.935898227 meters Centerline goodness [0,1] 0.8120193617333361 Centerline is valid? [False, False] Translation: X:111.22, Y:0.44, Z:-0.49 [[ 9.97138595e-01 7.38739195e-02 1.60395417e-02 1.11224101e+02] [-7.38014346e-02 9.97260090e-01 -5.06577874e-03 4.38493726e-01] [-1.63698237e-02 3.86754231e-03 9.99858525e-01 -4.91825442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.965898227 meters Centerline goodness [0,1] 0.8118912941776889 Centerline is valid? [False, False] Translation: X:111.20, Y:0.43, Z:-0.49 [[ 9.97098869e-01 7.49220582e-02 1.34361760e-02 1.11204181e+02] [-7.50331718e-02 9.97149228e-01 7.96493418e-03 4.32513376e-01] [-1.28011233e-02 -8.94998577e-03 9.99878007e-01 -4.89767436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.995898227 meters Centerline goodness [0,1] 0.756224569392617 Centerline is valid? [False, False] Translation: X:111.20, Y:0.44, Z:-0.49 [[ 9.97365210e-01 7.13171528e-02 1.32854134e-02 1.11204141e+02] [-7.13689396e-02 9.97443968e-01 3.46497634e-03 4.35168828e-01] [-1.30043432e-02 -4.40401272e-03 9.99905741e-01 -4.90407731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.025898227 meters Centerline goodness [0,1] 0.7392823118450302 Centerline is valid? [False, False] Translation: X:111.20, Y:0.44, Z:-0.49 [[ 9.97620918e-01 6.76621325e-02 1.32037989e-02 1.11204053e+02] [-6.76538861e-02 9.97708277e-01 -1.07072235e-03 4.37961345e-01] [-1.32459868e-02 1.74886700e-04 9.99912253e-01 -4.91194862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.055898227 meters Centerline goodness [0,1] 0.8285592679293466 Centerline is valid? [False, False] Translation: X:111.20, Y:0.44, Z:-0.49 [[ 9.97866994e-01 6.39847004e-02 1.29390864e-02 1.11204638e+02] [-6.39150632e-02 9.97938914e-01 -5.72609513e-03 4.41494691e-01] [-1.32788003e-02 4.88687882e-03 9.99899891e-01 -4.92119775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.085898227 meters Centerline goodness [0,1] 0.6658306813631478 Centerline is valid? [False, False] Translation: X:111.21, Y:0.44, Z:-0.49 [[ 9.97847852e-01 6.43339510e-02 1.26809561e-02 1.11206274e+02] [-6.42684701e-02 9.97917457e-01 -5.50572966e-03 4.41054661e-01] [-1.30087528e-02 4.67889487e-03 9.99904436e-01 -4.93548729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.115898227 meters Centerline goodness [0,1] 0.7378915573580043 Centerline is valid? [False, False] Translation: X:111.21, Y:0.44, Z:-0.49 [[ 9.97841664e-01 6.44067797e-02 1.27977028e-02 1.11205798e+02] [-6.43416168e-02 9.97913102e-01 -5.44030537e-03 4.40797676e-01] [-1.31213878e-02 4.60513847e-03 9.99903306e-01 -4.93398466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.145898227 meters Centerline goodness [0,1] 0.732553937719205 Centerline is valid? [False, False] Translation: X:111.21, Y:0.44, Z:-0.49 [[ 9.97834381e-01 6.44966353e-02 1.29124651e-02 1.11205385e+02] [-6.44305266e-02 9.97907190e-01 -5.47234495e-03 4.41190198e-01] [-1.32383896e-02 4.62853701e-03 9.99901656e-01 -4.93278661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.175898227 meters Centerline goodness [0,1] 0.6211855637446413 Centerline is valid? [False, False] Translation: X:111.21, Y:0.44, Z:-0.49 [[ 9.97831448e-01 6.45437136e-02 1.29039068e-02 1.11205545e+02] [-6.44737020e-02 9.97902723e-01 -5.77035410e-03 4.43030975e-01] [-1.32492838e-02 4.92587815e-03 9.99900091e-01 -4.93439408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.205898227 meters Centerline goodness [0,1] 0.6007129368329478 Centerline is valid? [False, False] Translation: X:111.21, Y:0.45, Z:-0.49 [[ 9.97831418e-01 6.45393756e-02 1.29278495e-02 1.11205763e+02] [-6.44631542e-02 9.97900649e-01 -6.22874119e-03 4.45610189e-01] [-1.33027085e-02 5.38186370e-03 9.99897031e-01 -4.93866694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.235898227 meters Centerline goodness [0,1] 0.5821738763808078 Centerline is valid? [False, False] Translation: X:111.21, Y:0.45, Z:-0.49 [[ 9.97829109e-01 6.45896213e-02 1.28549946e-02 1.11206215e+02] [-6.45086999e-02 9.97895230e-01 -6.61349620e-03 4.47916288e-01] [-1.32551010e-02 5.76988002e-03 9.99895500e-01 -4.94192217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.265898227 meters Centerline goodness [0,1] 0.5508671366707809 Centerline is valid? [False, False] Translation: X:111.21, Y:0.45, Z:-0.49 [[ 9.97810611e-01 6.48702211e-02 1.28778767e-02 1.11206290e+02] [-6.47844516e-02 9.97874941e-01 -6.96969648e-03 4.50699892e-01] [-1.33026362e-02 6.12015092e-03 9.99892786e-01 -4.94368932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.295898227 meters Centerline goodness [0,1] 0.5929489890872177 Centerline is valid? [False, False] Translation: X:111.21, Y:0.45, Z:-0.49 [[ 9.97812176e-01 6.48269540e-02 1.29741179e-02 1.11205951e+02] [-6.47380555e-02 9.97876612e-01 -7.15896333e-03 4.51713071e-01] [-1.34106626e-02 6.30338161e-03 9.99890205e-01 -4.94294108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.325898227 meters Centerline goodness [0,1] 0.5570576030459242 Centerline is valid? [False, False] Translation: X:111.21, Y:0.45, Z:-0.49 [[ 9.97813891e-01 6.47919689e-02 1.30169038e-02 1.11205707e+02] [-6.47011035e-02 9.97878098e-01 -7.28489259e-03 4.52378634e-01] [-1.34612857e-02 6.42675899e-03 9.99888739e-01 -4.94121149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.355898227 meters Centerline goodness [0,1] 0.5698047464253087 Centerline is valid? [False, False] Translation: X:111.21, Y:0.45, Z:-0.49 [[ 9.97549995e-01 6.87545770e-02 1.29157412e-02 1.11206644e+02] [-6.87275256e-02 9.97632267e-01 -2.52728370e-03 4.49103325e-01] [-1.30589225e-02 1.63342490e-03 9.99913394e-01 -4.93833488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.385898227 meters Centerline goodness [0,1] 0.5129784148468862 Centerline is valid? [False, False] Translation: X:111.21, Y:0.45, Z:-0.49 [[ 9.97555624e-01 6.86819092e-02 1.28674840e-02 1.11206742e+02] [-6.86536336e-02 9.97637097e-01 -2.62694868e-03 4.49457804e-01] [-1.30175033e-02 1.73712789e-03 9.99913760e-01 -4.93754884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41589822699999 meters Centerline goodness [0,1] 0.5419455978306923 Centerline is valid? [False, False] Translation: X:111.21, Y:0.45, Z:-0.49 [[ 9.97561312e-01 6.86032885e-02 1.28459412e-02 1.11206776e+02] [-6.85733228e-02 9.97642263e-01 -2.75932587e-03 4.49969539e-01] [-1.30049526e-02 1.87170787e-03 9.99913680e-01 -4.93701147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.445898227 meters Centerline goodness [0,1] 0.5475256135587467 Centerline is valid? [False, False] Translation: X:111.21, Y:0.45, Z:-0.49 [[ 9.97575314e-01 6.83952114e-02 1.28681307e-02 1.11206576e+02] [-6.83586317e-02 9.97655480e-01 -3.26185494e-03 4.52329652e-01] [-1.30610564e-02 2.37429816e-03 9.99911882e-01 -4.93420705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.475898227 meters Centerline goodness [0,1] 0.47057465474541404 Centerline is valid? [False, False] Translation: X:111.21, Y:0.45, Z:-0.49 [[ 9.97581253e-01 6.83077197e-02 1.28724216e-02 1.11206638e+02] [-6.82666792e-02 9.97660608e-01 -3.60163413e-03 4.54067313e-01] [-1.30883274e-02 2.71416521e-03 9.99910661e-01 -4.93514525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.505898227 meters Centerline goodness [0,1] 0.45816624325515964 Centerline is valid? [False, False] Translation: X:111.21, Y:0.46, Z:-0.49 [[ 9.97587884e-01 6.82046727e-02 1.29048821e-02 1.11206619e+02] [-6.81590586e-02 9.97666677e-01 -3.94254813e-03 4.55775388e-01] [-1.31436710e-02 3.05345363e-03 9.99908956e-01 -4.93614602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.535898227 meters Centerline goodness [0,1] 0.5572021839492379 Centerline is valid? [False, False] Translation: X:111.21, Y:0.46, Z:-0.49 [[ 9.97596385e-01 6.80900890e-02 1.28527226e-02 1.11206946e+02] [-6.80406275e-02 9.97673509e-01 -4.24766381e-03 4.57237561e-01] [-1.31120447e-02 3.36294675e-03 9.99908378e-01 -4.93860772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.565898227 meters Centerline goodness [0,1] 0.6006012408587937 Centerline is valid? [False, False] Translation: X:111.21, Y:0.46, Z:-0.49 [[ 9.97608838e-01 6.79343140e-02 1.27096293e-02 1.11207521e+02] [-6.78810298e-02 9.97682918e-01 -4.57837080e-03 4.58720046e-01] [-1.29912086e-02 3.70468044e-03 9.99908748e-01 -4.94073107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.595898227 meters Centerline goodness [0,1] 0.5368893950898507 Centerline is valid? [False, False] Translation: X:111.21, Y:0.46, Z:-0.49 [[ 9.97626582e-01 6.77020318e-02 1.25553816e-02 1.11208055e+02] [-6.76446453e-02 9.97697244e-01 -4.94085108e-03 4.60229431e-01] [-1.28609753e-02 4.07982004e-03 9.99908971e-01 -4.94146264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.625898227 meters Centerline goodness [0,1] 0.593003269891842 Centerline is valid? [False, False] Translation: X:111.21, Y:0.46, Z:-0.50 [[ 9.97923268e-01 6.17045028e-02 1.84852715e-02 1.11212352e+02] [-6.17994507e-02 9.98077943e-01 4.60942855e-03 4.63116434e-01] [-1.81653193e-02 -5.74223563e-03 9.99818507e-01 -4.97427978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.655898227 meters Centerline goodness [0,1] 0.622381184861285 Centerline is valid? [False, False] Translation: X:111.21, Y:0.47, Z:-0.50 [[ 9.98189509e-01 5.72653570e-02 1.83951843e-02 1.11211688e+02] [-5.72650041e-02 9.98358864e-01 -5.46362806e-04 4.67413398e-01] [-1.83962830e-02 -5.08026684e-04 9.99830645e-01 -4.97113825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.685898227 meters Centerline goodness [0,1] 0.6298403299143491 Centerline is valid? [False, False] Translation: X:111.21, Y:0.47, Z:-0.50 [[ 9.98433655e-01 5.29098747e-02 1.81874023e-02 1.11211615e+02] [-5.28163026e-02 9.98588612e-01 -5.58762098e-03 4.71316823e-01] [-1.84573731e-02 4.61827750e-03 9.99818982e-01 -4.97107175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.715898227 meters Centerline goodness [0,1] 0.6408871377732588 Centerline is valid? [False, False] Translation: X:111.21, Y:0.47, Z:-0.50 [[ 9.98446129e-01 5.27314340e-02 1.80200777e-02 1.11212203e+02] [-5.26359980e-02 9.98597324e-01 -5.73029943e-03 4.71643480e-01] [-1.82969682e-02 4.77289051e-03 9.99821204e-01 -4.97226371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.745898227 meters Centerline goodness [0,1] 0.6292749371332775 Centerline is valid? [False, False] Translation: X:111.21, Y:0.47, Z:-0.50 [[ 9.98458535e-01 5.25758783e-02 1.77856705e-02 1.11213080e+02] [-5.24779466e-02 9.98604481e-01 -5.92915506e-03 4.72491775e-01] [-1.80725808e-02 4.98666001e-03 9.99824242e-01 -4.97416700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.775898227 meters Centerline goodness [0,1] 0.7107782383862558 Centerline is valid? [False, False] Translation: X:111.17, Y:0.47, Z:-0.50 [[ 9.98730116e-01 4.77016359e-02 1.62083351e-02 1.11170094e+02] [-4.78320791e-02 9.98825265e-01 7.75766241e-03 4.72597330e-01] [-1.58192414e-02 -8.52308944e-03 9.99838541e-01 -4.96303408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.805898227 meters Centerline goodness [0,1] 0.6530833262549902 Centerline is valid? [False, False] Translation: X:111.17, Y:0.48, Z:-0.50 [[ 9.98926307e-01 4.34866264e-02 1.59733351e-02 1.11170464e+02] [-4.35329265e-02 9.99048707e-01 2.56224231e-03 4.77730033e-01] [-1.58467165e-02 -3.25485727e-03 9.99869135e-01 -4.96751968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.835898227 meters Centerline goodness [0,1] 0.6116068576296454 Centerline is valid? [False, False] Translation: X:111.17, Y:0.48, Z:-0.50 [[ 9.99104294e-01 3.92520719e-02 1.58077246e-02 1.11170610e+02] [-3.92157637e-02 9.99227382e-01 -2.60044619e-03 4.82603215e-01] [-1.58975842e-02 1.97820496e-03 9.99871669e-01 -4.97055844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.865898227 meters Centerline goodness [0,1] 0.6628771038424897 Centerline is valid? [False, False] Translation: X:111.17, Y:0.48, Z:-0.50 [[ 9.99110347e-01 3.91414186e-02 1.56991622e-02 1.11171123e+02] [-3.91023576e-02 9.99231322e-01 -2.78749984e-03 4.83398198e-01] [-1.57962013e-02 2.17114568e-03 9.99872875e-01 -4.97345819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.895898227 meters Centerline goodness [0,1] 0.7264217327334371 Centerline is valid? [False, False] Translation: X:111.17, Y:0.48, Z:-0.50 [[ 9.99118065e-01 3.89920764e-02 1.55791483e-02 1.11171337e+02] [-3.89498239e-02 9.99236645e-01 -3.00651318e-03 4.84216459e-01] [-1.56844860e-02 2.39705655e-03 9.99874118e-01 -4.97077178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.925898227 meters Centerline goodness [0,1] 0.6797452229299363 Centerline is valid? [False, False] Translation: X:111.18, Y:0.48, Z:-0.50 [[ 9.99174455e-01 3.47323112e-02 2.10730860e-02 1.11175429e+02] [-3.49500172e-02 9.99338507e-01 1.00520827e-02 4.82504583e-01] [-2.07100143e-02 -1.07802890e-02 9.99727403e-01 -5.02301954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.955898227 meters Centerline goodness [0,1] 0.7240676670982531 Centerline is valid? [False, False] Translation: X:111.17, Y:0.48, Z:-0.50 [[ 9.99308918e-01 3.04982776e-02 2.12495159e-02 1.11173646e+02] [-3.06228990e-02 9.99515522e-01 5.56409275e-03 4.83456734e-01] [-2.10695257e-02 -6.21096928e-03 9.99758720e-01 -5.00946805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.985898227 meters Centerline goodness [0,1] 0.7515727280455666 Centerline is valid? [False, False] Translation: X:111.17, Y:0.49, Z:-0.50 [[ 9.99426135e-01 2.62716917e-02 2.13822013e-02 1.11172392e+02] [-2.62984636e-02 9.99653663e-01 9.71789320e-04 4.85024623e-01] [-2.13492653e-02 -1.53355069e-03 9.99770902e-01 -5.00112881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.015898227 meters Centerline goodness [0,1] 0.93973228581798 Centerline is valid? [False, False] Translation: X:111.17, Y:0.48, Z:-0.50 [[ 9.99425020e-01 2.63276897e-02 2.13654240e-02 1.11172164e+02] [-2.63648001e-02 9.99651326e-01 1.45707385e-03 4.82391654e-01] [-2.13196131e-02 -2.01953120e-03 9.99770671e-01 -4.99607527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.045898227 meters Centerline goodness [0,1] 0.784395120298204 Centerline is valid? [False, False] Translation: X:111.17, Y:0.48, Z:-0.50 [[ 9.99428203e-01 2.63525129e-02 2.11851713e-02 1.11172788e+02] [-2.63973910e-02 9.99649832e-01 1.84147616e-03 4.80219231e-01] [-2.11292254e-02 -2.39965646e-03 9.99773873e-01 -4.99707045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.075898227 meters Centerline goodness [0,1] 0.8163321244834275 Centerline is valid? [False, False] Translation: X:111.17, Y:0.48, Z:-0.50 [[ 9.99532341e-01 2.22492077e-02 2.09778947e-02 1.11173384e+02] [-2.21939170e-02 9.99749580e-01 -2.86483752e-03 4.82729690e-01] [-2.10363817e-02 2.39791610e-03 9.99775835e-01 -5.00198610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.105898227 meters Centerline goodness [0,1] 0.7537379252414952 Centerline is valid? [False, False] Translation: X:111.17, Y:0.48, Z:-0.50 [[ 9.99533919e-01 2.23449536e-02 2.08002029e-02 1.11174268e+02] [-2.22955348e-02 9.99748030e-01 -2.60478555e-03 4.81378746e-01] [-2.08531657e-02 2.13981986e-03 9.99780259e-01 -5.00716468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.135898227 meters Centerline goodness [0,1] 0.6917924706574002 Centerline is valid? [False, False] Translation: X:111.17, Y:0.48, Z:-0.50 [[ 9.99528653e-01 2.26061398e-02 2.07710118e-02 1.11174519e+02] [-2.25652366e-02 9.99742949e-01 -2.20154102e-03 4.79717925e-01] [-2.08154409e-02 1.73180053e-03 9.99781835e-01 -5.00994601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16589822699999 meters Centerline goodness [0,1] 0.88793762746431 Centerline is valid? [False, False] Translation: X:111.17, Y:0.48, Z:-0.50 [[ 9.99422008e-01 2.68890705e-02 2.07997302e-02 1.11174715e+02] [-2.69560802e-02 9.99632272e-01 2.94797469e-03 4.75050099e-01] [-2.07128132e-02 -3.50694998e-03 9.99779316e-01 -5.00898229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.195898227 meters Centerline goodness [0,1] 0.6984683443929719 Centerline is valid? [False, False] Translation: X:111.18, Y:0.47, Z:-0.50 [[ 9.99306436e-01 3.10359021e-02 2.05771889e-02 1.11175697e+02] [-3.12080327e-02 9.99480111e-01 8.09736638e-03 4.70145169e-01] [-2.03151819e-02 -8.73392392e-03 9.99755476e-01 -5.00790242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.225898227 meters Centerline goodness [0,1] 0.8446616318673182 Centerline is valid? [False, False] Translation: X:111.13, Y:0.47, Z:-0.50 [[ 9.99410939e-01 2.75520911e-02 2.04611197e-02 1.11132666e+02] [-2.76125515e-02 9.99615113e-01 2.67821615e-03 4.71533181e-01] [-2.03794541e-02 -3.24162223e-03 9.99787062e-01 -5.00763030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.255898227 meters Centerline goodness [0,1] 0.7457187227434212 Centerline is valid? [False, False] Translation: X:111.13, Y:0.47, Z:-0.50 [[ 9.99406197e-01 2.77548009e-02 2.04187173e-02 1.11132813e+02] [-2.78253844e-02 9.99607738e-01 3.18079859e-03 4.69105878e-01] [-2.03224254e-02 -3.74706848e-03 9.99786456e-01 -5.00782097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.285898227 meters Centerline goodness [0,1] 0.7525161943746967 Centerline is valid? [False, False] Translation: X:111.13, Y:0.47, Z:-0.50 [[ 9.99505660e-01 2.39954419e-02 2.03139072e-02 1.11132970e+02] [-2.39883432e-02 9.99712062e-01 -5.93083622e-04 4.67169586e-01] [-2.03222894e-02 1.05493458e-04 9.99793475e-01 -5.01059901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.315898227 meters Centerline goodness [0,1] 0.7818546260154025 Centerline is valid? [False, False] Translation: X:111.13, Y:0.46, Z:-0.50 [[ 9.99504146e-01 2.41825469e-02 2.01659985e-02 1.11133705e+02] [-2.41870723e-02 9.99707450e-01 -1.94986018e-05 4.64289162e-01] [-2.01605704e-02 -4.68267531e-04 9.99796645e-01 -5.01505239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.345898227 meters Centerline goodness [0,1] 0.6384712305753886 Centerline is valid? [False, False] Translation: X:111.13, Y:0.46, Z:-0.50 [[ 9.99501680e-01 2.43649171e-02 2.00684275e-02 1.11134450e+02] [-2.43784134e-02 9.99702711e-01 4.28110009e-04 4.62119705e-01] [-2.00520305e-02 -9.17133095e-04 9.99798517e-01 -5.02223347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.375898227 meters Centerline goodness [0,1] 0.7584263689526848 Centerline is valid? [False, False] Translation: X:111.11, Y:0.46, Z:-0.50 [[ 9.99595208e-01 2.39782795e-02 1.53121817e-02 1.11113871e+02] [-2.41484919e-02 9.99647536e-01 1.10297013e-02 4.56104022e-01] [-1.50423114e-02 -1.13950027e-02 9.99821926e-01 -4.98314805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.405898227 meters Centerline goodness [0,1] 0.7395844478205978 Centerline is valid? [False, False] Translation: X:111.11, Y:0.46, Z:-0.50 [[ 9.99677524e-01 2.01441722e-02 1.54615815e-02 1.11113376e+02] [-2.02443901e-02 9.99774878e-01 6.35280546e-03 4.59221968e-01] [-1.53301287e-02 -6.66376712e-03 9.99860281e-01 -4.98730957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.435898227 meters Centerline goodness [0,1] 0.723526409798418 Centerline is valid? [False, False] Translation: X:111.11, Y:0.46, Z:-0.50 [[ 9.99741377e-01 1.64943665e-02 1.56561525e-02 1.11112707e+02] [-1.65225982e-02 9.99862089e-01 1.67559151e-03 4.62959734e-01] [-1.56263555e-02 -1.93383848e-03 9.99876031e-01 -4.98993116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.465898227 meters Centerline goodness [0,1] 0.7508378695698581 Centerline is valid? [False, False] Translation: X:111.11, Y:0.47, Z:-0.50 [[ 9.99727170e-01 1.68930591e-02 1.61309990e-02 1.11110993e+02] [-1.69182767e-02 9.99855856e-01 1.42810930e-03 4.65412397e-01] [-1.61045487e-02 -1.70062837e-03 9.99868867e-01 -4.98482953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.495898227 meters Centerline goodness [0,1] 0.6109848006399731 Centerline is valid? [False, False] Translation: X:111.11, Y:0.46, Z:-0.50 [[ 9.99646869e-01 2.11834058e-02 1.60437107e-02 1.11111293e+02] [-2.12845877e-02 9.99754466e-01 6.16235149e-03 4.63137824e-01] [-1.59092318e-02 -6.50165914e-03 9.99852301e-01 -4.98054227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.525898227 meters Centerline goodness [0,1] 0.5846808330511344 Centerline is valid? [False, False] Translation: X:111.11, Y:0.47, Z:-0.50 [[ 9.99700289e-01 1.79611358e-02 1.66351865e-02 1.11109121e+02] [-1.79908644e-02 9.99836808e-01 1.63915285e-03 4.67973582e-01] [-1.66030308e-02 -1.93794297e-03 9.99860282e-01 -4.97873052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.555898227 meters Centerline goodness [0,1] 0.5596815861880657 Centerline is valid? [False, False] Translation: X:111.11, Y:0.47, Z:-0.50 [[ 9.99699261e-01 1.79544420e-02 1.67040599e-02 1.11109102e+02] [-1.79764229e-02 9.99837730e-01 1.16667240e-03 4.70645474e-01] [-1.66804024e-02 -1.46660078e-03 9.99859797e-01 -4.98269567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.585898227 meters Centerline goodness [0,1] 0.5902400579376744 Centerline is valid? [False, False] Translation: X:111.07, Y:0.47, Z:-0.50 [[ 9.99717846e-01 1.76121157e-02 1.59386811e-02 1.11067545e+02] [-1.76137062e-02 9.99844866e-01 -4.05954192e-05 4.71231804e-01] [-1.59369235e-02 -2.40155282e-04 9.99872970e-01 -4.99332497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.615898227 meters Centerline goodness [0,1] 0.6156443802565628 Centerline is valid? [False, False] Translation: X:111.07, Y:0.47, Z:-0.50 [[ 9.99720198e-01 1.75063191e-02 1.59077049e-02 1.11067952e+02] [-1.75004379e-02 9.99846726e-01 -5.08846562e-04 4.73596949e-01] [-1.59141747e-02 2.30312383e-04 9.99873335e-01 -4.99936114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.645898227 meters Centerline goodness [0,1] 0.496895459345301 Centerline is valid? [False, False] Translation: X:111.07, Y:0.48, Z:-0.50 [[ 9.99722166e-01 1.73508824e-02 1.59542152e-02 1.11068047e+02] [-1.73348895e-02 9.99849089e-01 -1.14018167e-03 4.76817940e-01] [-1.59715907e-02 8.63300334e-04 9.99872073e-01 -5.00428960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.675898227 meters Centerline goodness [0,1] 0.5840119521074006 Centerline is valid? [False, False] Translation: X:111.07, Y:0.48, Z:-0.50 [[ 9.99723317e-01 1.72550000e-02 1.59860726e-02 1.11067785e+02] [-1.72361555e-02 9.99850581e-01 -1.31584874e-03 4.77550854e-01] [-1.60063889e-02 1.03994624e-03 9.99871349e-01 -5.00165818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.705898227 meters Centerline goodness [0,1] 0.4476908576814326 Centerline is valid? [False, False] Translation: X:111.07, Y:0.48, Z:-0.50 [[ 9.99724535e-01 1.71404233e-02 1.60330986e-02 1.11067306e+02] [-1.71194363e-02 9.99852407e-01 -1.44532834e-03 4.78019284e-01] [-1.60555058e-02 1.17045259e-03 9.99870417e-01 -4.99634327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.735898227 meters Centerline goodness [0,1] 0.6119238667880507 Centerline is valid? [False, False] Translation: X:111.07, Y:0.48, Z:-0.50 [[ 9.99725751e-01 1.70409832e-02 1.60632165e-02 1.11066711e+02] [-1.70190373e-02 9.99854038e-01 -1.50194012e-03 4.78104372e-01] [-1.60864664e-02 1.22814774e-03 9.99869850e-01 -4.98755730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.765898227 meters Centerline goodness [0,1] 0.5784176567622309 Centerline is valid? [False, False] Translation: X:111.07, Y:0.47, Z:-0.50 [[ 9.99665223e-01 2.05948732e-02 1.56618504e-02 1.11067805e+02] [-2.06456163e-02 9.99782096e-01 3.08514562e-03 4.74659250e-01] [-1.55948994e-02 -3.40746134e-03 9.99872586e-01 -4.98044020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.795898227 meters Centerline goodness [0,1] 0.5018472647886141 Centerline is valid? [False, False] Translation: X:111.07, Y:0.47, Z:-0.50 [[ 9.99670336e-01 2.05077331e-02 1.54483848e-02 1.11068551e+02] [-2.05568809e-02 9.99784096e-01 3.02935691e-03 4.74725670e-01] [-1.53829242e-02 -3.34592885e-03 9.99876078e-01 -4.98153250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.825898227 meters Centerline goodness [0,1] 0.5018472647886141 Centerline is valid? [False, False] Translation: X:111.07, Y:0.48, Z:-0.50 [[ 9.99742273e-01 1.66909622e-02 1.53883012e-02 1.11068464e+02] [-1.66693161e-02 9.99859881e-01 -1.53385683e-03 4.77787302e-01] [-1.54117466e-02 1.27694905e-03 9.99880417e-01 -4.98264167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.855898227 meters Centerline goodness [0,1] 0.5797293043751968 Centerline is valid? [False, False] Translation: X:111.05, Y:0.47, Z:-0.50 [[ 9.99817849e-01 1.60621239e-02 1.03090822e-02 1.11054440e+02] [-1.61581866e-02 9.99826163e-01 9.30361349e-03 4.74526208e-01] [-1.01578543e-02 -9.46849490e-03 9.99903578e-01 -4.99059089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.885898227 meters Centerline goodness [0,1] 0.5889578267795758 Centerline is valid? [False, False] Translation: X:111.05, Y:0.48, Z:-0.50 [[ 9.99876274e-01 1.18393637e-02 1.03569521e-02 1.11054507e+02] [-1.18824410e-02 9.99920964e-01 4.10766229e-03 4.79657600e-01] [-1.03075014e-02 -4.23021993e-03 9.99937928e-01 -4.99863053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91589822699999 meters Centerline goodness [0,1] 0.5746071098411631 Centerline is valid? [False, False] Translation: X:111.05, Y:0.48, Z:-0.50 [[ 9.99914275e-01 7.68136556e-03 1.06037267e-02 1.11053508e+02] [-7.67161231e-03 9.99970112e-01 -9.60163879e-04 4.84224347e-01] [-1.06107852e-02 8.78733888e-04 9.99943318e-01 -4.99805745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.945898227 meters Centerline goodness [0,1] 0.5832945063323309 Centerline is valid? [False, False] Translation: X:111.05, Y:0.48, Z:-0.50 [[ 9.99913369e-01 7.61997332e-03 1.07326876e-02 1.11052762e+02] [-7.60863439e-03 9.99970452e-01 -1.09692143e-03 4.84914413e-01] [-1.07407290e-02 1.01516530e-03 9.99941801e-01 -4.99251119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.975898227 meters Centerline goodness [0,1] 0.5764223367336208 Centerline is valid? [False, False] Translation: X:111.05, Y:0.49, Z:-0.50 [[ 9.99913009e-01 7.60054887e-03 1.07799024e-02 1.11052227e+02] [-7.58882948e-03 9.99970569e-01 -1.12764028e-03 4.85026862e-01] [-1.07881558e-02 1.04573534e-03 9.99941259e-01 -4.98602803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.005898227 meters Centerline goodness [0,1] 0.589149719641811 Centerline is valid? [False, False] Translation: X:111.05, Y:0.48, Z:-0.50 [[ 9.99914061e-01 7.57283861e-03 1.07014850e-02 1.11052160e+02] [-7.56181234e-03 9.99970836e-01 -1.07043799e-03 4.84597437e-01] [-1.07092792e-02 9.89423375e-04 9.99942165e-01 -4.98082166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.035898227 meters Centerline goodness [0,1] 0.5899135385465129 Centerline is valid? [False, False] Translation: X:111.03, Y:0.48, Z:-0.49 [[ 9.99969323e-01 5.36004719e-03 5.71163811e-03 1.11031816e+02] [-5.40287174e-03 9.99957212e-01 7.50890434e-03 4.80289737e-01] [-5.67114564e-03 -7.53953324e-03 9.99955496e-01 -4.94031462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.065898227 meters Centerline goodness [0,1] 0.579045387013748 Centerline is valid? [False, False] Translation: X:111.08, Y:0.49, Z:-0.49 [[ 9.99986182e-01 2.91641770e-03 4.37374338e-03 1.11075645e+02] [-2.92844993e-03 9.99991939e-01 2.74713855e-03 4.87212514e-01] [-4.36569632e-03 -2.75990888e-03 9.99986662e-01 -4.94040576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.095898227 meters Centerline goodness [0,1] 0.5846405846405847 Centerline is valid? [False, False] Translation: X:111.08, Y:0.49, Z:-0.49 [[ 9.99987361e-01 2.83012486e-03 4.15551785e-03 1.11076687e+02] [-2.84109400e-03 9.99992489e-01 2.63612845e-03 4.87556005e-01] [-4.14802607e-03 -2.64790135e-03 9.99987891e-01 -4.94624686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.125898227 meters Centerline goodness [0,1] 0.5668248866563079 Centerline is valid? [False, False] Translation: X:111.04, Y:0.49, Z:-0.50 [[ 9.99994070e-01 1.34928583e-03 3.16840773e-03 1.11035818e+02] [-1.35098454e-03 9.99998945e-01 5.34058775e-04 4.86473296e-01] [-3.16768379e-03 -5.38336078e-04 9.99994838e-01 -4.96295614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.155898227 meters Centerline goodness [0,1] 0.560667692372542 Centerline is valid? [False, False] Translation: X:111.04, Y:0.49, Z:-0.50 [[ 9.99993735e-01 1.34366930e-03 3.27484497e-03 1.11035455e+02] [-1.34513095e-03 9.99998997e-01 4.44166171e-04 4.87051359e-01] [-3.27424487e-03 -4.48568484e-04 9.99994539e-01 -4.96289007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.185898227 meters Centerline goodness [0,1] 0.5620583781965007 Centerline is valid? [False, False] Translation: X:111.03, Y:0.49, Z:-0.50 [[ 9.99993271e-01 1.28210783e-03 3.43708269e-03 1.11034724e+02] [-1.28295465e-03 9.99999147e-01 2.44183398e-04 4.88073624e-01] [-3.43676669e-03 -2.48591376e-04 9.99994063e-01 -4.95970847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.215898227 meters Centerline goodness [0,1] 0.669555219622288 Centerline is valid? [False, False] Translation: X:110.99, Y:0.49, Z:-0.50 [[ 9.99982068e-01 1.52805978e-03 5.79031399e-03 1.10987987e+02] [-1.53274593e-03 9.99998501e-01 8.04956799e-04 4.86638692e-01] [-5.78907529e-03 -8.13817445e-04 9.99982912e-01 -4.95427009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.245898227 meters Centerline goodness [0,1] 0.6471220519737813 Centerline is valid? [False, False] Translation: X:110.99, Y:0.49, Z:-0.50 [[ 9.99983204e-01 1.40367825e-03 5.62329991e-03 1.10988383e+02] [-1.40652098e-03 9.99998885e-01 5.01604484e-04 4.88086722e-01] [-5.62258955e-03 -5.09505348e-04 9.99984063e-01 -4.95242787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.275898227 meters Centerline goodness [0,1] 0.6359858363547697 Centerline is valid? [False, False] Translation: X:110.99, Y:0.49, Z:-0.50 [[ 9.99984116e-01 1.28471763e-03 5.48797465e-03 1.10988948e+02] [-1.28605805e-03 9.99999144e-01 2.40724572e-04 4.89214317e-01] [-5.48766069e-03 -2.47778602e-04 9.99984912e-01 -4.95520474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.305898227 meters Centerline goodness [0,1] 0.5142767624020887 Centerline is valid? [False, False] Translation: X:111.03, Y:0.49, Z:-0.50 [[ 9.99993567e-01 1.64757018e-03 3.18621903e-03 1.11033960e+02] [-1.64701654e-03 9.99998628e-01 -1.76376870e-04 4.93337268e-01] [-3.18650525e-03 1.71127980e-04 9.99994908e-01 -4.95007372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.335898227 meters Centerline goodness [0,1] 0.6156610714134709 Centerline is valid? [False, False] Translation: X:111.00, Y:0.49, Z:-0.50 [[ 9.99998106e-01 1.59556888e-03 1.11421712e-03 1.10995523e+02] [-1.59575476e-03 9.99998713e-01 1.65948040e-04 4.90624499e-01] [-1.11395091e-03 -1.67725743e-04 9.99999365e-01 -4.97511894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.365898227 meters Centerline goodness [0,1] 0.5070091975895972 Centerline is valid? [False, False] Translation: X:111.00, Y:0.49, Z:-0.50 [[ 9.99998370e-01 1.49304928e-03 1.01487132e-03 1.10996180e+02] [-1.49300696e-03 9.99998885e-01 -4.24556775e-05 4.91515964e-01] [-1.01493358e-03 4.09403983e-05 9.99999484e-01 -4.98086540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.395898227 meters Centerline goodness [0,1] 0.5568724909195182 Centerline is valid? [False, False] Translation: X:111.00, Y:0.49, Z:-0.50 [[ 9.99998423e-01 1.33822510e-03 1.16771909e-03 1.10995634e+02] [-1.33788447e-03 9.99999062e-01 -2.92436009e-04 4.92535578e-01] [-1.16810934e-03 2.90873274e-04 9.99999275e-01 -4.98044237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.425898227 meters Centerline goodness [0,1] 0.5402035409394844 Centerline is valid? [False, False] Translation: X:111.00, Y:0.49, Z:-0.50 [[ 9.99985523e-01 5.29987972e-03 9.30418637e-04 1.10996113e+02] [-5.30393175e-03 9.99976219e-01 4.40799950e-03 4.89386502e-01] [-9.07034643e-04 -4.41287056e-03 9.99989852e-01 -4.97467090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.455898227 meters Centerline goodness [0,1] 0.6196454019616062 Centerline is valid? [False, False] Translation: X:111.00, Y:0.49, Z:-0.50 [[ 9.99986178e-01 5.15654596e-03 1.02641187e-03 1.10995526e+02] [-5.16079826e-03 9.99977929e-01 4.18426449e-03 4.90231355e-01] [-1.00481287e-03 -4.18950376e-03 9.99990719e-01 -4.97036080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.485898227 meters Centerline goodness [0,1] 0.6159800824319518 Centerline is valid? [False, False] Translation: X:111.00, Y:0.49, Z:-0.50 [[ 9.99986907e-01 5.01212911e-03 1.03171559e-03 1.10995169e+02] [-5.01617456e-03 9.99979592e-01 3.95657266e-03 4.91140551e-01] [-1.01186368e-03 -3.96169612e-03 9.99991641e-01 -4.96502867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.515898227 meters Centerline goodness [0,1] 0.6270104017599692 Centerline is valid? [False, False] Translation: X:110.95, Y:0.49, Z:-0.50 [[ 9.99996508e-01 2.27474179e-03 1.34498492e-03 1.10950222e+02] [-2.27494531e-03 9.99997401e-01 1.49810141e-04 4.91965381e-01] [-1.34464065e-03 -1.52869385e-04 9.99999084e-01 -4.96091839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.545898227 meters Centerline goodness [0,1] 0.6213313640679397 Centerline is valid? [False, False] Translation: X:110.99, Y:0.50, Z:-0.49 [[ 9.99999328e-01 1.08270504e-03 4.15523917e-04 1.10993956e+02] [-1.08231933e-03 9.99998984e-01 -9.27345207e-04 4.96808753e-01] [-4.16527536e-04 9.26894854e-04 9.99999484e-01 -4.94908088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.575898227 meters Centerline goodness [0,1] 0.5462425331049752 Centerline is valid? [False, False] Translation: X:111.01, Y:0.50, Z:-0.49 [[ 9.99989706e-01 -1.54218869e-03 -4.26715429e-03 1.11012972e+02] [ 1.55833688e-03 9.99991628e-01 3.78356685e-03 4.97713516e-01] [ 4.26128359e-03 -3.79017757e-03 9.99983738e-01 -4.89928615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.605898227 meters Centerline goodness [0,1] 0.788886047899088 Centerline is valid? [False, False] Translation: X:110.97, Y:0.50, Z:-0.49 [[ 9.99987915e-01 -4.15813793e-03 -2.62289606e-03 1.10965938e+02] [ 4.16186577e-03 9.99990335e-01 1.41741580e-03 4.95989301e-01] [ 2.61697689e-03 -1.42831481e-03 9.99995556e-01 -4.89337515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.635898227 meters Centerline goodness [0,1] 0.8009129139282771 Centerline is valid? [False, False] Translation: X:110.96, Y:0.50, Z:-0.49 [[ 9.99959895e-01 -8.61760955e-03 -2.43846837e-03 1.10964955e+02] [ 8.60928403e-03 9.99957144e-01 -3.40438452e-03 4.98613845e-01] [ 2.46770152e-03 3.38325452e-03 9.99991232e-01 -4.88613826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66589822699999 meters Centerline goodness [0,1] 0.7320538805844101 Centerline is valid? [False, False] Translation: X:110.96, Y:0.49, Z:-0.49 [[ 9.99983024e-01 -5.24968775e-03 -2.52838234e-03 1.10964790e+02] [ 5.25311129e-03 9.99985292e-01 1.34931189e-03 4.93051855e-01] [ 2.52126169e-03 -1.36257086e-03 9.99995893e-01 -4.87801646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.695898227 meters Centerline goodness [0,1] 0.785441093485485 Centerline is valid? [False, False] Translation: X:110.96, Y:0.50, Z:-0.49 [[ 9.99901688e-01 -1.38300492e-02 -2.31177139e-03 1.10963871e+02] [ 1.38108989e-02 9.99871783e-01 -8.10409504e-03 4.98128455e-01] [ 2.42355502e-03 8.07137067e-03 9.99964489e-01 -4.87164315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.725898227 meters Centerline goodness [0,1] 0.989054851788828 Centerline is valid? [False, True] Translation: X:110.96, Y:0.50, Z:-0.49 [[ 9.99821678e-01 -1.87314045e-02 -2.39705661e-03 1.10963958e+02] [ 1.87005023e-02 9.99749187e-01 -1.23229352e-02 4.96105424e-01] [ 2.62728129e-03 1.22759116e-02 9.99921197e-01 -4.86413198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.755898227 meters Centerline goodness [0,1] 0.9969192198189776 Centerline is valid? [True, True] Translation: X:111.00, Y:0.49, Z:-0.49 [[ 9.99722917e-01 -2.32945615e-02 -3.38404024e-03 1.10995601e+02] [ 2.32939064e-02 9.99728633e-01 -2.32874084e-04 4.87936812e-01] [ 3.38854662e-03 1.53982042e-04 9.99994247e-01 -4.86938131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.785898227 meters Centerline goodness [0,1] 0.9988430308384871 Centerline is valid? [True, True] Translation: X:111.03, Y:0.49, Z:-0.49 [[ 9.99620983e-01 -2.73750966e-02 -2.91466243e-03 1.11025075e+02] [ 2.73746284e-02 9.99625225e-01 -2.00421500e-04 4.85022316e-01] [ 2.91905664e-03 1.20557736e-04 9.99995732e-01 -4.86355190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.815898227 meters Centerline goodness [0,1] 0.9998933947379642 Centerline is valid? [True, True] Translation: X:111.06, Y:0.48, Z:-0.49 [[ 9.99532310e-01 -3.04739113e-02 -2.54974223e-03 1.11055807e+02] [ 3.04735629e-02 9.99535558e-01 -1.75359140e-04 4.77846567e-01] [ 2.55390190e-03 9.75773966e-05 9.99996734e-01 -4.86025387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.845898227 meters Centerline goodness [0,1] 0.9997703405223709 Centerline is valid? [True, True] Translation: X:111.09, Y:0.48, Z:-0.49 [[ 9.99424840e-01 -3.38648099e-02 -1.77895602e-03 1.11085114e+02] [ 3.38646457e-02 9.99426421e-01 -1.22347872e-04 4.80231184e-01] [ 1.78207894e-03 6.20337872e-05 9.99998410e-01 -4.85013334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.875898227 meters Centerline goodness [0,1] 0.9989858440735263 Centerline is valid? [True, True] Translation: X:111.11, Y:0.49, Z:-0.49 [[ 9.99388512e-01 -3.48962676e-02 -2.20298003e-03 1.11114123e+02] [ 3.48960182e-02 9.99390937e-01 -1.51555939e-04 4.87212562e-01] [ 2.20692701e-03 7.45880330e-05 9.99997562e-01 -4.85037075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.905898227 meters Centerline goodness [0,1] 0.9998536758711511 Centerline is valid? [True, True] Translation: X:111.14, Y:0.48, Z:-0.49 [[ 9.99366315e-01 -3.54684316e-02 -2.99304068e-03 1.11144584e+02] [ 3.54679738e-02 9.99370792e-01 -2.05933468e-04 4.81739897e-01] [ 2.99846158e-03 9.96458827e-05 9.99995500e-01 -4.87550703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.935898227 meters Centerline goodness [0,1] 0.9999155066432902 Centerline is valid? [True, True] Translation: X:111.17, Y:0.48, Z:-0.49 [[ 9.99330171e-01 -3.63541872e-02 -4.19309555e-03 1.11174117e+02] [ 3.63532958e-02 9.99338959e-01 -2.88649752e-04 4.79156808e-01] [ 4.20081737e-03 1.36023563e-04 9.99991167e-01 -4.89438395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.965898227 meters Centerline goodness [0,1] 0.9999369058635484 Centerline is valid? [True, True] Translation: X:111.20, Y:0.48, Z:-0.49 [[ 9.99285313e-01 -3.74132053e-02 -5.39576877e-03 1.11202331e+02] [ 3.74117437e-02 9.99299867e-01 -3.71595773e-04 4.81848481e-01] [ 5.40589360e-03 1.69465080e-04 9.99985374e-01 -4.91847271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.995898227 meters Centerline goodness [0,1] 0.9998950197362896 Centerline is valid? [True, True] Translation: X:111.23, Y:0.48, Z:-0.49 [[ 9.99236980e-01 -3.84301056e-02 -6.97031472e-03 1.11230057e+02] [ 3.84276887e-02 9.99261268e-01 -4.80387859e-04 4.82129523e-01] [ 6.98362688e-03 2.12168229e-04 9.99975592e-01 -4.94475791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.025898227 meters Centerline goodness [0,1] 0.999915727378068 Centerline is valid? [True, True] Translation: X:111.26, Y:0.47, Z:-0.50 [[ 9.99165323e-01 -4.00183430e-02 -8.19690122e-03 1.11259959e+02] [ 4.00150480e-02 9.99198917e-01 -5.65655921e-04 4.74427062e-01] [ 8.21297143e-03 2.37184386e-04 9.99966245e-01 -4.98123302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.055898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.29, Y:0.48, Z:-0.50 [[ 9.99129400e-01 -4.09619197e-02 -7.90970132e-03 1.11287432e+02] [ 4.09588730e-02 9.99160684e-01 -5.46853484e-04 4.75909792e-01] [ 7.92546275e-03 2.22404941e-04 9.99968568e-01 -4.97969207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.085898227 meters Centerline goodness [0,1] 0.9999580862166524 Centerline is valid? [True, True] Translation: X:111.31, Y:0.48, Z:-0.50 [[ 9.99117439e-01 -4.14751066e-02 -6.64522926e-03 1.11314845e+02] [ 4.14729652e-02 9.99139521e-01 -4.59770688e-04 4.83439039e-01] [ 6.65858022e-03 1.83767550e-04 9.99977815e-01 -4.96060925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.115898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.34, Y:0.48, Z:-0.49 [[ 9.99072164e-01 -4.27690030e-02 -5.06205464e-03 1.11344043e+02] [ 4.27677764e-02 9.99084979e-01 -3.50348392e-04 4.78374974e-01] [ 5.07240680e-03 1.33530504e-04 9.99987126e-01 -4.93183630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.37, Y:0.48, Z:-0.49 [[ 9.98990961e-01 -4.47500922e-02 -3.80646674e-03 1.11373580e+02] [ 4.47494115e-02 9.98998208e-01 -2.63852858e-04 4.77357266e-01] [ 3.81446090e-03 9.32494734e-05 9.99992721e-01 -4.91201419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.175898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.40, Y:0.47, Z:-0.49 [[ 9.98681440e-01 -5.11514251e-02 -4.34885892e-03 1.11403494e+02] [ 5.11505927e-02 9.98690906e-01 -3.02482193e-04 4.68219686e-01] [ 4.35863825e-03 7.96366404e-05 9.99990498e-01 -4.91393326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.43, Y:0.46, Z:-0.49 [[ 9.98445790e-01 -5.54491463e-02 -5.60323375e-03 1.11432774e+02] [ 5.54478318e-02 9.98461510e-01 -3.89800278e-04 4.61346379e-01] [ 5.61622732e-03 7.85072845e-05 9.99984226e-01 -4.93130374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.235898227 meters Centerline goodness [0,1] 0.9999789854158786 Centerline is valid? [True, True] Translation: X:111.46, Y:0.46, Z:-0.49 [[ 9.98173937e-01 -6.01024962e-02 -6.03991981e-03 1.11462432e+02] [ 6.01010519e-02 9.98192209e-01 -4.20500665e-04 4.56612552e-01] [ 6.05427404e-03 5.67272705e-05 9.99981671e-01 -4.94559715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.49, Y:0.45, Z:-0.49 [[ 9.97883266e-01 -6.48011339e-02 -5.45903572e-03 1.11490719e+02] [ 6.48000200e-02 9.97898197e-01 -3.80873604e-04 4.50793847e-01] [ 5.47224295e-03 2.63217723e-05 9.99985027e-01 -4.93208049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.295898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.52, Y:0.44, Z:-0.49 [[ 9.97555170e-01 -6.97655751e-02 -4.05561540e-03 1.11520076e+02] [ 6.97650009e-02 9.97563414e-01 -2.83037030e-04 4.43552248e-01] [ 4.06547979e-03 -5.94959993e-07 9.99991736e-01 -4.91401189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.325898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.55, Y:0.44, Z:-0.49 [[ 9.97193824e-01 -7.48107317e-02 -2.79841870e-03 1.11548706e+02] [ 7.48104768e-02 9.97197751e-01 -1.95797078e-04 4.35714267e-01] [ 2.80522455e-03 -1.41033998e-05 9.99996065e-01 -4.89047307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.355898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.58, Y:0.43, Z:-0.49 [[ 9.96815645e-01 -7.97144705e-02 -2.04297208e-03 1.11577803e+02] [ 7.97143458e-02 9.96817738e-01 -1.42537033e-04 4.28626770e-01] [ 2.04783308e-03 -2.07710385e-05 9.99997903e-01 -4.88999348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.61, Y:0.41, Z:-0.49 [[ 9.96200410e-01 -8.70249899e-02 -3.37555079e-03 1.11607553e+02] [ 8.70246860e-02 9.96206127e-01 -2.37076163e-04 4.13648182e-01] [ 3.38337593e-03 -5.75808769e-05 9.99994275e-01 -4.90822971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41589822699999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.64, Y:0.41, Z:-0.49 [[ 9.95998667e-01 -8.92512828e-02 -4.56760037e-03 1.11635838e+02] [ 8.92507488e-02 9.96009137e-01 -3.21004290e-04 4.09161274e-01] [ 4.57802174e-03 -8.79419077e-05 9.99989517e-01 -4.92144000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.445898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.67, Y:0.41, Z:-0.49 [[ 9.95877865e-01 -9.05639281e-02 -5.04513227e-03 1.11665076e+02] [ 9.05632923e-02 9.95890639e-01 -3.54791564e-04 4.08033591e-01] [ 5.05653131e-03 -1.03574724e-04 9.99987210e-01 -4.92970562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.475898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.69, Y:0.41, Z:-0.49 [[ 9.95815871e-01 -9.12344500e-02 -5.19859357e-03 1.11692929e+02] [ 9.12337790e-02 9.95829435e-01 -3.66552713e-04 4.07403715e-01] [ 5.21035473e-03 -1.09268328e-04 9.99986420e-01 -4.92917189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:0.41, Z:-0.49 [[ 9.95834917e-01 -9.10418798e-02 -4.91872102e-03 1.11720868e+02] [ 9.10412755e-02 9.95847059e-01 -3.47086338e-04 4.08707263e-01] [ 4.92989325e-03 -1.02165941e-04 9.99987843e-01 -4.92416680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.535898227 meters Centerline goodness [0,1] 0.9999790886848874 Centerline is valid? [True, True] Translation: X:111.75, Y:0.42, Z:-0.49 [[ 9.96045407e-01 -8.87632225e-02 -3.82595498e-03 1.11749714e+02] [ 8.87628404e-02 9.96052752e-01 -2.69910042e-04 4.16586954e-01] [ 3.83481107e-03 -7.07599735e-05 9.99992645e-01 -4.89982334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.78, Y:0.42, Z:-0.49 [[ 9.96196091e-01 -8.70793669e-02 -3.24536904e-03 1.11777883e+02] [ 8.70790819e-02 9.96201376e-01 -2.29276841e-04 4.22364340e-01] [ 3.25300638e-03 -5.41990628e-05 9.99994707e-01 -4.89103867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.595898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.81, Y:0.43, Z:-0.49 [[ 9.96309776e-01 -8.57557707e-02 -3.57468948e-03 1.11806019e+02] [ 8.57554139e-02 9.96316187e-01 -2.53236483e-04 4.25505938e-01] [ 3.58323749e-03 -5.42469931e-05 9.99993579e-01 -4.89300450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.83, Y:0.43, Z:-0.49 [[ 9.96333003e-01 -8.54639608e-02 -4.05685144e-03 1.11834343e+02] [ 8.54634956e-02 9.96341261e-01 -2.88202479e-04 4.31220339e-01] [ 4.06663940e-03 -5.95670637e-05 9.99991729e-01 -4.91191345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.655898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.86, Y:0.43, Z:-0.49 [[ 9.96246951e-01 -8.64283648e-02 -4.70647595e-03 1.11861944e+02] [ 8.64277444e-02 9.96258065e-01 -3.35425200e-04 4.32276743e-01] [ 4.71785488e-03 -7.26037673e-05 9.99988868e-01 -4.93135594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.685898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.89, Y:0.43, Z:-0.49 [[ 9.96230800e-01 -8.66143267e-02 -4.70646841e-03 1.11889354e+02] [ 8.66137079e-02 9.96241915e-01 -3.35531274e-04 4.34425255e-01] [ 4.71784291e-03 -7.33780905e-05 9.99988868e-01 -4.92969899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.715898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:0.43, Z:-0.49 [[ 9.96033213e-01 -8.88357278e-02 -5.10413729e-03 1.11917664e+02] [ 8.88350231e-02 9.96046287e-01 -3.65052044e-04 4.32076930e-01] [ 5.11638665e-03 -8.98221936e-05 9.99986907e-01 -4.94465898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.745898227 meters Centerline goodness [0,1] 0.9999574060270472 Centerline is valid? [True, True] Translation: X:111.95, Y:0.43, Z:-0.50 [[ 9.95767900e-01 -9.17570455e-02 -5.18976617e-03 1.11946980e+02] [ 9.17563549e-02 9.95781418e-01 -3.71503585e-04 4.32839160e-01] [ 5.20196079e-03 -1.06262682e-04 9.99986464e-01 -4.95834754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.775898227 meters Centerline goodness [0,1] 0.9998524327514967 Centerline is valid? [True, True] Translation: X:111.98, Y:0.43, Z:-0.50 [[ 9.95183884e-01 -9.79309175e-02 -4.30964359e-03 1.11977095e+02] [ 9.79304984e-02 9.95193208e-01 -3.08656252e-04 4.28033981e-01] [ 4.31915502e-03 -1.14875817e-04 9.99990666e-01 -4.95765691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.805898227 meters Centerline goodness [0,1] 0.9999580360889635 Centerline is valid? [True, True] Translation: X:112.01, Y:0.43, Z:-0.49 [[ 9.94925961e-01 -1.00539208e-01 -3.76823790e-03 1.12007102e+02] [ 1.00538907e-01 9.94933091e-01 -2.69890079e-04 4.26307406e-01] [ 3.77627911e-03 -1.10333872e-04 9.99992864e-01 -4.92746572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.835898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.04, Y:0.43, Z:-0.49 [[ 9.94667631e-01 -1.03068475e-01 -3.63228947e-03 1.12036528e+02] [ 1.03068212e-01 9.94674256e-01 -2.60205071e-04 4.25102518e-01] [ 3.63976377e-03 -1.15556019e-04 9.99993369e-01 -4.92199395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.865898227 meters Centerline goodness [0,1] 0.9999790017428554 Centerline is valid? [True, True] Translation: X:112.07, Y:0.43, Z:-0.49 [[ 9.94441155e-01 -1.05216631e-01 -4.03100759e-03 1.12066241e+02] [ 1.05216323e-01 9.94449316e-01 -2.88953677e-04 4.25585626e-01] [ 4.03903547e-03 -1.36780367e-04 9.99991834e-01 -4.92792373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.895898227 meters Centerline goodness [0,1] 0.9998955569945481 Centerline is valid? [True, True] Translation: X:112.09, Y:0.43, Z:-0.49 [[ 9.94299347e-01 -1.06505965e-01 -5.02866291e-03 1.12093730e+02] [ 1.06505502e-01 9.94312048e-01 -3.60574788e-04 4.25504307e-01] [ 5.03846348e-03 -1.77060990e-04 9.99987291e-01 -4.93784911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.925898227 meters Centerline goodness [0,1] 0.9998743850099445 Centerline is valid? [True, True] Translation: X:112.12, Y:0.42, Z:-0.49 [[ 9.94177541e-01 -1.07605866e-01 -5.65634223e-03 1.12121919e+02] [ 1.07605295e-01 9.94193611e-01 -4.06031200e-04 4.24858601e-01] [ 5.66719064e-03 -2.04985276e-04 9.99983920e-01 -4.94734552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.955898227 meters Centerline goodness [0,1] 0.9998736522911051 Centerline is valid? [True, True] Translation: X:112.15, Y:0.43, Z:-0.49 [[ 9.94115669e-01 -1.08202915e-01 -5.11529844e-03 1.12149910e+02] [ 1.08202455e-01 9.94128811e-01 -3.67360486e-04 4.32835548e-01] [ 5.12501503e-03 -1.88289035e-04 9.99986849e-01 -4.94698773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.985898227 meters Centerline goodness [0,1] 0.999788686262494 Centerline is valid? [True, True] Translation: X:112.18, Y:0.44, Z:-0.49 [[ 9.94168173e-01 -1.07758832e-01 -4.20441967e-03 1.12178447e+02] [ 1.07758516e-01 9.94177052e-01 -3.02452056e-04 4.37621091e-01] [ 4.21252944e-03 -1.52373815e-04 9.99991116e-01 -4.92683762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.015898227 meters Centerline goodness [0,1] 0.9999157220513253 Centerline is valid? [True, True] Translation: X:112.21, Y:0.44, Z:-0.49 [[ 9.94286476e-01 -1.06689331e-01 -3.43360683e-03 1.12207193e+02] [ 1.06689112e-01 9.94292398e-01 -2.47379734e-04 4.44214633e-01] [ 3.44040195e-03 -1.20362139e-04 9.99994075e-01 -4.91407057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.045898227 meters Centerline goodness [0,1] 0.9998950748116593 Centerline is valid? [True, True] Translation: X:112.24, Y:0.45, Z:-0.49 [[ 9.94440043e-01 -1.05255406e-01 -3.20955515e-03 1.12235141e+02] [ 1.05255205e-01 9.94445216e-01 -2.31980292e-04 4.47417796e-01] [ 3.21614395e-03 -1.07131894e-04 9.99994822e-01 -4.89761837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.075898227 meters Centerline goodness [0,1] 0.9999156847452625 Centerline is valid? [True, True] Translation: X:112.26, Y:0.46, Z:-0.49 [[ 9.94544326e-01 -1.04259227e-01 -3.40548122e-03 1.12262793e+02] [ 1.04258995e-01 9.94550150e-01 -2.46087846e-04 4.59388970e-01] [ 3.41257879e-03 -1.10306778e-04 9.99994171e-01 -4.89037937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.105898227 meters Centerline goodness [0,1] 0.9998318515248965 Centerline is valid? [True, True] Translation: X:112.29, Y:0.47, Z:-0.49 [[ 9.94758428e-01 -1.02177855e-01 -3.91877814e-03 1.12290083e+02] [ 1.02177527e-01 9.94766139e-01 -2.84191863e-04 4.74581452e-01] [ 3.92730591e-03 -1.17708810e-04 9.99992281e-01 -4.90414166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.135898227 meters Centerline goodness [0,1] 0.9999787261200698 Centerline is valid? [True, True] Translation: X:112.32, Y:0.48, Z:-0.49 [[ 9.94795513e-01 -1.01798765e-01 -4.34722285e-03 1.12317110e+02] [ 1.01798358e-01 9.94805003e-01 -3.15472459e-04 4.81684170e-01] [ 4.35675375e-03 -1.28709560e-04 9.99990501e-01 -4.90533909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16589822699999 meters Centerline goodness [0,1] 0.9999790483772968 Centerline is valid? [True, True] Translation: X:112.35, Y:0.49, Z:-0.49 [[ 9.94731190e-01 -1.02419299e-01 -4.48845041e-03 1.12345638e+02] [ 1.02418871e-01 9.94741307e-01 -3.25831907e-04 4.88479555e-01] [ 4.49821851e-03 -1.35586862e-04 9.99989874e-01 -4.91164853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.195898227 meters Centerline goodness [0,1] 0.9999366914976682 Centerline is valid? [True, True] Translation: X:112.37, Y:0.50, Z:-0.49 [[ 9.94620909e-01 -1.03479700e-01 -4.60418710e-03 1.12374017e+02] [ 1.03479257e-01 9.94631556e-01 -3.34980506e-04 4.95744526e-01] [ 4.61413346e-03 -1.43259243e-04 9.99989345e-01 -4.91412940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.225898227 meters Centerline goodness [0,1] 0.9999160298933579 Centerline is valid? [True, True] Translation: X:112.40, Y:0.50, Z:-0.49 [[ 9.94439644e-01 -1.05226977e-01 -4.13258559e-03 1.12402152e+02] [ 1.05226633e-01 9.94448221e-01 -3.01220650e-04 5.03475314e-01] [ 4.14133893e-03 -1.35312312e-04 9.99991415e-01 -4.90967772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.255898227 meters Centerline goodness [0,1] 0.999811538058842 Centerline is valid? [True, True] Translation: X:112.43, Y:0.51, Z:-0.49 [[ 9.94121007e-01 -1.08215240e-01 -3.58955131e-03 1.12430208e+02] [ 1.08214998e-01 9.94127479e-01 -2.62343384e-04 5.10257599e-01] [ 3.59686114e-03 -1.27642217e-04 9.99993523e-01 -4.90148106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.285898227 meters Centerline goodness [0,1] 0.999914942479852 Centerline is valid? [True, True] Translation: X:112.46, Y:0.52, Z:-0.49 [[ 9.93917722e-01 -1.10055741e-01 -3.91104404e-03 1.12459134e+02] [ 1.10055466e-01 9.93925406e-01 -2.86147591e-04 5.21536969e-01] [ 3.91877822e-03 -1.46024614e-04 9.99992311e-01 -4.91069954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.315898227 meters Centerline goodness [0,1] 0.9996228786926461 Centerline is valid? [True, True] Translation: X:112.49, Y:0.52, Z:-0.49 [[ 9.93687730e-01 -1.12087964e-01 -4.58075505e-03 1.12488012e+02] [ 1.12087607e-01 9.93698272e-01 -3.35260500e-04 5.20403511e-01] [ 4.58946705e-03 -1.80301629e-04 9.99989452e-01 -4.92197164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.345898227 meters Centerline goodness [0,1] 0.9996651949193329 Centerline is valid? [True, True] Translation: X:112.52, Y:0.53, Z:-0.49 [[ 9.93396714e-01 -1.14606102e-01 -5.33002887e-03 1.12516567e+02] [ 1.14605655e-01 9.93410988e-01 -3.90318298e-04 5.29790462e-01] [ 5.33964211e-03 -2.23110534e-04 9.99985719e-01 -4.93727079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.375898227 meters Centerline goodness [0,1] 0.9976459804595547 Centerline is valid? [True, True] Translation: X:112.55, Y:0.53, Z:-0.49 [[ 9.92704039e-01 -1.20451542e-01 -5.48790799e-03 1.12545930e+02] [ 1.20451155e-01 9.92719174e-01 -4.02087368e-04 5.31426198e-01] [ 5.49638353e-03 -2.61871103e-04 9.99984860e-01 -4.94484862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.405898227 meters Centerline goodness [0,1] 0.9683972439213386 Centerline is valid? [True, True] Translation: X:112.57, Y:0.53, Z:-0.49 [[ 9.92335398e-01 -1.23462905e-01 -5.23146712e-03 1.12574846e+02] [ 1.23462596e-01 9.92349153e-01 -3.83348301e-04 5.28735623e-01] [ 5.23877126e-03 -2.65480420e-04 9.99986242e-01 -4.93945555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.435898227 meters Centerline goodness [0,1] 0.9945118489391678 Centerline is valid? [True, True] Translation: X:112.60, Y:0.54, Z:-0.49 [[ 9.92012266e-01 -1.26041135e-01 -5.02949851e-03 1.12604357e+02] [ 1.26040881e-01 9.92024980e-01 -3.68621206e-04 5.44374435e-01] [ 5.03584960e-03 -2.68245666e-04 9.99987284e-01 -4.94056194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.465898227 meters Centerline goodness [0,1] 0.9970827608075257 Centerline is valid? [True, True] Translation: X:112.63, Y:0.55, Z:-0.49 [[ 9.91758933e-01 -1.28013556e-01 -5.17186937e-03 1.12632975e+02] [ 1.28013315e-01 9.91772377e-01 -3.79026048e-04 5.52682236e-01] [ 5.17783765e-03 -2.86165675e-04 9.99986554e-01 -4.93815533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.495898227 meters Centerline goodness [0,1] 0.9857833921291113 Centerline is valid? [True, True] Translation: X:112.66, Y:0.55, Z:-0.49 [[ 9.91525774e-01 -1.29792901e-01 -5.51754480e-03 1.12661576e+02] [ 1.29792653e-01 9.91541075e-01 -4.04563483e-04 5.51838142e-01] [ 5.52338177e-03 -3.15001654e-04 9.99984696e-01 -4.94398809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.525898227 meters Centerline goodness [0,1] 0.9783098058191151 Centerline is valid? [True, True] Translation: X:112.69, Y:0.55, Z:-0.49 [[ 9.91320159e-01 -1.31348243e-01 -5.65515092e-03 1.12691093e+02] [ 1.31348006e-01 9.91336234e-01 -4.14936703e-04 5.54835818e-01] [ 5.66065722e-03 -3.31457676e-04 9.99983923e-01 -4.94891407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.555898227 meters Centerline goodness [0,1] 0.9592139336730432 Centerline is valid? [True, True] Translation: X:112.72, Y:0.56, Z:-0.50 [[ 9.90985151e-01 -1.33850724e-01 -5.69331794e-03 1.12720441e+02] [ 1.33850524e-01 9.91001444e-01 -4.17873074e-04 5.59043823e-01] [ 5.69801891e-03 -3.47947580e-04 9.99983706e-01 -4.95376672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.585898227 meters Centerline goodness [0,1] 0.9510800108943873 Centerline is valid? [True, True] Translation: X:112.75, Y:0.56, Z:-0.50 [[ 9.90824850e-01 -1.35035802e-01 -5.60793502e-03 1.12750107e+02] [ 1.35035626e-01 9.90840658e-01 -4.11664982e-04 5.62618573e-01] [ 5.61215954e-03 -3.49383123e-04 9.99984191e-01 -4.95739192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.615898227 meters Centerline goodness [0,1] 0.9464976454759502 Centerline is valid? [True, False] Translation: X:112.75, Y:0.56, Z:-0.50 [[ 9.91340654e-01 -1.31184483e-01 -5.85994035e-03 1.12749270e+02] [ 1.31209332e-01 9.91346300e-01 4.07737285e-03 5.60324316e-01] [ 5.27434214e-03 -4.81094432e-03 9.99974518e-01 -4.95730940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.645898227 meters Centerline goodness [0,1] 0.8299875980072731 Centerline is valid? [False, False] Translation: X:112.75, Y:0.56, Z:-0.50 [[ 9.91829767e-01 -1.27420330e-01 -6.14594550e-03 1.12748635e+02] [ 1.27470312e-01 9.91805339e-01 8.57254453e-03 5.57684554e-01] [ 5.00326511e-03 -9.28593044e-03 9.99944368e-01 -4.95748706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.675898227 meters Centerline goodness [0,1] 0.8066746026773595 Centerline is valid? [False, False] Translation: X:112.75, Y:0.56, Z:-0.50 [[ 9.91814530e-01 -1.27539539e-01 -6.13226599e-03 1.12748501e+02] [ 1.27588804e-01 9.91791112e-01 8.45502357e-03 5.58107966e-01] [ 5.00357709e-03 -9.16822370e-03 9.99945452e-01 -4.95659341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.705898227 meters Centerline goodness [0,1] 0.767680600349923 Centerline is valid? [False, False] Translation: X:112.75, Y:0.56, Z:-0.50 [[ 9.91802564e-01 -1.27632321e-01 -6.13717472e-03 1.12748680e+02] [ 1.27681317e-01 9.91779734e-01 8.39287274e-03 5.58266910e-01] [ 5.01552369e-03 -9.10767525e-03 9.99945946e-01 -4.95908514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.735898227 meters Centerline goodness [0,1] 0.707769844603108 Centerline is valid? [False, False] Translation: X:112.75, Y:0.56, Z:-0.50 [[ 9.91760078e-01 -1.27948116e-01 -6.42076556e-03 1.12750016e+02] [ 1.27997406e-01 9.91742535e-01 7.96294279e-03 5.60021689e-01] [ 5.34890278e-03 -8.71917010e-03 9.99947681e-01 -4.96641713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.765898227 meters Centerline goodness [0,1] 0.8542823951842855 Centerline is valid? [False, False] Translation: X:112.75, Y:0.56, Z:-0.50 [[ 9.91735402e-01 -1.28135021e-01 -6.50455822e-03 1.12750306e+02] [ 1.28182445e-01 9.91722334e-01 7.48814742e-03 5.62346912e-01] [ 5.49122174e-03 -8.26003107e-03 9.99950808e-01 -4.96801678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.795898227 meters Centerline goodness [0,1] 0.6777019838538081 Centerline is valid? [False, False] Translation: X:112.75, Y:0.57, Z:-0.50 [[ 9.91705544e-01 -1.28359698e-01 -6.62581509e-03 1.12750562e+02] [ 1.28404371e-01 9.91698414e-01 6.82440101e-03 5.65682203e-01] [ 5.69483226e-03 -7.61857994e-03 9.99954762e-01 -4.96822660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.825898227 meters Centerline goodness [0,1] 0.6842654859863833 Centerline is valid? [False, False] Translation: X:112.75, Y:0.57, Z:-0.50 [[ 9.92214768e-01 -1.24342525e-01 -6.98508385e-03 1.12750219e+02] [ 1.24414744e-01 9.92168391e-01 1.10839957e-02 5.65140980e-01] [ 5.55216739e-03 -1.18667517e-02 9.99914173e-01 -4.97128229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.855898227 meters Centerline goodness [0,1] 0.923171725189564 Centerline is valid? [False, False] Translation: X:112.75, Y:0.57, Z:-0.50 [[ 9.92180423e-01 -1.24618925e-01 -6.93773866e-03 1.12749690e+02] [ 1.24686344e-01 9.92142507e-01 1.03228096e-02 5.68910541e-01] [ 5.59680799e-03 -1.11071309e-02 9.99922651e-01 -4.96800206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.885898227 meters Centerline goodness [0,1] 0.9309004899476263 Centerline is valid? [False, False] Translation: X:112.75, Y:0.57, Z:-0.50 [[ 9.92193743e-01 -1.24547700e-01 -6.28064527e-03 1.12747553e+02] [ 1.24606271e-01 9.92155825e-01 1.00047992e-02 5.71257730e-01] [ 4.98530407e-03 -1.07093069e-02 9.99930226e-01 -4.96631573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91589822699999 meters Centerline goodness [0,1] 0.8449245957874041 Centerline is valid? [False, False] Translation: X:112.76, Y:0.58, Z:-0.49 [[ 9.92332340e-01 -1.23544052e-01 -3.65988389e-03 1.12763336e+02] [ 1.23544383e-01 9.92339038e-01 -1.36329224e-04 5.79114160e-01] [ 3.64868832e-03 -3.16874200e-04 9.99993293e-01 -4.92564291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.945898227 meters Centerline goodness [0,1] 0.7246661922899837 Centerline is valid? [False, False] Translation: X:112.76, Y:0.58, Z:-0.49 [[ 9.92835831e-01 -1.19423207e-01 -3.88731531e-03 1.12762481e+02] [ 1.19440064e-01 9.92831491e-01 4.43874202e-03 5.77018437e-01] [ 3.32936025e-03 -4.87124331e-03 9.99982593e-01 -4.92522385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.975898227 meters Centerline goodness [0,1] 0.9131820074968763 Centerline is valid? [False, False] Translation: X:112.76, Y:0.58, Z:-0.49 [[ 9.93319709e-01 -1.15318228e-01 -4.20270896e-03 1.12762007e+02] [ 1.15351999e-01 9.93284335e-01 8.95248436e-03 5.75218649e-01] [ 3.14210033e-03 -9.37747004e-03 9.99951094e-01 -4.92630323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.005898227 meters Centerline goodness [0,1] 0.9462632553442182 Centerline is valid? [False, False] Translation: X:112.76, Y:0.58, Z:-0.49 [[ 9.93301597e-01 -1.15474626e-01 -4.18913756e-03 1.12761771e+02] [ 1.15506658e-01 9.93270817e-01 8.44371731e-03 5.77808624e-01] [ 3.18591299e-03 -8.87103117e-03 9.99955576e-01 -4.92456825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.035898227 meters Centerline goodness [0,1] 0.9180752310185867 Centerline is valid? [False, False] Translation: X:112.76, Y:0.58, Z:-0.49 [[ 9.93283401e-01 -1.15628258e-01 -4.26521023e-03 1.12761855e+02] [ 1.15659352e-01 9.93257088e-01 7.95431225e-03 5.80296443e-01] [ 3.31670702e-03 -8.39419777e-03 9.99959268e-01 -4.92380593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.065898227 meters Centerline goodness [0,1] 0.9303720988374515 Centerline is valid? [False, False] Translation: X:112.76, Y:0.58, Z:-0.49 [[ 9.93271386e-01 -1.15728705e-01 -4.33836554e-03 1.12761877e+02] [ 1.15759062e-01 9.93248558e-01 7.55924375e-03 5.82380482e-01] [ 3.43425383e-03 -8.01058564e-03 9.99962017e-01 -4.92240539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.095898227 meters Centerline goodness [0,1] 0.9219539701766843 Centerline is valid? [False, False] Translation: X:112.76, Y:0.58, Z:-0.49 [[ 9.93247867e-01 -1.15932865e-01 -4.27153276e-03 1.12761400e+02] [ 1.15960918e-01 9.93228829e-01 7.03981698e-03 5.84962037e-01] [ 3.42646333e-03 -7.48761405e-03 9.99966097e-01 -4.91981952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.125898227 meters Centerline goodness [0,1] 0.9284413654534419 Centerline is valid? [False, False] Translation: X:112.76, Y:0.59, Z:-0.49 [[ 9.93235509e-01 -1.16038922e-01 -4.26526736e-03 1.12761600e+02] [ 1.16066228e-01 9.93217949e-01 6.83646657e-03 5.85941607e-01] [ 3.44304389e-03 -7.28527485e-03 9.99967535e-01 -4.92393115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.155898227 meters Centerline goodness [0,1] 0.9755769190314912 Centerline is valid? [False, True] Translation: X:112.76, Y:0.59, Z:-0.49 [[ 9.93220141e-01 -1.16166660e-01 -4.36560170e-03 1.12762037e+02] [ 1.16193906e-01 9.93204524e-01 6.61441202e-03 5.86950194e-01] [ 3.56756121e-03 -7.07682356e-03 9.99968595e-01 -4.92609543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.185898227 meters Centerline goodness [0,1] 0.9626015570310346 Centerline is valid? [True, True] Translation: X:112.79, Y:0.59, Z:-0.49 [[ 9.93094947e-01 -1.17219371e-01 -4.69520195e-03 1.12789930e+02] [ 1.17219479e-01 9.93106001e-01 -2.53029688e-04 5.89887220e-01] [ 4.69249321e-03 -2.99086624e-04 9.99988945e-01 -4.92862084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.215898227 meters Centerline goodness [0,1] 0.8977800075253982 Centerline is valid? [True, False] Translation: X:112.79, Y:0.59, Z:-0.49 [[ 9.93078798e-01 -1.17351305e-01 -4.81374429e-03 1.12790360e+02] [ 1.17350470e-01 9.93090458e-01 -4.56670139e-04 5.90787996e-01] [ 4.83407436e-03 -1.11385721e-04 9.99988310e-01 -4.93019151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.245898227 meters Centerline goodness [0,1] 0.8432483277591973 Centerline is valid? [False, False] Translation: X:112.79, Y:0.59, Z:-0.49 [[ 9.93516413e-01 -1.13572945e-01 -5.13053329e-03 1.12790552e+02] [ 1.13593223e-01 9.93519882e-01 3.85003777e-03 5.89450433e-01] [ 4.66002670e-03 -4.40786953e-03 9.99979427e-01 -4.94030708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.275898227 meters Centerline goodness [0,1] 0.9713776873171353 Centerline is valid? [False, True] Translation: X:112.77, Y:0.59, Z:-0.49 [[ 9.93484204e-01 -1.13653919e-01 -8.48078662e-03 1.12768432e+02] [ 1.13588855e-01 9.93497248e-01 -7.79679164e-03 5.93865786e-01] [ 9.31177410e-03 6.78266649e-03 9.99933641e-01 -4.89840572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.305898227 meters Centerline goodness [0,1] 0.9617632005459353 Centerline is valid? [True, True] Translation: X:112.80, Y:0.59, Z:-0.49 [[ 9.93430643e-01 -1.14104002e-01 -8.70824236e-03 1.12797122e+02] [ 1.14104731e-01 9.93468640e-01 -4.14679088e-04 5.92125914e-01] [ 8.69868224e-03 -5.81696737e-04 9.99961997e-01 -4.90366655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.335898227 meters Centerline goodness [0,1] 0.9456744264578628 Centerline is valid? [True, False] Translation: X:112.80, Y:0.59, Z:-0.49 [[ 9.93858477e-01 -1.10283991e-01 -9.09777961e-03 1.12797400e+02] [ 1.10325718e-01 9.93886534e-01 4.21822334e-03 5.88791128e-01] [ 8.57695814e-03 -5.19603609e-03 9.99949717e-01 -4.91099354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.365898227 meters Centerline goodness [0,1] 0.7511713520749665 Centerline is valid? [False, False] Translation: X:112.80, Y:0.59, Z:-0.49 [[ 9.93847653e-01 -1.10386808e-01 -9.03300893e-03 1.12797409e+02] [ 1.10428455e-01 9.93874998e-01 4.24800083e-03 5.88483493e-01] [ 8.50875847e-03 -5.21936687e-03 9.99950178e-01 -4.91427579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.395898227 meters Centerline goodness [0,1] 0.8746787986014575 Centerline is valid? [False, False] Translation: X:112.80, Y:0.59, Z:-0.49 [[ 9.93841553e-01 -1.10441331e-01 -9.03766640e-03 1.12797688e+02] [ 1.10484305e-01 9.93868125e-01 4.40095593e-03 5.87465212e-01] [ 8.49620113e-03 -5.37237316e-03 9.99949475e-01 -4.91807256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.425898227 meters Centerline goodness [0,1] 0.764558665797388 Centerline is valid? [False, False] Translation: X:112.80, Y:0.58, Z:-0.49 [[ 9.93791065e-01 -1.10924901e-01 -8.65939482e-03 1.12796833e+02] [ 1.10967608e-01 9.93813302e-01 4.61640652e-03 5.84979152e-01] [ 8.09374732e-03 -5.54865588e-03 9.99951851e-01 -4.92070505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.455898227 meters Centerline goodness [0,1] 0.7107338675664276 Centerline is valid? [False, False] Translation: X:112.80, Y:0.58, Z:-0.49 [[ 9.93787557e-01 -1.10958609e-01 -8.63009022e-03 1.12796957e+02] [ 1.11002379e-01 9.93808701e-01 4.76831748e-03 5.84052433e-01] [ 8.04757287e-03 -5.69665512e-03 9.99951391e-01 -4.92326693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.485898227 meters Centerline goodness [0,1] 0.736842105263158 Centerline is valid? [False, False] Translation: X:112.80, Y:0.58, Z:-0.49 [[ 9.93784937e-01 -1.10980373e-01 -8.65191359e-03 1.12797328e+02] [ 1.11024756e-01 9.93805909e-01 4.82896040e-03 5.83684344e-01] [ 8.06240303e-03 -5.75952470e-03 9.99950912e-01 -4.92783857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.515898227 meters Centerline goodness [0,1] 0.7412060301507537 Centerline is valid? [False, False] Translation: X:112.80, Y:0.58, Z:-0.49 [[ 9.93777482e-01 -1.11038229e-01 -8.76520378e-03 1.12798020e+02] [ 1.11082759e-01 9.93799727e-01 4.76688309e-03 5.83993465e-01] [ 8.18155087e-03 -5.71088409e-03 9.99950223e-01 -4.93342764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.545898227 meters Centerline goodness [0,1] 0.522639884016557 Centerline is valid? [False, False] Translation: X:112.80, Y:0.58, Z:-0.49 [[ 9.94208749e-01 -1.07082317e-01 -9.07412890e-03 1.12798285e+02] [ 1.07167313e-01 9.94195961e-01 9.46350153e-03 5.80759777e-01] [ 8.00808863e-03 -1.03811460e-02 9.99914047e-01 -4.94373515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.575898227 meters Centerline goodness [0,1] 0.6637989346410755 Centerline is valid? [False, False] Translation: X:112.80, Y:0.58, Z:-0.49 [[ 9.94199995e-01 -1.07163889e-01 -9.07031140e-03 1.12798609e+02] [ 1.07247528e-01 9.94188861e-01 9.29929271e-03 5.81613236e-01] [ 8.02105419e-03 -1.02181252e-02 9.99915623e-01 -4.94957632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.605898227 meters Centerline goodness [0,1] 0.7434782608695651 Centerline is valid? [False, False] Translation: X:112.80, Y:0.58, Z:-0.49 [[ 9.94178723e-01 -1.07374684e-01 -8.90753993e-03 1.12798060e+02] [ 1.07453562e-01 9.94170212e-01 8.90624790e-03 5.83469004e-01] [ 7.89930531e-03 -9.81154906e-03 9.99920664e-01 -4.94998021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.635898227 meters Centerline goodness [0,1] 0.7434782608695651 Centerline is valid? [False, False] Translation: X:112.80, Y:0.58, Z:-0.49 [[ 9.94178723e-01 -1.07374684e-01 -8.90753993e-03 1.12798060e+02] [ 1.07453562e-01 9.94170212e-01 8.90624790e-03 5.83469004e-01] [ 7.89930531e-03 -9.81154906e-03 9.99920664e-01 -4.94998021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66589822699999 meters Centerline goodness [0,1] 0.68102259467487 Centerline is valid? [False, False] Translation: X:112.80, Y:0.58, Z:-0.49 [[ 9.94167220e-01 -1.07494182e-01 -8.74874744e-03 1.12797268e+02] [ 1.07569513e-01 9.94159938e-01 8.64974013e-03 5.84654629e-01] [ 7.76785748e-03 -9.54038659e-03 9.99924318e-01 -4.94590171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.695898227 meters Centerline goodness [0,1] 0.5122670316942193 Centerline is valid? [False, False] Translation: X:112.80, Y:0.59, Z:-0.50 [[ 9.94546061e-01 -1.04273771e-01 -2.26111224e-03 1.12799633e+02] [ 1.04263729e-01 9.94540904e-01 -4.17920869e-03 5.88658181e-01] [ 2.68455046e-03 3.92066355e-03 9.99988711e-01 -4.96547160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.725898227 meters Centerline goodness [0,1] 0.7193943641035442 Centerline is valid? [False, False] Translation: X:112.80, Y:0.59, Z:-0.50 [[ 9.94973287e-01 -1.00112538e-01 -2.37457641e-03 1.12798846e+02] [ 1.00113845e-01 9.94975892e-01 4.37720461e-04 5.86517046e-01] [ 2.31882498e-03 -6.73248140e-04 9.99997085e-01 -4.96818254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.755898227 meters Centerline goodness [0,1] 0.7361823966065748 Centerline is valid? [False, False] Translation: X:112.80, Y:0.58, Z:-0.50 [[ 9.95385356e-01 -9.59236133e-02 -2.57956996e-03 1.12798400e+02] [ 9.59355111e-02 9.95375139e-01 4.97094565e-03 5.84838352e-01] [ 2.09080874e-03 -5.19547887e-03 9.99984318e-01 -4.97110925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.785898227 meters Centerline goodness [0,1] 0.6942551323326505 Centerline is valid? [False, False] Translation: X:112.82, Y:0.59, Z:-0.50 [[ 9.95878819e-01 -9.06929319e-02 4.12303178e-04 1.12819595e+02] [ 9.06929746e-02 9.95878897e-01 -8.60399029e-05 5.91503902e-01] [-4.02800823e-04 1.23078319e-04 9.99999911e-01 -4.99117160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.815898227 meters Centerline goodness [0,1] 0.7984496124031008 Centerline is valid? [False, False] Translation: X:112.82, Y:0.59, Z:-0.50 [[ 9.96242152e-01 -8.66115249e-02 1.34443270e-04 1.12819549e+02] [ 8.66103274e-02 9.96234489e-01 3.93635804e-03 5.92643768e-01] [-4.74870995e-04 -3.90992163e-03 9.99992243e-01 -4.99623574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.845898227 meters Centerline goodness [0,1] 0.8678830883595202 Centerline is valid? [False, False] Translation: X:112.82, Y:0.60, Z:-0.50 [[ 9.96216411e-01 -8.69071348e-02 1.10522092e-04 1.12819403e+02] [ 8.69064564e-02 9.96212301e-01 2.88414189e-03 5.98102594e-01] [-3.60755975e-04 -2.86362439e-03 9.99995835e-01 -4.99517794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.875898227 meters Centerline goodness [0,1] 0.8887782134152803 Centerline is valid? [False, False] Translation: X:112.82, Y:0.60, Z:-0.50 [[ 9.96556773e-01 -8.29131213e-02 -1.08131117e-04 1.12819063e+02] [ 8.29119121e-02 9.96533299e-01 6.85559424e-03 5.99280301e-01] [-4.60662458e-04 -6.84095423e-03 9.99976494e-01 -4.99770876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.905898227 meters Centerline goodness [0,1] 0.7948013835027775 Centerline is valid? [False, False] Translation: X:112.82, Y:0.60, Z:-0.50 [[ 9.96530272e-01 -8.32310218e-02 -1.17064650e-04 1.12818769e+02] [ 8.32302573e-02 9.96512803e-01 5.91255367e-03 6.04028760e-01] [-3.75451462e-04 -5.90178204e-03 9.99982514e-01 -4.99463441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.935898227 meters Centerline goodness [0,1] 0.8284042285426629 Centerline is valid? [False, False] Translation: X:112.82, Y:0.61, Z:-0.50 [[ 9.96497335e-01 -8.36245263e-02 -2.51677232e-05 1.12818061e+02] [ 8.36236440e-02 9.96485345e-01 4.90349183e-03 6.08983501e-01] [-3.84972914e-04 -4.88842115e-03 9.99987977e-01 -4.98998297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.965898227 meters Centerline goodness [0,1] 0.8654085660608364 Centerline is valid? [False, False] Translation: X:112.82, Y:0.61, Z:-0.50 [[ 9.96777979e-01 -8.02099267e-02 1.67822450e-04 1.12816306e+02] [ 8.02060964e-02 9.96746927e-01 7.90857569e-03 6.14294281e-01] [-8.01622788e-04 -7.86963371e-03 9.99968713e-01 -4.99058099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.995898227 meters Centerline goodness [0,1] 0.9114069167568944 Centerline is valid? [False, False] Translation: X:112.82, Y:0.62, Z:-0.50 [[ 9.96738733e-01 -8.06961181e-02 1.87660482e-04 1.12816030e+02] [ 8.06929665e-02 9.96715667e-01 6.82086020e-03 6.19415360e-01] [-7.37461082e-04 -6.78347267e-03 9.99976720e-01 -4.98860254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.025898227 meters Centerline goodness [0,1] 0.7710037330648882 Centerline is valid? [False, False] Translation: X:112.82, Y:0.62, Z:-0.50 [[ 9.96699067e-01 -8.11845952e-02 1.77275597e-04 1.12815760e+02] [ 8.11822651e-02 9.96682926e-01 5.70831762e-03 6.24725170e-01] [-6.40115016e-04 -5.67508321e-03 9.99983692e-01 -4.98569131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.055898227 meters Centerline goodness [0,1] 0.7486314729755238 Centerline is valid? [False, False] Translation: X:112.82, Y:0.63, Z:-0.50 [[ 9.96656538e-01 -8.17048703e-02 2.44629511e-04 1.12815070e+02] [ 8.17029300e-02 9.96646432e-01 4.52990630e-03 6.30318412e-01] [-6.13924536e-04 -4.49477378e-03 9.99989710e-01 -4.97970531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.085898227 meters Centerline goodness [0,1] 0.7363079320292265 Centerline is valid? [False, False] Translation: X:112.81, Y:0.63, Z:-0.50 [[ 9.96958519e-01 -7.79339362e-02 1.12120049e-04 1.12814564e+02] [ 7.79303557e-02 9.96924598e-01 8.25872586e-03 6.32354546e-01] [-7.55410249e-04 -8.22486955e-03 9.99965890e-01 -4.98280241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.115898227 meters Centerline goodness [0,1] 0.7278915826181378 Centerline is valid? [False, False] Translation: X:112.81, Y:0.64, Z:-0.50 [[ 9.96917628e-01 -7.84553446e-02 3.15300093e-05 1.12814597e+02] [ 7.84532828e-02 9.96894186e-01 6.86031180e-03 6.39254459e-01] [-5.69660209e-04 -6.83669214e-03 9.99976467e-01 -4.98138580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.145898227 meters Centerline goodness [0,1] 0.7946335569351277 Centerline is valid? [False, False] Translation: X:112.81, Y:0.66, Z:-0.49 [[ 9.97297238e-01 -7.34626765e-02 -1.20578591e-03 1.12810994e+02] [ 7.34485927e-02 9.97256741e-01 -9.18131173e-03 6.57562176e-01] [ 1.87696187e-03 9.06793355e-03 9.99957124e-01 -4.94085004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.175898227 meters Centerline goodness [0,1] 0.835256557394153 Centerline is valid? [False, False] Translation: X:112.81, Y:0.66, Z:-0.49 [[ 9.97819878e-01 -6.59851159e-02 -1.20662320e-03 1.12809516e+02] [ 6.59837103e-02 9.97820015e-01 -1.16987467e-03 6.58014841e-01] [ 1.28118710e-03 1.08770672e-03 9.99998588e-01 -4.94754345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.205898227 meters Centerline goodness [0,1] 0.942808428231629 Centerline is valid? [False, False] Translation: X:112.81, Y:0.66, Z:-0.49 [[ 9.98060741e-01 -6.22360830e-02 -1.19458936e-03 1.12808460e+02] [ 6.22386592e-02 9.98058745e-01 2.25640639e-03 6.61757852e-01] [ 1.05184046e-03 -2.32638027e-03 9.99996741e-01 -4.94609420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.235898227 meters Centerline goodness [0,1] 0.9420766860233538 Centerline is valid? [False, False] Translation: X:112.81, Y:0.66, Z:-0.49 [[ 9.98282662e-01 -5.85701263e-02 -1.12601158e-03 1.12807458e+02] [ 5.85756621e-02 9.98266386e-01 5.75445501e-03 6.64823360e-01] [ 7.87020356e-04 -5.81052954e-03 9.99982809e-01 -4.94697971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.265898227 meters Centerline goodness [0,1] 0.9318196099788442 Centerline is valid? [False, False] Translation: X:112.81, Y:0.67, Z:-0.49 [[ 9.98246729e-01 -5.91812834e-02 -1.02203885e-03 1.12806538e+02] [ 5.91852292e-02 9.98237329e-01 4.39821701e-03 6.71206917e-01] [ 7.59945207e-04 -4.45099535e-03 9.99989806e-01 -4.93926153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.295898227 meters Centerline goodness [0,1] 0.9229300432246422 Centerline is valid? [False, False] Translation: X:112.81, Y:0.68, Z:-0.49 [[ 9.98211827e-01 -5.97673758e-02 -1.00490030e-03 1.12806125e+02] [ 5.97703026e-02 9.98207057e-01 3.19096394e-03 6.76818589e-01] [ 8.12383033e-04 -3.24532114e-03 9.99994404e-01 -4.93470498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.325898227 meters Centerline goodness [0,1] 0.7775421949785877 Centerline is valid? [False, False] Translation: X:112.81, Y:0.69, Z:-0.49 [[ 9.98148168e-01 -6.08192258e-02 -1.12086382e-03 1.12806702e+02] [ 6.08205417e-02 9.98148020e-01 1.17985329e-03 6.86028148e-01] [ 1.04703024e-03 -1.24583995e-03 9.99998676e-01 -4.93827681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.355898227 meters Centerline goodness [0,1] 0.6610623170221664 Centerline is valid? [False, False] Translation: X:112.81, Y:0.69, Z:-0.50 [[ 9.98354769e-01 -5.73248333e-02 -1.27248994e-03 1.12807215e+02] [ 5.73306406e-02 9.98342077e-01 5.12795369e-03 6.86063709e-01] [ 9.76421161e-04 -5.19246968e-03 9.99986042e-01 -4.95160577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.385898227 meters Centerline goodness [0,1] 0.8106985472410231 Centerline is valid? [False, False] Translation: X:112.81, Y:0.69, Z:-0.50 [[ 9.98333148e-01 -5.76982450e-02 -1.35614126e-03 1.12807579e+02] [ 5.77036749e-02 9.98324145e-01 4.38028205e-03 6.89573215e-01] [ 1.10113398e-03 -4.45123510e-03 9.99989487e-01 -4.95376441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41589822699999 meters Centerline goodness [0,1] 0.7446381405176967 Centerline is valid? [False, False] Translation: X:112.81, Y:0.69, Z:-0.50 [[ 9.98509123e-01 -5.45699465e-02 -1.28552380e-03 1.12807085e+02] [ 5.45781990e-02 9.98480330e-01 7.63216150e-03 6.92516040e-01] [ 8.67083579e-04 -7.69094446e-03 9.99970048e-01 -4.96095423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.445898227 meters Centerline goodness [0,1] 0.7868658482473007 Centerline is valid? [False, False] Translation: X:112.81, Y:0.70, Z:-0.50 [[ 9.98487449e-01 -5.49648232e-02 -1.29727189e-03 1.12806713e+02] [ 5.49724481e-02 9.98464409e-01 6.84492346e-03 6.95994407e-01] [ 9.19049806e-04 -6.90588437e-03 9.99975732e-01 -4.95492602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.475898227 meters Centerline goodness [0,1] 0.5825526194177204 Centerline is valid? [False, False] Translation: X:112.81, Y:0.70, Z:-0.50 [[ 9.98470168e-01 -5.52772238e-02 -1.32332358e-03 1.12806681e+02] [ 5.52843860e-02 9.98451500e-01 6.18381774e-03 6.99105190e-01] [ 9.79450134e-04 -6.24751667e-03 9.99980004e-01 -4.95361902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.505898227 meters Centerline goodness [0,1] 0.6393846410754169 Centerline is valid? [False, False] Translation: X:112.81, Y:0.70, Z:-0.50 [[ 9.98454500e-01 -5.55598164e-02 -1.31103864e-03 1.12806636e+02] [ 5.55662860e-02 9.98439506e-01 5.56244431e-03 7.02064803e-01] [ 9.99944392e-04 -5.62669710e-03 9.99983670e-01 -4.95388205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.535898227 meters Centerline goodness [0,1] 0.5967110250147394 Centerline is valid? [False, False] Translation: X:112.81, Y:0.71, Z:-0.50 [[ 9.98437718e-01 -5.58618928e-02 -1.25418956e-03 1.12806356e+02] [ 5.58674034e-02 9.98426167e-01 4.90134448e-03 7.05240665e-01] [ 9.78417294e-04 -4.96375551e-03 9.99987202e-01 -4.95284838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.565898227 meters Centerline goodness [0,1] 0.6219024277844111 Centerline is valid? [False, False] Translation: X:112.81, Y:0.71, Z:-0.50 [[ 9.98419637e-01 -5.61822582e-02 -1.33494817e-03 1.12806513e+02] [ 5.61873706e-02 9.98411561e-01 4.16347111e-03 7.08847516e-01] [ 1.09891448e-03 -4.23189854e-03 9.99990442e-01 -4.95156013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.595898227 meters Centerline goodness [0,1] 0.6210092472488389 Centerline is valid? [False, False] Translation: X:112.81, Y:0.71, Z:-0.50 [[ 9.98617359e-01 -5.25495577e-02 -1.38376033e-03 1.12806430e+02] [ 5.25587159e-02 9.98587947e-01 7.72615412e-03 7.11525861e-01] [ 9.75800401e-04 -7.78820028e-03 9.99969195e-01 -4.96027863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.625898227 meters Centerline goodness [0,1] 0.5900541584449389 Centerline is valid? [False, False] Translation: X:112.81, Y:0.71, Z:-0.50 [[ 9.98602431e-01 -5.28323571e-02 -1.38844095e-03 1.12806322e+02] [ 5.28409137e-02 9.98577750e-01 7.09324495e-03 7.14561319e-01] [ 1.01171339e-03 -7.15669813e-03 9.99973879e-01 -4.95892769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.655898227 meters Centerline goodness [0,1] 0.7346554749772713 Centerline is valid? [False, False] Translation: X:112.81, Y:0.72, Z:-0.50 [[ 9.98588350e-01 -5.30971258e-02 -1.41476192e-03 1.12806271e+02] [ 5.31051474e-02 9.98568332e-01 6.41325034e-03 7.17947013e-01] [ 1.07221129e-03 -6.47932821e-03 9.99978434e-01 -4.95757868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.685898227 meters Centerline goodness [0,1] 0.6399499989406555 Centerline is valid? [False, False] Translation: X:112.80, Y:0.73, Z:-0.49 [[ 9.98722202e-01 -5.02154572e-02 -5.68957719e-03 1.12799713e+02] [ 5.01587417e-02 9.98694081e-01 -9.70738553e-03 7.26244307e-01] [ 6.16960787e-03 9.40959942e-03 9.99936696e-01 -4.86958501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.715898227 meters Centerline goodness [0,1] 0.7659547712363507 Centerline is valid? [False, False] Translation: X:112.80, Y:0.73, Z:-0.49 [[ 9.98920371e-01 -4.60952248e-02 -5.77263058e-03 1.12799905e+02] [ 4.60642354e-02 9.98923933e-01 -5.39098607e-03 7.25881500e-01] [ 6.01491756e-03 5.11925399e-03 9.99968807e-01 -4.87926723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.745898227 meters Centerline goodness [0,1] 0.807341206511331 Centerline is valid? [False, False] Translation: X:112.80, Y:0.73, Z:-0.49 [[ 9.98910995e-01 -4.62883586e-02 -5.84917276e-03 1.12799867e+02] [ 4.62532427e-02 9.98911710e-01 -6.00270586e-03 7.29010250e-01] [ 6.12066257e-03 5.72562567e-03 9.99964877e-01 -4.87521141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.775898227 meters Centerline goodness [0,1] 0.7109918339215973 Centerline is valid? [False, False] Translation: X:112.84, Y:0.73, Z:-0.48 [[ 9.99090087e-01 -4.21412457e-02 -6.56602713e-03 1.12835424e+02] [ 4.20247315e-02 9.98972384e-01 -1.69734369e-02 7.34031717e-01] [ 7.27456156e-03 1.66820570e-02 9.99834381e-01 -4.81488153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.805898227 meters Centerline goodness [0,1] 0.7957195602745155 Centerline is valid? [False, False] Translation: X:112.83, Y:0.73, Z:-0.48 [[ 9.99392715e-01 -3.42568792e-02 -6.37712418e-03 1.12834549e+02] [ 3.42057810e-02 9.99383140e-01 -7.95642774e-03 7.29307679e-01] [ 6.64575277e-03 7.73346141e-03 9.99948012e-01 -4.82929600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.835898227 meters Centerline goodness [0,1] 0.9072811447811447 Centerline is valid? [False, False] Translation: X:112.83, Y:0.73, Z:-0.48 [[ 9.99531202e-01 -2.99867271e-02 -6.17832288e-03 1.12833775e+02] [ 2.99662245e-02 9.99545181e-01 -3.38476604e-03 7.27564650e-01] [ 6.27701092e-03 3.19803826e-03 9.99975186e-01 -4.83433954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.865898227 meters Centerline goodness [0,1] 0.8353655963883381 Centerline is valid? [False, False] Translation: X:112.83, Y:0.73, Z:-0.48 [[ 9.99649803e-01 -2.57564677e-02 -6.07251652e-03 1.12833584e+02] [ 2.57639247e-02 9.99667390e-01 1.15297605e-03 7.26003098e-01] [ 6.04080015e-03 -1.30902414e-03 9.99980897e-01 -4.84320217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.895898227 meters Centerline goodness [0,1] 0.8281380753138076 Centerline is valid? [False, False] Translation: X:112.83, Y:0.73, Z:-0.48 [[ 9.99647553e-01 -2.58147529e-02 -6.19414611e-03 1.12834102e+02] [ 2.58201597e-02 9.99666288e-01 7.94506349e-04 7.28114108e-01] [ 6.17156906e-03 -9.54160169e-04 9.99980500e-01 -4.84572297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.925898227 meters Centerline goodness [0,1] 0.9197468988848515 Centerline is valid? [False, False] Translation: X:112.83, Y:0.73, Z:-0.48 [[ 9.99642622e-01 -2.59973126e-02 -6.22635313e-03 1.12834366e+02] [ 2.59984974e-02 9.99661976e-01 1.09411711e-04 7.31791124e-01] [ 6.22140406e-03 -2.71248436e-04 9.99980610e-01 -4.84868736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.955898227 meters Centerline goodness [0,1] 0.9694356534483125 Centerline is valid? [False, True] Translation: X:112.81, Y:0.74, Z:-0.48 [[ 9.99632809e-01 -2.50802964e-02 -1.02579211e-02 1.12808379e+02] [ 2.49750515e-02 9.99635398e-01 -1.02624310e-02 7.38575316e-01] [ 1.05115659e-02 1.00024706e-02 9.99894723e-01 -4.77325828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.985898227 meters Centerline goodness [0,1] 0.8866907971376269 Centerline is valid? [True, False] Translation: X:112.85, Y:0.73, Z:-0.48 [[ 9.99721418e-01 -2.19417885e-02 -8.69741641e-03 1.12847138e+02] [ 2.19254196e-02 9.99757662e-01 -1.97295208e-03 7.33346458e-01] [ 8.73859880e-03 1.78170794e-03 9.99960230e-01 -4.78416159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.015898227 meters Centerline goodness [0,1] 0.961518108502847 Centerline is valid? [False, True] Translation: X:112.85, Y:0.74, Z:-0.48 [[ 9.99721116e-01 -2.20873037e-02 -8.35708400e-03 1.12845346e+02] [ 2.20664716e-02 9.99753185e-01 -2.57679953e-03 7.36492738e-01] [ 8.41193590e-03 2.39166955e-03 9.99961759e-01 -4.77123167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.045898227 meters Centerline goodness [0,1] 0.9680195495112622 Centerline is valid? [True, True] Translation: X:112.88, Y:0.74, Z:-0.48 [[ 9.99769472e-01 -2.02743428e-02 -7.06780602e-03 1.12875821e+02] [ 2.02773338e-02 9.99794332e-01 3.51775338e-04 7.37730548e-01] [ 7.05922039e-03 -4.95010506e-04 9.99974961e-01 -4.75907406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.075898227 meters Centerline goodness [0,1] 0.9805603321729648 Centerline is valid? [True, True] Translation: X:112.91, Y:0.74, Z:-0.48 [[ 9.99801407e-01 -1.84507231e-02 -7.53111446e-03 1.12907320e+02] [ 1.84540669e-02 9.99829639e-01 3.74745643e-04 7.41803961e-01] [ 7.52291713e-03 -5.13650911e-04 9.99971571e-01 -4.76011565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.105898227 meters Centerline goodness [0,1] 0.9637827810102032 Centerline is valid? [True, True] Translation: X:112.94, Y:0.74, Z:-0.48 [[ 9.99819040e-01 -1.68158080e-02 -8.89470301e-03 1.12936854e+02] [ 1.68204099e-02 9.99858429e-01 4.42816972e-04 7.39567097e-01] [ 8.88599746e-03 -5.92349391e-04 9.99960343e-01 -4.76730427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.135898227 meters Centerline goodness [0,1] 0.9510937630458378 Centerline is valid? [True, True] Translation: X:112.97, Y:0.74, Z:-0.48 [[ 9.99830108e-01 -1.53939656e-02 -1.01380724e-02 1.12966532e+02] [ 1.53998718e-02 9.99881288e-01 5.04764735e-04 7.43244703e-01] [ 1.01290985e-02 -6.60803994e-04 9.99948481e-01 -4.79500111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16589822699999 meters Centerline goodness [0,1] 0.9811229935332649 Centerline is valid? [True, True] Translation: X:113.00, Y:0.75, Z:-0.48 [[ 9.99831498e-01 -1.55031676e-02 -9.82987894e-03 1.12998356e+02] [ 1.55087229e-02 9.99879613e-01 4.89164273e-04 7.49241125e-01] [ 9.82111196e-03 -6.41530717e-04 9.99951566e-01 -4.79349374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.195898227 meters Centerline goodness [0,1] 0.98451555817726 Centerline is valid? [True, True] Translation: X:113.03, Y:0.75, Z:-0.48 [[ 9.99827892e-01 -1.60733145e-02 -9.26472493e-03 1.13029224e+02] [ 1.60782759e-02 9.99870630e-01 4.61283444e-04 7.50571574e-01] [ 9.25611200e-03 -6.10164857e-04 9.99956975e-01 -4.78470110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.225898227 meters Centerline goodness [0,1] 0.9582380702674358 Centerline is valid? [True, True] Translation: X:113.06, Y:0.75, Z:-0.48 [[ 9.99816686e-01 -1.70331009e-02 -8.74457611e-03 1.13059174e+02] [ 1.70375587e-02 9.99854755e-01 4.35536976e-04 7.48746751e-01] [ 8.73588746e-03 -5.84443365e-04 9.99961671e-01 -4.76727241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.255898227 meters Centerline goodness [0,1] 0.9599235839946256 Centerline is valid? [True, True] Translation: X:113.09, Y:0.75, Z:-0.48 [[ 9.99813907e-01 -1.69989016e-02 -9.12078985e-03 1.13090344e+02] [ 1.70037488e-02 9.99855323e-01 4.54158824e-04 7.49564480e-01] [ 9.11175008e-03 -6.09161928e-04 9.99958302e-01 -4.76447273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.285898227 meters Centerline goodness [0,1] 0.9513646709963038 Centerline is valid? [True, True] Translation: X:113.12, Y:0.75, Z:-0.48 [[ 9.99810105e-01 -1.70122517e-02 -9.50463838e-03 1.13121388e+02] [ 1.70175182e-02 9.99855079e-01 4.73491059e-04 7.49261777e-01] [ 9.49520581e-03 -6.35146502e-04 9.99954718e-01 -4.76662904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.315898227 meters Centerline goodness [0,1] 0.9531227100475264 Centerline is valid? [True, True] Translation: X:113.15, Y:0.75, Z:-0.48 [[ 9.99809689e-01 -1.69612652e-02 -9.63856560e-03 1.13152815e+02] [ 1.69666808e-02 9.99855940e-01 4.80376144e-04 7.49615449e-01] [ 9.62902929e-03 -6.43819189e-04 9.99953433e-01 -4.76652699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.345898227 meters Centerline goodness [0,1] 0.9940327359065408 Centerline is valid? [True, True] Translation: X:113.18, Y:0.76, Z:-0.48 [[ 9.99812427e-01 -1.68045399e-02 -9.62907483e-03 1.13184861e+02] [ 1.68099396e-02 9.99858588e-01 4.80105775e-04 7.59409655e-01] [ 9.61964520e-03 -6.41879886e-04 9.99953524e-01 -4.76745973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.375898227 meters Centerline goodness [0,1] 0.9767582692950217 Centerline is valid? [True, True] Translation: X:113.22, Y:0.75, Z:-0.47 [[ 9.99822149e-01 -1.66297996e-02 -8.89490309e-03 1.13215413e+02] [ 1.66344025e-02 9.99861540e-01 4.43740140e-04 7.53987909e-01] [ 8.88629220e-03 -5.91622619e-04 9.99960341e-01 -4.74996398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.405898227 meters Centerline goodness [0,1] 0.9951708064753186 Centerline is valid? [True, True] Translation: X:113.25, Y:0.76, Z:-0.47 [[ 9.99840194e-01 -1.63935311e-02 -7.13010257e-03 1.13247807e+02] [ 1.63964818e-02 9.99865505e-01 3.55581663e-04 7.64586192e-01] [ 7.12331437e-03 -4.72433436e-04 9.99974517e-01 -4.72926936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.435898227 meters Centerline goodness [0,1] 0.9726096348650406 Centerline is valid? [True, True] Translation: X:113.28, Y:0.76, Z:-0.47 [[ 9.99832653e-01 -1.70413946e-02 -6.65265616e-03 1.13277899e+02] [ 1.70439801e-02 9.99854686e-01 3.32141168e-04 7.58521479e-01] [ 6.64602929e-03 -4.45473324e-04 9.99977816e-01 -4.72309208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.465898227 meters Centerline goodness [0,1] 0.9912907783471457 Centerline is valid? [True, True] Translation: X:113.31, Y:0.76, Z:-0.47 [[ 9.99821359e-01 -1.76892983e-02 -6.65875772e-03 1.13309900e+02] [ 1.76919028e-02 9.99843431e-01 3.32431791e-04 7.64607632e-01] [ 6.65183468e-03 -4.50178499e-04 9.99977775e-01 -4.72861745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.495898227 meters Centerline goodness [0,1] 0.9912907783471457 Centerline is valid? [True, True] Translation: X:113.34, Y:0.76, Z:-0.47 [[ 9.99822158e-01 -1.76440644e-02 -6.65875910e-03 1.13341614e+02] [ 1.76466677e-02 9.99844230e-01 3.32404489e-04 7.62947177e-01] [ 6.65185690e-03 -4.49850283e-04 9.99977775e-01 -4.72401345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.525898227 meters Centerline goodness [0,1] 0.8705411156076599 Centerline is valid? [True, False] Translation: X:113.34, Y:0.77, Z:-0.47 [[ 9.99817226e-01 -1.78841458e-02 -6.75810666e-03 1.13342170e+02] [ 1.78835210e-02 9.99840065e-01 -1.52876432e-04 7.65415289e-01] [ 6.75975986e-03 3.19897477e-05 9.99977152e-01 -4.72770870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.555898227 meters Centerline goodness [0,1] 0.9327337298001555 Centerline is valid? [False, False] Translation: X:113.34, Y:0.77, Z:-0.47 [[ 9.99811340e-01 -1.81946241e-02 -6.79994933e-03 1.13342178e+02] [ 1.81899483e-02 9.99834269e-01 -7.48845884e-04 7.68158390e-01] [ 6.81244733e-03 6.25013880e-04 9.99976600e-01 -4.72543124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.585898227 meters Centerline goodness [0,1] 0.996211229316951 Centerline is valid? [False, True] Translation: X:113.30, Y:0.78, Z:-0.47 [[ 9.99784509e-01 -1.90730870e-02 -8.19468051e-03 1.13302172e+02] [ 1.90180286e-02 9.99796389e-01 -6.74499328e-03 7.76028045e-01] [ 8.32165983e-03 6.58769313e-03 9.99943675e-01 -4.71736498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.615898227 meters Centerline goodness [0,1] 0.9685968724700669 Centerline is valid? [True, True] Translation: X:113.33, Y:0.77, Z:-0.48 [[ 9.99648577e-01 -2.49434723e-02 -8.97471343e-03 1.13331777e+02] [ 2.49487321e-02 9.99688619e-01 4.74579506e-04 7.68171928e-01] [ 8.96008122e-03 -6.98320449e-04 9.99959614e-01 -4.75879109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.645898227 meters Centerline goodness [0,1] 0.7742263025405622 Centerline is valid? [True, False] Translation: X:113.33, Y:0.77, Z:-0.48 [[ 9.99642378e-01 -2.51960439e-02 -8.95967584e-03 1.13332092e+02] [ 2.52016094e-02 9.99682260e-01 5.08796691e-04 7.67454627e-01] [ 8.94400933e-03 -7.34412985e-04 9.99959732e-01 -4.76486964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.675898227 meters Centerline goodness [0,1] 0.6513074918019003 Centerline is valid? [False, False] Translation: X:113.33, Y:0.77, Z:-0.48 [[ 9.99634712e-01 -2.55092002e-02 -8.92874840e-03 1.13332180e+02] [ 2.55153475e-02 9.99674265e-01 5.75236251e-04 7.66278296e-01] [ 8.91116618e-03 -8.02846242e-04 9.99959972e-01 -4.76800031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.705898227 meters Centerline goodness [0,1] 0.6973142687428402 Centerline is valid? [False, False] Translation: X:113.33, Y:0.76, Z:-0.48 [[ 9.99609054e-01 -2.66471186e-02 -8.46578206e-03 1.13330890e+02] [ 2.66517006e-02 9.99644688e-01 4.28860832e-04 7.63177349e-01] [ 8.45134616e-03 -6.54320659e-04 9.99964073e-01 -4.77286777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.735898227 meters Centerline goodness [0,1] 0.4693436227951153 Centerline is valid? [False, False] Translation: X:113.33, Y:0.76, Z:-0.48 [[ 9.99609574e-01 -2.66647603e-02 -8.34805063e-03 1.13330938e+02] [ 2.66732041e-02 9.99643800e-01 9.01742166e-04 7.60488024e-01] [ 8.32103232e-03 -1.12405936e-03 9.99964748e-01 -4.77924263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.765898227 meters Centerline goodness [0,1] 0.4809133071708883 Centerline is valid? [False, False] Translation: X:113.33, Y:0.76, Z:-0.48 [[ 9.99611120e-01 -2.66089967e-02 -8.34092160e-03 1.13331146e+02] [ 2.66212596e-02 9.99644663e-01 1.36262210e-03 7.57980673e-01] [ 8.30169976e-03 -1.58413804e-03 9.99964286e-01 -4.78315726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.795898227 meters Centerline goodness [0,1] 0.5565539445718735 Centerline is valid? [False, False] Translation: X:113.33, Y:0.76, Z:-0.48 [[ 9.99615721e-01 -2.64524336e-02 -8.28727355e-03 1.13331006e+02] [ 2.64681202e-02 9.99648057e-01 1.78891399e-03 7.55855088e-01] [ 8.23703578e-03 -2.00757510e-03 9.99964060e-01 -4.78340585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.825898227 meters Centerline goodness [0,1] 0.5850122228778556 Centerline is valid? [False, False] Translation: X:113.33, Y:0.75, Z:-0.48 [[ 9.99620821e-01 -2.62477112e-02 -8.32300661e-03 1.13331226e+02] [ 2.62668301e-02 9.99652555e-01 2.19617080e-03 7.54024646e-01] [ 8.26247037e-03 -2.41395706e-03 9.99962952e-01 -4.78487181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.855898227 meters Centerline goodness [0,1] 0.45106186518928904 Centerline is valid? [False, False] Translation: X:113.33, Y:0.75, Z:-0.48 [[ 9.99625954e-01 -2.60118197e-02 -8.44615379e-03 1.13331884e+02] [ 2.60344721e-02 9.99657708e-01 2.58318534e-03 7.52419854e-01] [ 8.37606939e-03 -2.80211027e-03 9.99960994e-01 -4.78910609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.885898227 meters Centerline goodness [0,1] 0.4962220315214434 Centerline is valid? [False, False] Translation: X:113.33, Y:0.75, Z:-0.48 [[ 9.99641509e-01 -2.53206495e-02 -8.70156701e-03 1.13333728e+02] [ 2.53538071e-02 9.99671613e-01 3.72156733e-03 7.47820005e-01] [ 8.60447703e-03 -3.94085104e-03 9.99955215e-01 -4.80505730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91589822699999 meters Centerline goodness [0,1] 0.605421431596781 Centerline is valid? [False, False] Translation: X:113.33, Y:0.75, Z:-0.48 [[ 9.99648717e-01 -2.50133517e-02 -8.76208241e-03 1.13334412e+02] [ 2.50519584e-02 9.99676797e-01 4.32440586e-03 7.45148178e-01] [ 8.65108260e-03 -4.54239410e-03 9.99952262e-01 -4.81321306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.945898227 meters Centerline goodness [0,1] 0.6052953328555166 Centerline is valid? [False, False] Translation: X:113.33, Y:0.74, Z:-0.48 [[ 9.99656751e-01 -2.46691439e-02 -8.82115338e-03 1.13334898e+02] [ 2.47139010e-02 9.99682054e-01 5.00133512e-03 7.42178379e-01] [ 8.69497008e-03 -5.21762353e-03 9.99948586e-01 -4.81825509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.975898227 meters Centerline goodness [0,1] 0.4255127668480536 Centerline is valid? [False, False] Translation: X:113.33, Y:0.74, Z:-0.48 [[ 9.99665691e-01 -2.43082089e-02 -8.81010838e-03 1.13334920e+02] [ 2.43588654e-02 9.99687092e-01 5.68884997e-03 7.39065368e-01] [ 8.66906588e-03 -5.90155238e-03 9.99945008e-01 -4.81946416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.005898227 meters Centerline goodness [0,1] 0.5534777316039121 Centerline is valid? [False, False] Translation: X:113.33, Y:0.74, Z:-0.48 [[ 9.99674051e-01 -2.40178169e-02 -8.65653321e-03 1.13334263e+02] [ 2.40722785e-02 9.99690727e-01 6.24306071e-03 7.36462109e-01] [ 8.50391129e-03 -6.44940827e-03 9.99943043e-01 -4.81678412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.035898227 meters Centerline goodness [0,1] 0.672299424828918 Centerline is valid? [False, False] Translation: X:113.33, Y:0.73, Z:-0.48 [[ 9.99816510e-01 -1.89249152e-02 -2.96537426e-03 1.13331991e+02] [ 1.89081735e-02 9.99805678e-01 -5.57555911e-03 7.34771444e-01] [ 3.07031500e-03 5.51846624e-03 9.99980060e-01 -4.80451139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.065898227 meters Centerline goodness [0,1] 0.6497630430697927 Centerline is valid? [False, False] Translation: X:113.33, Y:0.73, Z:-0.48 [[ 9.99894464e-01 -1.42712745e-02 -2.71872883e-03 1.13331477e+02] [ 1.42710570e-02 9.99898158e-01 -9.93996923e-05 7.28780418e-01] [ 2.71987051e-03 6.05900680e-05 9.99996299e-01 -4.81383513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.095898227 meters Centerline goodness [0,1] 0.7184742800066589 Centerline is valid? [False, False] Translation: X:113.33, Y:0.73, Z:-0.48 [[ 9.99905171e-01 -1.34529775e-02 -2.94391310e-03 1.13332288e+02] [ 1.34554130e-02 9.99909145e-01 8.09060546e-04 7.25717184e-01] [ 2.93276136e-03 -8.48595390e-04 9.99995339e-01 -4.81592617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.125898227 meters Centerline goodness [0,1] 0.8728671796587487 Centerline is valid? [False, False] Translation: X:113.33, Y:0.72, Z:-0.48 [[ 9.99909031e-01 -1.31806273e-02 -2.86367135e-03 1.13332267e+02] [ 1.31840957e-02 9.99912371e-01 1.19568053e-03 7.24180656e-01] [ 2.84766059e-03 -1.23332668e-03 9.99995185e-01 -4.81993917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.155898227 meters Centerline goodness [0,1] 0.9092329785436729 Centerline is valid? [False, False] Translation: X:113.33, Y:0.72, Z:-0.48 [[ 9.99911957e-01 -1.29661275e-02 -2.82085034e-03 1.13332345e+02] [ 1.29705229e-02 9.99914685e-01 1.54551294e-03 7.22731575e-01] [ 2.80057036e-03 -1.58196478e-03 9.99994827e-01 -4.82383751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.185898227 meters Centerline goodness [0,1] 0.9096138044371405 Centerline is valid? [False, False] Translation: X:113.33, Y:0.72, Z:-0.48 [[ 9.99917161e-01 -1.25698026e-02 -2.76966594e-03 1.13332586e+02] [ 1.25762056e-02 9.99918256e-01 2.30665692e-03 7.19418087e-01] [ 2.74044532e-03 -2.34129773e-03 9.99993504e-01 -4.83100707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.215898227 meters Centerline goodness [0,1] 0.8849238931345923 Centerline is valid? [False, False] Translation: X:113.33, Y:0.72, Z:-0.48 [[ 9.99920214e-01 -1.23176866e-02 -2.80016247e-03 1.13333045e+02] [ 1.23258103e-02 9.99919821e-01 2.90263816e-03 7.16676992e-01] [ 2.76418417e-03 -2.93692084e-03 9.99991867e-01 -4.83708377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.245898227 meters Centerline goodness [0,1] 0.854137829789019 Centerline is valid? [False, False] Translation: X:113.33, Y:0.71, Z:-0.48 [[ 9.99923039e-01 -1.20453926e-02 -2.97074011e-03 1.13334166e+02] [ 1.20559650e-02 9.99920962e-01 3.56699364e-03 7.13663507e-01] [ 2.92753947e-03 -3.60253426e-03 9.99989226e-01 -4.84621985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.275898227 meters Centerline goodness [0,1] 0.8213745660554171 Centerline is valid? [False, False] Translation: X:113.31, Y:0.72, Z:-0.48 [[ 9.99886766e-01 -1.28161112e-02 -7.88685933e-03 1.13311620e+02] [ 1.27498332e-02 9.99883457e-01 -8.39727374e-03 7.17895755e-01] [ 7.99356056e-03 8.29576674e-03 9.99933639e-01 -4.78351588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.305898227 meters Centerline goodness [0,1] 0.924212724251076 Centerline is valid? [False, False] Translation: X:113.31, Y:0.71, Z:-0.48 [[ 9.99933605e-01 -8.51521024e-03 -7.76386251e-03 1.13312285e+02] [ 8.49235785e-03 9.99959524e-01 -2.97166187e-03 7.11456196e-01] [ 7.78885259e-03 2.90553106e-03 9.99965445e-01 -4.80514868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.335898227 meters Centerline goodness [0,1] 0.6991263807803771 Centerline is valid? [False, False] Translation: X:113.35, Y:0.70, Z:-0.48 [[ 9.99943962e-01 -8.33583056e-03 -6.52582453e-03 1.13351846e+02] [ 8.35748676e-03 9.99959636e-01 3.29833218e-03 7.00293144e-01] [ 6.49806678e-03 -3.35268684e-03 9.99973267e-01 -4.82893157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.365898227 meters Centerline goodness [0,1] 0.8489413852850441 Centerline is valid? [False, False] Translation: X:113.35, Y:0.70, Z:-0.48 [[ 9.99945878e-01 -8.11445195e-03 -6.51122668e-03 1.13352065e+02] [ 8.13934606e-03 9.99959632e-01 3.80591123e-03 6.97915635e-01] [ 6.48008095e-03 -3.85870238e-03 9.99971559e-01 -4.83325178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.395898227 meters Centerline goodness [0,1] 0.6852362451435017 Centerline is valid? [False, False] Translation: X:113.36, Y:0.70, Z:-0.48 [[ 9.99912104e-01 -1.08900757e-02 -7.56241157e-03 1.13356857e+02] [ 1.08950247e-02 9.99940459e-01 6.13539435e-04 6.97846184e-01] [ 7.55527980e-03 -6.95878169e-04 9.99971216e-01 -4.84645450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.425898227 meters Centerline goodness [0,1] 0.8378776403265169 Centerline is valid? [False, False] Translation: X:113.36, Y:0.70, Z:-0.49 [[ 9.99914629e-01 -1.06235631e-02 -7.60758215e-03 1.13357221e+02] [ 1.06321829e-02 9.99942879e-01 1.09350774e-03 6.95742529e-01] [ 7.59553065e-03 -1.17429959e-03 9.99970464e-01 -4.85005031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.455898227 meters Centerline goodness [0,1] 0.8264941077441077 Centerline is valid? [False, False] Translation: X:113.36, Y:0.69, Z:-0.49 [[ 9.99917184e-01 -1.03679053e-02 -7.62437930e-03 1.13357451e+02] [ 1.03798541e-02 9.99944958e-01 1.52927987e-03 6.93897735e-01] [ 7.60810421e-03 -1.60829317e-03 9.99969765e-01 -4.85308945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.485898227 meters Centerline goodness [0,1] 0.9508687074396996 Centerline is valid? [False, True] Translation: X:113.36, Y:0.69, Z:-0.49 [[ 9.99919900e-01 -1.01165388e-02 -7.60589297e-03 1.13357466e+02] [ 1.01315986e-02 9.99946784e-01 1.94409948e-03 6.92151259e-01] [ 7.58582066e-03 -2.02100361e-03 9.99969185e-01 -4.85464343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.515898227 meters Centerline goodness [0,1] 0.9565180485113427 Centerline is valid? [True, True] Translation: X:113.39, Y:0.69, Z:-0.48 [[ 9.99950284e-01 -7.45692868e-03 -6.61997556e-03 1.13386943e+02] [ 7.46007143e-03 9.99972072e-01 4.50170568e-04 6.87375576e-01] [ 6.61643379e-03 -4.99533677e-04 9.99977986e-01 -4.82533895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.545898227 meters Centerline goodness [0,1] 0.978782873840681 Centerline is valid? [True, True] Translation: X:113.42, Y:0.69, Z:-0.48 [[ 9.99959427e-01 -6.21647960e-03 -6.51923907e-03 1.13417068e+02] [ 6.21950060e-03 9.99980560e-01 4.43226680e-04 6.87393825e-01] [ 6.51635703e-03 -4.83755108e-04 9.99978651e-01 -4.81496185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.575898227 meters Centerline goodness [0,1] 0.9137682999069138 Centerline is valid? [True, False] Translation: X:113.42, Y:0.69, Z:-0.48 [[ 9.99960460e-01 -6.00859057e-03 -6.55553602e-03 1.13417317e+02] [ 6.01362126e-03 9.99981638e-01 7.47953831e-04 6.86282382e-01] [ 6.55092150e-03 -7.87346767e-04 9.99978233e-01 -4.81714634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.605898227 meters Centerline goodness [0,1] 0.8398075515113481 Centerline is valid? [False, False] Translation: X:113.42, Y:0.69, Z:-0.48 [[ 9.99936797e-01 -8.51073535e-03 -7.34640812e-03 1.13422342e+02] [ 8.49559373e-03 9.99961728e-01 -2.08984284e-03 6.86517738e-01] [ 7.36391306e-03 2.02729866e-03 9.99970831e-01 -4.84322687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.635898227 meters Centerline goodness [0,1] 0.9748938879456707 Centerline is valid? [False, True] Translation: X:113.38, Y:0.69, Z:-0.49 [[ 9.99944982e-01 -6.27174781e-03 -8.40826526e-03 1.13381268e+02] [ 6.25302504e-03 9.99977916e-01 -2.25115308e-03 6.86418792e-01] [ 8.42219823e-03 2.19845213e-03 9.99962116e-01 -4.85808981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66589822699999 meters Centerline goodness [0,1] 0.972811321946802 Centerline is valid? [True, True] Translation: X:113.41, Y:0.68, Z:-0.49 [[ 9.99950306e-01 -6.11540936e-03 -7.87325120e-03 1.13410269e+02] [ 6.11966905e-03 9.99981141e-01 5.17054405e-04 6.81499785e-01] [ 7.86994072e-03 -5.65210402e-04 9.99968872e-01 -4.85164777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.695898227 meters Centerline goodness [0,1] 0.9507894626628136 Centerline is valid? [True, True] Translation: X:113.44, Y:0.67, Z:-0.48 [[ 9.99962550e-01 -5.24378848e-03 -6.88485334e-03 1.13438659e+02] [ 5.24701503e-03 9.99986133e-01 4.50665335e-04 6.74409655e-01] [ 6.88239468e-03 -4.86773386e-04 9.99976198e-01 -4.83017711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.725898227 meters Centerline goodness [0,1] 0.9449023135171317 Centerline is valid? [True, False] Translation: X:113.44, Y:0.67, Z:-0.48 [[ 9.99962664e-01 -5.15250410e-03 -6.93704900e-03 1.13438959e+02] [ 5.15633711e-03 9.99986563e-01 5.34770245e-04 6.74227386e-01] [ 6.93420038e-03 -5.70520042e-04 9.99975795e-01 -4.83209203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.755898227 meters Centerline goodness [0,1] 0.9373067602573745 Centerline is valid? [False, False] Translation: X:113.44, Y:0.67, Z:-0.48 [[ 9.99962096e-01 -5.11319390e-03 -7.04717051e-03 1.13439538e+02] [ 5.11686404e-03 9.99986782e-01 5.02864708e-04 6.74630754e-01] [ 7.04450612e-03 -5.38905061e-04 9.99975042e-01 -4.83553850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.785898227 meters Centerline goodness [0,1] 0.9925877155721688 Centerline is valid? [False, True] Translation: X:113.40, Y:0.68, Z:-0.48 [[ 9.99959007e-01 -3.52452922e-03 -8.34040958e-03 1.13398733e+02] [ 3.51259717e-03 9.99992787e-01 -1.44484840e-03 6.78313328e-01] [ 8.34544183e-03 1.41549268e-03 9.99964174e-01 -4.84412621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.815898227 meters Centerline goodness [0,1] 0.9866114388519309 Centerline is valid? [True, True] Translation: X:113.43, Y:0.67, Z:-0.48 [[ 9.99963127e-01 -2.69172685e-03 -8.15471716e-03 1.13426443e+02] [ 2.69612884e-03 9.99996226e-01 5.28863275e-04 6.74075735e-01] [ 8.15326282e-03 -5.50829942e-04 9.99966610e-01 -4.83947708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.845898227 meters Centerline goodness [0,1] 0.9878235355758147 Centerline is valid? [True, True] Translation: X:113.46, Y:0.67, Z:-0.48 [[ 9.99968763e-01 -1.88703809e-03 -7.67546188e-03 1.13455267e+02] [ 1.89091076e-03 9.99998089e-01 4.97326911e-04 6.73137139e-01] [ 7.67450874e-03 -5.11824989e-04 9.99970420e-01 -4.82876453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.875898227 meters Centerline goodness [0,1] 0.9769946362722092 Centerline is valid? [True, True] Translation: X:113.48, Y:0.67, Z:-0.48 [[ 9.99977820e-01 -1.43090140e-03 -6.50473331e-03 1.13482856e+02] [ 1.43367235e-03 9.99998884e-01 4.21346268e-04 6.70047665e-01] [ 6.50412314e-03 -4.30662579e-04 9.99978755e-01 -4.81037572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.905898227 meters Centerline goodness [0,1] 0.9968341072182355 Centerline is valid? [True, True] Translation: X:113.51, Y:0.68, Z:-0.48 [[ 9.99978624e-01 -2.04067846e-03 -6.21190877e-03 1.13512135e+02] [ 2.04321487e-03 9.99997832e-01 4.01995940e-04 6.77055563e-01] [ 6.21107496e-03 -4.14679611e-04 9.99980625e-01 -4.81696462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.935898227 meters Centerline goodness [0,1] 0.9913504640444473 Centerline is valid? [True, True] Translation: X:113.54, Y:0.67, Z:-0.48 [[ 9.99974821e-01 -3.63363375e-03 -6.09537839e-03 1.13541568e+02] [ 3.63610221e-03 9.99993312e-01 3.93939518e-04 6.72134501e-01] [ 6.09390619e-03 -4.16093018e-04 9.99981345e-01 -4.81114550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.965898227 meters Centerline goodness [0,1] 0.9856121178878082 Centerline is valid? [True, True] Translation: X:113.57, Y:0.67, Z:-0.48 [[ 9.99939628e-01 -8.46768071e-03 -7.00280151e-03 1.13571302e+02] [ 8.47105577e-03 9.99964018e-01 4.52437598e-04 6.67301689e-01] [ 6.99871843e-03 -5.11731405e-04 9.99975378e-01 -4.83218911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.995898227 meters Centerline goodness [0,1] 0.9186002362470469 Centerline is valid? [True, False] Translation: X:113.57, Y:0.66, Z:-0.48 [[ 9.99939326e-01 -8.39503959e-03 -7.13213160e-03 1.13572162e+02] [ 8.40194236e-03 9.99964263e-01 9.38430024e-04 6.64789661e-01] [ 7.12399856e-03 -9.98296844e-04 9.99974126e-01 -4.83954431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.025898227 meters Centerline goodness [0,1] 0.8918609014718759 Centerline is valid? [False, False] Translation: X:113.57, Y:0.67, Z:-0.48 [[ 9.99891455e-01 -1.26814259e-02 -7.50061037e-03 1.13573188e+02] [ 1.26540667e-02 9.99913148e-01 -3.68388482e-03 6.66812007e-01] [ 7.54667584e-03 3.58857173e-03 9.99965084e-01 -4.83377729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.055898227 meters Centerline goodness [0,1] 0.8857795062563409 Centerline is valid? [False, False] Translation: X:113.57, Y:0.67, Z:-0.48 [[ 9.99892302e-01 -1.26473868e-02 -7.44494187e-03 1.13573169e+02] [ 1.26220254e-02 9.99914409e-01 -3.44371665e-03 6.65493540e-01] [ 7.48785866e-03 3.34937553e-03 9.99966356e-01 -4.83607673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.085898227 meters Centerline goodness [0,1] 0.7339787149518054 Centerline is valid? [False, False] Translation: X:113.57, Y:0.66, Z:-0.48 [[ 9.99892615e-01 -1.26458743e-02 -7.40537727e-03 1.13573079e+02] [ 1.26216628e-02 9.99914875e-01 -3.30711763e-03 6.64741050e-01] [ 7.44656828e-03 3.21329433e-03 9.99967111e-01 -4.83676934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.115898227 meters Centerline goodness [0,1] 0.8305024174900147 Centerline is valid? [False, False] Translation: X:113.57, Y:0.66, Z:-0.48 [[ 9.99892834e-01 -1.26579855e-02 -7.35503116e-03 1.13572989e+02] [ 1.26340415e-02 9.99914765e-01 -3.29285776e-03 6.64653702e-01] [ 7.39608521e-03 3.19958111e-03 9.99967530e-01 -4.83774897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.145898227 meters Centerline goodness [0,1] 0.7205811442587895 Centerline is valid? [False, False] Translation: X:113.57, Y:0.66, Z:-0.49 [[ 9.99939030e-01 -8.33398528e-03 -7.24433598e-03 1.13573337e+02] [ 8.34662996e-03 9.99963692e-01 1.71697970e-03 6.60711538e-01] [ 7.22976367e-03 -1.77734081e-03 9.99972285e-01 -4.85219558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.175898227 meters Centerline goodness [0,1] 0.8867313915857605 Centerline is valid? [False, False] Translation: X:113.57, Y:0.66, Z:-0.49 [[ 9.99938167e-01 -8.30449404e-03 -7.39574260e-03 1.13573940e+02] [ 8.31700718e-03 9.99964031e-01 1.66279219e-03 6.61219395e-01] [ 7.38166793e-03 -1.72419982e-03 9.99971269e-01 -4.85388895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.205898227 meters Centerline goodness [0,1] 0.9171194204751252 Centerline is valid? [False, False] Translation: X:113.55, Y:0.67, Z:-0.48 [[ 9.99906590e-01 -7.37439990e-03 -1.15078372e-02 1.13553069e+02] [ 7.26626804e-03 9.99929324e-01 -9.41005742e-03 6.66452953e-01] [ 1.15764174e-02 9.32555940e-03 9.99889504e-01 -4.80687205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.235898227 meters Centerline goodness [0,1] 0.7620334296845545 Centerline is valid? [False, False] Translation: X:113.59, Y:0.66, Z:-0.49 [[ 9.99951871e-01 -5.25598996e-03 -8.28431073e-03 1.13587347e+02] [ 5.25862228e-03 9.99986130e-01 2.95996265e-04 6.57430612e-01] [ 8.28264007e-03 -3.39546080e-04 9.99965641e-01 -4.86263809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.265898227 meters Centerline goodness [0,1] 0.9231394527991101 Centerline is valid? [False, False] Translation: X:113.54, Y:0.66, Z:-0.49 [[ 9.99959757e-01 -4.35750784e-03 -7.84191387e-03 1.13543420e+02] [ 4.34932901e-03 9.99989980e-01 -1.05971492e-03 6.56902241e-01] [ 7.84645301e-03 1.02556521e-03 9.99968690e-01 -4.86987741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.295898227 meters Centerline goodness [0,1] 0.7071488645920943 Centerline is valid? [False, False] Translation: X:113.58, Y:0.65, Z:-0.49 [[ 9.99966912e-01 -4.67707477e-03 -6.65585040e-03 1.13583550e+02] [ 4.69940309e-03 9.99983370e-01 3.34301587e-03 6.49255606e-01] [ 6.64010418e-03 -3.37418378e-03 9.99972262e-01 -4.87879523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.325898227 meters Centerline goodness [0,1] 0.7870459794247323 Centerline is valid? [False, False] Translation: X:113.58, Y:0.65, Z:-0.49 [[ 9.99967617e-01 -4.45817703e-03 -6.70004485e-03 1.13583983e+02] [ 4.48435775e-03 9.99982349e-01 3.89761448e-03 6.46579436e-01] [ 6.68255033e-03 -3.92753366e-03 9.99969959e-01 -4.88359554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.355898227 meters Centerline goodness [0,1] 0.7163093894947976 Centerline is valid? [False, False] Translation: X:113.58, Y:0.64, Z:-0.49 [[ 9.99968368e-01 -4.22951435e-03 -6.73609371e-03 1.13584347e+02] [ 4.25924407e-03 9.99981226e-01 4.40528299e-03 6.44236592e-01] [ 6.71733503e-03 -4.43383431e-03 9.99967609e-01 -4.88792487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.385898227 meters Centerline goodness [0,1] 0.9069514844315714 Centerline is valid? [False, False] Translation: X:113.54, Y:0.65, Z:-0.49 [[ 9.99961936e-01 -3.86176549e-03 -7.82391625e-03 1.13542806e+02] [ 3.87196077e-03 9.99991674e-01 1.28836438e-03 6.46523980e-01] [ 7.81887575e-03 -1.31860924e-03 9.99968563e-01 -4.89004096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41589822699999 meters Centerline goodness [0,1] 0.9069514844315714 Centerline is valid? [False, False] Translation: X:113.54, Y:0.65, Z:-0.49 [[ 9.99961936e-01 -3.86176549e-03 -7.82391625e-03 1.13542806e+02] [ 3.87196077e-03 9.99991674e-01 1.28836438e-03 6.46523980e-01] [ 7.81887575e-03 -1.31860924e-03 9.99968563e-01 -4.89004096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.445898227 meters Centerline goodness [0,1] 0.7687371172358104 Centerline is valid? [False, False] Translation: X:113.54, Y:0.64, Z:-0.49 [[ 9.99961971e-01 -3.61464437e-03 -7.93670298e-03 1.13543520e+02] [ 3.62894577e-03 9.99991816e-01 1.78827104e-03 6.44358210e-01] [ 7.93017407e-03 -1.81700489e-03 9.99966905e-01 -4.89618335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.475898227 meters Centerline goodness [0,1] 0.9138651031340954 Centerline is valid? [False, False] Translation: X:113.55, Y:0.64, Z:-0.49 [[ 9.99945606e-01 -5.63251891e-03 -8.77834646e-03 1.13549374e+02] [ 5.62948418e-03 9.99984086e-01 -3.70377937e-04 6.43052255e-01] [ 8.78029292e-03 3.20940228e-04 9.99961401e-01 -4.93223764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.505898227 meters Centerline goodness [0,1] 0.7876661975676867 Centerline is valid? [False, False] Translation: X:113.55, Y:0.64, Z:-0.49 [[ 9.99944955e-01 -5.44044136e-03 -8.97155053e-03 1.13550288e+02] [ 5.44017148e-03 9.99985201e-01 -5.44857238e-05 6.41833812e-01] [ 8.97171418e-03 5.67595133e-06 9.99959753e-01 -4.93722195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.535898227 meters Centerline goodness [0,1] 0.8270151594354417 Centerline is valid? [False, False] Translation: X:113.55, Y:0.64, Z:-0.49 [[ 9.99944254e-01 -5.19969351e-03 -9.18981739e-03 1.13551505e+02] [ 5.20334744e-03 9.99986393e-01 3.73741298e-04 6.40096066e-01] [ 9.18774900e-03 -4.21538276e-04 9.99957703e-01 -4.94538615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.565898227 meters Centerline goodness [0,1] 0.9330205502717391 Centerline is valid? [False, False] Translation: X:113.51, Y:0.64, Z:-0.50 [[ 9.99936111e-01 -3.77660258e-03 -1.06541442e-02 1.13510942e+02] [ 3.76787610e-03 9.99992550e-01 -8.39022857e-04 6.41084271e-01] [ 1.06572334e-02 7.98825758e-04 9.99942891e-01 -4.95885855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.595898227 meters Centerline goodness [0,1] 0.93395222075544 Centerline is valid? [False, False] Translation: X:113.51, Y:0.64, Z:-0.50 [[ 9.99937829e-01 -3.54849876e-03 -1.05709962e-02 1.13510713e+02] [ 3.54560564e-03 9.99993672e-01 -2.92413089e-04 6.38433550e-01] [ 1.05719669e-02 2.54914326e-04 9.99944083e-01 -4.95938736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.625898227 meters Centerline goodness [0,1] 0.7708507437740264 Centerline is valid? [False, False] Translation: X:113.55, Y:0.63, Z:-0.50 [[ 9.99951880e-01 -4.10611836e-03 -8.90937766e-03 1.13550469e+02] [ 4.13076607e-03 9.99987687e-01 2.74985393e-03 6.33544738e-01] [ 8.89797674e-03 -2.78652416e-03 9.99956530e-01 -4.95611200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.655898227 meters Centerline goodness [0,1] 0.8976582464077751 Centerline is valid? [False, False] Translation: X:113.55, Y:0.63, Z:-0.50 [[ 9.99952676e-01 -4.07390809e-03 -8.83450056e-03 1.13550151e+02] [ 4.09960923e-03 9.99987412e-01 2.89302295e-03 6.32707723e-01] [ 8.82260344e-03 -2.92910404e-03 9.99956790e-01 -4.95531931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.685898227 meters Centerline goodness [0,1] 0.8216122423380858 Centerline is valid? [False, False] Translation: X:113.55, Y:0.63, Z:-0.50 [[ 9.99952697e-01 -4.04561156e-03 -8.84519416e-03 1.13550378e+02] [ 4.07236149e-03 9.99987183e-01 3.00831663e-03 6.32148527e-01] [ 8.83291031e-03 -3.04419516e-03 9.99956355e-01 -4.95813518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.715898227 meters Centerline goodness [0,1] 0.6348028914852484 Centerline is valid? [False, False] Translation: X:113.55, Y:0.63, Z:-0.50 [[ 9.99951843e-01 -4.05520277e-03 -8.93679250e-03 1.13550774e+02] [ 4.08199677e-03 9.99987222e-01 2.98196924e-03 6.32298398e-01] [ 8.92458582e-03 -3.01830559e-03 9.99955620e-01 -4.95968964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.745898227 meters Centerline goodness [0,1] 0.8645364725667437 Centerline is valid? [False, False] Translation: X:113.55, Y:0.63, Z:-0.50 [[ 9.99950682e-01 -4.13622946e-03 -9.02914434e-03 1.13551090e+02] [ 4.16056285e-03 9.99987759e-01 2.67786546e-03 6.33922520e-01] [ 9.01795755e-03 -2.71529971e-03 9.99955651e-01 -4.95988110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.775898227 meters Centerline goodness [0,1] 0.8420138888888888 Centerline is valid? [False, False] Translation: X:113.55, Y:0.63, Z:-0.50 [[ 9.99949640e-01 -4.12636141e-03 -9.14827273e-03 1.13551507e+02] [ 4.15041681e-03 9.99987975e-01 2.61207851e-03 6.34434582e-01] [ 9.13738435e-03 -2.64991611e-03 9.99954742e-01 -4.95970276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.805898227 meters Centerline goodness [0,1] 0.8908769418599756 Centerline is valid? [False, False] Translation: X:113.55, Y:0.63, Z:-0.50 [[ 9.99949774e-01 -4.15029945e-03 -9.12272439e-03 1.13551398e+02] [ 4.17388364e-03 9.99987993e-01 2.56769633e-03 6.34634459e-01] [ 9.11195814e-03 -2.60564456e-03 9.99955090e-01 -4.95933051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.835898227 meters Centerline goodness [0,1] 0.7316010909321551 Centerline is valid? [False, False] Translation: X:113.55, Y:0.63, Z:-0.50 [[ 9.99951540e-01 -4.28016108e-03 -8.86556748e-03 1.13550585e+02] [ 4.30476921e-03 9.99986930e-01 2.75847671e-03 6.33062073e-01] [ 8.85364488e-03 -2.79650726e-03 9.99956895e-01 -4.95991931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.865898227 meters Centerline goodness [0,1] 0.6983139217087836 Centerline is valid? [False, False] Translation: X:113.55, Y:0.63, Z:-0.50 [[ 9.99951854e-01 -4.25231686e-03 -8.84349745e-03 1.13550733e+02] [ 4.28036368e-03 9.99985862e-01 3.15495738e-03 6.30862389e-01] [ 8.82995655e-03 -3.19265887e-03 9.99955918e-01 -4.96370289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.895898227 meters Centerline goodness [0,1] 0.6566037735849057 Centerline is valid? [False, False] Translation: X:113.55, Y:0.63, Z:-0.50 [[ 9.99952832e-01 -4.20677388e-03 -8.75420668e-03 1.13550524e+02] [ 4.23839591e-03 9.99984549e-01 3.59679861e-03 6.28336085e-01] [ 8.73894051e-03 -3.63373275e-03 9.99955212e-01 -4.96555347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.925898227 meters Centerline goodness [0,1] 0.5810306354403454 Centerline is valid? [False, False] Translation: X:113.57, Y:0.63, Z:-0.49 [[ 9.99899320e-01 -6.56106807e-03 -1.25818219e-02 1.13569354e+02] [ 6.48032248e-03 9.99958215e-01 -6.44770472e-03 6.29498274e-01] [ 1.26236000e-02 6.36552130e-03 9.99900057e-01 -4.89440027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.955898227 meters Centerline goodness [0,1] 0.7109495857085337 Centerline is valid? [False, False] Translation: X:113.53, Y:0.63, Z:-0.49 [[ 9.99891193e-01 -5.36162261e-03 -1.37424783e-02 1.13528228e+02] [ 5.26339681e-03 9.99960416e-01 -7.17383397e-03 6.29369895e-01] [ 1.37803977e-02 7.10072129e-03 9.99879833e-01 -4.91296772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.985898227 meters Centerline goodness [0,1] 0.7587561789682707 Centerline is valid? [False, False] Translation: X:113.53, Y:0.62, Z:-0.49 [[ 9.99908618e-01 -1.01894694e-03 -1.34802323e-02 1.13528159e+02] [ 9.94815284e-04 9.99997891e-01 -1.79673597e-03 6.23014816e-01] [ 1.34820346e-02 1.78316144e-03 9.99907523e-01 -4.92865808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.015898227 meters Centerline goodness [0,1] 0.7094203050145395 Centerline is valid? [False, False] Translation: X:113.57, Y:0.61, Z:-0.49 [[ 9.99929828e-01 8.97252875e-04 -1.18124543e-02 1.13567342e+02] [-8.40318722e-04 9.99988012e-01 4.82392243e-03 6.12445349e-01] [ 1.18166410e-02 -4.81365770e-03 9.99918595e-01 -4.93062335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.045898227 meters Centerline goodness [0,1] 0.9014700548336854 Centerline is valid? [False, False] Translation: X:113.52, Y:0.62, Z:-0.49 [[ 9.99925576e-01 9.83128642e-04 -1.21603962e-02 1.13524028e+02] [-9.73097071e-04 9.99999181e-01 8.30827179e-04 6.16983202e-01] [ 1.21612031e-02 -8.18932100e-04 9.99925714e-01 -4.91958144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.075898227 meters Centerline goodness [0,1] 0.6251962241245788 Centerline is valid? [False, False] Translation: X:113.57, Y:0.61, Z:-0.49 [[ 9.99937484e-01 2.65443991e-04 -1.11784203e-02 1.13565106e+02] [-2.30532239e-04 9.99995093e-01 3.12431101e-03 6.11575053e-01] [ 1.11791948e-02 -3.12153871e-03 9.99932639e-01 -4.91118277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.105898227 meters Centerline goodness [0,1] 0.61685468934164 Centerline is valid? [False, False] Translation: X:113.57, Y:0.61, Z:-0.49 [[ 9.99936572e-01 4.76503716e-04 -1.12527854e-02 1.13565498e+02] [-4.36330171e-04 9.99993524e-01 3.57228307e-03 6.09458305e-01] [ 1.12544148e-02 -3.56714656e-03 9.99930304e-01 -4.91430098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.135898227 meters Centerline goodness [0,1] 0.898989898989899 Centerline is valid? [False, False] Translation: X:113.57, Y:0.61, Z:-0.49 [[ 9.99935824e-01 7.17372199e-04 -1.13063571e-02 1.13566008e+02] [-6.70251306e-04 9.99991077e-01 4.17088426e-03 6.06556231e-01] [ 1.13092483e-02 -4.16303849e-03 9.99927382e-01 -4.92056465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16589822699999 meters Centerline goodness [0,1] 0.5533184034827017 Centerline is valid? [False, False] Translation: X:113.57, Y:0.60, Z:-0.49 [[ 9.99921917e-01 -2.20883327e-03 -1.22996186e-02 1.13571351e+02] [ 2.22631230e-03 9.99996531e-01 1.40759300e-03 6.03387419e-01] [ 1.22964668e-02 -1.43486589e-03 9.99923366e-01 -4.94684337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.195898227 meters Centerline goodness [0,1] 0.8354699953611943 Centerline is valid? [False, False] Translation: X:113.57, Y:0.60, Z:-0.50 [[ 9.99921092e-01 -2.02907257e-03 -1.23972760e-02 1.13571965e+02] [ 2.05140935e-03 9.99996295e-01 1.78929821e-03 6.01671014e-01] [ 1.23935995e-02 -1.81458891e-03 9.99921550e-01 -4.95167050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.225898227 meters Centerline goodness [0,1] 0.6141343201984945 Centerline is valid? [False, False] Translation: X:113.57, Y:0.60, Z:-0.50 [[ 9.99920965e-01 -1.95652808e-03 -1.24191997e-02 1.13572335e+02] [ 1.98074097e-03 9.99996161e-01 1.93763317e-03 6.01004580e-01] [ 1.24153610e-02 -1.96207924e-03 9.99921001e-01 -4.95645367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.255898227 meters Centerline goodness [0,1] 0.8107896131425543 Centerline is valid? [False, False] Translation: X:113.57, Y:0.60, Z:-0.50 [[ 9.99919884e-01 -1.93021477e-03 -1.25099885e-02 1.13572655e+02] [ 1.95477250e-03 9.99996186e-01 1.95111968e-03 6.01023485e-01] [ 1.25061747e-02 -1.97541755e-03 9.99919843e-01 -4.95664527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.285898227 meters Centerline goodness [0,1] 0.8389346328348177 Centerline is valid? [False, False] Translation: X:113.59, Y:0.60, Z:-0.49 [[ 9.99928433e-01 -1.15592385e-03 -1.19076620e-02 1.13592985e+02] [ 1.06863677e-03 9.99972534e-01 -7.33408493e-03 6.02334460e-01] [ 1.19158126e-02 7.32083509e-03 9.99902205e-01 -4.93178772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.315898227 meters Centerline goodness [0,1] 0.8950529207572886 Centerline is valid? [False, False] Translation: X:113.55, Y:0.60, Z:-0.50 [[ 9.99905384e-01 1.40599228e-03 -1.36838021e-02 1.13553520e+02] [-1.50409360e-03 9.99973225e-01 -7.16150803e-03 6.04396389e-01] [ 1.36733667e-02 7.18141215e-03 9.99880726e-01 -4.95447341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.345898227 meters Centerline goodness [0,1] 0.6246554748183413 Centerline is valid? [False, False] Translation: X:113.60, Y:0.60, Z:-0.50 [[ 9.99915352e-01 2.09856046e-03 -1.28407363e-02 1.13595001e+02] [-2.12305091e-03 9.99995953e-01 -1.89391218e-03 5.96687547e-01] [ 1.28367099e-02 1.92101340e-03 9.99915761e-01 -4.96836235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.375898227 meters Centerline goodness [0,1] 0.6579181118348701 Centerline is valid? [False, False] Translation: X:113.59, Y:0.59, Z:-0.50 [[ 9.99916166e-01 2.23203505e-03 -1.27545988e-02 1.13594994e+02] [-2.25068612e-03 9.99996419e-01 -1.44813453e-03 5.94368156e-01] [ 1.27513208e-02 1.47671972e-03 9.99917608e-01 -4.97342300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.405898227 meters Centerline goodness [0,1] 0.6008752551074081 Centerline is valid? [False, False] Translation: X:113.62, Y:0.59, Z:-0.50 [[ 9.99964796e-01 -1.86667892e-03 -8.18064136e-03 1.13615773e+02] [ 1.91675691e-03 9.99979448e-01 6.11796447e-03 5.87005464e-01] [ 8.16905296e-03 -6.13342939e-03 9.99947822e-01 -5.01909733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.435898227 meters Centerline goodness [0,1] 0.745395977705724 Centerline is valid? [False, False] Translation: X:113.62, Y:0.59, Z:-0.50 [[ 9.99945313e-01 -6.17386283e-03 -8.44121731e-03 1.13616402e+02] [ 6.18621618e-03 9.99979831e-01 1.43812971e-03 5.89328303e-01] [ 8.43216824e-03 -1.49027025e-03 9.99963338e-01 -5.01385431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.465898227 meters Centerline goodness [0,1] 0.5906134421629894 Centerline is valid? [False, False] Translation: X:113.62, Y:0.59, Z:-0.50 [[ 9.99944583e-01 -6.03490183e-03 -8.62620305e-03 1.13617370e+02] [ 6.05097076e-03 9.99980004e-01 1.83792002e-03 5.87416521e-01] [ 8.61493890e-03 -1.89001507e-03 9.99961105e-01 -5.02047664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.495898227 meters Centerline goodness [0,1] 0.6037739809411864 Centerline is valid? [False, False] Translation: X:113.62, Y:0.59, Z:-0.50 [[ 9.99914553e-01 -8.88654834e-03 -9.58725676e-03 1.13622519e+02] [ 8.87435183e-03 9.99959759e-01 -1.31395186e-03 5.87455953e-01] [ 9.59854745e-03 1.22875889e-03 9.99953178e-01 -5.04248195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.525898227 meters Centerline goodness [0,1] 0.7237928340687878 Centerline is valid? [False, False] Translation: X:113.62, Y:0.58, Z:-0.50 [[ 9.99918642e-01 -8.54752345e-03 -9.46836701e-03 1.13622088e+02] [ 8.54256782e-03 9.99963353e-01 -5.63708332e-04 5.83819547e-01] [ 9.47283833e-03 4.82778303e-04 9.99955015e-01 -5.04231552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.555898227 meters Centerline goodness [0,1] 0.6938360516839652 Centerline is valid? [False, False] Translation: X:113.62, Y:0.58, Z:-0.50 [[ 9.99920526e-01 -8.38797668e-03 -9.41184834e-03 1.13621871e+02] [ 8.38606924e-03 9.99964807e-01 -2.42111885e-04 5.82333777e-01] [ 9.41354794e-03 1.63164232e-04 9.99955678e-01 -5.04156644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.585898227 meters Centerline goodness [0,1] 0.5862696304970619 Centerline is valid? [False, False] Translation: X:113.62, Y:0.58, Z:-0.50 [[ 9.99875971e-01 -1.22652693e-02 -9.87954169e-03 1.13623122e+02] [ 1.22191484e-02 9.99914226e-01 -4.71523118e-03 5.84635594e-01] [ 9.93652786e-03 4.59392677e-03 9.99940079e-01 -5.03403640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.615898227 meters Centerline goodness [0,1] 0.7227379915446879 Centerline is valid? [False, False] Translation: X:113.58, Y:0.58, Z:-0.51 [[ 9.99904935e-01 -8.99515626e-03 -1.04502665e-02 1.13580824e+02] [ 8.96772430e-03 9.99956227e-01 -2.66890179e-03 5.83221406e-01] [ 1.04738163e-02 2.57493296e-03 9.99941833e-01 -5.05340334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.645898227 meters Centerline goodness [0,1] 0.5828662260520372 Centerline is valid? [False, False] Translation: X:113.62, Y:0.58, Z:-0.51 [[ 9.99928440e-01 -8.03975436e-03 -8.85872007e-03 1.13620182e+02] [ 8.06110081e-03 9.99964685e-01 2.37658728e-03 5.75603387e-01] [ 8.83930005e-03 -2.44782824e-03 9.99957937e-01 -5.05377623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.675898227 meters Centerline goodness [0,1] 0.6251938796897925 Centerline is valid? [False, False] Translation: X:113.62, Y:0.57, Z:-0.51 [[ 9.99929999e-01 -7.68774724e-03 -8.99418340e-03 1.13620635e+02] [ 7.71440361e-03 9.99965943e-01 2.93280467e-03 5.73222438e-01] [ 8.97133042e-03 -3.00198413e-03 9.99955251e-01 -5.05435509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.705898227 meters Centerline goodness [0,1] 0.722925219010538 Centerline is valid? [False, False] Translation: X:113.62, Y:0.57, Z:-0.51 [[ 9.99930337e-01 -7.53511159e-03 -9.08535594e-03 1.13620947e+02] [ 7.56358196e-03 9.99966580e-01 3.10337760e-03 5.72659592e-01] [ 9.06166801e-03 -3.17187924e-03 9.99953912e-01 -5.05433472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.735898227 meters Centerline goodness [0,1] 0.8468722987075963 Centerline is valid? [False, False] Translation: X:113.62, Y:0.57, Z:-0.51 [[ 9.99929636e-01 -7.37264203e-03 -9.29338468e-03 1.13621664e+02] [ 7.40326713e-03 9.99967264e-01 3.26528248e-03 5.72256261e-01] [ 9.26900670e-03 -3.33385413e-03 9.99951484e-01 -5.05524764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.765898227 meters Centerline goodness [0,1] 0.830385716691932 Centerline is valid? [False, False] Translation: X:113.62, Y:0.57, Z:-0.51 [[ 9.99929798e-01 -7.23185776e-03 -9.38612280e-03 1.13622020e+02] [ 7.26431392e-03 9.99967737e-01 3.42841376e-03 5.71788495e-01] [ 9.36102617e-03 -3.49635682e-03 9.99950072e-01 -5.05591291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.795898227 meters Centerline goodness [0,1] 0.7008514423687889 Centerline is valid? [False, False] Translation: X:113.62, Y:0.57, Z:-0.51 [[ 9.99930858e-01 -7.03891034e-03 -9.41980400e-03 1.13622159e+02] [ 7.07472668e-03 9.99967851e-01 3.77433337e-03 5.70267767e-01] [ 9.39293396e-03 -3.84071495e-03 9.99948510e-01 -5.05696392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.825898227 meters Centerline goodness [0,1] 0.8646568989143038 Centerline is valid? [False, False] Translation: X:113.62, Y:0.57, Z:-0.50 [[ 9.99894600e-01 -1.09967304e-02 -9.47945267e-03 1.13621960e+02] [ 1.09961515e-02 9.99939534e-01 -1.13188159e-04 5.68751443e-01] [ 9.48012419e-03 8.93873118e-06 9.99955063e-01 -5.04895359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.855898227 meters Centerline goodness [0,1] 0.8320188445117462 Centerline is valid? [False, False] Translation: X:113.62, Y:0.56, Z:-0.51 [[ 9.99898524e-01 -1.07651548e-02 -9.33024565e-03 1.13621680e+02] [ 1.07719132e-02 9.99941754e-01 6.74401980e-04 5.64720955e-01] [ 9.32244216e-03 -7.74838140e-04 9.99956245e-01 -5.05259150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.885898227 meters Centerline goodness [0,1] 0.7800016766567465 Centerline is valid? [False, False] Translation: X:113.62, Y:0.56, Z:-0.51 [[ 9.99900949e-01 -1.05787372e-02 -9.28343059e-03 1.13621669e+02] [ 1.05923419e-02 9.99942895e-01 1.41753443e-03 5.60834670e-01] [ 9.26790473e-03 -1.51572729e-03 9.99955903e-01 -5.05520644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91589822699999 meters Centerline goodness [0,1] 0.7091966711956521 Centerline is valid? [False, False] Translation: X:113.62, Y:0.56, Z:-0.51 [[ 9.99847352e-01 -1.47218256e-02 -9.40963988e-03 1.13622106e+02] [ 1.46988284e-02 9.99888820e-01 -2.50851199e-03 5.59060367e-01] [ 9.44552359e-03 2.36981839e-03 9.99952582e-01 -5.05262538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.945898227 meters Centerline goodness [0,1] 0.5328544881297893 Centerline is valid? [False, False] Translation: X:113.66, Y:0.55, Z:-0.51 [[ 9.99855966e-01 -1.46377614e-02 -8.58973946e-03 1.13663024e+02] [ 1.46536880e-02 9.99891019e-01 1.79414333e-03 5.51917643e-01] [ 8.56254110e-03 -1.91975628e-03 9.99961498e-01 -5.05912537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.975898227 meters Centerline goodness [0,1] 0.6845024676255957 Centerline is valid? [False, False] Translation: X:113.66, Y:0.55, Z:-0.51 [[ 9.99855815e-01 -1.45579751e-02 -8.74149359e-03 1.13663696e+02] [ 1.45755161e-02 9.99891877e-01 1.94628754e-03 5.51281793e-01] [ 8.71221443e-03 -2.07341870e-03 9.99959898e-01 -5.06192307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.005898227 meters Centerline goodness [0,1] 0.6112650627702901 Centerline is valid? [False, False] Translation: X:113.66, Y:0.55, Z:-0.51 [[ 9.99855941e-01 -1.44755410e-02 -8.86314881e-03 1.13663799e+02] [ 1.44925468e-02 9.99893252e-01 1.85749531e-03 5.52097061e-01] [ 8.83531444e-03 -1.98567733e-03 9.99958996e-01 -5.05699159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03589822699996 meters Centerline goodness [0,1] 0.6815641288647925 Centerline is valid? [False, False] Translation: X:113.66, Y:0.56, Z:-0.50 [[ 9.99788286e-01 -1.84144925e-02 -9.18089976e-03 1.13664468e+02] [ 1.83877974e-02 9.99826478e-01 -2.98366761e-03 5.56490468e-01] [ 9.23424940e-03 2.81421941e-03 9.99953403e-01 -5.04656679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.065898227 meters Centerline goodness [0,1] 0.7263523531156013 Centerline is valid? [False, False] Translation: X:113.66, Y:0.56, Z:-0.50 [[ 9.99789146e-01 -1.83770360e-02 -9.16235532e-03 1.13664130e+02] [ 1.83506295e-02 9.99827238e-01 -2.95785175e-03 5.56441891e-01] [ 9.21512896e-03 2.78909308e-03 9.99953650e-01 -5.04217147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09589822699996 meters Centerline goodness [0,1] 0.6423820015252945 Centerline is valid? [False, False] Translation: X:113.66, Y:0.55, Z:-0.51 [[ 9.99860035e-01 -1.42051181e-02 -8.83886875e-03 1.13663420e+02] [ 1.42236325e-02 9.99896768e-01 2.03532890e-03 5.51935515e-01] [ 8.80904421e-03 -2.16076485e-03 9.99958865e-01 -5.05232197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.125898227 meters Centerline goodness [0,1] 0.6973673089925625 Centerline is valid? [False, False] Translation: X:113.66, Y:0.55, Z:-0.51 [[ 9.99860765e-01 -1.41243893e-02 -8.88550548e-03 1.13664014e+02] [ 1.41453114e-02 9.99897314e-01 2.29620056e-03 5.50644079e-01] [ 8.85216063e-03 -2.42156909e-03 9.99957887e-01 -5.05972529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15589822699997 meters Centerline goodness [0,1] 0.5059440486388234 Centerline is valid? [False, False] Translation: X:113.67, Y:0.55, Z:-0.51 [[ 9.99809082e-01 -1.69010601e-02 -9.80581357e-03 1.13669836e+02] [ 1.68963194e-02 9.99857087e-01 -5.66099392e-04 5.50356364e-01] [ 9.81397987e-03 4.00309155e-04 9.99951762e-01 -5.09066526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.185898227 meters Centerline goodness [0,1] 0.5987489205754123 Centerline is valid? [False, False] Translation: X:113.67, Y:0.54, Z:-0.51 [[ 9.99800998e-01 -1.73655434e-02 -9.81842870e-03 1.13670528e+02] [ 1.73694845e-02 9.99849089e-01 3.16257102e-04 5.43420136e-01] [ 9.81145501e-03 -4.86735212e-04 9.99951748e-01 -5.10342512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21589822699997 meters Centerline goodness [0,1] 0.419964921919574 Centerline is valid? [False, False] Translation: X:113.67, Y:0.54, Z:-0.51 [[ 9.99803864e-01 -1.72312322e-02 -9.76314662e-03 1.13670696e+02] [ 1.72441299e-02 9.99850542e-01 1.23841361e-03 5.38400486e-01] [ 9.74034805e-03 -1.40652768e-03 9.99951572e-01 -5.11020623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.245898227 meters Centerline goodness [0,1] 0.5001270971021861 Centerline is valid? [False, False] Translation: X:113.67, Y:0.53, Z:-0.51 [[ 9.99809348e-01 -1.69832763e-02 -9.63509370e-03 1.13670365e+02] [ 1.70049785e-02 9.99853039e-01 2.17497324e-03 5.33489810e-01] [ 9.59673955e-03 -2.33840314e-03 9.99951216e-01 -5.11147906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27589822699997 meters Centerline goodness [0,1] 0.3769230769230769 Centerline is valid? [False, False] Translation: X:113.67, Y:0.53, Z:-0.51 [[ 9.99814129e-01 -1.67637347e-02 -9.52284130e-03 1.13669903e+02] [ 1.67921937e-02 9.99854748e-01 2.91644474e-03 5.29616305e-01] [ 9.47256758e-03 -3.07581206e-03 9.99950404e-01 -5.10992316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30589822699994 meters Centerline goodness [0,1] 0.3769230769230769 Centerline is valid? [False, False] Translation: X:113.67, Y:0.53, Z:-0.51 [[ 9.99814129e-01 -1.67637347e-02 -9.52284130e-03 1.13669903e+02] [ 1.67921937e-02 9.99854748e-01 2.91644474e-03 5.29616305e-01] [ 9.47256758e-03 -3.07581206e-03 9.99950404e-01 -5.10992316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.335898227 meters Centerline goodness [0,1] 0.4413608065902278 Centerline is valid? [False, False] Translation: X:113.67, Y:0.53, Z:-0.51 [[ 9.99748508e-01 -2.02023022e-02 -9.73592694e-03 1.13669867e+02] [ 2.01944093e-02 9.99795660e-01 -9.08338988e-04 5.29101417e-01] [ 9.75228803e-03 7.11499255e-04 9.99952192e-01 -5.09356089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36589822699995 meters Centerline goodness [0,1] 0.7412273194111605 Centerline is valid? [False, False] Translation: X:113.62, Y:0.53, Z:-0.51 [[ 9.99857302e-01 -1.32161832e-02 -1.05218359e-02 1.13624246e+02] [ 1.30715186e-02 9.99820692e-01 -1.37010464e-02 5.32052947e-01] [ 1.07010247e-02 1.35615549e-02 9.99850775e-01 -5.07239430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.395898227 meters Centerline goodness [0,1] 0.4859901552442256 Centerline is valid? [False, False] Translation: X:113.66, Y:0.52, Z:-0.51 [[ 9.99933032e-01 -7.19634842e-03 -9.06331654e-03 1.13663634e+02] [ 7.17332420e-03 9.99970968e-01 -2.57032564e-03 5.19794017e-01] [ 9.08155037e-03 2.50513940e-03 9.99955624e-01 -5.08655672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42589822699995 meters Centerline goodness [0,1] 0.6786863186224007 Centerline is valid? [False, False] Translation: X:113.66, Y:0.52, Z:-0.51 [[ 9.99957566e-01 -2.53451609e-03 -8.85681197e-03 1.13663350e+02] [ 2.55742439e-03 9.99993411e-01 2.57614894e-03 5.15622747e-01] [ 8.85022433e-03 -2.59869025e-03 9.99957459e-01 -5.09471253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.455898227 meters Centerline goodness [0,1] 0.8002765957446809 Centerline is valid? [False, False] Translation: X:113.66, Y:0.51, Z:-0.51 [[ 9.99957521e-01 2.29818502e-03 -8.92606438e-03 1.13663671e+02] [-2.22816737e-03 9.99966736e-01 7.84621917e-03 5.11199960e-01] [ 8.94379952e-03 -7.82599710e-03 9.99929379e-01 -5.09725485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48589822699995 meters Centerline goodness [0,1] 0.6848616868285256 Centerline is valid? [False, False] Translation: X:113.67, Y:0.51, Z:-0.51 [[ 9.99955880e-01 1.16834300e-03 -9.32055989e-03 1.13667167e+02] [-1.10762069e-03 9.99978148e-01 6.51738212e-03 5.12127139e-01] [ 9.32797076e-03 -6.50677093e-03 9.99935323e-01 -5.12015625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.515898227 meters Centerline goodness [0,1] 0.8800937766410912 Centerline is valid? [False, False] Translation: X:113.67, Y:0.51, Z:-0.51 [[ 9.99954966e-01 1.44500542e-03 -9.37961502e-03 1.13667309e+02] [-1.37926171e-03 9.99974465e-01 7.01190006e-03 5.09870323e-01] [ 9.38950774e-03 -6.99864734e-03 9.99931426e-01 -5.11981447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54589822699995 meters Centerline goodness [0,1] 0.7472451211305517 Centerline is valid? [False, False] Translation: X:113.69, Y:0.51, Z:-0.51 [[ 9.99959607e-01 2.21848778e-03 -8.70988484e-03 1.13687086e+02] [-2.23862637e-03 9.99994842e-01 -2.30308586e-03 5.08296600e-01] [ 8.70473055e-03 2.32249101e-03 9.99959416e-01 -5.09707315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.575898227 meters Centerline goodness [0,1] 0.6702829590153534 Centerline is valid? [False, False] Translation: X:113.69, Y:0.50, Z:-0.51 [[ 9.99959740e-01 2.63748585e-03 -8.57688632e-03 1.13686772e+02] [-2.64648882e-03 9.99995959e-01 -1.03849831e-03 5.01809394e-01] [ 8.57411263e-03 1.06115513e-03 9.99962679e-01 -5.10045145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60589822699995 meters Centerline goodness [0,1] 0.7761470594428418 Centerline is valid? [False, False] Translation: X:113.69, Y:0.50, Z:-0.51 [[ 9.99958644e-01 2.95596804e-03 -8.60074950e-03 1.13687098e+02] [-2.95709834e-03 9.99995621e-01 -1.18703961e-04 4.97200489e-01] [ 8.60036095e-03 1.44132314e-04 9.99963006e-01 -5.10542785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.635898227 meters Centerline goodness [0,1] 0.7552956519909968 Centerline is valid? [False, False] Translation: X:113.69, Y:0.49, Z:-0.51 [[ 9.99957867e-01 3.28241553e-03 -8.57259479e-03 1.13687185e+02] [-3.27543742e-03 9.99994293e-01 8.27914808e-04 4.92436701e-01] [ 8.57526343e-03 -7.99800928e-04 9.99962912e-01 -5.10931555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66589822699996 meters Centerline goodness [0,1] 0.7383262711864407 Centerline is valid? [False, False] Translation: X:113.69, Y:0.49, Z:-0.51 [[ 9.99957139e-01 3.60981314e-03 -8.52577637e-03 1.13687269e+02] [-3.59463656e-03 9.99991929e-01 1.79473514e-03 4.87554200e-01] [ 8.53218622e-03 -1.76401115e-03 9.99962044e-01 -5.11414629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.695898227 meters Centerline goodness [0,1] 0.49983213026691287 Centerline is valid? [False, False] Translation: X:113.71, Y:0.48, Z:-0.52 [[ 9.99991928e-01 5.35975232e-04 -3.98193494e-03 1.13710502e+02] [-4.96506272e-04 9.99950807e-01 9.90639021e-03 4.75757918e-01] [ 3.98704864e-03 -9.90433319e-03 9.99943002e-01 -5.16775722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72589822699996 meters Centerline goodness [0,1] 0.6604402091415078 Centerline is valid? [False, False] Translation: X:113.71, Y:0.48, Z:-0.52 [[ 9.99984949e-01 -3.52882629e-03 -4.20120547e-03 1.13710912e+02] [ 3.55208130e-03 9.99978341e-01 5.54078534e-03 4.76743088e-01] [ 4.18156201e-03 -5.55562497e-03 9.99975824e-01 -5.16242009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.755898227 meters Centerline goodness [0,1] 0.6105037467892245 Centerline is valid? [False, False] Translation: X:113.71, Y:0.47, Z:-0.52 [[ 9.99985739e-01 -3.33175799e-03 -4.17380681e-03 1.13710811e+02] [ 3.35689207e-03 9.99976189e-01 6.02939807e-03 4.74272927e-01] [ 4.15361893e-03 -6.04332311e-03 9.99973112e-01 -5.16232081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78589822699996 meters Centerline goodness [0,1] 0.5669774082472495 Centerline is valid? [False, False] Translation: X:113.73, Y:0.47, Z:-0.52 [[ 9.99994986e-01 -2.08104899e-03 -2.38694927e-03 1.13731045e+02] [ 2.07380622e-03 9.99993251e-01 -3.03279493e-03 4.72840967e-01] [ 2.39324456e-03 3.02782965e-03 9.99992552e-01 -5.15729461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.815898227 meters Centerline goodness [0,1] 0.6399601627394473 Centerline is valid? [False, False] Translation: X:113.73, Y:0.47, Z:-0.52 [[ 9.99995498e-01 -1.79463720e-03 -2.40474406e-03 1.13731077e+02] [ 1.78797715e-03 9.99994568e-01 -2.76884094e-03 4.72091230e-01] [ 2.40970006e-03 2.76452885e-03 9.99993275e-01 -5.15685920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84589822699996 meters Centerline goodness [0,1] 0.6131858783496384 Centerline is valid? [False, False] Translation: X:113.73, Y:0.47, Z:-0.52 [[ 9.99995303e-01 -1.74323014e-03 -2.52093538e-03 1.13731559e+02] [ 1.73628859e-03 9.99994703e-01 -2.75313274e-03 4.72213875e-01] [ 2.52572137e-03 2.74874274e-03 9.99993033e-01 -5.15910117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.875898227 meters Centerline goodness [0,1] 0.6925942294336764 Centerline is valid? [False, False] Translation: X:113.77, Y:0.47, Z:-0.52 [[ 9.99995494e-01 -1.32445181e-03 -2.69396626e-03 1.13774107e+02] [ 1.32536444e-03 9.99999065e-01 3.37008280e-04 4.67312732e-01] [ 2.69351739e-03 -3.40577249e-04 9.99996314e-01 -5.15595535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90589822699997 meters Centerline goodness [0,1] 0.767005687945362 Centerline is valid? [False, False] Translation: X:113.77, Y:0.47, Z:-0.52 [[ 9.99995449e-01 -1.27039434e-03 -2.73648737e-03 1.13774214e+02] [ 1.27160408e-03 9.99999095e-01 4.40384369e-04 4.66896745e-01] [ 2.73592543e-03 -4.43862094e-04 9.99996159e-01 -5.15576729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.935898227 meters Centerline goodness [0,1] 0.893017105319285 Centerline is valid? [False, False] Translation: X:113.77, Y:0.47, Z:-0.52 [[ 9.99995356e-01 -1.29288576e-03 -2.75984368e-03 1.13774136e+02] [ 1.29397499e-03 9.99999086e-01 3.92922696e-04 4.67069824e-01] [ 2.75933316e-03 -3.96492039e-04 9.99996114e-01 -5.15313416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96589822699997 meters Centerline goodness [0,1] 0.7501785939404126 Centerline is valid? [False, False] Translation: X:113.81, Y:0.46, Z:-0.51 [[ 9.99997515e-01 -1.73882204e-03 -1.39494290e-03 1.13814632e+02] [ 1.74124352e-03 9.99996976e-01 1.73656880e-03 4.64062668e-01] [ 1.39191910e-03 -1.73899342e-03 9.99997519e-01 -5.14435714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.995898227 meters Centerline goodness [0,1] 0.7659070420763539 Centerline is valid? [False, False] Translation: X:113.81, Y:0.46, Z:-0.51 [[ 9.99997438e-01 -1.88599220e-03 -1.25207431e-03 1.13813797e+02] [ 1.88795750e-03 9.99996985e-01 1.57030858e-03 4.64614237e-01] [ 1.24910894e-03 -1.57266842e-03 9.99997983e-01 -5.13828349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.02589822699997 meters Centerline goodness [0,1] 0.827456912162594 Centerline is valid? [False, False] Translation: X:113.77, Y:0.47, Z:-0.51 [[ 9.99996549e-01 -1.60659294e-03 -2.07845664e-03 1.13771587e+02] [ 1.60653496e-03 9.99998709e-01 -2.95639614e-05 4.68288821e-01] [ 2.07850146e-03 2.62247461e-05 9.99997840e-01 -5.14742723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05589822699994 meters Centerline goodness [0,1] 0.5983951729483983 Centerline is valid? [False, False] Translation: X:113.82, Y:0.46, Z:-0.52 [[ 9.99994399e-01 -2.36649212e-03 -2.36678383e-03 1.13815413e+02] [ 2.36999970e-03 9.99996096e-01 1.48029726e-03 4.64526740e-01] [ 2.36327148e-03 -1.48589825e-03 9.99996104e-01 -5.15439611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.085898227 meters Centerline goodness [0,1] 0.6731127285037237 Centerline is valid? [False, False] Translation: X:113.80, Y:0.47, Z:-0.51 [[ 9.99971859e-01 -2.03499690e-03 -7.22086804e-03 1.13795583e+02] [ 1.96624411e-03 9.99952791e-01 -9.51575964e-03 4.70585013e-01] [ 7.23989169e-03 9.50129386e-03 9.99928652e-01 -5.12083365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11589822699995 meters Centerline goodness [0,1] 0.5922303492759428 Centerline is valid? [False, False] Translation: X:113.80, Y:0.47, Z:-0.51 [[ 9.99972756e-01 2.18100758e-03 -7.05191799e-03 1.13795402e+02] [-2.21340800e-03 9.99987016e-01 -4.59001845e-03 4.66697724e-01] [ 7.04181556e-03 4.60550217e-03 9.99964600e-01 -5.12823922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.145898227 meters Centerline goodness [0,1] 0.7151496062992126 Centerline is valid? [False, False] Translation: X:113.80, Y:0.47, Z:-0.51 [[ 9.99972568e-01 2.18421410e-03 -7.07762289e-03 1.13795544e+02] [-2.21703713e-03 9.99986810e-01 -4.63305639e-03 4.67026123e-01] [ 7.06740995e-03 4.64862065e-03 9.99964220e-01 -5.12910749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17589822699995 meters Centerline goodness [0,1] 0.8203669101409886 Centerline is valid? [False, False] Translation: X:113.79, Y:0.46, Z:-0.51 [[ 9.99957092e-01 6.41614792e-03 -6.68187131e-03 1.13794577e+02] [-6.41471432e-03 9.99979398e-01 2.35959394e-04 4.63373577e-01] [ 6.68324760e-03 -1.93086974e-04 9.99977648e-01 -5.13356164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.205898227 meters Centerline goodness [0,1] 0.6879631567929663 Centerline is valid? [False, False] Translation: X:113.82, Y:0.46, Z:-0.52 [[ 9.99974865e-01 6.64409047e-03 -2.47493156e-03 1.13816577e+02] [-6.61481276e-03 9.99910189e-01 1.16557815e-02 4.56636170e-01] [ 2.55215136e-03 -1.16391174e-02 9.99929006e-01 -5.18039130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23589822699995 meters Centerline goodness [0,1] 0.6058384909486492 Centerline is valid? [False, False] Translation: X:113.78, Y:0.46, Z:-0.52 [[ 9.99978489e-01 4.78574541e-03 -4.48537264e-03 1.13777605e+02] [-4.75840750e-03 9.99970159e-01 6.08588522e-03 4.63461957e-01] [ 4.51436430e-03 -6.06441107e-03 9.99971421e-01 -5.18462452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.265898227 meters Centerline goodness [0,1] 0.8229383886255924 Centerline is valid? [False, False] Translation: X:113.78, Y:0.46, Z:-0.52 [[ 9.99985813e-01 1.02739243e-03 -5.22672825e-03 1.13780464e+02] [-1.01603590e-03 9.99997119e-01 2.17497234e-03 4.62741904e-01] [ 5.22894774e-03 -2.16963094e-03 9.99983975e-01 -5.19347068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29589822699995 meters Centerline goodness [0,1] 0.5993979074124756 Centerline is valid? [False, False] Translation: X:113.78, Y:0.46, Z:-0.52 [[ 9.99985561e-01 1.24293817e-03 -5.22811002e-03 1.13780537e+02] [-1.22863219e-03 9.99995495e-01 2.73868027e-03 4.59894762e-01] [ 5.23149047e-03 -2.73221730e-03 9.99982583e-01 -5.19507638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.325898227 meters Centerline goodness [0,1] 0.6193100546907867 Centerline is valid? [False, False] Translation: X:113.78, Y:0.46, Z:-0.52 [[ 9.99985442e-01 1.36044686e-03 -5.22160250e-03 1.13780422e+02] [-1.34412564e-03 9.99994205e-01 3.12794912e-03 4.57758072e-01] [ 5.22582765e-03 -3.12088509e-03 9.99981475e-01 -5.19413697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35589822699995 meters Centerline goodness [0,1] 0.6090263584838078 Centerline is valid? [False, False] Translation: X:113.78, Y:0.46, Z:-0.52 [[ 9.99985469e-01 1.53929068e-03 -5.16643249e-03 1.13780104e+02] [-1.52064421e-03 9.99992324e-01 3.61114781e-03 4.55313617e-01] [ 5.17195143e-03 -3.60323903e-03 9.99980134e-01 -5.19219237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.385898227 meters Centerline goodness [0,1] 0.8484495467254087 Centerline is valid? [False, False] Translation: X:113.78, Y:0.45, Z:-0.52 [[ 9.99985643e-01 1.88997160e-03 -5.01410687e-03 1.13779325e+02] [-1.86801201e-03 9.99988660e-01 4.38063485e-03 4.51563467e-01] [ 5.02232929e-03 -4.37120554e-03 9.99977834e-01 -5.18794552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41589822699996 meters Centerline goodness [0,1] 0.6942298001007895 Centerline is valid? [False, False] Translation: X:113.80, Y:0.45, Z:-0.52 [[ 9.99989168e-01 3.28470782e-03 -3.29774514e-03 1.13799685e+02] [-3.30044104e-03 9.99983144e-01 -4.77685033e-03 4.51704414e-01] [ 3.28199899e-03 4.78768260e-03 9.99983153e-01 -5.18377599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.445898227 meters Centerline goodness [0,1] 0.8612172088142707 Centerline is valid? [False, False] Translation: X:113.80, Y:0.45, Z:-0.52 [[ 9.99989066e-01 3.27149365e-03 -3.34148011e-03 1.13799610e+02] [-3.28826587e-03 9.99981962e-01 -5.02629817e-03 4.53172170e-01] [ 3.32497634e-03 5.03723089e-03 9.99981785e-01 -5.17981592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47589822699996 meters Centerline goodness [0,1] 0.8918941603541977 Centerline is valid? [False, False] Translation: X:113.80, Y:0.45, Z:-0.52 [[ 9.99989021e-01 3.26977816e-03 -3.35644803e-03 1.13799609e+02] [-3.28751308e-03 9.99980593e-01 -5.29198589e-03 4.54830981e-01] [ 3.33907927e-03 5.30296216e-03 9.99980364e-01 -5.17873892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.505898227 meters Centerline goodness [0,1] 0.6364417615125029 Centerline is valid? [False, False] Translation: X:113.80, Y:0.46, Z:-0.52 [[ 9.99989047e-01 3.24070341e-03 -3.37700376e-03 1.13799593e+02] [-3.25953323e-03 9.99979089e-01 -5.58539010e-03 4.56592724e-01] [ 3.35883255e-03 5.59633638e-03 9.99978699e-01 -5.17688308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53589822699996 meters Centerline goodness [0,1] 0.9510368176047397 Centerline is valid? [False, True] Translation: X:113.80, Y:0.45, Z:-0.52 [[ 9.99966391e-01 7.59460845e-03 -3.08839941e-03 1.13798831e+02] [-7.59679382e-03 9.99970901e-01 -6.96491045e-04 4.53242791e-01] [ 3.08301997e-03 7.19929570e-04 9.99994988e-01 -5.17929749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.565898227 meters Centerline goodness [0,1] 0.7742251699828975 Centerline is valid? [True, False] Translation: X:113.82, Y:0.45, Z:-0.52 [[ 9.99976217e-01 6.69634397e-03 1.65077293e-03 1.13822413e+02] [-6.71089870e-03 9.99937205e-01 8.97496072e-03 4.47922392e-01] [-1.59056985e-03 -8.98582543e-03 9.99958362e-01 -5.24039749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59589822699996 meters Centerline goodness [0,1] 0.6520867276601078 Centerline is valid? [False, False] Translation: X:113.82, Y:0.45, Z:-0.52 [[ 9.99996309e-01 2.33624381e-03 1.38714312e-03 1.13822948e+02] [-2.34181493e-03 9.99989144e-01 4.02830394e-03 4.51430744e-01] [-1.37771697e-03 -4.03153750e-03 9.99990924e-01 -5.23563370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.625898227 meters Centerline goodness [0,1] 0.9379155073171768 Centerline is valid? [False, False] Translation: X:113.78, Y:0.46, Z:-0.52 [[ 9.99999078e-01 9.75705622e-04 9.44600322e-04 1.13779127e+02] [-9.76218720e-04 9.99999376e-01 5.42881807e-04 4.55913768e-01] [-9.44070040e-04 -5.43803443e-04 9.99999407e-01 -5.22914792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65589822699997 meters Centerline goodness [0,1] 0.7886528693169892 Centerline is valid? [False, False] Translation: X:113.82, Y:0.45, Z:-0.52 [[ 9.99998848e-01 -2.70568578e-04 1.49332805e-03 1.13820429e+02] [ 2.67580295e-04 9.99997962e-01 2.00092644e-03 4.50733457e-01] [-1.49386639e-03 -2.00052455e-03 9.99996883e-01 -5.22438541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.685898227 meters Centerline goodness [0,1] 0.7072571500566964 Centerline is valid? [False, False] Translation: X:113.82, Y:0.45, Z:-0.52 [[ 9.99998677e-01 -3.86460265e-04 1.57980685e-03 1.13820470e+02] [ 3.82341864e-04 9.99996530e-01 2.60637285e-03 4.46817057e-01] [-1.58080863e-03 -2.60576537e-03 9.99995356e-01 -5.23017223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71589822699997 meters Centerline goodness [0,1] 0.7434788087537278 Centerline is valid? [False, False] Translation: X:113.82, Y:0.45, Z:-0.52 [[ 9.99998891e-01 -3.21287134e-04 1.45429912e-03 1.13821144e+02] [ 3.17088842e-04 9.99995785e-01 2.88612480e-03 4.45316783e-01] [-1.45522026e-03 -2.88566046e-03 9.99994778e-01 -5.23498744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.745898227 meters Centerline goodness [0,1] 0.6438183876241983 Centerline is valid? [False, False] Translation: X:113.82, Y:0.44, Z:-0.52 [[ 9.99999124e-01 -2.88280342e-04 1.29191784e-03 1.13822071e+02] [ 2.84442368e-04 9.99995549e-01 2.96995719e-03 4.44922287e-01] [-1.29276827e-03 -2.96958712e-03 9.99994755e-01 -5.24136088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77589822699997 meters Centerline goodness [0,1] 0.46743873783148704 Centerline is valid? [False, False] Translation: X:113.82, Y:0.45, Z:-0.52 [[ 9.99999229e-01 -3.52616577e-04 1.19070232e-03 1.13822367e+02] [ 3.49332338e-04 9.99996138e-01 2.75731917e-03 4.45926591e-01] [-1.19167000e-03 -2.75690110e-03 9.99995490e-01 -5.24056923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80589822699994 meters Centerline goodness [0,1] 0.8902796499561375 Centerline is valid? [False, False] Translation: X:113.78, Y:0.45, Z:-0.52 [[ 9.99999350e-01 2.71708974e-05 1.13951913e-03 1.13778076e+02] [-2.69238841e-05 9.99999976e-01 -2.16784539e-04 4.52637172e-01] [-1.13952499e-03 2.16753717e-04 9.99999327e-01 -5.22530103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.835898227 meters Centerline goodness [0,1] 0.8903499514542614 Centerline is valid? [False, False] Translation: X:113.81, Y:0.45, Z:-0.52 [[ 9.99989811e-01 2.07460757e-03 4.00915964e-03 1.13814438e+02] [-2.08376074e-03 9.99995229e-01 2.28023671e-03 4.53215715e-01] [-4.00440992e-03 -2.28856761e-03 9.99989364e-01 -5.19530292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86589822699995 meters Centerline goodness [0,1] 0.9063632101606786 Centerline is valid? [False, False] Translation: X:113.81, Y:0.45, Z:-0.52 [[ 9.99971341e-01 6.34951864e-03 4.12330338e-03 1.13814194e+02] [-6.37739460e-03 9.99956659e-01 6.78300472e-03 4.52043020e-01] [-4.08005586e-03 -6.80910626e-03 9.99968494e-01 -5.19665745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.895898227 meters Centerline goodness [0,1] 0.9614926135637958 Centerline is valid? [False, True] Translation: X:113.82, Y:0.46, Z:-0.52 [[ 9.99990152e-01 2.70344854e-03 3.51962836e-03 1.13816134e+02] [-2.70945560e-03 9.99994879e-01 1.70308509e-03 4.58900273e-01] [-3.51500614e-03 -1.71260460e-03 9.99992356e-01 -5.19618788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92589822699995 meters Centerline goodness [0,1] 0.927793972694671 Centerline is valid? [True, False] Translation: X:113.86, Y:0.46, Z:-0.52 [[ 9.99996092e-01 2.52513379e-03 1.19969839e-03 1.13862229e+02] [-2.52712151e-03 9.99995432e-01 1.65822603e-03 4.59686537e-01] [-1.19550566e-03 -1.66125133e-03 9.99997906e-01 -5.19555170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.955898227 meters Centerline goodness [0,1] 0.9331631905947325 Centerline is valid? [False, False] Translation: X:113.86, Y:0.46, Z:-0.52 [[ 9.99996810e-01 2.34223343e-03 9.45957065e-04 1.13863393e+02] [-2.34319119e-03 9.99996742e-01 1.01264850e-03 4.63093616e-01] [-9.43582124e-04 -1.01486183e-03 9.99999040e-01 -5.20103802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98589822699995 meters Centerline goodness [0,1] 0.9533174706786549 Centerline is valid? [False, True] Translation: X:113.86, Y:0.47, Z:-0.52 [[ 9.99997513e-01 1.93377008e-03 1.11070690e-03 1.13862350e+02] [-1.93363923e-03 9.99998123e-01 -1.18866633e-04 4.68743181e-01] [-1.11093467e-03 1.16718631e-04 9.99999376e-01 -5.19192817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.015898227 meters Centerline goodness [0,1] 0.9863614223088164 Centerline is valid? [True, True] Translation: X:113.89, Y:0.47, Z:-0.52 [[ 9.99994419e-01 1.67153785e-03 2.89262642e-03 1.13893488e+02] [-1.67098285e-03 9.99998585e-01 -1.94273228e-04 4.74817183e-01] [-2.89294706e-03 1.89438615e-04 9.99995797e-01 -5.15723455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04589822699995 meters Centerline goodness [0,1] 0.9892336115181245 Centerline is valid? [True, True] Translation: X:113.92, Y:0.48, Z:-0.51 [[ 9.99990881e-01 1.64373750e-03 3.94163238e-03 1.13924876e+02] [-1.64270704e-03 9.99998616e-01 -2.64654398e-04 4.76185124e-01] [-3.94206194e-03 2.58177038e-04 9.99992197e-01 -5.14088222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.075898227 meters Centerline goodness [0,1] 0.9915500116478536 Centerline is valid? [True, True] Translation: X:113.96, Y:0.48, Z:-0.51 [[ 9.99991537e-01 1.78626048e-03 3.70602004e-03 1.13956387e+02] [-1.78535023e-03 9.99998375e-01 -2.48909721e-04 4.76832189e-01] [-3.70645864e-03 2.42291070e-04 9.99993102e-01 -5.14654571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10589822699995 meters Centerline goodness [0,1] 0.9894641464905072 Centerline is valid? [True, True] Translation: X:113.99, Y:0.47, Z:-0.52 [[ 9.99993587e-01 2.13497663e-03 2.87554531e-03 1.13987812e+02] [-2.13443080e-03 9.99997704e-01 -1.92872458e-04 4.74768203e-01] [-2.87595048e-03 1.86733568e-04 9.99995847e-01 -5.16216932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.135898227 meters Centerline goodness [0,1] 0.9905144491650192 Centerline is valid? [True, True] Translation: X:114.02, Y:0.48, Z:-0.52 [[ 9.99995079e-01 2.56767863e-03 1.80265372e-03 1.14019228e+02] [-2.56746431e-03 9.99996697e-01 -1.21198569e-04 4.77680684e-01] [-1.80295897e-03 1.16569723e-04 9.99998368e-01 -5.18242094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16589822699996 meters Centerline goodness [0,1] 0.9660690751626467 Centerline is valid? [True, True] Translation: X:114.05, Y:0.47, Z:-0.52 [[ 9.99994481e-01 2.96512242e-03 1.49844008e-03 1.14049442e+02] [-2.96497467e-03 9.99995599e-01 -1.00816325e-04 4.72625163e-01] [-1.49873242e-03 9.63729321e-05 9.99998872e-01 -5.18490468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.195898227 meters Centerline goodness [0,1] 0.9858132214060861 Centerline is valid? [True, True] Translation: X:114.08, Y:0.48, Z:-0.52 [[ 9.99992834e-01 3.45509556e-03 1.54753773e-03 1.14080855e+02] [-3.45493852e-03 9.99994026e-01 -1.04140476e-04 4.77133913e-01] [-1.54788830e-03 9.87930819e-05 9.99998797e-01 -5.17884273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22589822699996 meters Centerline goodness [0,1] 0.9858132214060861 Centerline is valid? [True, True] Translation: X:114.11, Y:0.48, Z:-0.52 [[ 9.99992834e-01 3.45509612e-03 1.54753241e-03 1.14110847e+02] [-3.45493895e-03 9.99994026e-01 -1.04219458e-04 4.75114057e-01] [-1.54788326e-03 9.88720808e-05 9.99998797e-01 -5.18096871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.255898227 meters Centerline goodness [0,1] 0.9946199126526996 Centerline is valid? [True, True] Translation: X:114.14, Y:0.48, Z:-0.52 [[ 9.99989666e-01 4.02889588e-03 2.10608763e-03 1.14142094e+02] [-4.02860612e-03 9.99991875e-01 -1.41806874e-04 4.77414402e-01] [-2.10664184e-03 1.33320811e-04 9.99997772e-01 -5.17523900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28589822699996 meters Centerline goodness [0,1] 0.9713506139154161 Centerline is valid? [True, True] Translation: X:114.17, Y:0.47, Z:-0.52 [[ 9.99996442e-01 2.21448679e-03 1.48698549e-03 1.14171223e+02] [-2.21434030e-03 9.99997543e-01 -1.00150543e-04 4.69287728e-01] [-1.48720361e-03 9.68574946e-05 9.99998889e-01 -5.20138823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.315898227 meters Centerline goodness [0,1] 0.9822412737293326 Centerline is valid? [True, True] Translation: X:114.20, Y:0.47, Z:-0.52 [[ 9.99999615e-01 4.68789490e-04 7.41164899e-04 1.14201923e+02] [-4.68752620e-04 9.99999889e-01 -4.99184879e-05 4.68725397e-01] [-7.41188218e-04 4.95710457e-05 9.99999724e-01 -5.20531772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34589822699996 meters Centerline goodness [0,1] 0.9561746220485816 Centerline is valid? [True, True] Translation: X:114.23, Y:0.46, Z:-0.52 [[ 9.99998591e-01 -1.67307393e-03 -1.39332215e-04 1.14232226e+02] [ 1.67307526e-03 9.99998600e-01 9.44828356e-06 4.61808377e-01] [ 1.39316212e-04 -9.68138353e-06 9.99999990e-01 -5.21706203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.375898227 meters Centerline goodness [0,1] 0.8962276027023625 Centerline is valid? [True, False] Translation: X:114.28, Y:0.46, Z:-0.52 [[ 9.99996590e-01 -2.45523905e-03 -8.90293857e-04 1.14275244e+02] [ 2.45759511e-03 9.99993456e-01 2.65501128e-03 4.55857513e-01] [ 8.83769343e-04 -2.65719020e-03 9.99996079e-01 -5.21547020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40589822699997 meters Centerline goodness [0,1] 0.8317780633202031 Centerline is valid? [False, False] Translation: X:114.28, Y:0.45, Z:-0.52 [[ 9.99996693e-01 -2.34371443e-03 -1.05857094e-03 1.14275897e+02] [ 2.34690180e-03 9.99992686e-01 3.01987261e-03 4.53961313e-01] [ 1.05148548e-03 -3.02234699e-03 9.99994880e-01 -5.21720628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.435898227 meters Centerline goodness [0,1] 0.9572245974517687 Centerline is valid? [False, True] Translation: X:114.28, Y:0.45, Z:-0.52 [[ 9.99997156e-01 -2.16001350e-03 -1.01095615e-03 1.14275356e+02] [ 2.16336319e-03 9.99992135e-01 3.32410191e-03 4.52544742e-01] [ 1.00376810e-03 -3.32627953e-03 9.99993964e-01 -5.21047241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46589822699997 meters Centerline goodness [0,1] 0.9290765215927267 Centerline is valid? [True, False] Translation: X:114.29, Y:0.45, Z:-0.52 [[ 9.99998607e-01 -3.04595574e-04 1.64101897e-03 1.14294928e+02] [ 3.13306829e-04 9.99985849e-01 -5.31080384e-03 4.53427743e-01] [-1.63937810e-03 5.31131059e-03 9.99984551e-01 -5.21111257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.495898227 meters Centerline goodness [0,1] 0.9070546588562518 Centerline is valid? [False, False] Translation: X:114.29, Y:0.46, Z:-0.52 [[ 9.99998540e-01 -2.68771868e-04 1.68777642e-03 1.14294360e+02] [ 2.78174309e-04 9.99984431e-01 -5.57314284e-03 4.55064331e-01] [-1.68625224e-03 5.57360420e-03 9.99983046e-01 -5.20388305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.52589822699997 meters Centerline goodness [0,1] 0.9941979450176172 Centerline is valid? [False, True] Translation: X:114.29, Y:0.45, Z:-0.52 [[ 9.99994928e-01 1.99744267e-03 2.48059979e-03 1.14288702e+02] [-1.98911794e-03 9.99992397e-01 -3.35387811e-03 4.54744753e-01] [-2.48728011e-03 3.34892690e-03 9.99991299e-01 -5.16685074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55589822699994 meters Centerline goodness [0,1] 0.9884041619656513 Centerline is valid? [True, True] Translation: X:114.32, Y:0.45, Z:-0.52 [[ 9.99978949e-01 5.10748862e-03 4.00189506e-03 1.14317686e+02] [-5.10647016e-03 9.99986927e-01 -2.64669560e-04 4.48474112e-01] [-4.00319454e-03 2.44228431e-04 9.99991957e-01 -5.15072959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.585898227 meters Centerline goodness [0,1] 0.9797229429982423 Centerline is valid? [True, True] Translation: X:114.35, Y:0.44, Z:-0.51 [[ 9.99970515e-01 5.54068039e-03 5.31699939e-03 1.14348542e+02] [-5.53889047e-03 9.99984599e-01 -3.51308323e-04 4.43404632e-01] [-5.31886399e-03 3.21847687e-04 9.99985803e-01 -5.13550010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61589822699995 meters Centerline goodness [0,1] 0.9888965995836225 Centerline is valid? [True, True] Translation: X:114.38, Y:0.44, Z:-0.51 [[ 9.99968181e-01 5.10349084e-03 6.13114646e-03 1.14380434e+02] [-5.10109932e-03 9.99986907e-01 -4.05636209e-04 4.42909658e-01] [-6.13313634e-03 3.74347715e-04 9.99981122e-01 -5.13196484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.645898227 meters Centerline goodness [0,1] 0.9934761955030086 Centerline is valid? [True, True] Translation: X:114.41, Y:0.44, Z:-0.51 [[ 9.99972463e-01 4.20364312e-03 6.11578103e-03 1.14412071e+02] [-4.20124091e-03 9.99991092e-01 -4.05582677e-04 4.42684249e-01] [-6.11743148e-03 3.79877639e-04 9.99981216e-01 -5.12588624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67589822699995 meters Centerline goodness [0,1] 0.9912352780060257 Centerline is valid? [True, True] Translation: X:114.44, Y:0.44, Z:-0.51 [[ 9.99981470e-01 3.02737243e-03 5.28155926e-03 1.14442295e+02] [-3.02555968e-03 9.99995361e-01 -3.51178528e-04 4.37629659e-01] [-5.28259791e-03 3.35192348e-04 9.99985991e-01 -5.14823976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.705898227 meters Centerline goodness [0,1] 0.8635373921782095 Centerline is valid? [True, False] Translation: X:114.45, Y:0.44, Z:-0.52 [[ 9.99988405e-01 1.67623767e-03 4.51439016e-03 1.14447083e+02] [-1.66964591e-03 9.99997535e-01 -1.46353838e-03 4.38178386e-01] [-4.51683227e-03 1.45598398e-03 9.99988739e-01 -5.17854386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73589822699995 meters Centerline goodness [0,1] 0.9503187375901349 Centerline is valid? [False, True] Translation: X:114.45, Y:0.44, Z:-0.52 [[ 9.99988911e-01 1.63314434e-03 4.41700203e-03 1.14447291e+02] [-1.62660062e-03 9.99997575e-01 -1.48467025e-03 4.38130675e-01] [-4.41941600e-03 1.47746908e-03 9.99989143e-01 -5.17690104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.765898227 meters Centerline goodness [0,1] 0.9872934929197572 Centerline is valid? [True, True] Translation: X:114.48, Y:0.44, Z:-0.52 [[ 9.99985524e-01 1.17531748e-03 5.25080719e-03 1.14479942e+02] [-1.17345061e-03 9.99999247e-01 -3.58605927e-04 4.42687788e-01] [-5.25122471e-03 3.52439173e-04 9.99986150e-01 -5.16759756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79589822699995 meters Centerline goodness [0,1] 0.9309809841289809 Centerline is valid? [True, False] Translation: X:114.48, Y:0.44, Z:-0.52 [[ 9.99985442e-01 1.05531574e-03 5.29161025e-03 1.14479640e+02] [-1.05230206e-03 9.99999283e-01 -5.72271695e-04 4.43607502e-01] [-5.29221038e-03 5.66694991e-04 9.99985836e-01 -5.16452837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.825898227 meters Centerline goodness [0,1] 0.940236422674505 Centerline is valid? [False, False] Translation: X:114.46, Y:0.44, Z:-0.52 [[ 9.99982295e-01 -3.41058194e-05 5.95050235e-03 1.14457538e+02] [-1.67253275e-05 9.99963516e-01 8.54206981e-03 4.44809148e-01] [-5.95057658e-03 -8.54201810e-03 9.99945811e-01 -5.18303101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85589822699995 meters Centerline goodness [0,1] 0.8826862363837839 Centerline is valid? [False, False] Translation: X:114.50, Y:0.45, Z:-0.52 [[ 9.99982024e-01 -3.25479556e-03 5.03563675e-03 1.14501239e+02] [ 3.22651614e-03 9.99979037e-01 5.61382719e-03 4.46008920e-01] [-5.05380304e-03 -5.59747872e-03 9.99971563e-01 -5.17339458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.885898227 meters Centerline goodness [0,1] 0.8949496219024278 Centerline is valid? [False, False] Translation: X:114.50, Y:0.45, Z:-0.52 [[ 9.99982250e-01 -3.33133627e-03 4.93984828e-03 1.14501843e+02] [ 3.30395630e-03 9.99979193e-01 5.54051440e-03 4.46254303e-01] [-4.95820281e-03 -5.52409501e-03 9.99972450e-01 -5.17788768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91589822699996 meters Centerline goodness [0,1] 0.9315236205513573 Centerline is valid? [False, False] Translation: X:114.48, Y:0.45, Z:-0.51 [[ 9.99990677e-01 -4.31632482e-03 -1.20093263e-04 1.14481119e+02] [ 4.31540961e-03 9.99967621e-01 -6.79214495e-03 4.53043693e-01] [ 1.49406478e-04 6.79156338e-03 9.99976926e-01 -5.12881233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.945898227 meters Centerline goodness [0,1] 0.7566031427616182 Centerline is valid? [False, False] Translation: X:114.52, Y:0.45, Z:-0.51 [[ 9.99994676e-01 -3.26314726e-03 2.08170694e-05 1.14521921e+02] [ 3.26317038e-03 9.99993921e-01 -1.22888702e-03 4.46517324e-01] [-1.68069035e-05 1.22894841e-03 9.99999245e-01 -5.13315763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97589822699996 meters Centerline goodness [0,1] 0.806210234839037 Centerline is valid? [False, False] Translation: X:114.48, Y:0.45, Z:-0.51 [[ 9.99990602e-01 -3.94684281e-03 -1.79388547e-03 1.14481817e+02] [ 3.94019538e-03 9.99985414e-01 -3.69415412e-03 4.50959313e-01] [ 1.80843955e-03 3.68705115e-03 9.99991568e-01 -5.14659663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.005898227 meters Centerline goodness [0,1] 0.6701796857065342 Centerline is valid? [False, False] Translation: X:114.52, Y:0.45, Z:-0.51 [[ 9.99994601e-01 -3.10381605e-03 -1.07937877e-03 1.14522326e+02] [ 3.10422835e-03 9.99995109e-01 3.80512930e-04 4.46511393e-01] [ 1.07819245e-03 -3.83861514e-04 9.99999345e-01 -5.14273557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03589822699996 meters Centerline goodness [0,1] 0.8068617941040024 Centerline is valid? [False, False] Translation: X:114.52, Y:0.45, Z:-0.51 [[ 9.99994206e-01 -3.23792705e-03 -1.05035770e-03 1.14522154e+02] [ 3.23801555e-03 9.99994754e-01 8.25643728e-05 4.47920088e-01] [ 1.05008485e-03 -8.59649690e-05 9.99999445e-01 -5.14156647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.065898227 meters Centerline goodness [0,1] 0.8501481497047513 Centerline is valid? [False, False] Translation: X:114.52, Y:0.45, Z:-0.51 [[ 9.99993819e-01 -3.35250421e-03 -1.05946704e-03 1.14522088e+02] [ 3.35228836e-03 9.99994360e-01 -2.05437263e-04 4.49352347e-01] [ 1.06014979e-03 2.01884354e-04 9.99999418e-01 -5.13983771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09589822699996 meters Centerline goodness [0,1] 0.843012452209573 Centerline is valid? [False, False] Translation: X:114.48, Y:0.45, Z:-0.51 [[ 9.99995678e-01 -2.62239908e-03 -1.32952498e-03 1.14478930e+02] [ 2.61973368e-03 9.99994563e-01 -2.00256907e-03 4.54300688e-01] [ 1.33476929e-03 1.99907741e-03 9.99997111e-01 -5.14113365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.125898227 meters Centerline goodness [0,1] 0.863953610964681 Centerline is valid? [False, False] Translation: X:114.52, Y:0.45, Z:-0.51 [[ 9.99996994e-01 -2.36718333e-03 -6.38850113e-04 1.14519819e+02] [ 2.36776152e-03 9.99996787e-01 9.05823328e-04 4.50906879e-01] [ 6.36703810e-04 -9.07333250e-04 9.99999386e-01 -5.13335274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15589822699997 meters Centerline goodness [0,1] 0.882457929627741 Centerline is valid? [False, False] Translation: X:114.52, Y:0.45, Z:-0.51 [[ 9.99997017e-01 -2.32931047e-03 -7.34823594e-04 1.14520438e+02] [ 2.33003974e-03 9.99996792e-01 9.93153973e-04 4.50609310e-01] [ 7.32507872e-04 -9.94863179e-04 9.99999237e-01 -5.13878559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.185898227 meters Centerline goodness [0,1] 0.9218736662398634 Centerline is valid? [False, False] Translation: X:114.52, Y:0.45, Z:-0.51 [[ 9.99997197e-01 -2.22768905e-03 -8.01545973e-04 1.14520888e+02] [ 2.22866942e-03 9.99996767e-01 1.22429210e-03 4.49526376e-01] [ 7.98816039e-04 -1.22607505e-03 9.99998929e-01 -5.14302744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21589822699997 meters Centerline goodness [0,1] 0.7865095233084289 Centerline is valid? [False, False] Translation: X:114.56, Y:0.44, Z:-0.51 [[ 9.99994560e-01 -3.20417895e-03 -7.82821750e-04 1.14563398e+02] [ 3.20632665e-03 9.99991057e-01 2.75786001e-03 4.44860316e-01] [ 7.73978072e-04 -2.76035499e-03 9.99995891e-01 -5.13865889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.245898227 meters Centerline goodness [0,1] 0.6259177448196066 Centerline is valid? [False, False] Translation: X:114.56, Y:0.44, Z:-0.51 [[ 9.99994934e-01 -3.07928399e-03 -8.06101709e-04 1.14563736e+02] [ 3.08177628e-03 9.99990418e-01 3.10901926e-03 4.43086979e-01] [ 7.96520432e-04 -3.11148773e-03 9.99994842e-01 -5.14308343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27589822699997 meters Centerline goodness [0,1] 0.797484969091371 Centerline is valid? [False, False] Translation: X:114.56, Y:0.44, Z:-0.51 [[ 9.99987501e-01 -4.99638271e-03 -1.82707500e-04 1.14559017e+02] [ 4.99659670e-03 9.99986809e-01 1.19014327e-03 4.41830780e-01] [ 1.76758678e-04 -1.19104131e-03 9.99999275e-01 -5.11174294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30589822699994 meters Centerline goodness [0,1] 0.6246032913680406 Centerline is valid? [False, False] Translation: X:114.56, Y:0.44, Z:-0.51 [[ 9.99988036e-01 -4.89056382e-03 -1.01088062e-04 1.14558753e+02] [ 4.89071557e-03 9.99986824e-01 1.55973029e-03 4.39918301e-01] [ 9.34587692e-05 -1.56020602e-03 9.99998779e-01 -5.11187324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.335898227 meters Centerline goodness [0,1] 0.5693311926993113 Centerline is valid? [False, False] Translation: X:114.56, Y:0.44, Z:-0.51 [[ 9.99988574e-01 -4.78017842e-03 4.05548806e-05 1.14558020e+02] [ 4.78009488e-03 9.99986851e-01 1.85688157e-03 4.38401147e-01] [-4.94305725e-05 -1.85666650e-03 9.99998275e-01 -5.10734821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36589822699995 meters Centerline goodness [0,1] 0.6324481189193703 Centerline is valid? [False, False] Translation: X:114.58, Y:0.44, Z:-0.51 [[ 9.99986625e-01 -3.88268691e-03 3.41687289e-03 1.14577113e+02] [ 3.90794001e-03 9.99964870e-01 -7.41532908e-03 4.37045051e-01] [-3.38796146e-03 7.42858284e-03 9.99966668e-01 -5.11296137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.395898227 meters Centerline goodness [0,1] 0.7895570957653621 Centerline is valid? [False, False] Translation: X:114.56, Y:0.43, Z:-0.52 [[ 9.99982147e-01 -3.92256114e-03 4.50758644e-03 1.14557289e+02] [ 3.90908667e-03 9.99987877e-01 2.99422058e-03 4.34187231e-01] [-4.51927681e-03 -2.97654658e-03 9.99985358e-01 -5.15567199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42589822699995 meters Centerline goodness [0,1] 0.5697100297083559 Centerline is valid? [False, False] Translation: X:114.56, Y:0.43, Z:-0.52 [[ 9.99982498e-01 -3.91885674e-03 4.43250245e-03 1.14557608e+02] [ 3.90580831e-03 9.99988025e-01 2.94864242e-03 4.34375652e-01] [-4.44400467e-03 -2.93127831e-03 9.99985829e-01 -5.15659133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.455898227 meters Centerline goodness [0,1] 0.6797531897092659 Centerline is valid? [False, False] Translation: X:114.56, Y:0.44, Z:-0.52 [[ 9.99983016e-01 -3.90650110e-03 4.32522853e-03 1.14557971e+02] [ 3.89423472e-03 9.99988382e-01 2.84080620e-03 4.35086351e-01] [-4.33627590e-03 -2.82391450e-03 9.99986611e-01 -5.15668737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48589822699995 meters Centerline goodness [0,1] 0.8611944080753474 Centerline is valid? [False, False] Translation: X:114.54, Y:0.44, Z:-0.51 [[ 9.99998017e-01 -1.88569416e-03 6.40236371e-04 1.14536729e+02] [ 1.89003650e-03 9.99974746e-01 -6.85092487e-03 4.39702308e-01] [-6.27301453e-04 6.85212136e-03 9.99976327e-01 -5.11868581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.515898227 meters Centerline goodness [0,1] 0.8906697802781021 Centerline is valid? [False, False] Translation: X:114.53, Y:0.44, Z:-0.51 [[ 9.99998878e-01 4.80661845e-04 1.41877135e-03 1.14531517e+02] [-4.74555111e-04 9.99990636e-01 -4.30144405e-03 4.38783766e-01] [-1.42082561e-03 4.30076594e-03 9.99989742e-01 -5.08860762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54589822699995 meters Centerline goodness [0,1] 0.8544311833417979 Centerline is valid? [False, False] Translation: X:114.53, Y:0.44, Z:-0.51 [[ 9.99998793e-01 3.77310506e-04 1.50752299e-03 1.14531127e+02] [-3.70444945e-04 9.99989571e-01 -4.55188657e-03 4.40082691e-01] [-1.50922475e-03 4.55132262e-03 9.99988504e-01 -5.08645030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.575898227 meters Centerline goodness [0,1] 0.8960338445267054 Centerline is valid? [False, False] Translation: X:114.53, Y:0.44, Z:-0.51 [[ 9.99998595e-01 3.26725148e-04 1.64433915e-03 1.14530634e+02] [-3.19132955e-04 9.99989298e-01 -4.61531622e-03 4.40322893e-01] [-1.64582949e-03 4.61478497e-03 9.99987997e-01 -5.08536152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60589822699995 meters Centerline goodness [0,1] 0.8765156824021575 Centerline is valid? [False, False] Translation: X:114.53, Y:0.44, Z:-0.51 [[ 9.99998465e-01 2.43732280e-04 1.73490427e-03 1.14530172e+02] [-2.35599296e-04 9.99988990e-01 -4.68651884e-03 4.40535708e-01] [-1.73602743e-03 4.68610291e-03 9.99987513e-01 -5.08245982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.635898227 meters Centerline goodness [0,1] 0.4524416224570784 Centerline is valid? [False, False] Translation: X:114.57, Y:0.44, Z:-0.51 [[ 9.99997240e-01 6.85599631e-05 2.34826588e-03 1.14571708e+02] [-6.54524229e-05 9.99999122e-01 -1.32338533e-03 4.35087387e-01] [-2.34835455e-03 1.32322798e-03 9.99996367e-01 -5.08830745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66589822699996 meters Centerline goodness [0,1] 0.6199515432423891 Centerline is valid? [False, False] Translation: X:114.57, Y:0.43, Z:-0.51 [[ 9.99997273e-01 5.77666015e-05 2.33486437e-03 1.14572132e+02] [-5.50955565e-05 9.99999344e-01 -1.14403108e-03 4.34087293e-01] [-2.33492893e-03 1.14389931e-03 9.99996620e-01 -5.09446400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.695898227 meters Centerline goodness [0,1] 0.6370357780232855 Centerline is valid? [False, False] Translation: X:114.56, Y:0.43, Z:-0.51 [[ 9.99990179e-01 -4.33465165e-03 9.23489482e-04 1.14555206e+02] [ 4.32987123e-03 9.99977534e-01 5.11707297e-03 4.34494173e-01] [-9.45649463e-04 -5.11302412e-03 9.99986481e-01 -5.13207892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72589822699996 meters Centerline goodness [0,1] 0.594349903596278 Centerline is valid? [False, False] Translation: X:114.58, Y:0.44, Z:-0.51 [[ 9.99990555e-01 -4.26098923e-03 -8.56315320e-04 1.14575471e+02] [ 4.25698447e-03 9.99980242e-01 -4.62536635e-03 4.36523485e-01] [ 8.76007037e-04 4.62167734e-03 9.99988936e-01 -5.09146570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.755898227 meters Centerline goodness [0,1] 0.6220763494997132 Centerline is valid? [False, False] Translation: X:114.53, Y:0.44, Z:-0.51 [[ 9.99998693e-01 -1.45696787e-03 -7.00414874e-04 1.14531957e+02] [ 1.45478480e-03 9.99994114e-01 -3.10728957e-03 4.38890121e-01] [ 7.04937972e-04 3.10626655e-03 9.99994927e-01 -5.10388643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78589822699996 meters Centerline goodness [0,1] 0.5260634606892781 Centerline is valid? [False, False] Translation: X:114.57, Y:0.44, Z:-0.51 [[ 9.99999663e-01 -4.86993638e-04 6.61462174e-04 1.14571820e+02] [ 4.87065921e-04 9.99999875e-01 -1.09120848e-04 4.36069990e-01] [-6.61408950e-04 1.09442987e-04 9.99999775e-01 -5.08807892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.815898227 meters Centerline goodness [0,1] 0.7578060325613976 Centerline is valid? [False, False] Translation: X:114.57, Y:0.44, Z:-0.51 [[ 9.99992787e-01 3.69623799e-03 8.73657910e-04 1.14571312e+02] [-3.69988651e-03 9.99984285e-01 4.21207628e-03 4.35643534e-01] [-8.58075344e-04 -4.21527834e-03 9.99990748e-01 -5.09066568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84589822699996 meters Centerline goodness [0,1] 0.8032538463157451 Centerline is valid? [False, False] Translation: X:114.59, Y:0.44, Z:-0.50 [[ 9.99965891e-01 8.25599856e-03 -2.35766872e-04 1.14589938e+02] [-8.25646982e-03 9.99963766e-01 -2.07319454e-03 4.43290753e-01] [ 2.18642038e-04 2.07507043e-03 9.99997823e-01 -5.04341435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.875898227 meters Centerline goodness [0,1] 0.6681323767646379 Centerline is valid? [False, False] Translation: X:114.59, Y:0.45, Z:-0.50 [[ 9.99967725e-01 8.01809541e-03 -5.09425542e-04 1.14590960e+02] [-8.01958245e-03 9.99963380e-01 -2.98733635e-03 4.48037518e-01] [ 4.85454139e-04 2.99132531e-03 9.99995408e-01 -5.04526301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90589822699997 meters Centerline goodness [0,1] 0.7505120246616415 Centerline is valid? [False, False] Translation: X:114.59, Y:0.45, Z:-0.50 [[ 9.99969550e-01 7.77083718e-03 -7.15698332e-04 1.14591593e+02] [-7.77351977e-03 9.99962470e-01 -3.82497903e-03 4.52334651e-01] [ 6.85948183e-04 3.83042606e-03 9.99992429e-01 -5.04404818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.935898227 meters Centerline goodness [0,1] 0.8689642152955489 Centerline is valid? [False, False] Translation: X:114.59, Y:0.46, Z:-0.50 [[ 9.99932272e-01 1.16304719e-02 -4.27397625e-04 1.14590975e+02] [-1.16305538e-02 9.99932345e-01 -1.89766492e-04 4.55186327e-01] [ 4.25161635e-04 1.94724510e-04 9.99999891e-01 -5.04664612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96589822699997 meters Centerline goodness [0,1] 0.7882242011524359 Centerline is valid? [False, False] Translation: X:114.59, Y:0.46, Z:-0.50 [[ 9.99971830e-01 7.46161977e-03 -8.14936726e-04 1.14591709e+02] [-7.46593197e-03 9.99957423e-01 -5.42320287e-03 4.61231745e-01] [ 7.74436151e-04 5.42913436e-03 9.99984962e-01 -5.03812577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.995898227 meters Centerline goodness [0,1] 0.898635191513449 Centerline is valid? [False, False] Translation: X:114.59, Y:0.46, Z:-0.50 [[ 9.99973369e-01 7.24851564e-03 -8.48864690e-04 1.14591769e+02] [-7.25331685e-03 9.99956894e-01 -5.79657731e-03 4.62897777e-01] [ 8.06811517e-04 5.80258003e-03 9.99982839e-01 -5.03701730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.02589822699997 meters Centerline goodness [0,1] 0.7541069592765877 Centerline is valid? [False, False] Translation: X:114.59, Y:0.46, Z:-0.50 [[ 9.99974495e-01 7.07950392e-03 -9.43228345e-04 1.14592270e+02] [-7.08504865e-03 9.99956835e-01 -6.01086242e-03 4.63757796e-01] [ 9.00633706e-04 6.01739194e-03 9.99981490e-01 -5.03980788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05589822699994 meters Centerline goodness [0,1] 0.8036436818133672 Centerline is valid? [False, False] Translation: X:114.59, Y:0.46, Z:-0.50 [[ 9.99942323e-01 1.07194240e-02 -6.66289990e-04 1.14591788e+02] [-1.07204473e-02 9.99941330e-01 -1.55171052e-03 4.60876975e-01] [ 6.49617456e-04 1.55876395e-03 9.99998574e-01 -5.04680233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.085898227 meters Centerline goodness [0,1] 0.6292101717750085 Centerline is valid? [False, False] Translation: X:114.59, Y:0.46, Z:-0.50 [[ 9.99946021e-01 1.03712519e-02 -6.26233921e-04 1.14591719e+02] [-1.03722911e-02 9.99944796e-01 -1.67966025e-03 4.60653982e-01] [ 6.08779171e-04 1.68606507e-03 9.99998393e-01 -5.04817775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11589822699995 meters Centerline goodness [0,1] 0.6292101717750085 Centerline is valid? [False, False] Translation: X:114.59, Y:0.46, Z:-0.50 [[ 9.99946021e-01 1.03712519e-02 -6.26233921e-04 1.14591719e+02] [-1.03722911e-02 9.99944796e-01 -1.67966025e-03 4.60653982e-01] [ 6.08779171e-04 1.68606507e-03 9.99998393e-01 -5.04817775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.145898227 meters Centerline goodness [0,1] 0.6977121429173339 Centerline is valid? [False, False] Translation: X:114.59, Y:0.46, Z:-0.50 [[ 9.99947544e-01 1.02270046e-02 -5.63287657e-04 1.14591263e+02] [-1.02280100e-02 9.99946051e-01 -1.81187405e-03 4.60955876e-01] [ 5.44727224e-04 1.81754032e-03 9.99998200e-01 -5.04407592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17589822699995 meters Centerline goodness [0,1] 0.7287371546990835 Centerline is valid? [False, False] Translation: X:114.59, Y:0.46, Z:-0.50 [[ 9.99948614e-01 1.01267235e-02 -4.68766384e-04 1.14590910e+02] [-1.01276141e-02 9.99946836e-01 -1.93828999e-03 4.61442461e-01] [ 4.49112936e-04 1.94293787e-03 9.99998012e-01 -5.04292759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.205898227 meters Centerline goodness [0,1] 0.5676338286396487 Centerline is valid? [False, False] Translation: X:114.59, Y:0.46, Z:-0.50 [[ 9.99949578e-01 1.00250837e-02 -5.81538051e-04 1.14591440e+02] [-1.00262409e-02 9.99947691e-01 -2.02228068e-03 4.61676919e-01] [ 5.61234098e-04 2.02800936e-03 9.99997786e-01 -5.04581779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23589822699995 meters Centerline goodness [0,1] 0.511306001690617 Centerline is valid? [False, False] Translation: X:114.59, Y:0.46, Z:-0.51 [[ 9.99949752e-01 9.99370363e-03 -7.86417381e-04 1.14592652e+02] [-9.99494882e-03 9.99948776e-01 -1.59570375e-03 4.59183013e-01] [ 7.70430107e-04 1.60348377e-03 9.99998418e-01 -5.05653727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.265898227 meters Centerline goodness [0,1] 0.5044705783350514 Centerline is valid? [False, False] Translation: X:114.59, Y:0.46, Z:-0.51 [[ 9.99949204e-01 1.00503185e-02 -7.62152188e-04 1.14592666e+02] [-1.00512235e-02 9.99948774e-01 -1.19300776e-03 4.56901919e-01] [ 7.50123037e-04 1.20060772e-03 9.99998998e-01 -5.05891117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29589822699995 meters Centerline goodness [0,1] 0.5939739930225183 Centerline is valid? [False, False] Translation: X:114.59, Y:0.45, Z:-0.51 [[ 9.99949143e-01 1.00706200e-02 -5.42451019e-04 1.14591721e+02] [-1.00710873e-02 9.99948910e-01 -8.65814364e-04 4.54840429e-01] [ 5.33704018e-04 8.71233403e-04 9.99999478e-01 -5.05553807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.325898227 meters Centerline goodness [0,1] 0.47353248381031965 Centerline is valid? [False, False] Translation: X:114.61, Y:0.45, Z:-0.51 [[ 9.99959311e-01 7.79499452e-03 4.54026745e-03 1.14612899e+02] [-7.83055551e-03 9.99938387e-01 7.86796060e-03 4.48219145e-01] [-4.47865700e-03 -7.90319328e-03 9.99958740e-01 -5.10570687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35589822699995 meters Centerline goodness [0,1] 0.5230068432763759 Centerline is valid? [False, False] Translation: X:114.61, Y:0.45, Z:-0.51 [[ 9.99984622e-01 3.58000345e-03 4.23538775e-03 1.14613275e+02] [-3.59356684e-03 9.99988426e-01 3.19913300e-03 4.50444999e-01] [-4.22388582e-03 -3.21430395e-03 9.99985913e-01 -5.09650800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.385898227 meters Centerline goodness [0,1] 0.36049460337420103 Centerline is valid? [False, False] Translation: X:114.62, Y:0.45, Z:-0.51 [[ 9.99993063e-01 1.55868187e-03 3.38300986e-03 1.14618787e+02] [-1.56273526e-03 9.99998064e-01 1.19584595e-03 4.50409611e-01] [-3.38113937e-03 -1.20112440e-03 9.99993563e-01 -5.12716544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41589822699996 meters Centerline goodness [0,1] 0.4381701815129577 Centerline is valid? [False, False] Translation: X:114.62, Y:0.45, Z:-0.51 [[ 9.99992838e-01 1.81098275e-03 3.32333701e-03 1.14618923e+02] [-1.81661335e-03 9.99996918e-01 1.69202422e-03 4.48042324e-01] [-3.32026255e-03 -1.69804932e-03 9.99993046e-01 -5.12662126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.445898227 meters Centerline goodness [0,1] 0.4709188917087904 Centerline is valid? [False, False] Translation: X:114.62, Y:0.45, Z:-0.51 [[ 9.99992852e-01 1.84849233e-03 3.29829565e-03 1.14618587e+02] [-1.85396308e-03 9.99996910e-01 1.65637434e-03 4.48237809e-01] [-3.29522367e-03 -1.66247742e-03 9.99993189e-01 -5.11965338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47589822699996 meters Centerline goodness [0,1] 0.6463972992931744 Centerline is valid? [False, False] Translation: X:114.62, Y:0.45, Z:-0.51 [[ 9.99992742e-01 1.82919283e-03 3.34229645e-03 1.14618039e+02] [-1.83397873e-03 9.99997297e-01 1.42941568e-03 4.49429260e-01] [-3.33967274e-03 -1.43553501e-03 9.99993393e-01 -5.11275393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.505898227 meters Centerline goodness [0,1] 0.6649012491559757 Centerline is valid? [False, False] Translation: X:114.62, Y:0.45, Z:-0.51 [[ 9.99993021e-01 1.84281938e-03 3.24998616e-03 1.14618194e+02] [-1.84684209e-03 9.99997532e-01 1.23519542e-03 4.50572567e-01] [-3.24770190e-03 -1.24118901e-03 9.99993956e-01 -5.10998845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53589822699996 meters Centerline goodness [0,1] 0.665127117754498 Centerline is valid? [False, False] Translation: X:114.62, Y:0.45, Z:-0.51 [[ 9.99993759e-01 2.04877876e-03 2.87839867e-03 1.14619658e+02] [-2.05227686e-03 9.99997159e-01 1.21286734e-03 4.51321747e-01] [-2.87590560e-03 -1.21876704e-03 9.99995122e-01 -5.11485811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.565898227 meters Centerline goodness [0,1] 0.7018748683378977 Centerline is valid? [False, False] Translation: X:114.62, Y:0.45, Z:-0.51 [[ 9.99993692e-01 2.11226840e-03 2.85573691e-03 1.14619750e+02] [-2.11599960e-03 9.99996911e-01 1.30417400e-03 4.50871640e-01] [-2.85297332e-03 -1.31020851e-03 9.99995072e-01 -5.11556003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59589822699996 meters Centerline goodness [0,1] 0.5691022612217347 Centerline is valid? [False, False] Translation: X:114.62, Y:0.45, Z:-0.51 [[ 9.99993548e-01 2.18189054e-03 2.85349690e-03 1.14619610e+02] [-2.18604290e-03 9.99996555e-01 1.45287391e-03 4.50121973e-01] [-2.85031706e-03 -1.45910240e-03 9.99994873e-01 -5.11368091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.625898227 meters Centerline goodness [0,1] 0.5697803000271234 Centerline is valid? [False, False] Translation: X:114.66, Y:0.45, Z:-0.51 [[ 9.99996004e-01 1.18430015e-03 2.56692055e-03 1.14662301e+02] [-1.19089347e-03 9.99995992e-01 2.56856651e-03 4.45859506e-01] [-2.56386830e-03 -2.57161318e-03 9.99993407e-01 -5.10730540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65589822699997 meters Centerline goodness [0,1] 0.7633733914708072 Centerline is valid? [False, False] Translation: X:114.62, Y:0.45, Z:-0.51 [[ 9.99998452e-01 1.33712873e-03 1.14395642e-03 1.14620758e+02] [-1.33668001e-03 9.99999029e-01 -3.92923313e-04 4.50658862e-01] [-1.14448070e-03 3.91393601e-04 9.99999268e-01 -5.10238782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.685898227 meters Centerline goodness [0,1] 0.6008428026332341 Centerline is valid? [False, False] Translation: X:114.66, Y:0.45, Z:-0.51 [[ 9.99999640e-01 8.17115717e-04 -2.26852961e-04 1.14664968e+02] [-8.16920769e-04 9.99999298e-01 8.58126260e-04 4.47188159e-01] [ 2.27553990e-04 -8.57940631e-04 9.99999606e-01 -5.09829405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71589822699997 meters Centerline goodness [0,1] 0.7387552742616034 Centerline is valid? [False, False] Translation: X:114.67, Y:0.45, Z:-0.51 [[ 9.99999360e-01 1.02863193e-03 -4.70945526e-04 1.14665769e+02] [-1.02839159e-03 9.99999341e-01 5.10293540e-04 4.49785503e-01] [ 4.71470120e-04 -5.09808897e-04 9.99999759e-01 -5.09764634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.745898227 meters Centerline goodness [0,1] 0.8878731460368596 Centerline is valid? [False, False] Translation: X:114.67, Y:0.45, Z:-0.51 [[ 9.99999232e-01 1.09141785e-03 -5.87271893e-04 1.14665827e+02] [-1.09132579e-03 9.99999392e-01 1.57055431e-04 4.52032032e-01] [ 5.87442949e-04 -1.56414405e-04 9.99999815e-01 -5.09221997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77589822699997 meters Centerline goodness [0,1] 0.8373749078268198 Centerline is valid? [False, False] Translation: X:114.66, Y:0.45, Z:-0.51 [[ 9.99996065e-01 2.80494868e-03 4.74227334e-05 1.14661109e+02] [-2.80502198e-03 9.99994748e-01 1.62360410e-03 4.51712568e-01] [-4.28683582e-05 -1.62373073e-03 9.99998681e-01 -5.05986051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80589822699994 meters Centerline goodness [0,1] 0.8888819213645199 Centerline is valid? [False, False] Translation: X:114.66, Y:0.45, Z:-0.51 [[ 9.99995929e-01 2.84926415e-03 -1.56393582e-04 1.14661686e+02] [-2.84904056e-03 9.99994945e-01 1.41173326e-03 4.53086557e-01] [ 1.60415193e-04 -1.41128194e-03 9.99998991e-01 -5.05848639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.835898227 meters Centerline goodness [0,1] 0.9647507145125437 Centerline is valid? [False, True] Translation: X:114.62, Y:0.46, Z:-0.51 [[ 9.99994243e-01 3.23576384e-03 -1.02209379e-03 1.14620642e+02] [-3.23739510e-03 9.99993482e-01 -1.59839432e-03 4.57258925e-01] [ 1.01691510e-03 1.60169404e-03 9.99998200e-01 -5.06477998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86589822699995 meters Centerline goodness [0,1] 0.9737080880335929 Centerline is valid? [True, True] Translation: X:114.65, Y:0.46, Z:-0.51 [[ 9.99993596e-01 3.57222555e-03 -2.16819118e-04 1.14649919e+02] [-3.57222230e-03 9.99993619e-01 1.53891227e-05 4.56221104e-01] [ 2.16872708e-04 -1.46144981e-05 9.99999976e-01 -5.05888308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.895898227 meters Centerline goodness [0,1] 0.9240848106829647 Centerline is valid? [True, False] Translation: X:114.65, Y:0.46, Z:-0.51 [[ 9.99993568e-01 3.57746259e-03 -2.56606725e-04 1.14649808e+02] [-3.57746186e-03 9.99993601e-01 3.27782624e-06 4.56269405e-01] [ 2.56616810e-04 -2.35980438e-06 9.99999967e-01 -5.05513773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.92589822699995 meters Centerline goodness [0,1] 0.9827575317375102 Centerline is valid? [False, True] Translation: X:114.65, Y:0.46, Z:-0.51 [[ 9.99993380e-01 3.62078491e-03 -3.61445635e-04 1.14649894e+02] [-3.62080213e-03 9.99993444e-01 -4.69870142e-05 4.56628290e-01] [ 3.61273136e-04 4.82954263e-05 9.99999934e-01 -5.05090246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.955898227 meters Centerline goodness [0,1] 0.98936214943447 Centerline is valid? [True, True] Translation: X:114.68, Y:0.46, Z:-0.50 [[ 9.99985051e-01 5.43634274e-03 -5.87145595e-04 1.14680447e+02] [-5.43631957e-03 9.99985222e-01 4.10546233e-05 4.57090674e-01] [ 5.87360105e-04 -3.78620984e-05 9.99999827e-01 -5.04923440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.98589822699995 meters Centerline goodness [0,1] 0.9979149379800429 Centerline is valid? [True, True] Translation: X:114.71, Y:0.46, Z:-0.50 [[ 9.99971080e-01 7.60521327e-03 2.37655135e-05 1.14711276e+02] [-7.60521323e-03 9.99971080e-01 -1.70801785e-06 4.62139578e-01] [-2.37778160e-05 1.52722666e-06 1.00000000e+00 -5.04389563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.015898227 meters Centerline goodness [0,1] 0.988302005670482 Centerline is valid? [True, True] Translation: X:114.74, Y:0.45, Z:-0.50 [[ 9.99951305e-01 9.85265752e-03 5.59158984e-04 1.14739763e+02] [-9.85263712e-03 9.99951461e-01 -3.92102008e-05 4.52609493e-01] [-5.59518168e-04 3.36991009e-05 9.99999843e-01 -5.03965756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.04589822699995 meters Centerline goodness [0,1] 0.9985667529467132 Centerline is valid? [True, True] Translation: X:114.77, Y:0.46, Z:-0.50 [[ 9.99929457e-01 1.17952500e-02 1.39753024e-03 1.14770094e+02] [-1.17951248e-02 9.99930430e-01 -9.78300783e-05 4.61162958e-01] [-1.39858695e-03 8.13391335e-05 9.99999019e-01 -5.02843513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.075898227 meters Centerline goodness [0,1] 0.999027977347646 Centerline is valid? [True, True] Translation: X:114.80, Y:0.46, Z:-0.50 [[ 9.99882841e-01 1.50268281e-02 2.91520566e-03 1.14799880e+02] [-1.50262973e-02 9.99887078e-01 -2.03897954e-04 4.59995755e-01] [-2.91794041e-03 1.60069318e-04 9.99995730e-01 -5.01641179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.10589822699995 meters Centerline goodness [0,1] 0.9982435229910295 Centerline is valid? [True, True] Translation: X:114.83, Y:0.45, Z:-0.50 [[ 9.99860205e-01 1.64022319e-02 3.24625575e-03 1.14827939e+02] [-1.64015810e-02 9.99865459e-01 -2.27014148e-04 4.54214751e-01] [-3.24954254e-03 1.73738686e-04 9.99994705e-01 -5.01054526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.135898227 meters Centerline goodness [0,1] 0.9990315993347508 Centerline is valid? [True, True] Translation: X:114.86, Y:0.46, Z:-0.50 [[ 9.99831430e-01 1.79979714e-02 3.63115560e-03 1.14858292e+02] [-1.79971681e-02 9.99838006e-01 -2.53785708e-04 4.55922706e-01] [-3.63513500e-03 1.88392410e-04 9.99993375e-01 -5.01097860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.16589822699996 meters Centerline goodness [0,1] 0.9991237818430501 Centerline is valid? [True, True] Translation: X:114.89, Y:0.46, Z:-0.50 [[ 9.99791751e-01 2.00437168e-02 3.83469702e-03 1.14888395e+02] [-2.00428360e-02 9.99799086e-01 -2.67965331e-04 4.55424278e-01] [-3.83929760e-03 1.91051324e-04 9.99992612e-01 -5.01166364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.195898227 meters Centerline goodness [0,1] 0.9992190797804981 Centerline is valid? [True, True] Translation: X:114.92, Y:0.45, Z:-0.50 [[ 9.99728314e-01 2.30322146e-02 3.57991541e-03 1.14917188e+02] [-2.30314663e-02 9.99734709e-01 -2.50125556e-04 4.50620637e-01] [-3.58472664e-03 1.67606899e-04 9.99993561e-01 -5.01200557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.22589822699996 meters Centerline goodness [0,1] 0.9997460478699766 Centerline is valid? [True, True] Translation: X:114.95, Y:0.46, Z:-0.50 [[ 9.99518877e-01 3.08729753e-02 2.97890720e-03 1.14948917e+02] [-3.08724921e-02 9.99523309e-01 -2.08070531e-04 4.63120510e-01] [-2.98391094e-03 1.16004135e-04 9.99995541e-01 -5.02531340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.255898227 meters Centerline goodness [0,1] 0.9997889404812157 Centerline is valid? [True, True] Translation: X:114.98, Y:0.46, Z:-0.50 [[ 9.99382194e-01 3.50412089e-02 2.71010480e-03 1.14977827e+02] [-3.50408242e-02 9.99385864e-01 -1.89320805e-04 4.63179455e-01] [-2.71507445e-03 9.42395360e-05 9.99996310e-01 -5.03109539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.28589822699996 meters Centerline goodness [0,1] 0.9998519834221433 Centerline is valid? [True, True] Translation: X:115.01, Y:0.46, Z:-0.50 [[ 9.99237011e-01 3.89935148e-02 2.21376973e-03 1.15006590e+02] [-3.89932679e-02 9.99239461e-01 -1.54616168e-04 4.64698720e-01] [-2.21811510e-03 6.81760810e-05 9.99997538e-01 -5.03907599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.315898227 meters Centerline goodness [0,1] 0.9999158461667929 Centerline is valid? [True, True] Translation: X:115.04, Y:0.47, Z:-0.50 [[ 9.99087038e-01 4.26908029e-02 1.60814258e-03 1.15036807e+02] [-4.26906775e-02 9.99088331e-01 -1.12248455e-04 4.68646845e-01] [-1.61146846e-03 4.34932801e-05 9.99998701e-01 -5.04664053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.34589822699996 meters Centerline goodness [0,1] 0.9999789176311851 Centerline is valid? [True, True] Translation: X:115.07, Y:0.47, Z:-0.51 [[ 9.98826773e-01 4.84208725e-02 7.04810004e-04 1.15067660e+02] [-4.84208498e-02 9.98827022e-01 -4.92128157e-05 4.74727942e-01] [-7.06366204e-04 1.50275786e-05 9.99999750e-01 -5.06761166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.375898227 meters Centerline goodness [0,1] 0.9999579151147865 Centerline is valid? [True, True] Translation: X:115.10, Y:0.47, Z:-0.51 [[ 9.98739898e-01 5.01823803e-02 5.87296624e-04 1.15095531e+02] [-5.01823647e-02 9.98740071e-01 -4.11729255e-05 4.72129841e-01] [-5.88622827e-04 1.16491101e-05 9.99999827e-01 -5.08275054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.40589822699997 meters Centerline goodness [0,1] 0.99995783348443 Centerline is valid? [True, True] Translation: X:115.12, Y:0.47, Z:-0.51 [[ 9.98673573e-01 5.14792279e-02 9.92222996e-04 1.15124712e+02] [-5.14791845e-02 9.98674065e-01 -6.92832701e-05 4.71978259e-01] [-9.94474023e-04 1.81125402e-05 9.99999505e-01 -5.07665526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.435898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.15, Y:0.47, Z:-0.51 [[ 9.98659614e-01 5.17532812e-02 7.56711178e-04 1.15153886e+02] [-5.17532560e-02 9.98659901e-01 -5.28517640e-05 4.72852110e-01] [-7.58432362e-04 1.36186549e-05 9.99999712e-01 -5.07734182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.18, Y:0.47, Z:-0.51 [[ 9.98737420e-01 5.02301197e-02 -7.08063906e-04 1.15181050e+02] [-5.02300976e-02 9.98737671e-01 4.90226946e-05 4.66236275e-01] [ 7.09632512e-04 -1.33946805e-05 9.99999748e-01 -5.10688966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.495898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.21, Y:0.46, Z:-0.51 [[ 9.98799796e-01 4.89498516e-02 -1.69670758e-03 1.15209873e+02] [-4.89497222e-02 9.98801237e-01 1.17747183e-04 4.61619366e-01] [ 1.70043734e-03 -3.45524980e-05 9.99998554e-01 -5.12549712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.52589822699997 meters Centerline goodness [0,1] 0.999957969065232 Centerline is valid? [True, True] Translation: X:115.24, Y:0.45, Z:-0.51 [[ 9.98876189e-01 4.73379250e-02 -2.34095866e-03 1.15236644e+02] [-4.73376743e-02 9.98878931e-01 1.62380126e-04 4.52004989e-01] [ 2.34602103e-03 -5.13821021e-05 9.99997247e-01 -5.14476639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55589822699994 meters Centerline goodness [0,1] 0.999978947811625 Centerline is valid? [True, True] Translation: X:115.27, Y:0.45, Z:-0.51 [[ 9.98953337e-01 4.56749750e-02 -2.45484589e-03 1.15265520e+02] [-4.56746946e-02 9.98956352e-01 1.70208186e-04 4.48265233e-01] [ 2.46005815e-03 -5.79056992e-05 9.99996972e-01 -5.14112854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.585898227 meters Centerline goodness [0,1] 0.9999575686856901 Centerline is valid? [True, True] Translation: X:115.29, Y:0.45, Z:-0.51 [[ 9.99020102e-01 4.41919216e-02 -2.43081860e-03 1.15293654e+02] [-4.41916427e-02 9.99023058e-01 1.68352027e-04 4.45363900e-01] [ 2.43588363e-03 -6.07651918e-05 9.99997031e-01 -5.13037091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61589822699995 meters Centerline goodness [0,1] 0.999936768890294 Centerline is valid? [True, True] Translation: X:115.32, Y:0.44, Z:-0.51 [[ 9.99062144e-01 4.32553977e-02 -1.94987406e-03 1.15321301e+02] [-4.32552167e-02 9.99064046e-01 1.34888389e-04 4.40299614e-01] [ 1.95388371e-03 -5.04196581e-05 9.99998090e-01 -5.12341384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.645898227 meters Centerline goodness [0,1] 0.9997042732515156 Centerline is valid? [True, True] Translation: X:115.35, Y:0.44, Z:-0.51 [[ 9.99108911e-01 4.22026570e-02 -5.66150219e-04 1.15350456e+02] [-4.22026417e-02 9.99109071e-01 3.90257932e-05 4.37772313e-01] [ 5.67292811e-04 -1.50979829e-05 9.99999839e-01 -5.10677804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67589822699995 meters Centerline goodness [0,1] 0.9999368314663523 Centerline is valid? [True, True] Translation: X:115.38, Y:0.44, Z:-0.51 [[ 9.99075547e-01 4.29879431e-02 2.95388737e-04 1.15378660e+02] [-4.29879389e-02 9.99075591e-01 -2.06165856e-05 4.35350671e-01] [-2.96001941e-04 7.89937357e-06 9.99999956e-01 -5.08819446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.705898227 meters Centerline goodness [0,1] 0.9998941238750662 Centerline is valid? [True, True] Translation: X:115.41, Y:0.44, Z:-0.51 [[ 9.99051582e-01 4.35303819e-02 1.02138904e-03 1.15407133e+02] [-4.35303322e-02 9.99052103e-01 -7.08090509e-05 4.35343827e-01] [-1.02350322e-03 2.62804899e-05 9.99999476e-01 -5.06850267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.73589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:0.43, Z:-0.51 [[ 9.99034584e-01 4.38897584e-02 1.89454696e-03 1.15435600e+02] [-4.38895886e-02 9.99036379e-01 -1.31100966e-04 4.34585341e-01] [-1.89847533e-03 4.78235116e-05 9.99998197e-01 -5.05207212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.765898227 meters Centerline goodness [0,1] 0.9999157859278286 Centerline is valid? [True, True] Translation: X:115.46, Y:0.43, Z:-0.50 [[ 9.99083626e-01 4.27120734e-02 2.75438573e-03 1.15463410e+02] [-4.27117107e-02 9.99087420e-01 -1.90403794e-04 4.30941735e-01] [-2.76000468e-03 7.25847864e-05 9.99996189e-01 -5.04536647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.79589822699995 meters Centerline goodness [0,1] 0.999874799156981 Centerline is valid? [True, True] Translation: X:115.49, Y:0.43, Z:-0.51 [[ 9.99162808e-01 4.07956271e-02 3.06599650e-03 1.15491946e+02] [-4.07951694e-02 9.99167508e-01 -2.11724670e-04 4.25187946e-01] [-3.07208153e-03 8.64695695e-05 9.99995277e-01 -5.05150997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.825898227 meters Centerline goodness [0,1] 0.9998527091004734 Centerline is valid? [True, True] Translation: X:115.52, Y:0.42, Z:-0.51 [[ 9.99264225e-01 3.81971166e-02 3.46253019e-03 1.15521615e+02] [-3.81965176e-02 9.99270218e-01 -2.38967760e-04 4.22373944e-01] [-3.46913118e-03 1.06535339e-04 9.99993977e-01 -5.05184568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.85589822699995 meters Centerline goodness [0,1] 0.9997662459093034 Centerline is valid? [True, True] Translation: X:115.55, Y:0.42, Z:-0.50 [[ 9.99361068e-01 3.54805677e-02 4.31111815e-03 1.15551127e+02] [-3.54796145e-02 9.99370356e-01 -2.97412767e-04 4.19310739e-01] [-4.31895606e-03 1.44265931e-04 9.99990663e-01 -5.04393974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.885898227 meters Centerline goodness [0,1] 0.9997911096256684 Centerline is valid? [True, True] Translation: X:115.58, Y:0.41, Z:-0.50 [[ 9.99443149e-01 3.29027237e-02 5.55002782e-03 1.15578943e+02] [-3.29011052e-02 9.99458539e-01 -3.82687868e-04 4.14667906e-01] [-5.55961417e-03 1.99872719e-04 9.99984525e-01 -5.02380722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.91589822699996 meters Centerline goodness [0,1] 0.9996017355943573 Centerline is valid? [True, True] Translation: X:115.61, Y:0.41, Z:-0.50 [[ 9.99508364e-01 3.06705102e-02 6.50762639e-03 1.15607675e+02] [-3.06682390e-02 9.99529518e-01 -4.48527382e-04 4.08554097e-01] [-6.51832124e-03 2.48729428e-04 9.99978725e-01 -5.01171405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.945898227 meters Centerline goodness [0,1] 0.9994998749687422 Centerline is valid? [True, True] Translation: X:115.64, Y:0.40, Z:-0.50 [[ 9.99634720e-01 2.62284403e-02 6.51885764e-03 1.15637330e+02] [-2.62260670e-02 9.99655937e-01 -4.49292964e-04 4.03394959e-01] [-6.52839899e-03 2.78164849e-04 9.99978651e-01 -5.02455119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.97589822699996 meters Centerline goodness [0,1] 0.9992889855496769 Centerline is valid? [True, True] Translation: X:115.67, Y:0.40, Z:-0.50 [[ 9.99695004e-01 2.39619190e-02 5.97715752e-03 1.15666213e+02] [-2.39598837e-02 9.99712836e-01 -4.11901642e-04 3.95522442e-01] [-5.98531105e-03 2.68564015e-04 9.99982052e-01 -5.03869171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.005898227 meters Centerline goodness [0,1] 0.9990074756092411 Centerline is valid? [True, True] Translation: X:115.69, Y:0.39, Z:-0.51 [[ 9.99760202e-01 2.13739223e-02 4.76379609e-03 1.15694739e+02] [-2.13726002e-02 9.99771526e-01 -3.28269055e-04 3.89594031e-01] [-4.76972408e-03 2.26375627e-04 9.99988599e-01 -5.06608923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.03589822699996 meters Centerline goodness [0,1] 0.9990074756092411 Centerline is valid? [True, True] Translation: X:115.72, Y:0.39, Z:-0.51 [[ 9.99760202e-01 2.13739223e-02 4.76379603e-03 1.15724701e+02] [-2.13726002e-02 9.99771526e-01 -3.28269853e-04 3.87529336e-01] [-4.76972404e-03 2.26376427e-04 9.99988599e-01 -5.06724092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.065898227 meters Centerline goodness [0,1] 0.9993267693343432 Centerline is valid? [True, True] Translation: X:115.76, Y:0.39, Z:-0.51 [[ 9.99812058e-01 1.90704688e-02 3.48799265e-03 1.15755367e+02] [-1.90697461e-02 9.99818127e-01 -2.40355135e-04 3.87883667e-01] [-3.49194197e-03 1.73794828e-04 9.99993888e-01 -5.09752644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.09589822699996 meters Centerline goodness [0,1] 0.9992615722182371 Centerline is valid? [True, True] Translation: X:115.78, Y:0.38, Z:-0.51 [[ 9.99863308e-01 1.63442420e-02 2.49610467e-03 1.15784961e+02] [-1.63438634e-02 9.99866415e-01 -1.72020405e-04 3.83665529e-01] [-2.49858277e-03 1.31200898e-04 9.99996870e-01 -5.11602636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.125898227 meters Centerline goodness [0,1] 0.9982261266207713 Centerline is valid? [True, True] Translation: X:115.81, Y:0.37, Z:-0.51 [[ 9.99912717e-01 1.30293873e-02 2.18942581e-03 1.15813955e+02] [-1.30290881e-02 9.99915106e-01 -1.50864409e-04 3.70721975e-01] [-2.19120561e-03 1.22325019e-04 9.99997592e-01 -5.12135750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.15589822699997 meters Centerline goodness [0,1] 0.9981593145033323 Centerline is valid? [True, True] Translation: X:115.84, Y:0.37, Z:-0.51 [[ 9.99914848e-01 1.27952825e-02 2.56461849e-03 1.15843479e+02] [-1.27948713e-02 9.99918127e-01 -1.76696366e-04 3.69014485e-01] [-2.56666940e-03 1.43867356e-04 9.99996696e-01 -5.11483368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.185898227 meters Centerline goodness [0,1] 0.9989561809002407 Centerline is valid? [True, True] Translation: X:115.87, Y:0.37, Z:-0.51 [[ 9.99908880e-01 1.33112674e-02 2.24533043e-03 1.15873563e+02] [-1.33109536e-02 9.99911393e-01 -1.54621192e-04 3.67048193e-01] [-2.24718968e-03 1.24719614e-04 9.99997467e-01 -5.12158567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21589822699997 meters Centerline goodness [0,1] 0.9957160856782864 Centerline is valid? [True, True] Translation: X:115.90, Y:0.36, Z:-0.51 [[ 9.99898857e-01 1.41200975e-02 1.70231035e-03 1.15902086e+02] [-1.41199183e-02 9.99900302e-01 -1.17251552e-04 3.57347354e-01] [-1.70379624e-03 9.32032099e-05 9.99998544e-01 -5.13984900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.245898227 meters Centerline goodness [0,1] 0.9986949016966278 Centerline is valid? [True, True] Translation: X:115.93, Y:0.36, Z:-0.51 [[ 9.99885953e-01 1.50673592e-02 1.02729374e-03 1.15931812e+02] [-1.50672944e-02 9.99886479e-01 -7.07949192e-05 3.61941644e-01] [-1.02824381e-03 5.53083080e-05 9.99999470e-01 -5.14917394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27589822699997 meters Centerline goodness [0,1] 0.9992431250525607 Centerline is valid? [True, True] Translation: X:115.96, Y:0.36, Z:-0.52 [[ 9.99864666e-01 1.64456858e-02 4.35410390e-04 1.15961365e+02] [-1.64456743e-02 9.99864760e-01 -3.00470081e-05 3.63943766e-01] [-4.35845648e-04 2.28823243e-05 9.99999905e-01 -5.16393099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.30589822699994 meters Centerline goodness [0,1] 0.9986411907350113 Centerline is valid? [True, True] Translation: X:115.99, Y:0.36, Z:-0.52 [[ 9.99868597e-01 1.62049871e-02 4.33494763e-04 1.15989647e+02] [-1.62049756e-02 9.99868690e-01 -2.99438219e-05 3.58166780e-01] [-4.33923080e-04 2.29151152e-05 9.99999906e-01 -5.17564843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.335898227 meters Centerline goodness [0,1] 0.9979501767449643 Centerline is valid? [True, True] Translation: X:116.02, Y:0.35, Z:-0.52 [[ 9.99882199e-01 1.53465646e-02 -2.68073432e-04 1.16018315e+02] [-1.53465603e-02 9.99882234e-01 1.82980408e-05 3.52304180e-01] [ 2.68322675e-04 -1.41818802e-05 9.99999964e-01 -5.18923106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.36589822699995 meters Centerline goodness [0,1] 0.9968118130715664 Centerline is valid? [True, True] Translation: X:116.05, Y:0.35, Z:-0.52 [[ 9.99902524e-01 1.39222775e-02 -1.05505414e-03 1.16046967e+02] [-1.39222088e-02 9.99903079e-01 7.24147266e-05 3.47628148e-01] [ 1.05596006e-03 -5.77189838e-05 9.99999441e-01 -5.20533166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.395898227 meters Centerline goodness [0,1] 0.9974936296420067 Centerline is valid? [True, True] Translation: X:116.08, Y:0.35, Z:-0.52 [[ 9.99922811e-01 1.22999466e-02 -1.75617828e-03 1.16076862e+02] [-1.22997537e-02 9.99924348e-01 1.20561280e-04 3.47862842e-01] [ 1.75752832e-03 -9.89514137e-05 9.99998451e-01 -5.21360241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.42589822699995 meters Centerline goodness [0,1] 0.9971470233944082 Centerline is valid? [True, True] Translation: X:116.11, Y:0.34, Z:-0.52 [[ 9.99966417e-01 7.90298008e-03 -2.16983253e-03 1.16106775e+02] [-7.90267532e-03 9.99968762e-01 1.48992536e-04 3.44294249e-01] [ 2.17094223e-03 -1.31840050e-04 9.99997635e-01 -5.21431637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.455898227 meters Centerline goodness [0,1] 0.9948276949601564 Centerline is valid? [True, True] Translation: X:116.14, Y:0.34, Z:-0.52 [[ 9.99980641e-01 5.96554871e-03 -1.76905647e-03 1.16137091e+02] [-5.96534305e-03 9.99982200e-01 1.21506530e-04 3.38811393e-01] [ 1.76974983e-03 -1.10951149e-04 9.99998428e-01 -5.20690920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.48589822699995 meters Centerline goodness [0,1] 0.9437113921922932 Centerline is valid? [True, False] Translation: X:116.14, Y:0.34, Z:-0.52 [[ 9.99980758e-01 5.97101877e-03 -1.68252564e-03 1.16136635e+02] [-5.97036938e-03 9.99982101e-01 3.90723377e-04 3.37168283e-01] [ 1.68482854e-03 -3.80670559e-04 9.99998508e-01 -5.20418966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.515898227 meters Centerline goodness [0,1] 0.9459721432033209 Centerline is valid? [False, False] Translation: X:116.14, Y:0.34, Z:-0.52 [[ 9.99981013e-01 5.95123686e-03 -1.59914130e-03 1.16136273e+02] [-5.95027978e-03 9.99982115e-01 6.02591762e-04 3.35792638e-01] [ 1.60269887e-03 -5.93064982e-04 9.99998540e-01 -5.20307907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.54589822699995 meters Centerline goodness [0,1] 0.9710572947430597 Centerline is valid? [False, True] Translation: X:116.14, Y:0.33, Z:-0.52 [[ 9.99980890e-01 5.99885221e-03 -1.49463427e-03 1.16135928e+02] [-5.99744632e-03 9.99981570e-01 9.43337971e-04 3.33800798e-01] [ 1.50026567e-03 -9.34355954e-04 9.99998438e-01 -5.20324478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.575898227 meters Centerline goodness [0,1] 0.8366894590469021 Centerline is valid? [True, False] Translation: X:116.14, Y:0.33, Z:-0.52 [[ 9.99980880e-01 6.01516307e-03 -1.43468399e-03 1.16135614e+02] [-6.01333574e-03 9.99981107e-01 1.27461313e-03 3.31779516e-01] [ 1.44232389e-03 -1.26596153e-03 9.99998159e-01 -5.20180088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.60589822699995 meters Centerline goodness [0,1] 0.9284079833891267 Centerline is valid? [False, False] Translation: X:116.13, Y:0.33, Z:-0.52 [[ 9.99989610e-01 4.52264976e-03 -5.69737994e-04 1.16129310e+02] [-4.52266431e-03 9.99989772e-01 -2.42460177e-05 3.30963108e-01] [ 5.69622511e-04 2.68224995e-05 9.99999837e-01 -5.15757045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.635898227 meters Centerline goodness [0,1] 0.8404347003552435 Centerline is valid? [False, False] Translation: X:116.13, Y:0.33, Z:-0.52 [[ 9.99989430e-01 4.57041866e-03 -5.02016799e-04 1.16128674e+02] [-4.57034216e-03 9.99989544e-01 1.53429310e-04 3.30007844e-01] [ 5.02712786e-04 -1.51133300e-04 9.99999862e-01 -5.15082567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.66589822699996 meters Centerline goodness [0,1] 0.915129151291513 Centerline is valid? [False, False] Translation: X:116.13, Y:0.33, Z:-0.52 [[ 9.99988872e-01 4.68276364e-03 -5.72627811e-04 1.16129031e+02] [-4.68252176e-03 9.99988947e-01 4.23011302e-04 3.28698092e-01] [ 5.74602344e-04 -4.20325253e-04 9.99999747e-01 -5.15313656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.695898227 meters Centerline goodness [0,1] 0.9039515856950068 Centerline is valid? [False, False] Translation: X:116.13, Y:0.33, Z:-0.52 [[ 9.99988101e-01 4.82239500e-03 -7.37086943e-04 1.16129992e+02] [-4.82185678e-03 9.99988108e-01 7.30234213e-04 3.27216663e-01] [ 7.40599656e-04 -7.26671396e-04 9.99999462e-01 -5.16082780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.72589822699996 meters Centerline goodness [0,1] 0.8295528875572342 Centerline is valid? [False, False] Translation: X:116.13, Y:0.32, Z:-0.52 [[ 9.99986126e-01 5.16832471e-03 -1.01756753e-03 1.16131797e+02] [-5.16686191e-03 9.99985622e-01 1.43495970e-03 3.23993792e-01] [ 1.02496924e-03 -1.42968216e-03 9.99998453e-01 -5.17663200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.755898227 meters Centerline goodness [0,1] 0.937754973293519 Centerline is valid? [False, False] Translation: X:116.13, Y:0.32, Z:-0.52 [[ 9.99985545e-01 5.26424559e-03 -1.09438441e-03 1.16132139e+02] [-5.26243330e-03 9.99984788e-01 1.65233216e-03 3.22891401e-01] [ 1.10306604e-03 -1.64654915e-03 9.99998036e-01 -5.17837710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.78589822699996 meters Centerline goodness [0,1] 0.941108545034642 Centerline is valid? [False, False] Translation: X:116.13, Y:0.32, Z:-0.52 [[ 9.99985173e-01 5.33331060e-03 -1.09936271e-03 1.16132101e+02] [-5.33136080e-03 9.99984224e-01 1.76893356e-03 3.22327398e-01] [ 1.10877964e-03 -1.76304624e-03 9.99997831e-01 -5.17753038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.815898227 meters Centerline goodness [0,1] 0.912373949579832 Centerline is valid? [False, False] Translation: X:116.13, Y:0.32, Z:-0.52 [[ 9.99985060e-01 5.35878402e-03 -1.07849949e-03 1.16131856e+02] [-5.35686736e-03 9.99984081e-01 1.77226852e-03 3.22312370e-01] [ 1.08797952e-03 -1.76646466e-03 9.99997848e-01 -5.17465313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.84589822699996 meters Centerline goodness [0,1] 0.8426155202081672 Centerline is valid? [False, False] Translation: X:116.13, Y:0.32, Z:-0.52 [[ 9.99985163e-01 5.33849737e-03 -1.08336300e-03 1.16131838e+02] [-5.33668730e-03 9.99984371e-01 1.66685906e-03 3.22816706e-01] [ 1.09224459e-03 -1.66105276e-03 9.99998024e-01 -5.17430928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.875898227 meters Centerline goodness [0,1] 0.9038683542178284 Centerline is valid? [False, False] Translation: X:116.13, Y:0.33, Z:-0.52 [[ 9.99984807e-01 5.34739402e-03 -1.33845520e-03 1.16133000e+02] [-5.34572678e-03 9.99984935e-01 1.24614015e-03 3.25341094e-01] [ 1.34509863e-03 -1.23896620e-03 9.99998328e-01 -5.17932018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.90589822699997 meters Centerline goodness [0,1] 0.9951263115329773 Centerline is valid? [False, True] Translation: X:116.09, Y:0.33, Z:-0.52 [[ 9.99983075e-01 5.27264004e-03 -2.45937906e-03 1.16092400e+02] [-5.27774335e-03 9.99983924e-01 -2.07318870e-03 3.31242064e-01] [ 2.44840834e-03 2.08613359e-03 9.99994827e-01 -5.18773871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.935898227 meters Centerline goodness [0,1] 0.9673208154961217 Centerline is valid? [True, True] Translation: X:116.12, Y:0.32, Z:-0.52 [[ 9.99981595e-01 5.73276182e-03 -1.98624261e-03 1.16120331e+02] [-5.73249434e-03 9.99983559e-01 1.40332479e-04 3.19634364e-01] [ 1.98701445e-03 -1.28943771e-04 9.99998018e-01 -5.20278636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96589822699997 meters Centerline goodness [0,1] 0.9902323013547374 Centerline is valid? [True, True] Translation: X:116.15, Y:0.32, Z:-0.52 [[ 9.99983777e-01 5.61109375e-03 -9.80762700e-04 1.16150274e+02] [-5.61102851e-03 9.99984256e-01 6.92620124e-05 3.23622790e-01] [ 9.81135894e-04 -6.37578013e-05 9.99999517e-01 -5.19074314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.995898227 meters Centerline goodness [0,1] 0.9723878716613472 Centerline is valid? [True, True] Translation: X:116.18, Y:0.32, Z:-0.52 [[ 9.99986136e-01 5.25675052e-03 -3.07907584e-04 1.16178868e+02] [-5.25674409e-03 9.99986183e-01 2.16946207e-05 3.18259600e-01] [ 3.08017373e-04 -2.00757285e-05 9.99999952e-01 -5.18143597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.02589822699997 meters Centerline goodness [0,1] 0.9696982362283708 Centerline is valid? [True, True] Translation: X:116.21, Y:0.32, Z:-0.52 [[ 9.99992606e-01 3.69169676e-03 -1.07656993e-03 1.16209328e+02] [-3.69161704e-03 9.99993183e-01 7.60274021e-05 3.17212844e-01] [ 1.07684326e-03 -7.20525561e-05 9.99999418e-01 -5.19313252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05589822699994 meters Centerline goodness [0,1] 0.9858830003386386 Centerline is valid? [True, True] Translation: X:116.24, Y:0.32, Z:-0.52 [[ 9.99993482e-01 2.69969014e-03 -2.39730409e-03 1.16239550e+02] [-2.69929211e-03 9.99996343e-01 1.69252957e-04 3.18481628e-01] [ 2.39775225e-03 -1.62780830e-04 9.99997112e-01 -5.20662860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.085898227 meters Centerline goodness [0,1] 0.9575861924159073 Centerline is valid? [True, True] Translation: X:116.27, Y:0.31, Z:-0.52 [[ 9.99991163e-01 1.89839912e-03 -3.75108586e-03 1.16267803e+02] [-1.89741957e-03 9.99998165e-01 2.64678277e-04 3.10501345e-01] [ 3.75158144e-03 -2.57558555e-04 9.99992930e-01 -5.23008621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11589822699995 meters Centerline goodness [0,1] 0.9494970750389293 Centerline is valid? [True, False] Translation: X:116.27, Y:0.31, Z:-0.52 [[ 9.99990634e-01 1.91528750e-03 -3.88115663e-03 1.16268527e+02] [-1.91408108e-03 9.99998119e-01 3.14530208e-04 3.10248658e-01] [ 3.88175174e-03 -3.07098413e-04 9.99992419e-01 -5.23492065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.145898227 meters Centerline goodness [0,1] 0.9615085454813008 Centerline is valid? [False, True] Translation: X:116.27, Y:0.31, Z:-0.52 [[ 9.99990485e-01 1.85811518e-03 -3.94688161e-03 1.16268817e+02] [-1.85732167e-03 9.99998254e-01 2.04701636e-04 3.10695119e-01] [ 3.94725508e-03 -1.97369059e-04 9.99992190e-01 -5.23562387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17589822699995 meters Centerline goodness [0,1] 0.9644037311247752 Centerline is valid? [True, True] Translation: X:116.30, Y:0.31, Z:-0.52 [[ 9.99984665e-01 4.59915900e-03 -3.08515621e-03 1.16298266e+02] [-4.59850896e-03 9.99989403e-01 2.17757677e-04 3.10306485e-01] [ 3.08612502e-03 -2.03567219e-04 9.99995217e-01 -5.21657894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.205898227 meters Centerline goodness [0,1] 0.9691872643485546 Centerline is valid? [True, True] Translation: X:116.33, Y:0.31, Z:-0.52 [[ 9.99972354e-01 6.79912064e-03 -3.01065879e-03 1.16327316e+02] [-6.79851175e-03 9.99976867e-01 2.12433364e-04 3.09702759e-01] [ 3.01203351e-03 -1.91959492e-04 9.99995445e-01 -5.21472518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.23589822699995 meters Centerline goodness [0,1] 0.9845505915218725 Centerline is valid? [True, True] Translation: X:116.36, Y:0.31, Z:-0.52 [[ 9.99949823e-01 9.47642654e-03 -3.24780682e-03 1.16357577e+02] [-9.47573195e-03 9.99955078e-01 2.29186142e-04 3.11697077e-01] [ 3.24983279e-03 -1.98399296e-04 9.99994700e-01 -5.22350058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.265898227 meters Centerline goodness [0,1] 0.9979664463650229 Centerline is valid? [True, True] Translation: X:116.39, Y:0.32, Z:-0.52 [[ 9.99918410e-01 1.21642462e-02 -3.89937160e-03 1.16388420e+02] [-1.21632653e-02 9.99925987e-01 2.75156938e-04 3.19098249e-01] [ 3.90243007e-03 -2.27705397e-04 9.99992360e-01 -5.22792247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.29589822699995 meters Centerline goodness [0,1] 0.9985382285024257 Centerline is valid? [True, True] Translation: X:116.42, Y:0.32, Z:-0.52 [[ 9.99881309e-01 1.48465245e-02 -4.11692029e-03 1.16417843e+02] [-1.48454542e-02 9.99889758e-01 2.90415208e-04 3.19470789e-01] [ 4.12077809e-03 -2.29263186e-04 9.99991483e-01 -5.23357951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.325898227 meters Centerline goodness [0,1] 0.999051693254378 Centerline is valid? [True, True] Translation: X:116.45, Y:0.32, Z:-0.52 [[ 9.99832729e-01 1.78460192e-02 -4.00412612e-03 1.16448427e+02] [-1.78450306e-02 9.99840725e-01 2.82476373e-04 3.21050486e-01] [ 4.00852944e-03 -2.10975370e-04 9.99991944e-01 -5.22569950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.35589822699995 meters Centerline goodness [0,1] 0.9995125259632911 Centerline is valid? [True, True] Translation: X:116.48, Y:0.32, Z:-0.52 [[ 9.99710069e-01 2.37590310e-02 -3.90967432e-03 1.16477798e+02] [-2.37581341e-02 9.99717698e-01 2.75695526e-04 3.24678068e-01] [ 3.91512087e-03 -1.82729027e-04 9.99992319e-01 -5.22194608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.385898227 meters Centerline goodness [0,1] 0.9994704623922391 Centerline is valid? [True, True] Translation: X:116.51, Y:0.33, Z:-0.52 [[ 9.99629280e-01 2.69401098e-02 -3.94115859e-03 1.16508232e+02] [-2.69392232e-02 9.99637035e-01 2.77891720e-04 3.27873937e-01] [ 3.94721451e-03 -1.71616949e-04 9.99992195e-01 -5.22445140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.41589822699996 meters Centerline goodness [0,1] 0.9996424665601077 Centerline is valid? [True, True] Translation: X:116.54, Y:0.33, Z:-0.52 [[ 9.99521358e-01 3.07364005e-02 -3.51125681e-03 1.16537218e+02] [-3.07357203e-02 9.99527515e-01 2.47520572e-04 3.25585880e-01] [ 3.51720569e-03 -1.39481091e-04 9.99993805e-01 -5.22120263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.445898227 meters Centerline goodness [0,1] 0.9997078159240321 Centerline is valid? [True, True] Translation: X:116.57, Y:0.33, Z:-0.52 [[ 9.99394862e-01 3.47043016e-02 -2.34968066e-03 1.16567703e+02] [-3.47040080e-02 9.99397621e-01 1.65646617e-04 3.30614732e-01] [ 2.35401391e-03 -8.40030420e-05 9.99997226e-01 -5.19546042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.47589822699996 meters Centerline goodness [0,1] 0.9999362244897959 Centerline is valid? [True, True] Translation: X:116.60, Y:0.33, Z:-0.52 [[ 9.99252065e-01 3.86645151e-02 -6.04632622e-04 1.16597834e+02] [-3.86644964e-02 9.99252248e-01 4.25955856e-05 3.33852815e-01] [ 6.05827444e-04 -1.91859111e-05 9.99999816e-01 -5.17255608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.505898227 meters Centerline goodness [0,1] 0.9999790043880828 Centerline is valid? [True, True] Translation: X:116.63, Y:0.34, Z:-0.51 [[ 9.98954523e-01 4.56766393e-02 1.87223912e-03 1.16628125e+02] [-4.56764721e-02 9.98956277e-01 -1.31976790e-04 3.42746295e-01] [-1.87631328e-03 4.63215336e-05 9.99998239e-01 -5.13898997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.53589822699996 meters Centerline goodness [0,1] 0.99983094543764 Centerline is valid? [True, True] Translation: X:116.66, Y:0.34, Z:-0.51 [[ 9.98821974e-01 4.84448589e-02 2.78576388e-03 1.16656063e+02] [-4.84444998e-02 9.98825857e-01 -1.96303729e-04 3.44999489e-01] [-2.79200290e-03 6.11175409e-05 9.99996100e-01 -5.13160715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:0.35, Z:-0.51 [[ 9.98716159e-01 5.05369763e-02 3.47110377e-03 1.16685310e+02] [-5.05364319e-02 9.98722188e-01 -2.44418966e-04 3.46949090e-01] [-3.47902055e-03 6.86879711e-05 9.99993946e-01 -5.12791365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.59589822699996 meters Centerline goodness [0,1] 0.999957884097035 Centerline is valid? [True, True] Translation: X:116.71, Y:0.35, Z:-0.51 [[ 9.98618678e-01 5.24285187e-02 3.46214946e-03 1.16714398e+02] [-5.24279890e-02 9.98624678e-01 -2.43632342e-04 3.50295698e-01] [-3.47016117e-03 6.17822734e-05 9.99993977e-01 -5.13656550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.625898227 meters Centerline goodness [0,1] 0.9999370607363894 Centerline is valid? [True, True] Translation: X:116.74, Y:0.35, Z:-0.52 [[ 9.98628013e-01 5.22808626e-02 2.96689690e-03 1.16742475e+02] [-5.22804734e-02 9.98632419e-01 -2.08649549e-04 3.47223674e-01] [-2.97374781e-03 5.32525105e-05 9.99995577e-01 -5.15090912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.65589822699997 meters Centerline goodness [0,1] 0.9997474481742608 Centerline is valid? [True, True] Translation: X:116.77, Y:0.34, Z:-0.52 [[ 9.98659018e-01 5.17065514e-02 2.56853644e-03 1.16770254e+02] [-5.17062581e-02 9.98662320e-01 -1.80503288e-04 3.43717918e-01] [-2.57443376e-03 4.74518281e-05 9.99996685e-01 -5.15847683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.685898227 meters Centerline goodness [0,1] 0.9999788730906556 Centerline is valid? [True, True] Translation: X:116.80, Y:0.34, Z:-0.52 [[ 9.98681868e-01 5.12857558e-02 2.07320573e-03 1.16798894e+02] [-5.12855640e-02 9.98684019e-01 -1.45598785e-04 3.43298575e-01] [-2.07794458e-03 3.90813416e-05 9.99997840e-01 -5.15598542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:0.34, Z:-0.52 [[ 9.98702141e-01 5.08780234e-02 2.33655478e-03 1.16826643e+02] [-5.08777790e-02 9.98704874e-01 -1.63970807e-04 3.41041256e-01] [-2.34187116e-03 4.48792787e-05 9.99997257e-01 -5.15385954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.745898227 meters Centerline goodness [0,1] 0.999958109919571 Centerline is valid? [True, True] Translation: X:116.85, Y:0.33, Z:-0.52 [[ 9.98727716e-01 5.03660760e-02 2.49149098e-03 1.16853703e+02] [-5.03657969e-02 9.98730823e-01 -1.74691793e-04 3.34951218e-01] [-2.49712738e-03 4.89836067e-05 9.99996881e-01 -5.15264168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77589822699997 meters Centerline goodness [0,1] 0.9999580545710032 Centerline is valid? [True, True] Translation: X:116.88, Y:0.33, Z:-0.51 [[ 9.98704738e-01 5.07188400e-02 4.05519689e-03 1.16881008e+02] [-5.07181047e-02 9.98712968e-01 -2.84026685e-04 3.32820982e-01] [-4.06438323e-03 7.79868961e-05 9.99991737e-01 -5.13555153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80589822699994 meters Centerline goodness [0,1] 0.9998304545936209 Centerline is valid? [True, True] Translation: X:116.91, Y:0.33, Z:-0.51 [[ 9.98686604e-01 5.10469924e-02 4.39004618e-03 1.16909399e+02] [-5.10461347e-02 9.98696249e-01 -3.07257459e-04 3.32469736e-01] [-4.40000722e-03 8.27590188e-05 9.99990316e-01 -5.14312355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.835898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.94, Y:0.34, Z:-0.51 [[ 9.98679156e-01 5.12319067e-02 3.90322469e-03 1.16938299e+02] [-5.12312308e-02 9.98686781e-01 -2.73022342e-04 3.35641791e-01] [-3.91208636e-03 7.26947169e-05 9.99992345e-01 -5.14451946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86589822699995 meters Centerline goodness [0,1] 0.999978700291806 Centerline is valid? [True, True] Translation: X:116.97, Y:0.33, Z:-0.51 [[ 9.98679326e-01 5.12269036e-02 3.92523377e-03 1.16967284e+02] [-5.12262208e-02 9.98687038e-01 -2.74378886e-04 3.34567579e-01] [-3.93413567e-03 7.29416293e-05 9.99992259e-01 -5.14648678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.895898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:0.33, Z:-0.51 [[ 9.98672819e-01 5.13695743e-02 3.71050658e-03 1.16994745e+02] [-5.13689658e-02 9.98679710e-01 -2.59185408e-04 3.34243473e-01] [-3.71892188e-03 6.82365366e-05 9.99993082e-01 -5.14299098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.02, Y:0.33, Z:-0.51 [[ 9.98675178e-01 5.13236827e-02 3.71052031e-03 1.17023008e+02] [-5.13230746e-02 9.98682069e-01 -2.58988791e-04 3.32355594e-01] [-3.71892236e-03 6.82103668e-05 9.99993082e-01 -5.14362271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.955898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.05, Y:0.33, Z:-0.52 [[ 9.98548470e-01 5.37955852e-02 2.64357958e-03 1.17051148e+02] [-5.37952855e-02 9.98551968e-01 -1.84420654e-04 3.34829795e-01] [-2.64967261e-03 4.19408433e-05 9.99996489e-01 -5.16183127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.08, Y:0.34, Z:-0.52 [[ 9.98472077e-01 5.52244399e-02 1.94258276e-03 1.17080318e+02] [-5.52242809e-02 9.98473966e-01 -1.35436958e-04 3.36408268e-01] [-1.94709774e-03 2.79522843e-05 9.99998104e-01 -5.17999945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.015898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.11, Y:0.34, Z:-0.52 [[ 9.98434321e-01 5.59232646e-02 1.22248738e-03 1.17108040e+02] [-5.59232022e-02 9.98435070e-01 -8.52248878e-05 3.35691770e-01] [-1.22534032e-03 1.67260442e-05 9.99999249e-01 -5.19903979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.14, Y:0.33, Z:-0.52 [[ 9.98444484e-01 5.57460815e-02 9.93368794e-04 1.17135160e+02] [-5.57460402e-02 9.98444978e-01 -6.92468793e-05 3.33495072e-01] [-9.95684326e-04 1.37627880e-05 9.99999504e-01 -5.20305642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.075898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.16, Y:0.33, Z:-0.52 [[ 9.98487732e-01 5.49649666e-02 1.04962057e-03 1.17163795e+02] [-5.49649202e-02 9.98488283e-01 -7.30339835e-05 3.30544896e-01] [-1.05204815e-03 1.52312257e-05 9.99999446e-01 -5.20156490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:0.33, Z:-0.52 [[ 9.98551790e-01 5.37832955e-02 1.29601972e-03 1.17192301e+02] [-5.37832239e-02 9.98552631e-01 -9.00962538e-05 3.26422929e-01] [-1.29898957e-03 2.02616570e-05 9.99999156e-01 -5.19519154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.135898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:0.32, Z:-0.52 [[ 9.98648490e-01 5.19554822e-02 1.34978019e-03 1.17219857e+02] [-5.19554029e-02 9.98649402e-01 -9.37825989e-05 3.20989462e-01] [-1.35282970e-03 2.35274771e-05 9.99999085e-01 -5.18952934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.25, Y:0.32, Z:-0.52 [[ 9.98655791e-01 5.18201126e-02 1.13487763e-03 1.17248117e+02] [-5.18200565e-02 9.98656435e-01 -7.87853167e-05 3.18577404e-01] [-1.13743551e-03 1.98699901e-05 9.99999353e-01 -5.18556990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.195898227 meters Centerline goodness [0,1] 0.9999789029535865 Centerline is valid? [True, True] Translation: X:117.28, Y:0.32, Z:-0.52 [[ 9.98651869e-01 5.18958333e-02 1.12565455e-03 1.17276911e+02] [-5.18957782e-02 9.98652503e-01 -7.80958671e-05 3.16141836e-01] [-1.12819058e-03 1.95738648e-05 9.99999363e-01 -5.18938971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.30, Y:0.31, Z:-0.52 [[ 9.98636254e-01 5.21922298e-02 1.26618607e-03 1.17304553e+02] [-5.21921604e-02 9.98637057e-01 -8.77879414e-05 3.13500833e-01] [-1.26904218e-03 2.15832343e-05 9.99999195e-01 -5.19289195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.255898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.33, Y:0.31, Z:-0.52 [[ 9.98651736e-01 5.18884737e-02 1.51517799e-03 1.17332264e+02] [-5.18883742e-02 9.98652885e-01 -1.04943623e-04 3.10652092e-01] [-1.51858223e-03 2.61820089e-05 9.99998847e-01 -5.19339738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.36, Y:0.31, Z:-0.52 [[ 9.98673154e-01 5.14675964e-02 1.73706081e-03 1.17361143e+02] [-5.14674652e-02 9.98674665e-01 -1.20193707e-04 3.06942337e-01] [-1.74094470e-03 3.06321120e-05 9.99998484e-01 -5.18846829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.315898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.39, Y:0.30, Z:-0.52 [[ 9.98707492e-01 5.07765323e-02 2.25575677e-03 1.17389480e+02] [-5.07763095e-02 9.98710039e-01 -1.55957626e-04 3.02752135e-01] [-2.26076592e-03 4.12170458e-05 9.99997444e-01 -5.18932991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34589822699996 meters Centerline goodness [0,1] 0.9999369549227698 Centerline is valid? [True, True] Translation: X:117.42, Y:0.30, Z:-0.52 [[ 9.98771041e-01 4.95063800e-02 2.35054077e-03 1.17418385e+02] [-4.95061349e-02 9.98773806e-01 -1.62405430e-04 2.97587230e-01] [-2.35569865e-03 4.58396518e-05 9.99997224e-01 -5.18969131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.375898227 meters Centerline goodness [0,1] 0.9998945370175069 Centerline is valid? [True, True] Translation: X:117.45, Y:0.29, Z:-0.52 [[ 9.98921503e-01 4.64031241e-02 1.60626802e-03 1.17447844e+02] [-4.64030057e-02 9.98922794e-01 -1.10929963e-04 2.92331845e-01] [-1.60968524e-03 3.62746616e-05 9.99998704e-01 -5.21517903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:0.29, Z:-0.52 [[ 9.98987652e-01 4.49688721e-02 1.21295211e-03 1.17476779e+02] [-4.49688035e-02 9.98988388e-01 -8.37763211e-05 2.90641383e-01] [-1.21549240e-03 2.91465050e-05 9.99999261e-01 -5.21720542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.435898227 meters Centerline goodness [0,1] 0.9999786561939725 Centerline is valid? [True, True] Translation: X:117.51, Y:0.29, Z:-0.52 [[ 9.99031634e-01 4.39717497e-02 1.50968793e-03 1.17505346e+02] [-4.39716425e-02 9.99032774e-01 -1.04177328e-04 2.88868107e-01] [-1.51280858e-03 3.76929881e-05 9.99998855e-01 -5.21253527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46589822699997 meters Centerline goodness [0,1] 0.9997052445417606 Centerline is valid? [True, True] Translation: X:117.53, Y:0.29, Z:-0.52 [[ 9.99067731e-01 4.31269716e-02 1.93239393e-03 1.17532682e+02] [-4.31267945e-02 9.99069598e-01 -1.33230520e-04 2.85761423e-01] [-1.93634186e-03 4.97683577e-05 9.99998124e-01 -5.21688915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.495898227 meters Centerline goodness [0,1] 0.9998737161138239 Centerline is valid? [True, True] Translation: X:117.56, Y:0.28, Z:-0.52 [[ 9.99105710e-01 4.22081020e-02 2.50135382e-03 1.17560275e+02] [-4.22078029e-02 9.99108839e-01 -1.72274458e-04 2.82012158e-01] [-2.50639609e-03 6.65437455e-05 9.99996857e-01 -5.20277393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.52589822699997 meters Centerline goodness [0,1] 0.9999371569818594 Centerline is valid? [True, True] Translation: X:117.59, Y:0.28, Z:-0.52 [[ 9.99160394e-01 4.08420046e-02 3.23062684e-03 1.17587727e+02] [-4.08414993e-02 9.99165613e-01 -2.22267572e-04 2.77788246e-01] [-3.23700910e-03 9.01373112e-05 9.99994757e-01 -5.18998487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55589822699994 meters Centerline goodness [0,1] 0.9997032452254276 Centerline is valid? [True, True] Translation: X:117.62, Y:0.28, Z:-0.52 [[ 9.99302942e-01 3.70184998e-02 4.82301010e-03 1.17618028e+02] [-3.70173300e-02 9.99314569e-01 -3.31604871e-04 2.75575211e-01] [-4.83197977e-03 1.52838767e-04 9.99988314e-01 -5.17459264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.585898227 meters Centerline goodness [0,1] 0.9996453604806409 Centerline is valid? [True, True] Translation: X:117.65, Y:0.27, Z:-0.52 [[ 9.99371927e-01 3.51269966e-02 4.67401962e-03 1.17646058e+02] [-3.51258779e-02 9.99382844e-01 -3.21251646e-04 2.68991645e-01] [-4.68241963e-03 1.56870834e-04 9.99989025e-01 -5.17761963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61589822699995 meters Centerline goodness [0,1] 0.9997466055704542 Centerline is valid? [True, True] Translation: X:117.67, Y:0.26, Z:-0.52 [[ 9.99446939e-01 3.30121647e-02 4.00163554e-03 1.17674354e+02] [-3.30113283e-02 9.99454940e-01 -2.74908621e-04 2.63939919e-01] [-4.00852974e-03 1.42657275e-04 9.99991956e-01 -5.18612144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.645898227 meters Centerline goodness [0,1] 0.9996449160330855 Centerline is valid? [True, True] Translation: X:117.70, Y:0.26, Z:-0.52 [[ 9.99511743e-01 3.10489256e-02 3.49861046e-03 1.17704088e+02] [-3.10482746e-02 9.99517857e-01 -2.40253672e-04 2.61214317e-01] [-3.50438325e-03 1.31510548e-04 9.99993851e-01 -5.19844611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67589822699995 meters Centerline goodness [0,1] 0.999893696183693 Centerline is valid? [True, True] Translation: X:117.73, Y:0.26, Z:-0.52 [[ 9.99558131e-01 2.95074197e-02 3.58540905e-03 1.17733928e+02] [-2.95067263e-02 9.99564551e-01 -2.46132602e-04 2.64788439e-01] [-3.59111052e-03 1.40230160e-04 9.99993542e-01 -5.19731700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.705898227 meters Centerline goodness [0,1] 0.9995794343391862 Centerline is valid? [True, True] Translation: X:117.76, Y:0.26, Z:-0.52 [[ 9.99598261e-01 2.81016898e-02 3.68934727e-03 1.17761683e+02] [-2.81009465e-02 9.99605058e-01 -2.53147604e-04 2.59799436e-01] [-3.69500407e-03 1.49371754e-04 9.99993162e-01 -5.18147583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73589822699995 meters Centerline goodness [0,1] 0.9996009325576022 Centerline is valid? [True, True] Translation: X:117.79, Y:0.26, Z:-0.52 [[ 9.99648191e-01 2.62040902e-02 4.10359979e-03 1.17791551e+02] [-2.62031554e-02 9.99656599e-01 -2.81416118e-04 2.63328064e-01] [-4.10956486e-03 1.73789850e-04 9.99991541e-01 -5.17855438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.765898227 meters Centerline goodness [0,1] 0.9996411458003505 Centerline is valid? [True, True] Translation: X:117.82, Y:0.26, Z:-0.52 [[ 9.99667262e-01 2.55387665e-02 3.62452024e-03 1.17821151e+02] [-2.55380331e-02 9.99673820e-01 -2.48486746e-04 2.62743101e-01] [-3.62968404e-03 1.55840947e-04 9.99993401e-01 -5.18926931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79589822699995 meters Centerline goodness [0,1] 0.9995613760260668 Centerline is valid? [True, True] Translation: X:117.85, Y:0.26, Z:-0.52 [[ 9.99692300e-01 2.45979188e-02 3.20116459e-03 1.17850386e+02] [-2.45973421e-02 9.99697416e-01 -2.19386193e-04 2.61367046e-01] [-3.20559241e-03 1.40578547e-04 9.99994852e-01 -5.20699369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.825898227 meters Centerline goodness [0,1] 0.9996797540511112 Centerline is valid? [True, True] Translation: X:117.88, Y:0.27, Z:-0.52 [[ 9.99720281e-01 2.35216664e-02 2.46793782e-03 1.17879911e+02] [-2.35213205e-02 9.99723321e-01 -1.69070026e-04 2.65453059e-01] [-2.47123180e-03 1.10973577e-04 9.99996940e-01 -5.22105794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85589822699995 meters Centerline goodness [0,1] 0.9996411079209593 Centerline is valid? [True, True] Translation: X:117.91, Y:0.26, Z:-0.52 [[ 9.99751941e-01 2.21775931e-02 2.05221776e-03 1.17907774e+02] [-2.21773513e-02 9.99754042e-01 -1.40528349e-04 2.61253259e-01] [-2.05482958e-03 9.49807351e-05 9.99997884e-01 -5.22729951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.885898227 meters Centerline goodness [0,1] 0.99955864735924 Centerline is valid? [True, True] Translation: X:117.94, Y:0.26, Z:-0.52 [[ 9.99787328e-01 2.05588532e-02 1.62237821e-03 1.17936373e+02] [-2.05586999e-02 9.99788641e-01 -1.11091948e-04 2.56559636e-01] [-1.62431923e-03 7.77143355e-05 9.99998678e-01 -5.23492375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91589822699996 meters Centerline goodness [0,1] 0.9994322482967449 Centerline is valid? [True, True] Translation: X:117.97, Y:0.26, Z:-0.53 [[ 9.99858234e-01 1.68331848e-02 3.93787607e-04 1.17967251e+02] [-1.68331755e-02 9.99858312e-01 -2.69477573e-05 2.57053645e-01] [-3.94185428e-04 2.03152412e-05 9.99999922e-01 -5.25235194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.945898227 meters Centerline goodness [0,1] 0.999411195693317 Centerline is valid? [True, True] Translation: X:118.00, Y:0.25, Z:-0.53 [[ 9.99893054e-01 1.46230596e-02 2.14456441e-04 1.17997157e+02] [-1.46230568e-02 9.99893077e-01 -1.46976932e-05 2.54323411e-01] [-2.14648436e-04 1.15601127e-05 9.99999977e-01 -5.25592980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97589822699996 meters Centerline goodness [0,1] 0.9974288724973657 Centerline is valid? [True, True] Translation: X:118.03, Y:0.25, Z:-0.53 [[ 9.99924940e-01 1.22491845e-02 2.69094467e-04 1.18026182e+02] [-1.22491799e-02 9.99924976e-01 -1.84326195e-05 2.45070165e-01] [-2.69300063e-04 1.51350494e-05 9.99999964e-01 -5.25384794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.005898227 meters Centerline goodness [0,1] 0.9906070730631028 Centerline is valid? [True, True] Translation: X:118.06, Y:0.24, Z:-0.53 [[ 9.99970279e-01 7.68543215e-03 6.13286660e-04 1.18056293e+02] [-7.68540787e-03 9.99970466e-01 -4.19499686e-05 2.38472584e-01] [-6.13590951e-04 3.72353636e-05 9.99999811e-01 -5.25238255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03589822699996 meters Centerline goodness [0,1] 0.9749148408259388 Centerline is valid? [True, True] Translation: X:118.09, Y:0.23, Z:-0.53 [[ 9.99983916e-01 5.62507705e-03 7.25114867e-04 1.18085061e+02] [-5.62504256e-03 9.99984178e-01 -4.95989686e-05 2.31880445e-01] [-7.25382392e-04 4.55193689e-05 9.99999736e-01 -5.25344419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.065898227 meters Centerline goodness [0,1] 0.9619059566371866 Centerline is valid? [True, True] Translation: X:118.11, Y:0.23, Z:-0.53 [[ 9.99992513e-01 3.86278457e-03 2.30415460e-04 1.18114671e+02] [-3.86278104e-03 9.99992539e-01 -1.57840529e-05 2.27148490e-01] [-2.30474711e-04 1.48938902e-05 9.99999973e-01 -5.26120887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09589822699996 meters Centerline goodness [0,1] 0.983211617560648 Centerline is valid? [True, True] Translation: X:118.14, Y:0.23, Z:-0.53 [[ 9.99996874e-01 2.49717545e-03 -1.28725399e-04 1.18144876e+02] [-2.49717433e-03 9.99996882e-01 8.79538686e-06 2.28227905e-01] [ 1.28746961e-04 -8.47390960e-06 9.99999992e-01 -5.26697579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.125898227 meters Centerline goodness [0,1] 0.9836533581458298 Centerline is valid? [True, True] Translation: X:118.18, Y:0.22, Z:-0.53 [[ 9.99998548e-01 1.69325424e-03 -1.92224470e-04 1.18175216e+02] [-1.69325175e-03 9.99998566e-01 1.31466993e-05 2.24804931e-01] [ 1.92246455e-04 -1.28211958e-05 9.99999981e-01 -5.26659670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15589822699997 meters Centerline goodness [0,1] 0.9727422210979003 Centerline is valid? [True, True] Translation: X:118.20, Y:0.22, Z:-0.52 [[ 9.99996252e-01 1.84469997e-03 2.02325115e-03 1.18204482e+02] [-1.84442376e-03 9.99998289e-01 -1.38377350e-04 2.19191378e-01] [-2.02350296e-03 1.34645099e-04 9.99997944e-01 -5.22576919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.185898227 meters Centerline goodness [0,1] 0.98008988952829 Centerline is valid? [True, True] Translation: X:118.24, Y:0.22, Z:-0.52 [[ 9.99993101e-01 2.56978039e-03 2.68208817e-03 1.18236048e+02] [-2.56929766e-03 9.99996683e-01 -1.83414477e-04 2.17955712e-01] [-2.68255061e-03 1.76522129e-04 9.99996386e-01 -5.21475108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21589822699997 meters Centerline goodness [0,1] 0.987999497361146 Centerline is valid? [True, True] Translation: X:118.27, Y:0.22, Z:-0.52 [[ 9.99992449e-01 2.98951685e-03 2.48307769e-03 1.18267006e+02] [-2.98910426e-03 9.99995518e-01 -1.69854743e-04 2.17229896e-01] [-2.48357435e-03 1.62431282e-04 9.99996903e-01 -5.21459738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.245898227 meters Centerline goodness [0,1] 0.9930128976421169 Centerline is valid? [True, True] Translation: X:118.30, Y:0.22, Z:-0.52 [[ 9.99993170e-01 3.25891982e-03 1.74311337e-03 1.18297993e+02] [-3.25871688e-03 9.99994683e-01 -1.19249825e-04 2.15586959e-01] [-1.74349273e-03 1.13568698e-04 9.99998474e-01 -5.23037175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27589822699997 meters Centerline goodness [0,1] 0.9878839876119528 Centerline is valid? [True, True] Translation: X:118.33, Y:0.21, Z:-0.52 [[ 9.99994658e-01 3.16932979e-03 8.00043223e-04 1.18328022e+02] [-3.16928701e-03 9.99994976e-01 -5.47279564e-05 2.08903406e-01] [-8.00212655e-04 5.21920975e-05 9.99999678e-01 -5.24606259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30589822699994 meters Centerline goodness [0,1] 0.9760481571443658 Centerline is valid? [True, True] Translation: X:118.36, Y:0.20, Z:-0.53 [[ 9.99997460e-01 2.23513840e-03 2.90491505e-04 1.18356900e+02] [-2.23513271e-03 9.99997502e-01 -1.99025761e-05 2.01413909e-01] [-2.90535265e-04 1.92532385e-05 9.99999958e-01 -5.25841584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.335898227 meters Centerline goodness [0,1] 0.9841052053869211 Centerline is valid? [True, True] Translation: X:118.39, Y:0.20, Z:-0.53 [[ 9.99998626e-01 -1.41388040e-03 8.65956786e-04 1.18386658e+02] [ 1.41393224e-03 9.99998999e-01 -5.92534259e-05 1.96396341e-01] [-8.65872141e-04 6.04777487e-05 9.99999623e-01 -5.25063333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36589822699995 meters Centerline goodness [0,1] 0.9307437772672666 Centerline is valid? [True, False] Translation: X:118.39, Y:0.19, Z:-0.53 [[ 9.99998894e-01 -1.22234030e-03 8.47701160e-04 1.18386942e+02] [ 1.22180245e-03 9.99999052e-01 6.34701459e-04 1.92853634e-01] [-8.48476178e-04 -6.33665033e-04 9.99999439e-01 -5.25489763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.395898227 meters Centerline goodness [0,1] 0.7943935172384456 Centerline is valid? [False, False] Translation: X:118.39, Y:0.19, Z:-0.53 [[ 9.99999124e-01 -1.02820659e-03 8.33363057e-04 1.18387310e+02] [ 1.02714216e-03 9.99998658e-01 1.27669598e-03 1.89542658e-01] [-8.34674645e-04 -1.27583888e-03 9.99998838e-01 -5.26071221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42589822699995 meters Centerline goodness [0,1] 0.8170514725891194 Centerline is valid? [False, False] Translation: X:118.43, Y:0.18, Z:-0.53 [[ 9.99997277e-01 -2.16673364e-03 8.66495352e-04 1.18429970e+02] [ 2.16401476e-03 9.99992771e-01 3.12651962e-03 1.83321085e-01] [-8.73263423e-04 -3.12463600e-03 9.99994737e-01 -5.26220443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.455898227 meters Centerline goodness [0,1] 0.8976656896442654 Centerline is valid? [False, False] Translation: X:118.43, Y:0.18, Z:-0.53 [[ 9.99997739e-01 -1.93762166e-03 8.75637572e-04 1.18430167e+02] [ 1.93441239e-03 9.99991464e-01 3.65116002e-03 1.80766901e-01] [-8.82704664e-04 -3.64945793e-03 9.99992951e-01 -5.26638934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48589822699995 meters Centerline goodness [0,1] 0.7809179859740478 Centerline is valid? [False, False] Translation: X:118.43, Y:0.18, Z:-0.53 [[ 9.99998146e-01 -1.74837752e-03 8.06996120e-04 1.18430497e+02] [ 1.74513879e-03 9.99990490e-01 3.99671770e-03 1.79161780e-01] [-8.13976217e-04 -3.99530197e-03 9.99991687e-01 -5.26803079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.515898227 meters Centerline goodness [0,1] 0.8948511749347259 Centerline is valid? [False, False] Translation: X:118.43, Y:0.18, Z:-0.53 [[ 9.99998790e-01 -1.44757857e-03 5.69609169e-04 1.18431053e+02] [ 1.44529099e-03 9.99990971e-01 3.99617591e-03 1.79983923e-01] [-5.75388805e-04 -3.99534783e-03 9.99991853e-01 -5.26415909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54589822699995 meters Centerline goodness [0,1] 0.8920027195852632 Centerline is valid? [False, False] Translation: X:118.39, Y:0.19, Z:-0.53 [[ 9.99999087e-01 -1.28957661e-03 4.03303831e-04 1.18386860e+02] [ 1.28925755e-03 9.99998857e-01 7.90375112e-04 1.85782902e-01] [-4.04322619e-04 -7.89854428e-04 9.99999606e-01 -5.25001235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.575898227 meters Centerline goodness [0,1] 0.9689956792075034 Centerline is valid? [False, True] Translation: X:118.39, Y:0.19, Z:-0.52 [[ 9.99999082e-01 -1.30197379e-03 3.74641724e-04 1.18386834e+02] [ 1.30172276e-03 9.99998929e-01 6.69519047e-04 1.86417168e-01] [-3.75513019e-04 -6.69030753e-04 9.99999706e-01 -5.24809041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60589822699995 meters Centerline goodness [0,1] 0.912275178912464 Centerline is valid? [True, False] Translation: X:118.39, Y:0.19, Z:-0.52 [[ 9.99999121e-01 -1.26969077e-03 3.80836976e-04 1.18386798e+02] [ 1.26941303e-03 9.99998929e-01 7.28630114e-04 1.86185777e-01] [-3.81761703e-04 -7.28146035e-04 9.99999662e-01 -5.24808898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.635898227 meters Centerline goodness [0,1] 0.921419034903681 Centerline is valid? [False, False] Translation: X:118.35, Y:0.19, Z:-0.53 [[ 9.99999617e-01 -8.08900326e-04 -3.33652484e-04 1.18345067e+02] [ 8.08523515e-04 9.99999037e-01 -1.12794432e-03 1.89404426e-01] [ 3.34564557e-04 1.12767412e-03 9.99999308e-01 -5.25805482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66589822699996 meters Centerline goodness [0,1] 0.9160114292865038 Centerline is valid? [False, False] Translation: X:118.39, Y:0.19, Z:-0.53 [[ 9.99999213e-01 -1.11166219e-03 -5.81404489e-04 1.18388660e+02] [ 1.11192674e-03 9.99999278e-01 4.54889335e-04 1.86969045e-01] [ 5.80898386e-04 -4.55535456e-04 9.99999728e-01 -5.25942023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.695898227 meters Centerline goodness [0,1] 0.9106986078013295 Centerline is valid? [False, False] Translation: X:118.39, Y:0.19, Z:-0.53 [[ 9.99998837e-01 -1.34519437e-03 -7.18648099e-04 1.18389222e+02] [ 1.34489487e-03 9.99999009e-01 -4.17070811e-04 1.91599624e-01] [ 7.19208428e-04 4.16103820e-04 9.99999655e-01 -5.26085986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72589822699996 meters Centerline goodness [0,1] 0.9567561896768779 Centerline is valid? [False, True] Translation: X:118.39, Y:0.19, Z:-0.53 [[ 9.99998522e-01 -1.52610916e-03 -7.92351756e-04 1.18389421e+02] [ 1.52533117e-03 9.99998355e-01 -9.81556394e-04 1.94491847e-01] [ 7.93848414e-04 9.80346344e-04 9.99999204e-01 -5.26013615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.755898227 meters Centerline goodness [0,1] 0.9768965806939427 Centerline is valid? [True, True] Translation: X:118.42, Y:0.20, Z:-0.53 [[ 9.99999951e-01 -2.46514761e-04 -1.93572657e-04 1.18420398e+02] [ 2.46517079e-04 9.99999970e-01 1.19548661e-05 1.98415827e-01] [ 1.93569704e-04 -1.20025845e-05 9.99999981e-01 -5.25643482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78589822699996 meters Centerline goodness [0,1] 0.9865006938895664 Centerline is valid? [True, True] Translation: X:118.45, Y:0.20, Z:-0.53 [[ 9.99999185e-01 1.25627483e-03 -2.26096962e-04 1.18450526e+02] [-1.25627171e-03 9.99999211e-01 1.39472399e-05 2.01570706e-01] [ 2.26114305e-04 -1.36631893e-05 9.99999974e-01 -5.25444154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.815898227 meters Centerline goodness [0,1] 0.9878432194508489 Centerline is valid? [True, True] Translation: X:118.48, Y:0.20, Z:-0.53 [[ 9.99996897e-01 2.39621336e-03 -6.81557907e-04 1.18481356e+02] [-2.39618523e-03 9.99997128e-01 4.20848443e-05 2.04280495e-01] [ 6.81656794e-04 -4.04515747e-05 9.99999767e-01 -5.26173180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84589822699996 meters Centerline goodness [0,1] 0.9878432194508489 Centerline is valid? [True, True] Translation: X:118.51, Y:0.20, Z:-0.53 [[ 9.99996949e-01 2.37419953e-03 -6.81560530e-04 1.18510516e+02] [-2.37417143e-03 9.99997181e-01 4.20423635e-05 2.02521635e-01] [ 6.81658425e-04 -4.04240937e-05 9.99999767e-01 -5.26209712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.875898227 meters Centerline goodness [0,1] 0.9905990472577041 Centerline is valid? [True, True] Translation: X:118.54, Y:0.21, Z:-0.53 [[ 9.99992416e-01 3.44797307e-03 -1.81075159e-03 1.18540153e+02] [-3.44777644e-03 9.99994050e-01 1.11703037e-04 2.08756775e-01] [ 1.81112596e-03 -1.05459123e-04 9.99998354e-01 -5.29872426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90589822699997 meters Centerline goodness [0,1] 0.9880453898333473 Centerline is valid? [True, True] Translation: X:118.57, Y:0.21, Z:-0.53 [[ 9.99994790e-01 2.71577631e-03 -1.74497055e-03 1.18569813e+02] [-2.71559266e-03 9.99996307e-01 1.07605955e-04 2.10066178e-01] [ 1.74525634e-03 -1.02866765e-04 9.99998472e-01 -5.30633561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.935898227 meters Centerline goodness [0,1] 0.9775266739477443 Centerline is valid? [True, True] Translation: X:118.60, Y:0.21, Z:-0.53 [[ 9.99998267e-01 1.71641247e-03 -7.21736102e-04 1.18598476e+02] [-1.71638083e-03 9.99998526e-01 4.44563096e-05 2.08767591e-01] [ 7.21811344e-04 -4.32174585e-05 9.99999739e-01 -5.29169884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96589822699997 meters Centerline goodness [0,1] 0.9718227302225293 Centerline is valid? [True, True] Translation: X:118.63, Y:0.21, Z:-0.53 [[ 9.99999878e-01 3.98087816e-04 2.91764681e-04 1.18628398e+02] [-3.98082582e-04 9.99999921e-01 -1.79978864e-05 2.09192235e-01] [-2.91771822e-04 1.78817378e-05 9.99999957e-01 -5.27657338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.995898227 meters Centerline goodness [0,1] 0.9872859204115347 Centerline is valid? [True, True] Translation: X:118.66, Y:0.21, Z:-0.53 [[ 9.99999735e-01 -5.63275248e-04 4.60773998e-04 1.18659729e+02] [ 5.63288390e-04 9.99999841e-01 -2.83932306e-05 2.13983665e-01] [-4.60757931e-04 2.86527717e-05 9.99999893e-01 -5.26918605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.02589822699997 meters Centerline goodness [0,1] 0.9933261526114596 Centerline is valid? [True, True] Translation: X:118.69, Y:0.22, Z:-0.53 [[ 9.99998986e-01 -1.40880863e-03 2.07006794e-04 1.18690771e+02] [ 1.40881130e-03 9.99999008e-01 -1.27503006e-05 2.18079174e-01] [-2.06988626e-04 1.30419212e-05 9.99999978e-01 -5.27023507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05589822699994 meters Centerline goodness [0,1] 0.9942967825244808 Centerline is valid? [True, True] Translation: X:118.72, Y:0.22, Z:-0.53 [[ 9.99998983e-01 -1.41929798e-03 1.41269189e-04 1.18721632e+02] [ 1.41929923e-03 9.99998993e-01 -8.71097627e-06 2.21759509e-01] [-1.41256683e-04 8.91147066e-06 9.99999990e-01 -5.27116103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.085898227 meters Centerline goodness [0,1] 0.9284203780839475 Centerline is valid? [True, False] Translation: X:118.72, Y:0.22, Z:-0.53 [[ 9.99998770e-01 -1.56196502e-03 1.43959295e-04 1.18721539e+02] [ 1.56202714e-03 9.99998687e-01 -4.32375433e-04 2.23840964e-01] [-1.43283751e-04 4.32599769e-04 9.99999896e-01 -5.26918327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11589822699995 meters Centerline goodness [0,1] 0.9364574557708509 Centerline is valid? [False, False] Translation: X:118.76, Y:0.22, Z:-0.53 [[ 9.99997939e-01 -1.92889520e-03 6.34266938e-04 1.18763383e+02] [ 1.92808338e-03 9.99997325e-01 1.27805330e-03 2.22967887e-01] [-6.36730472e-04 -1.27682774e-03 9.99998982e-01 -5.26410787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.145898227 meters Centerline goodness [0,1] 0.942319419619388 Centerline is valid? [False, False] Translation: X:118.76, Y:0.23, Z:-0.53 [[ 9.99997707e-01 -2.06700202e-03 5.60658674e-04 1.18763573e+02] [ 2.06652871e-03 9.99997509e-01 8.43472955e-04 2.25189276e-01] [-5.62400738e-04 -8.42312404e-04 9.99999487e-01 -5.26292292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17589822699995 meters Centerline goodness [0,1] 0.9983379268267025 Centerline is valid? [False, True] Translation: X:118.76, Y:0.23, Z:-0.53 [[ 9.99997509e-01 -2.19671590e-03 3.96154300e-04 1.18764090e+02] [ 2.19658273e-03 9.99997531e-01 3.36285865e-04 2.27875574e-01] [-3.96892047e-04 -3.35414841e-04 9.99999865e-01 -5.26231716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.205898227 meters Centerline goodness [0,1] 0.9734141498589194 Centerline is valid? [True, True] Translation: X:118.79, Y:0.22, Z:-0.53 [[ 9.99992743e-01 2.55070480e-03 -2.82993641e-03 1.18793601e+02] [-2.55025048e-03 9.99996735e-01 1.64136866e-04 2.20306281e-01] [ 2.83034583e-03 -1.56918628e-04 9.99995982e-01 -5.32086501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23589822699995 meters Centerline goodness [0,1] 0.9992418658523744 Centerline is valid? [True, True] Translation: X:118.82, Y:0.24, Z:-0.53 [[ 9.99977081e-01 5.66693816e-03 -3.70446688e-03 1.18824900e+02] [-5.66618101e-03 9.99983924e-01 2.14849904e-04 2.36407708e-01] [ 3.70562487e-03 -1.93854800e-04 9.99993115e-01 -5.32508725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.265898227 meters Centerline goodness [0,1] 0.9988001010441226 Centerline is valid? [True, True] Translation: X:118.85, Y:0.24, Z:-0.53 [[ 9.99950125e-01 9.27325505e-03 -3.70875807e-03 1.18854639e+02] [-9.27252114e-03 9.99956986e-01 2.15033186e-04 2.37566237e-01] [ 3.71059260e-03 -1.80632924e-04 9.99993099e-01 -5.32417297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29589822699995 meters Centerline goodness [0,1] 0.9998304797423292 Centerline is valid? [True, True] Translation: X:118.89, Y:0.25, Z:-0.53 [[ 9.99876918e-01 1.55749429e-02 -1.88921040e-03 1.18885720e+02] [-1.55747637e-02 9.99878700e-01 1.09518154e-04 2.54887352e-01] [ 1.89068698e-03 -8.00806686e-05 9.99998209e-01 -5.29616462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.325898227 meters Centerline goodness [0,1] 0.999769285624397 Centerline is valid? [True, True] Translation: X:118.91, Y:0.25, Z:-0.53 [[ 9.99859399e-01 1.66691847e-02 -1.82233801e-03 1.18914179e+02] [-1.66690201e-02 9.99861057e-01 1.05502296e-04 2.54919407e-01] [ 1.82384345e-03 -7.51108733e-05 9.99998334e-01 -5.29834403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35589822699995 meters Centerline goodness [0,1] 0.9997689221267567 Centerline is valid? [True, True] Translation: X:118.94, Y:0.26, Z:-0.53 [[ 9.99867797e-01 1.61262171e-02 -2.08180627e-03 1.18942908e+02] [-1.61260012e-02 9.99869960e-01 1.20441292e-04 2.56075590e-01] [ 2.08347782e-03 -8.68541593e-05 9.99997826e-01 -5.30919921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.385898227 meters Centerline goodness [0,1] 0.9997451309389801 Centerline is valid? [True, True] Translation: X:118.97, Y:0.25, Z:-0.53 [[ 9.99889482e-01 1.46895620e-02 -2.28919052e-03 1.18972653e+02] [-1.46892973e-02 9.99892098e-01 1.32427658e-04 2.54786428e-01] [ 2.29088882e-03 -9.87864221e-05 9.99997371e-01 -5.31263596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41589822699996 meters Centerline goodness [0,1] 0.9996834240850956 Centerline is valid? [True, True] Translation: X:119.00, Y:0.25, Z:-0.53 [[ 9.99920575e-01 1.25016103e-02 -1.59785573e-03 1.19000644e+02] [-1.25014786e-02 9.99921849e-01 9.23721523e-05 2.49227240e-01] [ 1.59888565e-03 -7.23892564e-05 9.99998719e-01 -5.30303820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.445898227 meters Centerline goodness [0,1] 0.9996429546552412 Centerline is valid? [True, True] Translation: X:119.03, Y:0.24, Z:-0.53 [[ 9.99949214e-01 1.00658199e-02 -4.98579003e-04 1.19031142e+02] [-1.00658068e-02 9.99949338e-01 2.88359820e-05 2.44379700e-01] [ 4.98844002e-04 -2.38159176e-05 9.99999875e-01 -5.28667240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47589822699996 meters Centerline goodness [0,1] 0.9994706866253097 Centerline is valid? [True, True] Translation: X:119.06, Y:0.24, Z:-0.53 [[ 9.99991980e-01 3.72294426e-03 1.47607690e-03 1.19061495e+02] [-3.72282228e-03 9.99993067e-01 -8.53708087e-05 2.38351888e-01] [-1.47638449e-03 7.98749521e-05 9.99998907e-01 -5.25675872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.505898227 meters Centerline goodness [0,1] 0.9989241414226647 Centerline is valid? [True, True] Translation: X:119.09, Y:0.23, Z:-0.52 [[ 9.99998390e-01 2.73017465e-04 1.77367679e-03 1.19090595e+02] [-2.72835934e-04 9.99999958e-01 -1.02588490e-04 2.27918095e-01] [-1.77370473e-03 1.02104402e-04 9.99998422e-01 -5.24988428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53589822699996 meters Centerline goodness [0,1] 0.9852901173861187 Centerline is valid? [True, True] Translation: X:119.12, Y:0.21, Z:-0.53 [[ 9.99995205e-01 -2.68335358e-03 1.54555501e-03 1.19119840e+02] [ 2.68349495e-03 9.99996395e-01 -8.94044461e-05 2.14078099e-01] [-1.54530953e-03 9.35515065e-05 9.99998802e-01 -5.25556355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.565898227 meters Centerline goodness [0,1] 0.9710476590384212 Centerline is valid? [True, True] Translation: X:119.15, Y:0.21, Z:-0.53 [[ 9.99986493e-01 -5.17174140e-03 5.16625345e-04 1.19149958e+02] [ 5.17175753e-03 9.99986626e-01 -2.98778350e-05 2.08064568e-01] [-5.16463915e-04 3.25492925e-05 9.99999866e-01 -5.26885249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59589822699996 meters Centerline goodness [0,1] 0.9750779468078428 Centerline is valid? [True, True] Translation: X:119.18, Y:0.21, Z:-0.53 [[ 9.99978753e-01 -6.51859787e-03 -4.47198905e-05 1.19181429e+02] [ 6.51859800e-03 9.99978754e-01 2.62092088e-06 2.05094032e-01] [ 4.47018557e-05 -2.91237618e-06 9.99999999e-01 -5.28203493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.625898227 meters Centerline goodness [0,1] 0.9402558662269185 Centerline is valid? [True, False] Translation: X:119.18, Y:0.20, Z:-0.53 [[ 9.99979878e-01 -6.34341677e-03 -7.27523989e-05 1.19181764e+02] [ 6.34345199e-03 9.99979758e-01 4.94595438e-04 2.02690803e-01] [ 6.96135012e-05 -4.95046987e-04 9.99999875e-01 -5.28621937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65589822699997 meters Centerline goodness [0,1] 0.9899217303484262 Centerline is valid? [False, True] Translation: X:119.18, Y:0.20, Z:-0.53 [[ 9.99981888e-01 -6.01787225e-03 9.85906015e-05 1.19181203e+02] [ 6.01774426e-03 9.99981111e-01 1.25084154e-03 1.99023551e-01] [-1.06116144e-04 -1.25022559e-03 9.99999213e-01 -5.28608374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.685898227 meters Centerline goodness [0,1] 0.9950361201470154 Centerline is valid? [True, True] Translation: X:119.21, Y:0.20, Z:-0.53 [[ 9.99984962e-01 -5.47116295e-03 3.76335312e-04 1.19212589e+02] [ 5.47117171e-03 9.99985033e-01 -2.22431649e-05 1.98773235e-01] [-3.76207983e-04 2.43018255e-05 9.99999929e-01 -5.28090960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71589822699997 meters Centerline goodness [0,1] 0.9917804754678806 Centerline is valid? [True, True] Translation: X:119.24, Y:0.19, Z:-0.53 [[ 9.99987145e-01 -5.06270418e-03 2.81428031e-04 1.19243221e+02] [ 5.06270906e-03 9.99987184e-01 -1.66319806e-05 1.93472631e-01] [-2.81340221e-04 1.80565551e-05 9.99999960e-01 -5.27832029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.745898227 meters Centerline goodness [0,1] 0.9928133142809111 Centerline is valid? [True, True] Translation: X:119.27, Y:0.19, Z:-0.53 [[ 9.99987619e-01 -4.96051253e-03 3.92986631e-04 1.19274258e+02] [ 4.96052205e-03 9.99987696e-01 -2.32503891e-05 1.89391025e-01] [-3.92866462e-04 2.51995201e-05 9.99999923e-01 -5.28127595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77589822699997 meters Centerline goodness [0,1] 0.973756128090122 Centerline is valid? [True, True] Translation: X:119.30, Y:0.18, Z:-0.53 [[ 9.99982806e-01 -5.79465225e-03 9.00184914e-04 1.19304550e+02] [ 5.79470256e-03 9.99983209e-01 -5.32977929e-05 1.80519427e-01] [-8.99860957e-04 5.85131803e-05 9.99999593e-01 -5.28170360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80589822699994 meters Centerline goodness [0,1] 0.9441018458515376 Centerline is valid? [True, False] Translation: X:119.30, Y:0.18, Z:-0.53 [[ 9.99983763e-01 -5.62796651e-03 8.93928097e-04 1.19304811e+02] [ 5.62756673e-03 9.99984064e-01 4.49101015e-04 1.78038653e-01] [-8.96441377e-04 -4.44063083e-04 9.99999500e-01 -5.28590171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.835898227 meters Centerline goodness [0,1] 0.9895035340923519 Centerline is valid? [False, True] Translation: X:119.28, Y:0.18, Z:-0.52 [[ 9.99973177e-01 -6.31122359e-03 -3.71668112e-03 1.19282379e+02] [ 6.26798888e-03 9.99913864e-01 -1.15315819e-02 1.82123260e-01] [ 3.78913937e-03 1.15079765e-02 9.99926602e-01 -5.22436205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86589822699995 meters Centerline goodness [0,1] 0.8617157759690411 Centerline is valid? [True, False] Translation: X:119.28, Y:0.17, Z:-0.52 [[ 9.99990161e-01 -2.26965574e-03 -3.81139019e-03 1.19283454e+02] [ 2.24646361e-03 9.99979004e-01 -6.07824969e-03 1.74333940e-01] [ 3.82510570e-03 6.06962774e-03 9.99974264e-01 -5.24156802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.895898227 meters Centerline goodness [0,1] 0.9627576106287269 Centerline is valid? [False, True] Translation: X:119.28, Y:0.17, Z:-0.52 [[ 9.99990208e-01 -2.13554351e-03 -3.87588976e-03 1.19283756e+02] [ 2.11283762e-03 9.99980639e-01 -5.85291035e-03 1.73355462e-01] [ 3.88831387e-03 5.84466391e-03 9.99975360e-01 -5.24317012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92589822699995 meters Centerline goodness [0,1] 0.9879431271586888 Centerline is valid? [True, True] Translation: X:119.31, Y:0.17, Z:-0.52 [[ 9.99993535e-01 -9.46182595e-04 -3.46901683e-03 1.19313683e+02] [ 9.46983128e-04 9.99999525e-01 2.29131142e-04 1.73033123e-01] [ 3.46879838e-03 -2.32414761e-04 9.99993957e-01 -5.24649636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.955898227 meters Centerline goodness [0,1] 0.9791020373941477 Centerline is valid? [True, True] Translation: X:119.34, Y:0.17, Z:-0.52 [[ 9.99994593e-01 8.06882434e-04 -3.18792382e-03 1.19342104e+02] [-8.06215427e-04 9.99999653e-01 2.10508651e-04 1.68451361e-01] [ 3.18809257e-03 -2.07937360e-04 9.99994896e-01 -5.24709860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98589822699995 meters Centerline goodness [0,1] 0.9936626516137156 Centerline is valid? [True, True] Translation: X:119.37, Y:0.17, Z:-0.53 [[ 9.99983952e-01 4.48195038e-03 -3.46534722e-03 1.19372389e+02] [-4.48118442e-03 9.99989933e-01 2.28768099e-04 1.72143888e-01] [ 3.46633766e-03 -2.13235567e-04 9.99993969e-01 -5.25070670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.015898227 meters Centerline goodness [0,1] 0.9887642795981872 Centerline is valid? [True, True] Translation: X:119.40, Y:0.17, Z:-0.53 [[ 9.99974540e-01 5.95835360e-03 -3.92640886e-03 1.19400695e+02] [-5.95738205e-03 9.99982221e-01 2.59089868e-04 1.68192570e-01] [ 3.92788280e-03 -2.35692154e-04 9.99992258e-01 -5.25567840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04589822699995 meters Centerline goodness [0,1] 0.9983952025001056 Centerline is valid? [True, True] Translation: X:119.43, Y:0.17, Z:-0.53 [[ 9.99969523e-01 6.58385684e-03 -4.19588498e-03 1.19429863e+02] [-6.58275360e-03 9.99978295e-01 2.76691384e-04 1.73774633e-01] [ 4.19761561e-03 -2.49062475e-04 9.99991159e-01 -5.26078510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.075898227 meters Centerline goodness [0,1] 0.9960030292830697 Centerline is valid? [True, True] Translation: X:119.46, Y:0.17, Z:-0.53 [[ 9.99971914e-01 6.35559195e-03 -3.97208315e-03 1.19457085e+02] [-6.35460229e-03 9.99979775e-01 2.61723812e-04 1.68628770e-01] [ 3.97366622e-03 -2.36475453e-04 9.99992077e-01 -5.25941776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10589822699995 meters Centerline goodness [0,1] 0.9907409347047363 Centerline is valid? [True, True] Translation: X:119.49, Y:0.16, Z:-0.52 [[ 9.99981703e-01 5.19919125e-03 -3.09229314e-03 1.19485653e+02] [-5.19858630e-03 9.99986467e-01 2.03637265e-04 1.62600592e-01] [ 3.09331004e-03 -1.87557986e-04 9.99995198e-01 -5.24791088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.135898227 meters Centerline goodness [0,1] 0.9897044522430342 Centerline is valid? [True, True] Translation: X:119.52, Y:0.16, Z:-0.52 [[ 9.99998297e-01 5.66984977e-04 -1.75656561e-03 1.19515688e+02] [-5.66782706e-04 9.99999833e-01 1.15646836e-04 1.56903447e-01] [ 1.75663089e-03 -1.14651048e-04 9.99998451e-01 -5.22956784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16589822699996 meters Centerline goodness [0,1] 0.9801313172359218 Centerline is valid? [True, True] Translation: X:119.55, Y:0.15, Z:-0.52 [[ 9.99994959e-01 -2.51071033e-03 -1.94356754e-03 1.19545350e+02] [ 2.51096371e-03 9.99996839e-01 1.27942735e-04 1.48957094e-01] [ 1.94324017e-03 -1.32822318e-04 9.99998103e-01 -5.23046161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.195898227 meters Centerline goodness [0,1] 0.8621775488499155 Centerline is valid? [True, False] Translation: X:119.61, Y:0.14, Z:-0.52 [[ 9.99980768e-01 -4.08379948e-03 -4.66757312e-03 1.19605371e+02] [ 4.05290733e-03 9.99969948e-01 -6.60886579e-03 1.44170298e-01] [ 4.69442213e-03 6.58982145e-03 9.99967268e-01 -5.18288781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22589822699996 meters Centerline goodness [0,1] 0.7901286119926507 Centerline is valid? [False, False] Translation: X:119.61, Y:0.14, Z:-0.52 [[ 9.99980606e-01 -3.83938817e-03 -4.90384173e-03 1.19606691e+02] [ 3.81238820e-03 9.99977589e-01 -5.50341135e-03 1.38351147e-01] [ 4.92486156e-03 5.48460927e-03 9.99972832e-01 -5.19283337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.255898227 meters Centerline goodness [0,1] 0.8006492826473977 Centerline is valid? [False, False] Translation: X:119.61, Y:0.14, Z:-0.52 [[ 9.99981019e-01 -3.68671541e-03 -4.93657858e-03 1.19606846e+02] [ 3.66071033e-03 9.99979431e-01 -5.26654876e-03 1.37325845e-01] [ 4.95589330e-03 5.24837741e-03 9.99973946e-01 -5.19338018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28589822699996 meters Centerline goodness [0,1] 0.9493981037605199 Centerline is valid? [False, False] Translation: X:119.56, Y:0.14, Z:-0.52 [[ 9.99990461e-01 -3.46910349e-04 -4.35413497e-03 1.19562083e+02] [ 3.31350628e-04 9.99993559e-01 -3.57376323e-03 1.37970408e-01] [ 4.35534671e-03 3.57228640e-03 9.99984135e-01 -5.19649116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.315898227 meters Centerline goodness [0,1] 0.987940234791889 Centerline is valid? [False, True] Translation: X:119.56, Y:0.14, Z:-0.52 [[ 9.99990439e-01 -2.73320053e-04 -4.36433609e-03 1.19561943e+02] [ 2.56880904e-04 9.99992873e-01 -3.76681748e-03 1.39271503e-01] [ 4.36533453e-03 3.76566035e-03 9.99983382e-01 -5.19300296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34589822699996 meters Centerline goodness [0,1] 0.9823422215705578 Centerline is valid? [True, True] Translation: X:119.59, Y:0.14, Z:-0.52 [[ 9.99985108e-01 4.89294784e-03 -2.41701021e-03 1.19590684e+02] [-4.89256296e-03 9.99988018e-01 1.65124855e-04 1.35000168e-01] [ 2.41778920e-03 -1.53297021e-04 9.99997065e-01 -5.18360501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.375898227 meters Centerline goodness [0,1] 0.9892634788869594 Centerline is valid? [True, True] Translation: X:119.62, Y:0.14, Z:-0.52 [[ 9.99978417e-01 6.08414705e-03 -2.47971834e-03 1.19620483e+02] [-6.08374569e-03 9.99981480e-01 1.69368902e-04 1.35956658e-01] [ 2.48070288e-03 -1.54279271e-04 9.99996911e-01 -5.18410101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40589822699997 meters Centerline goodness [0,1] 0.9909005136806793 Centerline is valid? [True, True] Translation: X:119.65, Y:0.13, Z:-0.52 [[ 9.99978356e-01 6.17448973e-03 -2.27228922e-03 1.19649140e+02] [-6.17415306e-03 9.99980928e-01 1.55145204e-04 1.34031790e-01] [ 2.27320382e-03 -1.41112385e-04 9.99997406e-01 -5.18689725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.435898227 meters Centerline goodness [0,1] 0.9651863517060367 Centerline is valid? [True, True] Translation: X:119.68, Y:0.12, Z:-0.52 [[ 9.99990332e-01 3.34995188e-03 -2.84845557e-03 1.19678156e+02] [-3.34941176e-03 9.99994372e-01 1.94366537e-04 1.23746369e-01] [ 2.84909066e-03 -1.84824007e-04 9.99995924e-01 -5.20611970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46589822699997 meters Centerline goodness [0,1] 0.9092487604861823 Centerline is valid? [True, False] Translation: X:119.68, Y:0.12, Z:-0.52 [[ 9.99994861e-01 -9.16559804e-04 -3.07206689e-03 1.19678805e+02] [ 9.03453145e-04 9.99990496e-01 -4.26507344e-03 1.24826887e-01] [ 3.07594689e-03 4.26227606e-03 9.99986186e-01 -5.20475662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.495898227 meters Centerline goodness [0,1] 0.8780293333892863 Centerline is valid? [False, False] Translation: X:119.68, Y:0.12, Z:-0.52 [[ 9.99994897e-01 -8.51971601e-04 -3.07899978e-03 1.19679038e+02] [ 8.40569197e-04 9.99992792e-01 -3.70268042e-03 1.21735864e-01] [ 3.08213217e-03 3.70007342e-03 9.99988405e-01 -5.20896723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.52589822699997 meters Centerline goodness [0,1] 0.8182238667900092 Centerline is valid? [False, False] Translation: X:119.68, Y:0.12, Z:-0.52 [[ 9.99994927e-01 -7.74731671e-04 -3.08973168e-03 1.19679159e+02] [ 7.64962536e-04 9.99994709e-01 -3.16173628e-03 1.18771035e-01] [ 3.09216483e-03 3.15935671e-03 9.99990228e-01 -5.21096026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55589822699994 meters Centerline goodness [0,1] 0.8782570012286574 Centerline is valid? [False, False] Translation: X:119.68, Y:0.11, Z:-0.52 [[ 9.99995042e-01 -7.82481108e-04 -3.05012549e-03 1.19679125e+02] [ 7.74785954e-04 9.99996516e-01 -2.52326310e-03 1.14977688e-01] [ 3.05208927e-03 2.52088739e-03 9.99992165e-01 -5.21264381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.585898227 meters Centerline goodness [0,1] 0.8754658188938249 Centerline is valid? [False, False] Translation: X:119.68, Y:0.11, Z:-0.52 [[ 9.99995008e-01 -7.17144556e-04 -3.07733251e-03 1.19679184e+02] [ 7.09734594e-04 9.99996848e-01 -2.40833401e-03 1.14507996e-01] [ 3.07904993e-03 2.40613790e-03 9.99992365e-01 -5.21219982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61589822699995 meters Centerline goodness [0,1] 0.9019603714387989 Centerline is valid? [False, False] Translation: X:119.68, Y:0.12, Z:-0.52 [[ 9.99995075e-01 -7.10925799e-04 -3.05704206e-03 1.19678933e+02] [ 7.03223814e-04 9.99996578e-01 -2.51976122e-03 1.15165451e-01] [ 3.05882296e-03 2.51759903e-03 9.99992153e-01 -5.20881387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.645898227 meters Centerline goodness [0,1] 0.8885554809467853 Centerline is valid? [False, False] Translation: X:119.68, Y:0.12, Z:-0.52 [[ 9.99993416e-01 6.68753812e-04 -3.56663569e-03 1.19682563e+02] [-6.74133141e-04 9.99998637e-01 -1.50724742e-03 1.16150739e-01] [ 3.56562285e-03 1.50964189e-03 9.99992504e-01 -5.22995295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67589822699995 meters Centerline goodness [0,1] 0.9667934679809167 Centerline is valid? [False, True] Translation: X:119.68, Y:0.12, Z:-0.52 [[ 9.99993361e-01 6.10171571e-04 -3.59233296e-03 1.19682768e+02] [-6.16599775e-04 9.99998210e-01 -1.78858784e-03 1.17692676e-01] [ 3.59123519e-03 1.79079100e-03 9.99991948e-01 -5.23191147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.705898227 meters Centerline goodness [0,1] 0.9644063883817079 Centerline is valid? [True, True] Translation: X:119.71, Y:0.12, Z:-0.53 [[ 9.99989773e-01 1.27737478e-03 -4.33837813e-03 1.19711465e+02] [-1.27605140e-03 9.99999138e-01 3.07793944e-04 1.15033322e-01] [ 4.33876756e-03 -3.02254803e-04 9.99990542e-01 -5.25290378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73589822699995 meters Centerline goodness [0,1] 0.9644063883817079 Centerline is valid? [True, True] Translation: X:119.74, Y:0.11, Z:-0.53 [[ 9.99989830e-01 1.23224226e-03 -4.33838962e-03 1.19739791e+02] [-1.23091916e-03 9.99999195e-01 3.07631982e-04 1.13104344e-01] [ 4.33876520e-03 -3.02288646e-04 9.99990542e-01 -5.25203796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.765898227 meters Centerline goodness [0,1] 0.7167441566911409 Centerline is valid? [True, False] Translation: X:119.74, Y:0.11, Z:-0.53 [[ 9.99989241e-01 1.19167503e-03 -4.48316127e-03 1.19740718e+02] [-1.19077301e-03 9.99999270e-01 2.03863933e-04 1.13666818e-01] [ 4.48340094e-03 -1.98523312e-04 9.99989930e-01 -5.25966739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79589822699995 meters Centerline goodness [0,1] 0.9106857046584113 Centerline is valid? [False, False] Translation: X:119.74, Y:0.11, Z:-0.53 [[ 9.99988313e-01 1.08070058e-03 -4.71230072e-03 1.19742186e+02] [-1.07888965e-03 9.99999343e-01 3.86823963e-04 1.12348767e-01] [ 4.71271566e-03 -3.81735389e-04 9.99988822e-01 -5.27224345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.825898227 meters Centerline goodness [0,1] 0.9622593395384419 Centerline is valid? [False, True] Translation: X:119.74, Y:0.11, Z:-0.53 [[ 9.99988379e-01 1.05221360e-03 -4.70473251e-03 1.19742188e+02] [-1.04964271e-03 9.99999298e-01 5.48883681e-04 1.11306630e-01] [ 4.70530675e-03 -5.43939014e-04 9.99988782e-01 -5.27310867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85589822699995 meters Centerline goodness [0,1] 0.6944072056975283 Centerline is valid? [True, False] Translation: X:119.78, Y:0.11, Z:-0.53 [[ 9.99996284e-01 -6.01772111e-04 -2.65884554e-03 1.19780938e+02] [ 6.05560126e-04 9.99998803e-01 1.42410901e-03 1.07251019e-01] [ 2.65798537e-03 -1.42571381e-03 9.99995451e-01 -5.25840190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.885898227 meters Centerline goodness [0,1] 0.8017722901180127 Centerline is valid? [False, False] Translation: X:119.78, Y:0.11, Z:-0.53 [[ 9.99996836e-01 -6.37748079e-04 -2.43354684e-03 1.19780017e+02] [ 6.41639542e-04 9.99998516e-01 1.59864528e-03 1.06049758e-01] [ 2.43252370e-03 -1.60020168e-03 9.99995761e-01 -5.25530546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91589822699996 meters Centerline goodness [0,1] 0.6621310927180002 Centerline is valid? [False, False] Translation: X:119.78, Y:0.11, Z:-0.53 [[ 9.99997095e-01 -7.44041226e-04 -2.29266486e-03 1.19779349e+02] [ 7.47740865e-04 9.99998419e-01 1.61325097e-03 1.05607872e-01] [ 2.29146091e-03 -1.61496061e-03 9.99996071e-01 -5.25167528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.945898227 meters Centerline goodness [0,1] 0.839059213461661 Centerline is valid? [False, False] Translation: X:119.74, Y:0.11, Z:-0.53 [[ 9.99994913e-01 -1.91598287e-04 -3.18378667e-03 1.19737342e+02] [ 1.88300302e-04 9.99999445e-01 -1.03613620e-03 1.11448161e-01] [ 3.18398343e-03 1.03553142e-03 9.99994395e-01 -5.25307428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97589822699996 meters Centerline goodness [0,1] 0.872546721503612 Centerline is valid? [False, False] Translation: X:119.74, Y:0.11, Z:-0.53 [[ 9.99994601e-01 -2.69850767e-04 -3.27503925e-03 1.19737649e+02] [ 2.65415646e-04 9.99999047e-01 -1.35457828e-03 1.13141590e-01] [ 3.27540166e-03 1.35370172e-03 9.99993720e-01 -5.25343079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.005898227 meters Centerline goodness [0,1] 0.8762358496532243 Centerline is valid? [False, False] Translation: X:119.75, Y:0.12, Z:-0.52 [[ 9.99972336e-01 -1.57518854e-03 -7.26951274e-03 1.19750255e+02] [ 1.52994838e-03 9.99979456e-01 -6.22464432e-03 1.16693979e-01] [ 7.27916839e-03 6.21335014e-03 9.99954203e-01 -5.21939795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03589822699996 meters Centerline goodness [0,1] 0.8940257991203888 Centerline is valid? [False, False] Translation: X:119.76, Y:0.12, Z:-0.53 [[ 9.99967904e-01 3.60262655e-05 -8.01190494e-03 1.19755813e+02] [-7.30776830e-05 9.99989305e-01 -4.62430066e-03 1.15993014e-01] [ 8.01165266e-03 4.62473773e-03 9.99957212e-01 -5.25694811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.065898227 meters Centerline goodness [0,1] 0.9030822134554123 Centerline is valid? [False, False] Translation: X:119.76, Y:0.12, Z:-0.53 [[ 9.99967201e-01 6.09974018e-06 -8.09924104e-03 1.19756101e+02] [-4.51319952e-05 9.99988387e-01 -4.81907445e-03 1.17163317e-01] [ 8.09911759e-03 4.81928192e-03 9.99955588e-01 -5.25684616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09589822699996 meters Centerline goodness [0,1] 0.8288780160013439 Centerline is valid? [False, False] Translation: X:119.76, Y:0.12, Z:-0.53 [[ 9.99966706e-01 -3.56097701e-05 -8.15997549e-03 1.19756201e+02] [-5.26667499e-06 9.99987453e-01 -5.00930707e-03 1.18218553e-01] [ 8.16005149e-03 5.00918327e-03 9.99954160e-01 -5.25482258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.125898227 meters Centerline goodness [0,1] 0.8782546009668392 Centerline is valid? [False, False] Translation: X:119.76, Y:0.11, Z:-0.53 [[ 9.99957901e-01 4.32881588e-03 -8.09061080e-03 1.19756418e+02] [-4.33001821e-03 9.99990617e-01 -1.31096818e-04 1.14915111e-01] [ 8.08996739e-03 1.66123791e-04 9.99967262e-01 -5.26276231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15589822699997 meters Centerline goodness [0,1] 0.88183844245406 Centerline is valid? [False, False] Translation: X:119.78, Y:0.11, Z:-0.53 [[ 9.99977791e-01 2.84906250e-03 -6.02505005e-03 1.19776328e+02] [-2.78729647e-03 9.99943734e-01 1.02352055e-02 1.10791461e-01] [ 6.05387179e-03 -1.02181845e-02 9.99929467e-01 -5.27467237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.185898227 meters Centerline goodness [0,1] 0.9013569496110924 Centerline is valid? [False, False] Translation: X:119.78, Y:0.11, Z:-0.53 [[ 9.99979890e-01 -1.24075530e-03 -6.21930682e-03 1.19776471e+02] [ 1.27390140e-03 9.99984992e-01 5.32842419e-03 1.14932619e-01] [ 6.21260221e-03 -5.33623982e-03 9.99966463e-01 -5.26546727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21589822699997 meters Centerline goodness [0,1] 0.8822831202365582 Centerline is valid? [False, False] Translation: X:119.80, Y:0.12, Z:-0.53 [[ 9.99989725e-01 -4.02476081e-04 -4.51535298e-03 1.19796397e+02] [ 3.83216996e-04 9.99990830e-01 -4.26529934e-03 1.16221306e-01] [ 4.51702826e-03 4.26352515e-03 9.99980709e-01 -5.25336512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.245898227 meters Centerline goodness [0,1] 0.9064094691595909 Centerline is valid? [False, False] Translation: X:119.75, Y:0.12, Z:-0.53 [[ 9.99994705e-01 2.06295720e-03 -2.51680707e-03 1.19749496e+02] [-2.07181382e-03 9.99991653e-01 -3.52147449e-03 1.17264483e-01] [ 2.50952141e-03 3.52667020e-03 9.99990632e-01 -5.25484296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27589822699997 meters Centerline goodness [0,1] 0.8840289769616307 Centerline is valid? [False, False] Translation: X:119.75, Y:0.12, Z:-0.53 [[ 9.99994645e-01 2.11765495e-03 -2.49508887e-03 1.19749399e+02] [-2.12613224e-03 9.99991960e-01 -3.39984998e-03 1.16691255e-01] [ 2.48786910e-03 3.40513667e-03 9.99991108e-01 -5.25461703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30589822699994 meters Centerline goodness [0,1] 0.9134924132720519 Centerline is valid? [False, False] Translation: X:119.75, Y:0.12, Z:-0.53 [[ 9.99994301e-01 2.21581315e-03 -2.54736733e-03 1.19749716e+02] [-2.22394589e-03 9.99992425e-01 -3.19421816e-03 1.15805757e-01] [ 2.54027024e-03 3.19986517e-03 9.99991654e-01 -5.25711082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.335898227 meters Centerline goodness [0,1] 0.9789807824296499 Centerline is valid? [False, True] Translation: X:119.69, Y:0.12, Z:-0.53 [[ 9.99999085e-01 -1.01232503e-05 -1.35269980e-03 1.19689258e+02] [ 1.15535577e-05 9.99999441e-01 1.05736877e-03 1.19011617e-01] [ 1.35268834e-03 -1.05738343e-03 9.99998526e-01 -5.30360358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36589822699995 meters Centerline goodness [0,1] 0.8583893038729521 Centerline is valid? [True, False] Translation: X:119.75, Y:0.11, Z:-0.53 [[ 9.99994537e-01 8.17691451e-05 -3.30453086e-03 1.19750560e+02] [-9.39733245e-05 9.99993176e-01 -3.69317898e-03 1.11696835e-01] [ 3.30420632e-03 3.69346934e-03 9.99987720e-01 -5.27947498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.395898227 meters Centerline goodness [0,1] 0.7649633507853403 Centerline is valid? [False, False] Translation: X:119.75, Y:0.11, Z:-0.53 [[ 9.99994484e-01 3.30390390e-04 -3.30493964e-03 1.19750956e+02] [-3.39976568e-04 9.99995736e-01 -2.90041934e-03 1.07750295e-01] [ 3.30396728e-03 2.90152694e-03 9.99990332e-01 -5.28680617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42589822699995 meters Centerline goodness [0,1] 0.9229653951941323 Centerline is valid? [False, False] Translation: X:119.71, Y:0.11, Z:-0.53 [[ 9.99992151e-01 7.93767097e-04 -3.88175726e-03 1.19708300e+02] [-8.05068023e-04 9.99995440e-01 -2.91059576e-03 1.05874793e-01] [ 3.87942923e-03 2.91369799e-03 9.99988230e-01 -5.29860618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.455898227 meters Centerline goodness [0,1] 0.8061726051093813 Centerline is valid? [False, False] Translation: X:119.73, Y:0.10, Z:-0.54 [[ 9.99998333e-01 -1.82079361e-03 1.34314486e-04 1.19731593e+02] [ 1.81998092e-03 9.99981401e-01 5.82110127e-03 9.72161786e-02] [-1.44911012e-04 -5.82084712e-03 9.99983048e-01 -5.35321385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48589822699995 meters Centerline goodness [0,1] 0.6734433765148349 Centerline is valid? [False, False] Translation: X:119.73, Y:0.09, Z:-0.54 [[ 9.99984635e-01 -5.54342987e-03 3.34913856e-08 1.19732190e+02] [ 5.54341018e-03 9.99981100e-01 2.65911966e-03 9.18996822e-02] [-1.47741341e-05 -2.65907861e-03 9.99996465e-01 -5.35542790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.515898227 meters Centerline goodness [0,1] 0.8232554218391047 Centerline is valid? [False, False] Translation: X:119.73, Y:0.09, Z:-0.53 [[ 9.99974086e-01 -7.16444794e-03 7.06382518e-04 1.19726743e+02] [ 7.16367204e-03 9.99973741e-01 1.09489357e-03 8.98993478e-02] [-7.14208277e-04 -1.08980491e-03 9.99999151e-01 -5.31789545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54589822699995 meters Centerline goodness [0,1] 0.4855796300544283 Centerline is valid? [False, False] Translation: X:119.73, Y:0.09, Z:-0.53 [[ 9.99937858e-01 -1.11344648e-02 5.51179693e-04 1.19726835e+02] [ 1.11361724e-02 9.99932875e-01 -3.19852313e-03 9.05911380e-02] [-5.15528852e-04 3.20446240e-03 9.99994733e-01 -5.30878659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.575898227 meters Centerline goodness [0,1] 0.7238340220966517 Centerline is valid? [False, False] Translation: X:119.73, Y:0.08, Z:-0.53 [[ 9.99944138e-01 -1.05503764e-02 6.41358187e-04 1.19726596e+02] [ 1.05514360e-02 9.99942935e-01 -1.67173538e-03 8.30367999e-02] [-6.23684150e-04 1.67840924e-03 9.99998397e-01 -5.31049159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60589822699995 meters Centerline goodness [0,1] 0.8234281341665604 Centerline is valid? [False, False] Translation: X:119.73, Y:0.08, Z:-0.53 [[ 9.99947719e-01 -1.02038383e-02 6.63934691e-04 1.19726645e+02] [ 1.02044281e-02 9.99947536e-01 -8.91077425e-04 7.93996019e-02] [-6.54807448e-04 8.97805912e-04 9.99999383e-01 -5.31298868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.635898227 meters Centerline goodness [0,1] 0.5995128302045274 Centerline is valid? [False, False] Translation: X:119.73, Y:0.08, Z:-0.53 [[ 9.99923770e-01 -1.23470729e-02 -6.19157601e-05 1.19731789e+02] [ 1.23468122e-02 9.99918674e-01 -3.19398711e-03 7.81224678e-02] [ 1.01347116e-04 3.19297917e-03 9.99994897e-01 -5.34285821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66589822699996 meters Centerline goodness [0,1] 0.7628481012658228 Centerline is valid? [False, False] Translation: X:119.73, Y:0.08, Z:-0.53 [[ 9.99927926e-01 -1.20058212e-02 -5.76939706e-05 1.19731918e+02] [ 1.20056366e-02 9.99924724e-01 -2.53218899e-03 7.51382092e-02] [ 8.80906358e-05 2.53131383e-03 9.99996792e-01 -5.34566795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.695898227 meters Centerline goodness [0,1] 0.7222713491662456 Centerline is valid? [False, False] Translation: X:119.73, Y:0.07, Z:-0.53 [[ 9.99935462e-01 -1.13607928e-02 6.23579926e-05 1.19731419e+02] [ 1.13608617e-02 9.99934688e-01 -1.24501840e-03 6.91987161e-02] [-4.82095238e-05 1.24564649e-03 9.99999223e-01 -5.34459074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72589822699996 meters Centerline goodness [0,1] 0.6795004107078919 Centerline is valid? [False, False] Translation: X:119.73, Y:0.07, Z:-0.53 [[ 9.99939218e-01 -1.10241566e-02 1.65226556e-04 1.19731048e+02] [ 1.10242374e-02 9.99939108e-01 -4.96360623e-04 6.56463635e-02] [-1.59744538e-04 4.98151950e-04 9.99999863e-01 -5.34466586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.755898227 meters Centerline goodness [0,1] 0.8444557758089533 Centerline is valid? [False, False] Translation: X:119.73, Y:0.06, Z:-0.53 [[ 9.99942955e-01 -1.06800651e-02 1.53183328e-04 1.19731067e+02] [ 1.06800114e-02 9.99942907e-01 3.46980670e-04 6.16122203e-02] [-1.56880358e-04 -3.45324877e-04 9.99999928e-01 -5.34450886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78589822699996 meters Centerline goodness [0,1] 0.5863372825812957 Centerline is valid? [False, False] Translation: X:119.74, Y:0.06, Z:-0.54 [[ 9.99912210e-01 -1.32279091e-02 -7.71375443e-04 1.19736365e+02] [ 1.32261577e-02 9.99910037e-01 -2.23303661e-03 5.93431486e-02] [ 8.00844453e-04 2.22263824e-03 9.99997209e-01 -5.36971910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.815898227 meters Centerline goodness [0,1] 0.6402576007188857 Centerline is valid? [False, False] Translation: X:119.70, Y:0.05, Z:-0.54 [[ 9.99903859e-01 -1.32077284e-02 -4.22249743e-03 1.19702841e+02] [ 1.31988918e-02 9.99910657e-01 -2.11379877e-03 5.20816881e-02] [ 4.25003866e-03 2.05786326e-03 9.99988851e-01 -5.42727509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84589822699996 meters Centerline goodness [0,1] 0.6149586829257984 Centerline is valid? [False, False] Translation: X:119.71, Y:0.05, Z:-0.55 [[ 9.99865875e-01 -1.55031563e-02 -5.28063600e-03 1.19709293e+02] [ 1.54810688e-02 9.99871347e-01 -4.19824352e-03 4.83401157e-02] [ 5.34504266e-03 4.11593054e-03 9.99977245e-01 -5.46350245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.875898227 meters Centerline goodness [0,1] 0.5059494874775441 Centerline is valid? [False, False] Translation: X:119.71, Y:0.04, Z:-0.55 [[ 9.99923983e-01 -1.12668286e-02 -5.00863701e-03 1.19708664e+02] [ 1.12743506e-02 9.99935353e-01 1.47611378e-03 3.97295618e-02] [ 4.99168210e-03 -1.53247070e-03 9.99986367e-01 -5.47191180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90589822699997 meters Centerline goodness [0,1] 0.5479957253316011 Centerline is valid? [False, False] Translation: X:119.71, Y:0.04, Z:-0.55 [[ 9.99927530e-01 -1.09580737e-02 -4.98547835e-03 1.19708473e+02] [ 1.09695471e-02 9.99937234e-01 2.27986689e-03 3.57021806e-02] [ 4.96018248e-03 -2.33439011e-03 9.99984973e-01 -5.47052047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.935898227 meters Centerline goodness [0,1] 0.7651473159084126 Centerline is valid? [False, False] Translation: X:119.70, Y:0.03, Z:-0.54 [[ 9.99908597e-01 -1.28214951e-02 -4.29031749e-03 1.19703466e+02] [ 1.28243304e-02 9.99917564e-01 6.34005716e-04 3.03332895e-02] [ 4.28183491e-03 -6.88968215e-04 9.99990596e-01 -5.43468392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96589822699997 meters Centerline goodness [0,1] 0.6483148198891301 Centerline is valid? [False, False] Translation: X:119.70, Y:0.03, Z:-0.54 [[ 9.99912492e-01 -1.24865980e-02 -4.36948496e-03 1.19703615e+02] [ 1.24922978e-02 9.99921149e-01 1.27958777e-03 2.73367302e-02] [ 4.35316273e-03 -1.33406070e-03 9.99989635e-01 -5.43307971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.995898227 meters Centerline goodness [0,1] 0.6601573946167691 Centerline is valid? [False, False] Translation: X:119.70, Y:0.03, Z:-0.54 [[ 9.99916155e-01 -1.21564901e-02 -4.46131544e-03 1.19703782e+02] [ 1.21646036e-02 9.99924395e-01 1.79603688e-03 2.51390803e-02] [ 4.43914464e-03 -1.85015642e-03 9.99988435e-01 -5.43105090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.02589822699997 meters Centerline goodness [0,1] 0.7392288823196427 Centerline is valid? [False, False] Translation: X:119.70, Y:0.02, Z:-0.54 [[ 9.99919353e-01 -1.18934005e-02 -4.45366318e-03 1.19703600e+02] [ 1.19024807e-02 9.99927127e-01 2.01788205e-03 2.44910375e-02] [ 4.42933915e-03 -2.07072895e-03 9.99988046e-01 -5.42814409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05589822699994 meters Centerline goodness [0,1] 0.8744854238427288 Centerline is valid? [False, False] Translation: X:119.70, Y:0.03, Z:-0.54 [[ 9.99994628e-01 -3.26346531e-03 3.05139474e-04 1.19703335e+02] [ 3.26569387e-03 9.99965689e-01 -7.61288706e-03 2.50896488e-02] [-2.80284611e-04 7.61384265e-03 9.99970975e-01 -5.44668117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.085898227 meters Centerline goodness [0,1] 0.9139442231075697 Centerline is valid? [False, False] Translation: X:119.70, Y:0.02, Z:-0.54 [[ 9.99999173e-01 1.19348088e-03 4.79020250e-04 1.19702767e+02] [-1.19219971e-03 9.99995736e-01 -2.66601476e-03 2.16958013e-02] [-4.82200045e-04 2.66544146e-03 9.99996331e-01 -5.44782176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11589822699995 meters Centerline goodness [0,1] 0.9060707306310282 Centerline is valid? [False, False] Translation: X:119.70, Y:0.02, Z:-0.54 [[ 9.99999057e-01 1.23912560e-03 5.92410989e-04 1.19702155e+02] [-1.23747265e-03 9.99995363e-01 -2.78246900e-03 2.25054208e-02] [-5.95856071e-04 2.78173329e-03 9.99995953e-01 -5.44368817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.145898227 meters Centerline goodness [0,1] 0.9937597838440589 Centerline is valid? [False, True] Translation: X:119.65, Y:0.02, Z:-0.54 [[ 9.99992248e-01 2.67211678e-03 2.89193653e-03 1.19653536e+02] [-2.66456108e-03 9.99993035e-01 -2.61338716e-03 2.45231168e-02] [-2.89889966e-03 2.60566116e-03 9.99992403e-01 -5.42845305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17589822699995 meters Centerline goodness [0,1] 0.9841023899477862 Centerline is valid? [True, True] Translation: X:119.68, Y:0.02, Z:-0.54 [[ 9.99994332e-01 1.71613644e-03 2.89668260e-03 1.19684428e+02] [-1.71559713e-03 9.99998511e-01 -1.88657414e-04 1.69492740e-02] [-2.89700205e-03 1.83686805e-04 9.99995787e-01 -5.44033358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.205898227 meters Centerline goodness [0,1] 0.8725010455876202 Centerline is valid? [True, False] Translation: X:119.73, Y:0.01, Z:-0.54 [[ 9.99997648e-01 3.11049602e-04 2.14642286e-03 1.19727981e+02] [-3.11927874e-04 9.99999868e-01 4.08856859e-04 1.31379426e-02] [-2.14629540e-03 -4.09525426e-04 9.99997613e-01 -5.43407829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23589822699995 meters Centerline goodness [0,1] 0.8125772461612586 Centerline is valid? [False, False] Translation: X:119.73, Y:0.01, Z:-0.54 [[ 9.99997665e-01 3.20907682e-04 2.13718487e-03 1.19728225e+02] [-3.22599891e-04 9.99999635e-01 7.91496029e-04 1.08757880e-02] [-2.13693010e-03 -7.92183637e-04 9.99997403e-01 -5.43819206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.265898227 meters Centerline goodness [0,1] 0.8766942570802392 Centerline is valid? [False, False] Translation: X:119.69, Y:0.01, Z:-0.55 [[ 9.99996051e-01 -2.23070187e-03 1.70937136e-03 1.19685815e+02] [ 2.23228102e-03 9.99997083e-01 -9.22471149e-04 8.81683285e-03] [-1.70730861e-03 9.26283303e-04 9.99998114e-01 -5.45420522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29589822699995 meters Centerline goodness [0,1] 0.6356705725087203 Centerline is valid? [False, False] Translation: X:119.73, Y:0.00, Z:-0.55 [[ 9.99992287e-01 -3.15948624e-03 2.33329114e-03 1.19727573e+02] [ 3.15528771e-03 9.99993400e-01 1.80089880e-03 5.60702746e-04] [-2.33896565e-03 -1.79352270e-03 9.99995656e-01 -5.46213028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.325898227 meters Centerline goodness [0,1] 0.7385669125395153 Centerline is valid? [False, False] Translation: X:119.73, Y:0.00, Z:-0.55 [[ 9.99969832e-01 -7.43572687e-03 2.24611674e-03 1.19727799e+02] [ 7.44167652e-03 9.99968793e-01 -2.65222008e-03 1.41815156e-03] [-2.22632546e-03 2.66885494e-03 9.99993960e-01 -5.45982771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35589822699995 meters Centerline goodness [0,1] 0.7166324000084783 Centerline is valid? [False, False] Translation: X:119.73, Y:-0.00, Z:-0.55 [[ 9.99970733e-01 -7.30901615e-03 2.26090164e-03 1.19727659e+02] [ 7.31408667e-03 9.99970737e-01 -2.24262044e-03 -6.76482161e-04] [-2.24444413e-03 2.25909124e-03 9.99994929e-01 -5.45814481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.385898227 meters Centerline goodness [0,1] 0.7079856475300401 Centerline is valid? [False, False] Translation: X:119.77, Y:-0.00, Z:-0.54 [[ 9.99982553e-01 -5.35754863e-03 2.48815915e-03 1.19770358e+02] [ 5.35569710e-03 9.99985377e-01 7.50203424e-04 -3.36111644e-03] [-2.49214202e-03 -7.36864508e-04 9.99996623e-01 -5.44580938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41589822699996 meters Centerline goodness [0,1] 0.7835639075443317 Centerline is valid? [False, False] Translation: X:119.75, Y:0.00, Z:-0.54 [[ 9.99996453e-01 -1.74953632e-03 -2.00844022e-03 1.19748716e+02] [ 1.73564386e-03 9.99974702e-01 -6.89807010e-03 3.02517261e-03] [ 2.02045784e-03 6.89455969e-03 9.99974191e-01 -5.40549028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.445898227 meters Centerline goodness [0,1] 0.6561471888686323 Centerline is valid? [False, False] Translation: X:119.77, Y:-0.00, Z:-0.55 [[ 9.99997738e-01 5.42628341e-04 2.05634656e-03 1.19770682e+02] [-5.55755952e-04 9.99979437e-01 6.38876384e-03 -1.04702763e-03] [-2.05283756e-03 -6.38989222e-03 9.99977477e-01 -5.45387893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47589822699996 meters Centerline goodness [0,1] 0.8248156836461126 Centerline is valid? [False, False] Translation: X:119.77, Y:0.00, Z:-0.54 [[ 9.99997861e-01 3.39024041e-04 2.04052098e-03 1.19770479e+02] [-3.49797342e-04 9.99985991e-01 5.28164261e-03 4.86868871e-03] [-2.03870179e-03 -5.28234508e-03 9.99983970e-01 -5.44963354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.505898227 meters Centerline goodness [0,1] 0.8521394245902671 Centerline is valid? [False, False] Translation: X:119.77, Y:0.01, Z:-0.54 [[ 9.99997735e-01 1.44983712e-04 2.12361734e-03 1.19770024e+02] [-1.55289678e-04 9.99988209e-01 4.85366336e-03 6.89063278e-03] [-2.12288860e-03 -4.85398215e-03 9.99985966e-01 -5.44666050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53589822699996 meters Centerline goodness [0,1] 0.8030054299785326 Centerline is valid? [False, False] Translation: X:119.77, Y:0.01, Z:-0.54 [[ 9.99997772e-01 -8.38440885e-06 2.11082050e-03 1.19770021e+02] [-1.33030421e-06 9.99989409e-01 4.60229626e-03 7.92796706e-03] [-2.11083674e-03 -4.60228881e-03 9.99987182e-01 -5.44584960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.565898227 meters Centerline goodness [0,1] 0.7154483481908758 Centerline is valid? [False, False] Translation: X:119.78, Y:0.01, Z:-0.55 [[ 9.99995104e-01 -2.81275712e-03 1.37147815e-03 1.19776020e+02] [ 2.81030605e-03 9.99994456e-01 1.78583345e-03 1.00301899e-02] [-1.37649367e-03 -1.78197044e-03 9.99997465e-01 -5.48907115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59589822699996 meters Centerline goodness [0,1] 0.8043892109259695 Centerline is valid? [False, False] Translation: X:119.74, Y:0.01, Z:-0.55 [[ 9.99994241e-01 -3.39371123e-03 -3.27460374e-05 1.19735133e+02] [ 3.39371474e-03 9.99994236e-01 1.07764437e-04 1.35079519e-02] [ 3.23801272e-05 -1.07874947e-04 9.99999994e-01 -5.50655918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.625898227 meters Centerline goodness [0,1] 0.6290809270357487 Centerline is valid? [False, False] Translation: X:119.78, Y:0.01, Z:-0.55 [[ 9.99991229e-01 -4.17115009e-03 3.79441931e-04 1.19778209e+02] [ 4.17059694e-03 9.99990256e-01 1.44709110e-03 1.02734902e-02] [-3.85474268e-04 -1.44549591e-03 9.99998881e-01 -5.51352340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65589822699997 meters Centerline goodness [0,1] 0.6290809270357487 Centerline is valid? [False, False] Translation: X:119.78, Y:0.01, Z:-0.55 [[ 9.99991229e-01 -4.17115009e-03 3.79441931e-04 1.19778209e+02] [ 4.17059694e-03 9.99990256e-01 1.44709110e-03 1.02734902e-02] [-3.85474268e-04 -1.44549591e-03 9.99998881e-01 -5.51352340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.685898227 meters Centerline goodness [0,1] 0.5941679594146996 Centerline is valid? [False, False] Translation: X:119.78, Y:0.01, Z:-0.55 [[ 9.99990863e-01 -4.26276332e-03 3.21771217e-04 1.19778460e+02] [ 4.26234747e-03 9.99990094e-01 1.28219125e-03 1.10884697e-02] [-3.27233708e-04 -1.28080803e-03 9.99999126e-01 -5.51408756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71589822699997 meters Centerline goodness [0,1] 0.5575645833769826 Centerline is valid? [False, False] Translation: X:119.78, Y:0.01, Z:-0.55 [[ 9.99990205e-01 -4.42600112e-03 1.50192907e-07 1.19779898e+02] [ 4.42599973e-03 9.99989916e-01 7.60665163e-04 1.38435273e-02] [-3.51689626e-06 -7.60657048e-04 9.99999711e-01 -5.52009758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.745898227 meters Centerline goodness [0,1] 0.5987866829002058 Centerline is valid? [False, False] Translation: X:119.78, Y:0.02, Z:-0.55 [[ 9.99989674e-01 -4.53968485e-03 -2.08435405e-04 1.19780983e+02] [ 4.53977879e-03 9.99989593e-01 4.52469219e-04 1.54597097e-02] [ 2.06379168e-04 -4.53410797e-04 9.99999876e-01 -5.52679754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77589822699997 meters Centerline goodness [0,1] 0.549634164238244 Centerline is valid? [False, False] Translation: X:119.78, Y:0.02, Z:-0.55 [[ 9.99988956e-01 -4.68183021e-03 -4.11188818e-04 1.19781894e+02] [ 4.68185572e-03 9.99989038e-01 6.10809009e-05 1.74741303e-02] [ 4.10898341e-04 -6.30053531e-05 9.99999914e-01 -5.53066659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80589822699994 meters Centerline goodness [0,1] 0.4948595213319459 Centerline is valid? [False, False] Translation: X:119.78, Y:0.02, Z:-0.55 [[ 9.99987318e-01 -5.01794081e-03 -4.29452087e-04 1.19781697e+02] [ 5.01763462e-03 9.99987159e-01 -7.11117881e-04 2.12232860e-02] [ 4.33014920e-04 7.08954028e-04 9.99999655e-01 -5.52620443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.835898227 meters Centerline goodness [0,1] 0.6857517390109309 Centerline is valid? [False, False] Translation: X:119.74, Y:0.02, Z:-0.55 [[ 9.99994989e-01 -3.02387056e-03 9.37424946e-04 1.19735739e+02] [ 3.02346634e-03 9.99995336e-01 4.32321256e-04 2.35247591e-02] [-9.38727857e-04 -4.29484816e-04 9.99999467e-01 -5.53012601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86589822699995 meters Centerline goodness [0,1] 0.6183879093198992 Centerline is valid? [False, False] Translation: X:119.74, Y:0.02, Z:-0.55 [[ 9.99994749e-01 -3.08607162e-03 9.89130887e-04 1.19735506e+02] [ 3.08573940e-03 9.99995182e-01 3.37215436e-04 2.39087092e-02] [-9.90166793e-04 -3.34161465e-04 9.99999454e-01 -5.52928277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.895898227 meters Centerline goodness [0,1] 0.6143585226200214 Centerline is valid? [False, False] Translation: X:119.74, Y:0.02, Z:-0.55 [[ 9.99994366e-01 -3.18805504e-03 1.05086218e-03 1.19735159e+02] [ 3.18784381e-03 9.99994898e-01 2.02624479e-04 2.44739923e-02] [-1.05150280e-03 -1.99273352e-04 9.99999427e-01 -5.52685096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92589822699995 meters Centerline goodness [0,1] 0.5949209431930929 Centerline is valid? [False, False] Translation: X:119.73, Y:0.02, Z:-0.55 [[ 9.99994009e-01 -3.24930432e-03 1.19298118e-03 1.19734544e+02] [ 3.24914895e-03 9.99994713e-01 1.32154834e-04 2.47196087e-02] [-1.19340428e-03 -1.28277869e-04 9.99999280e-01 -5.52425407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.955898227 meters Centerline goodness [0,1] 0.5428239518428557 Centerline is valid? [False, False] Translation: X:119.73, Y:0.02, Z:-0.55 [[ 9.99993926e-01 -3.23163090e-03 1.30545120e-03 1.19734138e+02] [ 3.23091164e-03 9.99994628e-01 5.52702370e-04 2.23790127e-02] [-1.30723031e-03 -5.48481215e-04 9.99998995e-01 -5.52463231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98589822699995 meters Centerline goodness [0,1] 0.5104615774790768 Centerline is valid? [False, False] Translation: X:119.73, Y:0.02, Z:-0.55 [[ 9.99994638e-01 -3.04921354e-03 1.19401684e-03 1.19735000e+02] [ 3.04777558e-03 9.99994630e-01 1.20428396e-03 1.91136849e-02] [-1.19768255e-03 -1.20063841e-03 9.99998562e-01 -5.53398671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.015898227 meters Centerline goodness [0,1] 0.48389465953205335 Centerline is valid? [False, False] Translation: X:119.74, Y:0.02, Z:-0.56 [[ 9.99985463e-01 -5.38778425e-03 2.11345581e-04 1.19741812e+02] [ 5.38799344e-03 9.99984983e-01 -1.00205895e-03 1.78934204e-02] [-2.05943529e-04 1.00318311e-03 9.99999476e-01 -5.57838188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04589822699995 meters Centerline goodness [0,1] 0.45951086956521736 Centerline is valid? [False, False] Translation: X:119.74, Y:0.01, Z:-0.56 [[ 9.99986467e-01 -5.20061905e-03 -1.37393601e-04 1.19743549e+02] [ 5.20059638e-03 9.99986463e-01 -1.64778679e-04 1.35943496e-02] [ 1.38248692e-04 1.64061921e-04 9.99999977e-01 -5.58856204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.075898227 meters Centerline goodness [0,1] 0.4703812934484938 Centerline is valid? [False, False] Translation: X:119.74, Y:0.01, Z:-0.56 [[ 9.99987203e-01 -5.05835321e-03 -8.27668027e-05 1.19743104e+02] [ 5.05836123e-03 9.99987202e-01 9.70259713e-05 1.23679096e-02] [ 8.22749518e-05 -9.74433941e-05 9.99999992e-01 -5.58395969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10589822699995 meters Centerline goodness [0,1] 0.4016523739803388 Centerline is valid? [False, False] Translation: X:119.74, Y:0.01, Z:-0.56 [[ 9.99987827e-01 -4.93419778e-03 -1.25052412e-05 1.19742514e+02] [ 4.93420060e-03 9.99987799e-01 2.36687033e-04 1.18417458e-02] [ 1.13372280e-05 -2.36745855e-04 9.99999972e-01 -5.57815489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.135898227 meters Centerline goodness [0,1] 0.5012902407039215 Centerline is valid? [False, False] Translation: X:119.74, Y:0.01, Z:-0.56 [[ 9.99989320e-01 -4.62088526e-03 -8.18167069e-05 1.19742607e+02] [ 4.62090652e-03 9.99989289e-01 2.61507296e-04 1.25051037e-02] [ 8.06074353e-05 -2.61882570e-04 9.99999962e-01 -5.57586434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16589822699996 meters Centerline goodness [0,1] 0.5022869371826613 Centerline is valid? [False, False] Translation: X:119.74, Y:0.01, Z:-0.56 [[ 9.99989798e-01 -4.50328730e-03 -3.53558899e-04 1.19743745e+02] [ 4.50337698e-03 9.99989828e-01 2.53259003e-04 1.29763860e-02] [ 3.52414804e-04 -2.54848628e-04 9.99999905e-01 -5.58035813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.195898227 meters Centerline goodness [0,1] 0.4856939680414959 Centerline is valid? [False, False] Translation: X:119.74, Y:0.01, Z:-0.56 [[ 9.99990066e-01 -4.41631008e-03 -6.02787965e-04 1.19744856e+02] [ 4.41643284e-03 9.99990227e-01 2.02480197e-04 1.36050152e-02] [ 6.01887858e-04 -2.05140358e-04 9.99999798e-01 -5.58500069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22589822699996 meters Centerline goodness [0,1] 0.4819014939113696 Centerline is valid? [False, False] Translation: X:119.75, Y:0.01, Z:-0.56 [[ 9.99990219e-01 -4.36182876e-03 -7.32104011e-04 1.19745200e+02] [ 4.36197952e-03 9.99990466e-01 2.04462954e-04 1.37801958e-02] [ 7.31205199e-04 -2.07654377e-04 9.99999711e-01 -5.58403736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.255898227 meters Centerline goodness [0,1] 0.5091478143970425 Centerline is valid? [False, False] Translation: X:119.75, Y:0.01, Z:-0.56 [[ 9.99990471e-01 -4.28148806e-03 -8.52192954e-04 1.19745435e+02] [ 4.28172821e-03 9.99990794e-01 2.80171318e-04 1.35593035e-02] [ 8.50985559e-04 -2.83817507e-04 9.99999598e-01 -5.58125209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28589822699996 meters Centerline goodness [0,1] 0.5010528532322593 Centerline is valid? [False, False] Translation: X:119.75, Y:0.01, Z:-0.56 [[ 9.99990961e-01 -4.16113008e-03 -8.73516911e-04 1.19745403e+02] [ 4.16146419e-03 9.99991268e-01 3.81023281e-04 1.32892246e-02] [ 8.71923797e-04 -3.84654947e-04 9.99999546e-01 -5.57943846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.315898227 meters Centerline goodness [0,1] 0.6795699829592072 Centerline is valid? [False, False] Translation: X:119.75, Y:0.01, Z:-0.56 [[ 9.99991025e-01 -4.12517063e-03 -9.65862912e-04 1.19745918e+02] [ 4.12557808e-03 9.99991401e-01 4.20245045e-04 1.32524581e-02] [ 9.64121025e-04 -4.24226016e-04 9.99999445e-01 -5.58309439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34589822699996 meters Centerline goodness [0,1] 0.6734373364045649 Centerline is valid? [False, False] Translation: X:119.75, Y:0.01, Z:-0.56 [[ 9.99991443e-01 -3.95167001e-03 -1.22369593e-03 1.19747203e+02] [ 3.95260862e-03 9.99991895e-01 7.65558522e-04 1.17576979e-02] [ 1.22066078e-03 -7.70388763e-04 9.99998958e-01 -5.59083537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.375898227 meters Centerline goodness [0,1] 0.860179519433725 Centerline is valid? [False, False] Translation: X:119.70, Y:0.01, Z:-0.56 [[ 9.99993898e-01 -2.98540812e-03 -1.81442763e-03 1.19704050e+02] [ 2.98731850e-03 9.99994986e-01 1.05108673e-03 1.25452018e-02] [ 1.81128061e-03 -1.05650059e-03 9.99997802e-01 -5.59783227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40589822699997 meters Centerline goodness [0,1] 0.7708209777175294 Centerline is valid? [False, False] Translation: X:119.71, Y:0.01, Z:-0.56 [[ 9.99983176e-01 -5.16844483e-03 -2.63346095e-03 1.19709779e+02] [ 5.16531209e-03 9.99985946e-01 -1.19500918e-03 1.24112098e-02] [ 2.63960027e-03 1.18138643e-03 9.99995818e-01 -5.63286247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.435898227 meters Centerline goodness [0,1] 0.7488300518571609 Centerline is valid? [False, False] Translation: X:119.71, Y:0.01, Z:-0.56 [[ 9.99983577e-01 -5.10363836e-03 -2.60745038e-03 1.19709575e+02] [ 5.10118847e-03 9.99986542e-01 -9.45361677e-04 1.10774789e-02] [ 2.61224008e-03 9.32045056e-04 9.99996154e-01 -5.63125156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46589822699997 meters Centerline goodness [0,1] 0.902254841651995 Centerline is valid? [False, False] Translation: X:119.71, Y:0.01, Z:-0.56 [[ 9.99984901e-01 -5.00967586e-03 -2.25869543e-03 1.19708072e+02] [ 5.00868540e-03 9.99987358e-01 -4.43952995e-04 8.33513223e-03] [ 2.26089093e-03 4.32633197e-04 9.99997351e-01 -5.62529749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.495898227 meters Centerline goodness [0,1] 0.7174665073275048 Centerline is valid? [False, False] Translation: X:119.71, Y:0.01, Z:-0.56 [[ 9.99954262e-01 -9.23151995e-03 -2.50057507e-03 1.19708737e+02] [ 9.21877068e-03 9.99944689e-01 -5.06296088e-03 1.04546262e-02] [ 2.54717558e-03 5.03967709e-03 9.99984057e-01 -5.62147856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.52589822699997 meters Centerline goodness [0,1] 0.5901753350754446 Centerline is valid? [False, False] Translation: X:119.71, Y:0.00, Z:-0.56 [[ 9.99982819e-01 -5.40007049e-03 -2.28043413e-03 1.19708241e+02] [ 5.40012260e-03 9.99985419e-01 1.66932633e-05 4.31314363e-03] [ 2.28031073e-03 -2.90076004e-05 9.99997400e-01 -5.62864578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55589822699994 meters Centerline goodness [0,1] 0.48280636972074775 Centerline is valid? [False, False] Translation: X:119.71, Y:0.00, Z:-0.56 [[ 9.99983404e-01 -5.26068640e-03 -2.34888068e-03 1.19708818e+02] [ 5.26194713e-03 9.99986015e-01 5.30878348e-04 1.71802510e-03] [ 2.34605505e-03 -5.43229224e-04 9.99997100e-01 -5.63490194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.585898227 meters Centerline goodness [0,1] 0.5345170996313091 Centerline is valid? [False, False] Translation: X:119.71, Y:0.00, Z:-0.56 [[ 9.99952178e-01 -9.41966913e-03 -2.62915443e-03 1.19710172e+02] [ 9.41016621e-03 9.99949230e-01 -3.60370523e-03 1.14208638e-03] [ 2.66296666e-03 3.57879211e-03 9.99990050e-01 -5.64098877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61589822699995 meters Centerline goodness [0,1] 0.6067950844070247 Centerline is valid? [False, False] Translation: X:119.71, Y:-0.01, Z:-0.56 [[ 9.99982580e-01 -5.40222778e-03 -2.37823270e-03 1.19709677e+02] [ 5.40611725e-03 9.99984055e-01 1.63206947e-03 -5.31377196e-03] [ 2.36937797e-03 -1.64489804e-03 9.99995840e-01 -5.64914896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.645898227 meters Centerline goodness [0,1] 0.5099032898348748 Centerline is valid? [False, False] Translation: X:119.72, Y:-0.01, Z:-0.57 [[ 9.99969884e-01 -7.04668636e-03 -3.25203016e-03 1.19715649e+02] [ 7.04702002e-03 9.99975165e-01 9.11506615e-05 -5.88824311e-03] [ 3.25130709e-03 -1.14065038e-04 9.99994708e-01 -5.68512058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67589822699995 meters Centerline goodness [0,1] 0.5173405550657093 Centerline is valid? [False, False] Translation: X:119.72, Y:-0.01, Z:-0.57 [[ 9.99972670e-01 -6.58923142e-03 -3.35269985e-03 1.19716351e+02] [ 6.59316445e-03 9.99977588e-01 1.16339453e-03 -1.09152914e-02] [ 3.34495883e-03 -1.18546764e-03 9.99993703e-01 -5.69215827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.705898227 meters Centerline goodness [0,1] 0.5423904534202231 Centerline is valid? [False, False] Translation: X:119.72, Y:-0.01, Z:-0.57 [[ 9.99974486e-01 -6.32942192e-03 -3.31148714e-03 1.19716025e+02] [ 6.33501956e-03 9.99978518e-01 1.68261992e-03 -1.33366541e-02] [ 3.30076599e-03 -1.70355533e-03 9.99993101e-01 -5.68918961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73589822699995 meters Centerline goodness [0,1] 0.5476154817176234 Centerline is valid? [False, False] Translation: X:119.72, Y:-0.02, Z:-0.57 [[ 9.99976043e-01 -6.11377297e-03 -3.24574743e-03 1.19715543e+02] [ 6.12078932e-03 9.99978943e-01 2.15618908e-03 -1.56171040e-02] [ 3.23249663e-03 -2.17600396e-03 9.99992408e-01 -5.68474199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.765898227 meters Centerline goodness [0,1] 0.5904820089323334 Centerline is valid? [False, False] Translation: X:119.74, Y:-0.02, Z:-0.57 [[ 9.99990698e-01 -4.19767752e-03 -9.91788808e-04 1.19737076e+02] [ 4.19163246e-03 9.99973091e-01 -6.02053367e-03 -2.04710734e-02] [ 1.01703438e-03 6.01632045e-03 9.99981385e-01 -5.69509860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79589822699995 meters Centerline goodness [0,1] 0.5719014886349261 Centerline is valid? [False, False] Translation: X:119.74, Y:-0.03, Z:-0.57 [[ 9.99999687e-01 2.54745476e-04 -7.48539899e-04 1.19736429e+02] [-2.55152675e-04 9.99999820e-01 -5.43946690e-04 -2.70231678e-02] [ 7.48401196e-04 5.44137512e-04 9.99999572e-01 -5.69953565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.825898227 meters Centerline goodness [0,1] 0.5499000526038926 Centerline is valid? [False, False] Translation: X:119.74, Y:-0.03, Z:-0.57 [[ 9.99999418e-01 5.51556345e-04 -9.27503289e-04 1.19737075e+02] [-5.51541226e-04 9.99999848e-01 1.65564490e-05 -2.95473060e-02] [ 9.27512280e-04 -1.60448830e-05 9.99999570e-01 -5.70114758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85589822699995 meters Centerline goodness [0,1] 0.6377667682926829 Centerline is valid? [False, False] Translation: X:119.74, Y:-0.03, Z:-0.57 [[ 9.99999165e-01 8.86382984e-04 -9.40604079e-04 1.19737136e+02] [-8.85683811e-04 9.99999331e-01 7.43479875e-04 -3.29650397e-02] [ 9.41262458e-04 -7.42646176e-04 9.99999281e-01 -5.70229168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.885898227 meters Centerline goodness [0,1] 0.5208872921714429 Centerline is valid? [False, False] Translation: X:119.77, Y:-0.04, Z:-0.57 [[ 9.99998407e-01 2.69680299e-04 1.76447200e-03 1.19774446e+02] [-2.72868353e-04 9.99998330e-01 1.80681209e-03 -4.30283717e-02] [-1.76398179e-03 -1.80729068e-03 9.99996811e-01 -5.67765744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91589822699996 meters Centerline goodness [0,1] 0.6219612127833924 Centerline is valid? [False, False] Translation: X:119.77, Y:-0.04, Z:-0.57 [[ 9.99997983e-01 4.41742171e-04 1.95928225e-03 1.19773195e+02] [-4.45904921e-04 9.99997643e-01 2.12470221e-03 -4.45972602e-02] [-1.95833906e-03 -2.12557158e-03 9.99995823e-01 -5.66734810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.945898227 meters Centerline goodness [0,1] 0.6877043474592359 Centerline is valid? [False, False] Translation: X:119.77, Y:-0.05, Z:-0.57 [[ 9.99997831e-01 5.79549848e-04 2.00037309e-03 1.19772631e+02] [-5.84048487e-04 9.99997300e-01 2.24904905e-03 -4.50457893e-02] [-1.99906425e-03 -2.25021249e-03 9.99995470e-01 -5.66001864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97589822699996 meters Centerline goodness [0,1] 0.6885277125261888 Centerline is valid? [False, False] Translation: X:119.77, Y:-0.04, Z:-0.57 [[ 9.99997718e-01 6.66942155e-04 2.02973966e-03 1.19772402e+02] [-6.71437730e-04 9.99997322e-01 2.21497821e-03 -4.46961605e-02] [-2.02825696e-03 -2.21633600e-03 9.99995487e-01 -5.65784997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.005898227 meters Centerline goodness [0,1] 0.7235362948723306 Centerline is valid? [False, False] Translation: X:119.81, Y:-0.05, Z:-0.56 [[ 9.99990606e-01 2.07755657e-03 3.80405440e-03 1.19812484e+02] [-2.09244524e-03 9.99990151e-01 3.91410833e-03 -4.84606108e-02] [-3.79588515e-03 -3.92203134e-03 9.99985104e-01 -5.64290877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03589822699996 meters Centerline goodness [0,1] 0.7179251202677264 Centerline is valid? [False, False] Translation: X:119.81, Y:-0.05, Z:-0.56 [[ 9.99990282e-01 2.18993748e-03 3.82612902e-03 1.19812393e+02] [-2.20610872e-03 9.99988631e-01 4.22743151e-03 -5.00624628e-02] [-3.81682771e-03 -4.23583128e-03 9.99983745e-01 -5.64299831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.065898227 meters Centerline goodness [0,1] 0.7523238003315218 Centerline is valid? [False, False] Translation: X:119.81, Y:-0.05, Z:-0.56 [[ 9.99989639e-01 2.38140272e-03 3.87949310e-03 1.19812408e+02] [-2.40020093e-03 9.99985367e-01 4.84810514e-03 -5.32423193e-02] [-3.86789104e-03 -4.85736647e-03 9.99980723e-01 -5.64690676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09589822699996 meters Centerline goodness [0,1] 0.6020841211815622 Centerline is valid? [False, False] Translation: X:119.81, Y:-0.06, Z:-0.57 [[ 9.99992116e-01 -1.66352779e-03 3.60568494e-03 1.19813821e+02] [ 1.65955227e-03 9.99998012e-01 1.10528034e-03 -5.58762574e-02] [-3.60751644e-03 -1.09928781e-03 9.99992889e-01 -5.65635445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.125898227 meters Centerline goodness [0,1] 0.7048622059658195 Centerline is valid? [False, False] Translation: X:119.81, Y:-0.06, Z:-0.57 [[ 9.99992993e-01 -1.50149262e-03 3.42915607e-03 1.19814753e+02] [ 1.49547581e-03 9.99997339e-01 1.75649363e-03 -5.92307781e-02] [-3.43178431e-03 -1.75135310e-03 9.99992578e-01 -5.66312468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15589822699997 meters Centerline goodness [0,1] 0.5597739305824019 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.06, Z:-0.57 [[ 9.99993738e-01 -1.37710841e-03 3.25998871e-03 1.19815709e+02] [ 1.36965271e-03 9.99996444e-01 2.28816192e-03 -6.20309102e-02] [-3.26312817e-03 -2.28368254e-03 9.99992068e-01 -5.67084532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.185898227 meters Centerline goodness [0,1] 0.5099766123764775 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.07, Z:-0.57 [[ 9.99995056e-01 -1.08915876e-03 2.94974119e-03 1.19817448e+02] [ 1.07918407e-03 9.99993702e-01 3.38102831e-03 -6.76835301e-02] [-2.95340508e-03 -3.37782829e-03 9.99989934e-01 -5.68478555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21589822699997 meters Centerline goodness [0,1] 0.49413661682790966 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.07, Z:-0.57 [[ 9.99993462e-01 -2.85947598e-03 2.21322559e-03 1.19823055e+02] [ 2.85596776e-03 9.99994663e-01 1.58665739e-03 -6.81225982e-02] [-2.21775078e-03 -1.58032611e-03 9.99996292e-01 -5.72150224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.245898227 meters Centerline goodness [0,1] 0.49038643782247027 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.07, Z:-0.57 [[ 9.99993892e-01 -2.71413629e-03 2.20195910e-03 1.19823092e+02] [ 2.70995532e-03 9.99994524e-01 1.89951955e-03 -6.95800562e-02] [-2.20710259e-03 -1.89354074e-03 9.99995772e-01 -5.72154288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27589822699997 meters Centerline goodness [0,1] 0.4907789244520734 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.07, Z:-0.57 [[ 9.99994720e-01 -2.44740935e-03 2.13795986e-03 1.19822981e+02] [ 2.44244394e-03 9.99994321e-01 2.32202841e-03 -7.13675795e-02] [-2.14363068e-03 -2.31679430e-03 9.99995019e-01 -5.71674086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30589822699994 meters Centerline goodness [0,1] 0.581529490729088 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.07, Z:-0.57 [[ 9.99995264e-01 -2.24913479e-03 2.10060533e-03 1.19823101e+02] [ 2.24353998e-03 9.99993940e-01 2.66199621e-03 -7.29047566e-02] [-2.10657979e-03 -2.65727082e-03 9.99994251e-01 -5.71720948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.335898227 meters Centerline goodness [0,1] 0.6749910206841182 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.07, Z:-0.57 [[ 9.99995747e-01 -2.05993008e-03 2.06470007e-03 1.19823191e+02] [ 2.05355522e-03 9.99993133e-01 3.08492851e-03 -7.49974780e-02] [-2.07104063e-03 -3.08067541e-03 9.99993110e-01 -5.71722295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36589822699995 meters Centerline goodness [0,1] 0.6560099603275091 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.08, Z:-0.57 [[ 9.99996448e-01 -1.67420217e-03 2.07383642e-03 1.19823209e+02] [ 1.66567384e-03 9.99990178e-01 4.10726794e-03 -8.00589769e-02] [-2.08069245e-03 -4.10379901e-03 9.99989415e-01 -5.71913118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.395898227 meters Centerline goodness [0,1] 0.5420108889869879 Centerline is valid? [False, False] Translation: X:119.83, Y:-0.08, Z:-0.58 [[ 9.99993729e-01 -3.28333677e-03 1.32727472e-03 1.19828639e+02] [ 3.27976918e-03 9.99991027e-01 2.68120562e-03 -8.14649945e-02] [-1.33606611e-03 -2.67683565e-03 9.99995525e-01 -5.75332106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42589822699995 meters Centerline goodness [0,1] 0.6566702670648283 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.08, Z:-0.57 [[ 9.99982484e-01 -5.59011199e-03 1.94501531e-03 1.19824148e+02] [ 5.58980857e-03 9.99984364e-01 1.61397904e-04 -8.30054682e-02] [-1.94588713e-03 -1.50522813e-04 9.99998095e-01 -5.72303182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.455898227 meters Centerline goodness [0,1] 0.5973889461181071 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.09, Z:-0.57 [[ 9.99955061e-01 -9.31120992e-03 1.78255684e-03 1.19824443e+02] [ 9.31702905e-03 9.99951201e-01 -3.28450286e-03 -8.66343514e-02] [-1.75188716e-03 3.30096339e-03 9.99993017e-01 -5.71837320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48589822699995 meters Centerline goodness [0,1] 0.6590731552834371 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.09, Z:-0.57 [[ 9.99983991e-01 -5.24483470e-03 2.12349228e-03 1.19823244e+02] [ 5.24035269e-03 9.99984042e-01 2.11076933e-03 -9.38357658e-02] [-2.13452903e-03 -2.09960769e-03 9.99995518e-01 -5.71899890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.515898227 meters Centerline goodness [0,1] 0.6222677451373784 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.10, Z:-0.57 [[ 9.99985086e-01 -5.03471053e-03 2.11624203e-03 1.19823066e+02] [ 5.02926826e-03 9.99984053e-01 2.56916582e-03 -9.59536727e-02] [-2.12914329e-03 -2.55848435e-03 9.99994460e-01 -5.71589461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54589822699995 meters Centerline goodness [0,1] 0.6222677451373784 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.10, Z:-0.57 [[ 9.99985086e-01 -5.03471053e-03 2.11624203e-03 1.19823066e+02] [ 5.02926826e-03 9.99984053e-01 2.56916582e-03 -9.59536727e-02] [-2.12914329e-03 -2.55848435e-03 9.99994460e-01 -5.71589461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.575898227 meters Centerline goodness [0,1] 0.6678238549096341 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.10, Z:-0.57 [[ 9.99985961e-01 -4.84013737e-03 2.15677050e-03 1.19822455e+02] [ 4.83423313e-03 9.99984577e-01 2.73439636e-03 -9.64755909e-02] [-2.16997208e-03 -2.72393164e-03 9.99993936e-01 -5.70781607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60589822699995 meters Centerline goodness [0,1] 0.6561095520435507 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.10, Z:-0.57 [[ 9.99986103e-01 -4.80363628e-03 2.17224695e-03 1.19822321e+02] [ 4.79797330e-03 9.99985097e-01 2.60470997e-03 -9.55886657e-02] [-2.18472665e-03 -2.59425139e-03 9.99994248e-01 -5.70607581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.635898227 meters Centerline goodness [0,1] 0.7391478085303272 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.09, Z:-0.57 [[ 9.99986468e-01 -4.77972416e-03 2.05372490e-03 1.19822601e+02] [ 4.77481503e-03 9.99985748e-01 2.38864496e-03 -9.42230527e-02] [-2.06511270e-03 -2.37880648e-03 9.99995038e-01 -5.70439179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66589822699996 meters Centerline goodness [0,1] 0.7433776919524788 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.09, Z:-0.57 [[ 9.99986730e-01 -4.78939719e-03 1.89752668e-03 1.19823173e+02] [ 4.78532319e-03 9.99986248e-01 2.14575748e-03 -9.27821899e-02] [-1.90777747e-03 -2.13664872e-03 9.99995898e-01 -5.70516779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.695898227 meters Centerline goodness [0,1] 0.9313455008488964 Centerline is valid? [False, False] Translation: X:119.80, Y:-0.09, Z:-0.57 [[ 9.99993600e-01 -2.93584699e-03 -2.04462791e-03 1.19804404e+02] [ 2.92057922e-03 9.99968127e-01 -7.43063408e-03 -8.76804008e-02] [ 2.06637794e-03 7.42461503e-03 9.99970302e-01 -5.69251025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72589822699996 meters Centerline goodness [0,1] 0.8057330195023538 Centerline is valid? [False, False] Translation: X:119.82, Y:-0.09, Z:-0.57 [[ 9.99992912e-01 -3.75011296e-03 -3.36969674e-04 1.19824939e+02] [ 3.75105692e-03 9.99988916e-01 2.84574641e-03 -9.01822230e-02] [ 3.26294068e-04 -2.84699023e-03 9.99995894e-01 -5.70084232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.755898227 meters Centerline goodness [0,1] 0.7559682262495475 Centerline is valid? [False, False] Translation: X:119.80, Y:-0.08, Z:-0.57 [[ 9.99979789e-01 -4.10136239e-03 -4.85803996e-03 1.19804175e+02] [ 4.05956136e-03 9.99954922e-01 -8.58333834e-03 -8.36397090e-02] [ 4.89302435e-03 8.56344335e-03 9.99951362e-01 -5.66582602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78589822699996 meters Centerline goodness [0,1] 0.887994563255251 Centerline is valid? [False, False] Translation: X:119.80, Y:-0.09, Z:-0.57 [[ 9.99988479e-01 -1.94006227e-04 -4.79636722e-03 1.19804122e+02] [ 1.76171569e-04 9.99993071e-01 -3.71851088e-03 -8.79558073e-02] [ 4.79705540e-03 3.71762305e-03 9.99981584e-01 -5.67046902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.815898227 meters Centerline goodness [0,1] 0.6275235175985625 Centerline is valid? [False, False] Translation: X:119.80, Y:-0.09, Z:-0.57 [[ 9.99987822e-01 -4.69464901e-04 -4.91273961e-03 1.19804942e+02] [ 4.52543050e-04 9.99993963e-01 -3.44502854e-03 -9.01802476e-02] [ 4.91432727e-03 3.44276336e-03 9.99981998e-01 -5.67868909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84589822699996 meters Centerline goodness [0,1] 0.5666031054208662 Centerline is valid? [False, False] Translation: X:119.83, Y:-0.10, Z:-0.57 [[ 9.99993765e-01 -3.24544682e-03 -1.39183608e-03 1.19826111e+02] [ 3.25223891e-03 9.99982678e-01 4.90577047e-03 -9.53919733e-02] [ 1.37589055e-03 -4.91026647e-03 9.99986998e-01 -5.70705195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.875898227 meters Centerline goodness [0,1] 0.5877056749496306 Centerline is valid? [False, False] Translation: X:119.83, Y:-0.10, Z:-0.57 [[ 9.99994027e-01 -3.17670334e-03 -1.36211861e-03 1.19826063e+02] [ 3.18403345e-03 9.99980278e-01 5.41343949e-03 -9.82246119e-02] [ 1.34489486e-03 -5.41774418e-03 9.99984420e-01 -5.70825605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90589822699997 meters Centerline goodness [0,1] 0.5010230988292375 Centerline is valid? [False, False] Translation: X:119.83, Y:-0.10, Z:-0.57 [[ 9.99972499e-01 -7.29736010e-03 -1.32241658e-03 1.19825920e+02] [ 7.29917056e-03 9.99972423e-01 1.36943591e-03 -9.93661338e-02] [ 1.31238684e-03 -1.37905079e-03 9.99998188e-01 -5.70651393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.935898227 meters Centerline goodness [0,1] 0.5922756804959871 Centerline is valid? [False, False] Translation: X:119.83, Y:-0.10, Z:-0.57 [[ 9.99973907e-01 -7.10863959e-03 -1.28576551e-03 1.19825859e+02] [ 7.11100519e-03 9.99973015e-01 1.84472416e-03 -1.01632824e-01] [ 1.27261734e-03 -1.85381911e-03 9.99997472e-01 -5.70817732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96589822699997 meters Centerline goodness [0,1] 0.5501271302191684 Centerline is valid? [False, False] Translation: X:119.83, Y:-0.10, Z:-0.57 [[ 9.99974668e-01 -6.95746052e-03 -1.50250895e-03 1.19826703e+02] [ 6.96075945e-03 9.99973350e-01 2.20166101e-03 -1.03381789e-01] [ 1.48715094e-03 -2.21206384e-03 9.99996448e-01 -5.71096168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.995898227 meters Centerline goodness [0,1] 0.5512820512820513 Centerline is valid? [False, False] Translation: X:119.83, Y:-0.10, Z:-0.57 [[ 9.99975481e-01 -6.79227065e-03 -1.70337779e-03 1.19827704e+02] [ 6.79648476e-03 9.99973827e-01 2.48051122e-03 -1.04584645e-01] [ 1.68648491e-03 -2.49202738e-03 9.99995473e-01 -5.71688210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.02589822699997 meters Centerline goodness [0,1] 0.5666680718320547 Centerline is valid? [False, False] Translation: X:119.83, Y:-0.11, Z:-0.57 [[ 9.99977428e-01 -6.45986526e-03 -1.84766056e-03 1.19828372e+02] [ 6.46524582e-03 9.99974834e-01 2.92109760e-03 -1.06297643e-01] [ 1.82874417e-03 -2.93297724e-03 9.99994027e-01 -5.72030530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05589822699994 meters Centerline goodness [0,1] 0.5586089443031055 Centerline is valid? [False, False] Translation: X:119.83, Y:-0.11, Z:-0.57 [[ 9.99978290e-01 -6.32705057e-03 -1.84059235e-03 1.19827974e+02] [ 6.33253837e-03 9.99975476e-01 2.99115127e-03 -1.06356310e-01] [ 1.82162204e-03 -3.00274195e-03 9.99993833e-01 -5.71395970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.085898227 meters Centerline goodness [0,1] 0.6270509884661443 Centerline is valid? [False, False] Translation: X:119.83, Y:-0.11, Z:-0.57 [[ 9.99978870e-01 -6.20272215e-03 -1.94557259e-03 1.19827903e+02] [ 6.20849208e-03 9.99976305e-01 2.97378826e-03 -1.05910095e-01] [ 1.92708091e-03 -2.98580450e-03 9.99993686e-01 -5.70727870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11589822699995 meters Centerline goodness [0,1] 0.6558282208588957 Centerline is valid? [False, False] Translation: X:119.83, Y:-0.11, Z:-0.57 [[ 9.99980877e-01 -5.77330268e-03 -2.21690048e-03 1.19828912e+02] [ 5.78035565e-03 9.99978211e-01 3.18833899e-03 -1.06088793e-01] [ 2.19844493e-03 -3.20109249e-03 9.99992460e-01 -5.70999647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.145898227 meters Centerline goodness [0,1] 0.9185894271425812 Centerline is valid? [False, False] Translation: X:119.81, Y:-0.10, Z:-0.57 [[ 9.99965938e-01 -4.20229424e-03 -7.10372700e-03 1.19808049e+02] [ 4.16111355e-03 9.99974511e-01 -5.80192848e-03 -1.02522752e-01] [ 7.12792734e-03 5.77217144e-03 9.99957936e-01 -5.67228645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17589822699995 meters Centerline goodness [0,1] 0.7140386035228352 Centerline is valid? [False, False] Translation: X:119.85, Y:-0.11, Z:-0.57 [[ 9.99978506e-01 -2.26006141e-03 -6.15464600e-03 1.19849551e+02] [ 2.24973119e-03 9.99996050e-01 -1.68484907e-03 -1.09919599e-01] [ 6.15842956e-03 1.67096655e-03 9.99979641e-01 -5.67227731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.205898227 meters Centerline goodness [0,1] 0.7662197597699205 Centerline is valid? [False, False] Translation: X:119.85, Y:-0.11, Z:-0.57 [[ 9.99978595e-01 -2.11066056e-03 -6.19304077e-03 1.19849679e+02] [ 2.10216816e-03 9.99996842e-01 -1.37747043e-03 -1.11352451e-01] [ 6.19592858e-03 1.36442213e-03 9.99979874e-01 -5.67275891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23589822699995 meters Centerline goodness [0,1] 0.849902949896551 Centerline is valid? [False, False] Translation: X:119.85, Y:-0.11, Z:-0.57 [[ 9.99980160e-01 -1.81294369e-03 -6.03256955e-03 1.19848824e+02] [ 1.80887107e-03 9.99998132e-01 -6.80493131e-04 -1.14655223e-01] [ 6.03379198e-03 6.69567490e-04 9.99981572e-01 -5.66726702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.265898227 meters Centerline goodness [0,1] 0.7813254287529112 Centerline is valid? [False, False] Translation: X:119.85, Y:-0.12, Z:-0.57 [[ 9.99980540e-01 -1.66893074e-03 -6.01116366e-03 1.19848420e+02] [ 1.66665310e-03 9.99998537e-01 -3.83890382e-04 -1.16034418e-01] [ 6.01179556e-03 3.73864387e-04 9.99981859e-01 -5.66209536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29589822699995 meters Centerline goodness [0,1] 0.8283144640778753 Centerline is valid? [False, False] Translation: X:119.85, Y:-0.12, Z:-0.57 [[ 9.99980630e-01 -1.55432232e-03 -6.02698393e-03 1.19848263e+02] [ 1.55292083e-03 9.99998766e-01 -2.37208594e-04 -1.16635974e-01] [ 6.02734520e-03 2.27844570e-04 9.99981809e-01 -5.65853676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.325898227 meters Centerline goodness [0,1] 0.7024998946081531 Centerline is valid? [False, False] Translation: X:119.85, Y:-0.12, Z:-0.57 [[ 9.99979898e-01 -1.49307101e-03 -6.16239718e-03 1.19848687e+02] [ 1.49138315e-03 9.99998849e-01 -2.78482615e-04 -1.16221582e-01] [ 6.16280588e-03 2.69286522e-04 9.99980973e-01 -5.65819073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35589822699995 meters Centerline goodness [0,1] 0.8015084852294154 Centerline is valid? [False, False] Translation: X:119.85, Y:-0.12, Z:-0.57 [[ 9.99976018e-01 2.92553972e-03 -6.27731545e-03 1.19848970e+02] [-2.89972454e-03 9.99987318e-01 4.11762327e-03 -1.16498922e-01] [ 6.28928211e-03 -4.09932203e-03 9.99971820e-01 -5.65649000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.385898227 meters Centerline goodness [0,1] 0.9780692415790146 Centerline is valid? [False, True] Translation: X:119.81, Y:-0.11, Z:-0.57 [[ 9.99973103e-01 2.66455131e-03 -6.83324336e-03 1.19806384e+02] [-2.65721476e-03 9.99995884e-01 1.08250888e-03 -1.08635209e-01] [ 6.83609963e-03 -1.06432237e-03 9.99976067e-01 -5.65372538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41589822699996 meters Centerline goodness [0,1] 0.9895187481547092 Centerline is valid? [True, True] Translation: X:119.84, Y:-0.11, Z:-0.56 [[ 9.99966684e-01 5.60612115e-03 -5.93307784e-03 1.19837596e+02] [-5.60392767e-03 9.99984223e-01 3.86263351e-04 -1.05642818e-01] [ 5.93514967e-03 -3.53001943e-04 9.99982325e-01 -5.64240440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.445898227 meters Centerline goodness [0,1] 0.9950838696064985 Centerline is valid? [True, True] Translation: X:119.87, Y:-0.10, Z:-0.56 [[ 9.99949322e-01 9.06067781e-03 -4.38828806e-03 1.19868325e+02] [-9.05951107e-03 9.99958921e-01 2.85680545e-04 -9.99583537e-02] [ 4.39069626e-03 -2.45910323e-04 9.99990331e-01 -5.61402484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47589822699996 meters Centerline goodness [0,1] 0.993131983533563 Centerline is valid? [True, True] Translation: X:119.90, Y:-0.10, Z:-0.56 [[ 9.99948469e-01 9.42414471e-03 -3.77429439e-03 1.19896588e+02] [-9.42328452e-03 9.99955570e-01 2.45626976e-04 -1.01916727e-01] [ 3.77644152e-03 -2.10048069e-04 9.99992847e-01 -5.61728833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.505898227 meters Centerline goodness [0,1] 0.9925126716722401 Centerline is valid? [True, True] Translation: X:119.93, Y:-0.10, Z:-0.56 [[ 9.99949731e-01 9.29802906e-03 -3.75260255e-03 1.19926585e+02] [-9.29717816e-03 9.99956751e-01 2.44129554e-04 -1.02397926e-01] [ 3.75471017e-03 -2.09228668e-04 9.99992929e-01 -5.61774093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53589822699996 meters Centerline goodness [0,1] 0.9895012568917806 Centerline is valid? [True, True] Translation: X:119.96, Y:-0.10, Z:-0.56 [[ 9.99963175e-01 7.28541568e-03 -4.53548819e-03 1.19956616e+02] [-7.28415229e-03 9.99973427e-01 2.95014495e-04 -1.03365974e-01] [ 4.53751697e-03 -2.61966445e-04 9.99989671e-01 -5.62802302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.565898227 meters Centerline goodness [0,1] 0.9772061766626641 Centerline is valid? [True, True] Translation: X:119.99, Y:-0.11, Z:-0.56 [[ 9.99972370e-01 5.79078826e-03 -4.66112429e-03 1.19985840e+02] [-5.78943796e-03 9.99983195e-01 3.03133903e-04 -1.07072078e-01] [ 4.66280135e-03 -2.76140238e-04 9.99989091e-01 -5.63120247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59589822699996 meters Centerline goodness [0,1] 0.9683856359904353 Centerline is valid? [True, True] Translation: X:120.02, Y:-0.11, Z:-0.56 [[ 9.99979417e-01 4.22047298e-03 -4.83258356e-03 1.20015898e+02] [-4.21900351e-03 9.99991051e-01 3.14230117e-04 -1.07259961e-01] [ 4.83386651e-03 -2.93834962e-04 9.99988274e-01 -5.61762441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.625898227 meters Centerline goodness [0,1] 0.9251027425983394 Centerline is valid? [True, False] Translation: X:120.02, Y:-0.10, Z:-0.56 [[ 9.99980375e-01 3.94936882e-03 -4.86324910e-03 1.20016017e+02] [-3.95060469e-03 9.99992166e-01 -2.44544534e-04 -1.04603704e-01] [ 4.86224520e-03 2.63752509e-04 9.99988144e-01 -5.61760086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65589822699997 meters Centerline goodness [0,1] 0.9879884317409385 Centerline is valid? [False, True] Translation: X:120.02, Y:-0.10, Z:-0.56 [[ 9.99981966e-01 3.38648459e-03 -4.95987139e-03 1.20016522e+02] [-3.39469310e-03 9.99992881e-01 -1.64750238e-03 -9.77927429e-02] [ 4.95425684e-03 1.66430991e-03 9.99986343e-01 -5.61926789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.685898227 meters Centerline goodness [0,1] 0.9790395218653983 Centerline is valid? [True, True] Translation: X:120.04, Y:-0.10, Z:-0.56 [[ 9.99976572e-01 3.62637698e-03 -5.80557594e-03 1.20044658e+02] [-3.62426533e-03 9.99993362e-01 3.74206652e-04 -1.00326995e-01] [ 5.80689442e-03 -3.53156937e-04 9.99983077e-01 -5.64135765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71589822699997 meters Centerline goodness [0,1] 0.997771977847094 Centerline is valid? [True, True] Translation: X:120.07, Y:-0.09, Z:-0.56 [[ 9.99971779e-01 3.50362875e-03 -6.64574615e-03 1.20074428e+02] [-3.50086110e-03 9.99993780e-01 4.28041275e-04 -8.93596654e-02] [ 6.64720451e-03 -4.04763361e-04 9.99977825e-01 -5.64673089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.745898227 meters Centerline goodness [0,1] 0.9225818623957067 Centerline is valid? [True, False] Translation: X:120.09, Y:-0.09, Z:-0.57 [[ 9.99988262e-01 2.34037181e-03 -4.24239635e-03 1.20094246e+02] [-2.29666673e-03 9.99944545e-01 1.02777435e-02 -9.03217395e-02] [ 4.26621483e-03 -1.02678795e-02 9.99938183e-01 -5.65344113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77589822699997 meters Centerline goodness [0,1] 0.9937651395471301 Centerline is valid? [False, True] Translation: X:120.09, Y:-0.09, Z:-0.57 [[ 9.99989488e-01 1.82868343e-03 -4.20472658e-03 1.20094098e+02] [-1.79006864e-03 9.99956360e-01 9.16915770e-03 -8.51108186e-02] [ 4.22131057e-03 -9.16153456e-03 9.99949122e-01 -5.65287284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80589822699994 meters Centerline goodness [0,1] 0.9860928277209223 Centerline is valid? [True, True] Translation: X:120.12, Y:-0.08, Z:-0.57 [[ 9.99986457e-01 5.40930142e-04 -5.17613749e-03 1.20122766e+02] [-5.39231363e-04 9.99999800e-01 3.29584241e-04 -8.31130936e-02] [ 5.17631474e-03 -3.26788642e-04 9.99986549e-01 -5.65982108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.835898227 meters Centerline goodness [0,1] 0.9575184588675772 Centerline is valid? [True, True] Translation: X:120.15, Y:-0.09, Z:-0.57 [[ 9.99984445e-01 -1.45864754e-03 -5.38354369e-03 1.20151351e+02] [ 1.46051424e-03 9.99998875e-01 3.42827153e-04 -8.79052277e-02] [ 5.38303757e-03 -3.50684562e-04 9.99985450e-01 -5.67141497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86589822699995 meters Centerline goodness [0,1] 0.9177045794609175 Centerline is valid? [True, False] Translation: X:120.15, Y:-0.09, Z:-0.57 [[ 9.99983855e-01 -1.98828893e-03 -5.32313187e-03 1.20151263e+02] [ 1.98768471e-03 9.99998017e-01 -1.18796023e-04 -8.65473696e-02] [ 5.32335752e-03 1.08213397e-04 9.99985825e-01 -5.67283904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.895898227 meters Centerline goodness [0,1] 0.8676843172029389 Centerline is valid? [False, False] Translation: X:120.15, Y:-0.09, Z:-0.57 [[ 9.99984000e-01 -2.05636638e-03 -5.26982449e-03 1.20150965e+02] [ 2.05604345e-03 9.99997884e-01 -6.66947785e-05 -8.69809286e-02] [ 5.26995049e-03 5.58587233e-05 9.99986112e-01 -5.67091943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92589822699995 meters Centerline goodness [0,1] 0.7991391378842015 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.08, Z:-0.56 [[ 9.99972988e-01 -2.69536900e-03 -6.83802819e-03 1.20169359e+02] [ 2.61936626e-03 9.99934969e-01 -1.10994294e-02 -8.47221979e-02] [ 6.86750056e-03 1.10812182e-02 9.99915018e-01 -5.61846332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.955898227 meters Centerline goodness [0,1] 0.5733669598566009 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.09, Z:-0.56 [[ 9.99978401e-01 1.01274795e-03 -6.49405397e-03 1.20168216e+02] [-1.05263359e-03 9.99980587e-01 -6.14139771e-03 -9.03290937e-02] [ 6.48770821e-03 6.14810092e-03 9.99960054e-01 -5.61983825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98589822699995 meters Centerline goodness [0,1] 0.5333473242392445 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.09, Z:-0.56 [[ 9.99978911e-01 9.46650779e-04 -6.42507807e-03 1.20168203e+02] [-9.82158638e-04 9.99984252e-01 -5.52554443e-03 -9.41273560e-02] [ 6.41974612e-03 5.53173835e-03 9.99964093e-01 -5.62421443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.015898227 meters Centerline goodness [0,1] 0.6689090870748012 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.10, Z:-0.56 [[ 9.99977797e-01 1.10506994e-03 -6.57140860e-03 1.20168933e+02] [-1.13820788e-03 9.99986646e-01 -5.04114555e-03 -9.64839564e-02] [ 6.56575002e-03 5.04851325e-03 9.99965701e-01 -5.62947980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04589822699995 meters Centerline goodness [0,1] 0.6442240889281879 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.10, Z:-0.56 [[ 9.99976945e-01 1.30937432e-03 -6.66294297e-03 1.20169416e+02] [-1.33892968e-03 9.99989277e-01 -4.43325611e-03 -9.94978739e-02] [ 6.65706673e-03 4.44207511e-03 9.99967975e-01 -5.63323946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.075898227 meters Centerline goodness [0,1] 0.602929055981741 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.10, Z:-0.56 [[ 9.99977107e-01 1.53648460e-03 -6.58978692e-03 1.20169189e+02] [-1.56175107e-03 9.99991443e-01 -3.83075613e-03 -1.02465002e-01] [ 6.58384464e-03 3.84096004e-03 9.99970950e-01 -5.63414252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10589822699995 meters Centerline goodness [0,1] 0.6163791285274391 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.11, Z:-0.56 [[ 9.99977994e-01 1.97883646e-03 -6.33217738e-03 1.20167745e+02] [-1.99554471e-03 9.99994541e-01 -2.63339796e-03 -1.08508956e-01] [ 6.32693175e-03 2.64597615e-03 9.99976484e-01 -5.62508103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.135898227 meters Centerline goodness [0,1] 0.5835694645593267 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.11, Z:-0.56 [[ 9.99977308e-01 2.26922470e-03 -6.34301715e-03 1.20167356e+02] [-2.28188306e-03 9.99995418e-01 -1.98911304e-03 -1.11601474e-01] [ 6.33847434e-03 2.00354193e-03 9.99977905e-01 -5.61863479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16589822699996 meters Centerline goodness [0,1] 0.6804021999244301 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.12, Z:-0.56 [[ 9.99974860e-01 2.82585443e-03 -6.50341570e-03 1.20167989e+02] [-2.83297276e-03 9.99995398e-01 -1.08560071e-03 -1.15535350e-01] [ 6.50031802e-03 1.10399742e-03 9.99978263e-01 -5.62106543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.195898227 meters Centerline goodness [0,1] 0.6774571309075701 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.12, Z:-0.56 [[ 9.99972524e-01 3.07376979e-03 -6.74565142e-03 1.20168793e+02] [-3.08013383e-03 9.99994821e-01 -9.33242049e-04 -1.15829022e-01] [ 6.74274791e-03 9.53993916e-04 9.99976812e-01 -5.62129472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22589822699996 meters Centerline goodness [0,1] 0.8013472266077255 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.12, Z:-0.56 [[ 9.99970816e-01 3.36911615e-03 -6.85680090e-03 1.20168983e+02] [-3.37492455e-03 9.99993956e-01 -8.35706165e-04 -1.15728854e-01] [ 6.85394387e-03 8.58822962e-04 9.99976143e-01 -5.61851623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.255898227 meters Centerline goodness [0,1] 0.86755092974551 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.12, Z:-0.56 [[ 9.99969431e-01 3.60077056e-03 -6.94051397e-03 1.20169166e+02] [-3.60675812e-03 9.99993134e-01 -8.50373377e-04 -1.15076440e-01] [ 6.93740431e-03 8.75380138e-04 9.99975553e-01 -5.61724584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28589822699996 meters Centerline goodness [0,1] 0.9286659524859789 Centerline is valid? [False, False] Translation: X:120.17, Y:-0.12, Z:-0.56 [[ 9.99955178e-01 5.32401757e-03 -7.82925919e-03 1.20174183e+02] [-5.31949109e-03 9.99985672e-01 5.98859440e-04 -1.16008530e-01] [ 7.83233535e-03 -5.57184923e-04 9.99969172e-01 -5.64124634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.315898227 meters Centerline goodness [0,1] 0.9894829464510182 Centerline is valid? [False, True] Translation: X:120.18, Y:-0.11, Z:-0.56 [[ 9.99947531e-01 6.21894132e-03 -8.14003944e-03 1.20175255e+02] [-6.21649653e-03 9.99980624e-01 3.25609313e-04 -1.11774945e-01] [ 8.14190666e-03 -2.74989701e-04 9.99966816e-01 -5.64141472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34589822699996 meters Centerline goodness [0,1] 0.996765601217656 Centerline is valid? [True, True] Translation: X:120.21, Y:-0.11, Z:-0.56 [[ 9.99929962e-01 8.98861379e-03 -7.69906831e-03 1.20205609e+02] [-8.98514696e-03 9.99959515e-01 4.84763173e-04 -1.08761109e-01] [ 7.70311396e-03 -4.15551961e-04 9.99970244e-01 -5.63382712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.375898227 meters Centerline goodness [0,1] 0.9980359858084136 Centerline is valid? [True, True] Translation: X:120.24, Y:-0.11, Z:-0.56 [[ 9.99922354e-01 1.03308480e-02 -6.96846363e-03 1.20235294e+02] [-1.03280413e-02 9.99946568e-01 4.38644390e-04 -1.08861758e-01] [ 6.97262286e-03 -3.66639751e-04 9.99975624e-01 -5.62550942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40589822699997 meters Centerline goodness [0,1] 0.9983200068050357 Centerline is valid? [True, True] Translation: X:120.26, Y:-0.11, Z:-0.56 [[ 9.99934975e-01 9.80683834e-03 -5.81999178e-03 1.20264336e+02] [-9.80487292e-03 9.99951864e-01 3.66139458e-04 -1.10879899e-01] [ 5.82330230e-03 -3.09051370e-04 9.99982997e-01 -5.60922787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.435898227 meters Centerline goodness [0,1] 0.9875589424048501 Centerline is valid? [True, True] Translation: X:120.29, Y:-0.12, Z:-0.56 [[ 9.99945034e-01 8.65546602e-03 -5.91700322e-03 1.20292907e+02] [-8.65341454e-03 9.99962489e-01 3.72222995e-04 -1.21300110e-01] [ 5.92000303e-03 -3.21000254e-04 9.99982425e-01 -5.61702138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46589822699997 meters Centerline goodness [0,1] 0.9875589424048501 Centerline is valid? [True, True] Translation: X:120.32, Y:-0.12, Z:-0.56 [[ 9.99945413e-01 8.61164588e-03 -5.91701129e-03 1.20321230e+02] [-8.60959439e-03 9.99962868e-01 3.72094669e-04 -1.22994111e-01] [ 5.91999592e-03 -3.21131290e-04 9.99982425e-01 -5.61643605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.495898227 meters Centerline goodness [0,1] 0.9845626432792816 Centerline is valid? [True, True] Translation: X:120.35, Y:-0.13, Z:-0.56 [[ 9.99951970e-01 7.22448808e-03 -6.62307548e-03 1.20350098e+02] [-7.22188911e-03 9.99973835e-01 4.16243130e-04 -1.26106531e-01] [ 6.62590933e-03 -3.68392021e-04 9.99977981e-01 -5.62584401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.52589822699997 meters Centerline goodness [0,1] 0.9648122129720889 Centerline is valid? [True, True] Translation: X:120.38, Y:-0.13, Z:-0.56 [[ 9.99961990e-01 5.69740905e-03 -6.59982486e-03 1.20377876e+02] [-5.69479635e-03 9.99983699e-01 4.14599259e-04 -1.31673512e-01] [ 6.60207942e-03 -3.76998842e-04 9.99978135e-01 -5.63186046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55589822699994 meters Centerline goodness [0,1] 0.9220872504489278 Centerline is valid? [True, False] Translation: X:120.37, Y:-0.13, Z:-0.56 [[ 9.99973600e-01 4.24412958e-03 -5.89799918e-03 1.20373204e+02] [-4.24913047e-03 9.99990623e-01 -8.35624838e-04 -1.31199294e-01] [ 5.89439738e-03 8.60664145e-04 9.99982258e-01 -5.60294378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.585898227 meters Centerline goodness [0,1] 0.8811370053521008 Centerline is valid? [False, False] Translation: X:120.37, Y:-0.13, Z:-0.56 [[ 9.99973442e-01 4.25092138e-03 -5.91989027e-03 1.20373419e+02] [-4.25518867e-03 9.99990696e-01 -7.08430542e-04 -1.31972101e-01] [ 5.91682371e-03 7.33601978e-04 9.99982226e-01 -5.60538586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61589822699995 meters Centerline goodness [0,1] 0.9955084672913264 Centerline is valid? [False, True] Translation: X:120.33, Y:-0.13, Z:-0.56 [[ 9.99962353e-01 4.24465273e-03 -7.56804785e-03 1.20332581e+02] [-4.25259231e-03 9.99990424e-01 -1.03330788e-03 -1.29003213e-01] [ 7.56358934e-03 1.06545280e-03 9.99970828e-01 -5.62100083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.645898227 meters Centerline goodness [0,1] 0.898235294117647 Centerline is valid? [True, False] Translation: X:120.38, Y:-0.13, Z:-0.56 [[ 9.99944135e-01 3.39679181e-03 -1.00094361e-02 1.20381256e+02] [-3.41605185e-03 9.99992346e-01 -1.90771950e-03 -1.29713265e-01] [ 1.00028794e-02 1.94180568e-03 9.99948085e-01 -5.63806060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67589822699995 meters Centerline goodness [0,1] 0.8742052296938818 Centerline is valid? [False, False] Translation: X:120.38, Y:-0.13, Z:-0.56 [[ 9.99944213e-01 3.38002130e-03 -1.00072931e-02 1.20381209e+02] [-3.39931644e-03 9.99992395e-01 -1.91172674e-03 -1.29766767e-01] [ 1.00007554e-02 1.94563805e-03 9.99948098e-01 -5.63734230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.705898227 meters Centerline goodness [0,1] 0.9715694991320547 Centerline is valid? [False, True] Translation: X:120.38, Y:-0.13, Z:-0.56 [[ 9.99946349e-01 3.29802152e-03 -9.81951322e-03 1.20380305e+02] [-3.31802637e-03 9.99992452e-01 -2.02166066e-03 -1.29368155e-01] [ 9.81277162e-03 2.05413360e-03 9.99949744e-01 -5.63228440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73589822699995 meters Centerline goodness [0,1] 0.786534225686208 Centerline is valid? [True, False] Translation: X:120.38, Y:-0.13, Z:-0.56 [[ 9.99949436e-01 3.03819516e-03 -9.58618725e-03 1.20379306e+02] [-3.06154720e-03 9.99992380e-01 -2.42227550e-03 -1.27694508e-01] [ 9.57875485e-03 2.45150158e-03 9.99951118e-01 -5.62759644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.765898227 meters Centerline goodness [0,1] 0.9405731650698519 Centerline is valid? [False, False] Translation: X:120.38, Y:-0.13, Z:-0.56 [[ 9.99947951e-01 2.92242523e-03 -9.77518343e-03 1.20380343e+02] [-2.94814637e-03 9.99992227e-01 -2.61789556e-03 -1.26803884e-01] [ 9.76745685e-03 2.64657798e-03 9.99948795e-01 -5.63451727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79589822699995 meters Centerline goodness [0,1] 0.937083218663336 Centerline is valid? [False, False] Translation: X:120.38, Y:-0.13, Z:-0.56 [[ 9.99947324e-01 2.82741575e-03 -9.86689302e-03 1.20380958e+02] [-2.85471085e-03 9.99992135e-01 -2.75334531e-03 -1.26231661e-01] [ 9.85903057e-03 2.78136740e-03 9.99947530e-01 -5.63977630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.825898227 meters Centerline goodness [0,1] 0.9614508125146423 Centerline is valid? [False, True] Translation: X:120.38, Y:-0.13, Z:-0.56 [[ 9.99947422e-01 2.71502177e-03 -9.88848399e-03 1.20381175e+02] [-2.74462835e-03 9.99991788e-01 -2.98170737e-03 -1.25177844e-01] [ 9.88030739e-03 3.00869081e-03 9.99946662e-01 -5.64196474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85589822699995 meters Centerline goodness [0,1] 0.9189790072256189 Centerline is valid? [True, False] Translation: X:120.38, Y:-0.12, Z:-0.56 [[ 9.99946764e-01 2.35164294e-03 -1.00468577e-02 1.20381617e+02] [-2.39089699e-03 9.99989549e-01 -3.89687454e-03 -1.20706892e-01] [ 1.00375886e-02 3.92068809e-03 9.99941936e-01 -5.63964194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.885898227 meters Centerline goodness [0,1] 0.9342965329046179 Centerline is valid? [False, False] Translation: X:120.40, Y:-0.12, Z:-0.57 [[ 9.99974241e-01 1.88127485e-03 -6.92655564e-03 1.20401731e+02] [-1.83586286e-03 9.99976819e-01 6.55674628e-03 -1.22530658e-01] [ 6.93873012e-03 -6.54386118e-03 9.99954515e-01 -5.65607402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91589822699996 meters Centerline goodness [0,1] 0.8505204398556199 Centerline is valid? [False, False] Translation: X:120.42, Y:-0.12, Z:-0.57 [[ 9.99978531e-01 3.54780592e-03 -5.50911707e-03 1.20423871e+02] [-3.56349026e-03 9.99989619e-01 -2.83977784e-03 -1.19069067e-01] [ 5.49898490e-03 2.85934856e-03 9.99980792e-01 -5.66639971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.945898227 meters Centerline goodness [0,1] 0.7072646873025901 Centerline is valid? [False, False] Translation: X:120.42, Y:-0.11, Z:-0.57 [[ 9.99979894e-01 3.18511198e-03 -5.48330696e-03 1.20423570e+02] [-3.20659063e-03 9.99987204e-01 -3.91277256e-03 -1.13686056e-01] [ 5.47077417e-03 3.93027661e-03 9.99977312e-01 -5.66150183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97589822699996 meters Centerline goodness [0,1] 0.9543530512836875 Centerline is valid? [False, True] Translation: X:120.42, Y:-0.11, Z:-0.56 [[ 9.99973678e-01 5.58206528e-03 -4.63513331e-03 1.20418190e+02] [-5.58882195e-03 9.99983337e-01 -1.44603772e-03 -1.12133378e-01] [ 4.62698419e-03 1.47190459e-03 9.99988212e-01 -5.62964746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.005898227 meters Centerline goodness [0,1] 0.935341306578975 Centerline is valid? [True, False] Translation: X:120.46, Y:-0.11, Z:-0.56 [[ 9.99979718e-01 6.09214407e-03 -1.85744588e-03 1.20455942e+02] [-6.09351826e-03 9.99981164e-01 -7.35070025e-04 -1.11709369e-01] [ 1.85293274e-03 7.46373496e-04 9.99998005e-01 -5.60846909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03589822699996 meters Centerline goodness [0,1] 0.8678944832065707 Centerline is valid? [False, False] Translation: X:120.46, Y:-0.11, Z:-0.56 [[ 9.99983054e-01 5.56100340e-03 -1.72260062e-03 1.20455207e+02] [-5.56414205e-03 9.99982859e-01 -1.82263946e-03 -1.06668679e-01] [ 1.71243539e-03 1.83219337e-03 9.99996855e-01 -5.60281186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.065898227 meters Centerline goodness [0,1] 0.8239722551175774 Centerline is valid? [False, False] Translation: X:120.46, Y:-0.11, Z:-0.56 [[ 9.99983947e-01 5.39971048e-03 -1.71717440e-03 1.20455097e+02] [-5.40327292e-03 9.99983246e-01 -2.07676465e-03 -1.05582540e-01] [ 1.70593170e-03 2.08600968e-03 9.99996369e-01 -5.60137595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09589822699996 meters Centerline goodness [0,1] 0.9781257979402502 Centerline is valid? [False, True] Translation: X:120.46, Y:-0.10, Z:-0.56 [[ 9.99984678e-01 5.24659196e-03 -1.76531915e-03 1.20455336e+02] [-5.25056792e-03 9.99983673e-01 -2.25521852e-03 -1.04968337e-01] [ 1.75345812e-03 2.26445289e-03 9.99995899e-01 -5.60280606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.125898227 meters Centerline goodness [0,1] 0.6897218253634759 Centerline is valid? [True, False] Translation: X:120.48, Y:-0.11, Z:-0.56 [[ 9.99996659e-01 1.56505972e-03 2.05729608e-03 1.20477127e+02] [-1.57489597e-03 9.99987296e-01 4.78825868e-03 -1.06148986e-01] [-2.04977603e-03 -4.79148271e-03 9.99986420e-01 -5.64107547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15589822699997 meters Centerline goodness [0,1] 0.8997539453589004 Centerline is valid? [False, False] Translation: X:120.46, Y:-0.10, Z:-0.56 [[ 9.99997774e-01 1.30390003e-03 -1.65867300e-03 1.20456585e+02] [-1.31540341e-03 9.99974961e-01 -6.95320840e-03 -9.96286485e-02] [ 1.64956518e-03 6.95537474e-03 9.99974451e-01 -5.61313775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.185898227 meters Centerline goodness [0,1] 0.686810189265181 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99997476e-01 -8.93933300e-04 2.06121404e-03 1.20477609e+02] [ 8.90063213e-04 9.99997841e-01 1.87772981e-03 -1.03088948e-01] [-2.06288815e-03 -1.87589046e-03 9.99996113e-01 -5.64437871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21589822699997 meters Centerline goodness [0,1] 0.5988795049753324 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99997347e-01 -1.00475022e-03 2.07260765e-03 1.20477819e+02] [ 1.00078268e-03 9.99997667e-01 1.91442369e-03 -1.03613426e-01] [-2.07452634e-03 -1.91234438e-03 9.99996020e-01 -5.64856074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.245898227 meters Centerline goodness [0,1] 0.7687866144055295 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99997323e-01 -1.01929139e-03 2.07726410e-03 1.20477774e+02] [ 1.01538049e-03 9.99997712e-01 1.88290193e-03 -1.03464778e-01] [-2.07917857e-03 -1.88078768e-03 9.99996070e-01 -5.64787227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27589822699997 meters Centerline goodness [0,1] 0.7595614643059668 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99997505e-01 -1.05326909e-03 1.97004874e-03 1.20478015e+02] [ 1.04977225e-03 9.99997873e-01 1.77519588e-03 -1.02935995e-01] [-1.97191430e-03 -1.77312335e-03 9.99996484e-01 -5.64603876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30589822699994 meters Centerline goodness [0,1] 0.6555958342937367 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99997418e-01 -1.18394390e-03 1.93982976e-03 1.20477921e+02] [ 1.18156785e-03 9.99998551e-01 1.22556430e-03 -1.00019550e-01] [-1.94127795e-03 -1.22326909e-03 9.99997368e-01 -5.64233222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.335898227 meters Centerline goodness [0,1] 0.7039546837302004 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99997140e-01 -1.31558910e-03 1.99712701e-03 1.20477528e+02] [ 1.31378855e-03 9.99998730e-01 9.02616872e-04 -9.84621665e-02] [-1.99831194e-03 -8.99990488e-04 9.99997598e-01 -5.63897930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36589822699995 meters Centerline goodness [0,1] 0.6512523679225426 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99996843e-01 -1.40613025e-03 2.08228194e-03 1.20477037e+02] [ 1.40470410e-03 9.99998778e-01 6.86203101e-04 -9.74304091e-02] [-2.08324428e-03 -6.83275945e-04 9.99997597e-01 -5.63529227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.395898227 meters Centerline goodness [0,1] 0.7844935913546117 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99996942e-01 -1.44389074e-03 2.00757331e-03 1.20477288e+02] [ 1.44267773e-03 9.99998776e-01 6.05533555e-04 -9.70025813e-02] [-2.00844518e-03 -6.02635422e-04 9.99997801e-01 -5.63553351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42589822699995 meters Centerline goodness [0,1] 0.7493513342474423 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99997256e-01 -1.37093660e-03 1.89983208e-03 1.20478275e+02] [ 1.36910557e-03 9.99998597e-01 9.64751421e-04 -9.89418848e-02] [-1.90115203e-03 -9.62147703e-04 9.99997730e-01 -5.64709491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.455898227 meters Centerline goodness [0,1] 0.7058613069556983 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.57 [[ 9.99997578e-01 -1.29025308e-03 1.78310811e-03 1.20478861e+02] [ 1.28788598e-03 9.99998289e-01 1.32802360e-03 -1.00855874e-01] [-1.78481854e-03 -1.32572394e-03 9.99997528e-01 -5.65087824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48589822699995 meters Centerline goodness [0,1] 0.697117712697644 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.57 [[ 9.99997689e-01 -1.22784830e-03 1.76476591e-03 1.20479096e+02] [ 1.22494586e-03 9.99997897e-01 1.64480083e-03 -1.02553143e-01] [-1.76678177e-03 -1.64263528e-03 9.99997090e-01 -5.65418379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.515898227 meters Centerline goodness [0,1] 0.6594362822372155 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.57 [[ 9.99997909e-01 -1.19174013e-03 1.66188081e-03 1.20479569e+02] [ 1.18868250e-03 9.99997601e-01 1.83963903e-03 -1.03612771e-01] [-1.66406920e-03 -1.83765973e-03 9.99996927e-01 -5.65675991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54589822699995 meters Centerline goodness [0,1] 0.709157836503681 Centerline is valid? [False, False] Translation: X:120.46, Y:-0.10, Z:-0.56 [[ 9.99994809e-01 -9.69724682e-04 -3.07275629e-03 1.20459140e+02] [ 9.41835764e-04 9.99958471e-01 -9.06467457e-03 -9.75705640e-02] [ 3.08141892e-03 9.06173348e-03 9.99954194e-01 -5.62023599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.575898227 meters Centerline goodness [0,1] 0.6716452496313461 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99998852e-01 -1.51436635e-03 5.72758858e-05 1.20479856e+02] [ 1.51426867e-03 9.99997461e-01 1.66855968e-03 -1.02248424e-01] [-5.98025511e-05 -1.66847104e-03 9.99998606e-01 -5.64512791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60589822699995 meters Centerline goodness [0,1] 0.8645583331563409 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99998775e-01 -1.56104397e-03 -1.15712240e-04 1.20480549e+02] [ 1.56121516e-03 9.99997665e-01 1.49434666e-03 -1.01319467e-01] [ 1.13379229e-04 -1.49452548e-03 9.99998877e-01 -5.64766143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.635898227 meters Centerline goodness [0,1] 0.603752107925801 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99998294e-01 -1.84509126e-03 -8.79063120e-05 1.20480479e+02] [ 1.84516029e-03 9.99997984e-01 7.91702837e-04 -9.78522866e-02] [ 8.64453708e-05 -7.91863688e-04 9.99999683e-01 -5.64765540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66589822699996 meters Centerline goodness [0,1] 0.6615797028031071 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99998019e-01 -1.98951006e-03 -6.55541180e-05 1.20480258e+02] [ 1.98953781e-03 9.99997930e-01 4.26086476e-04 -9.60321557e-02] [ 6.47062789e-05 -4.26216055e-04 9.99999907e-01 -5.64488706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.695898227 meters Centerline goodness [0,1] 0.5911468218819858 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.09, Z:-0.56 [[ 9.99997709e-01 -2.13253461e-03 -1.87849668e-04 1.20480658e+02] [ 2.13254827e-03 9.99997723e-01 7.25365672e-05 -9.42435222e-02] [ 1.87694554e-04 -7.29369994e-05 9.99999980e-01 -5.64499276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72589822699996 meters Centerline goodness [0,1] 0.7376343178027824 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.09, Z:-0.57 [[ 9.99997116e-01 -2.36171329e-03 -4.36897595e-04 1.20482289e+02] [ 2.36149533e-03 9.99997087e-01 -4.98719106e-04 -9.13549620e-02] [ 4.38074154e-04 4.97685936e-04 9.99999780e-01 -5.65853338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.755898227 meters Centerline goodness [0,1] 0.725084388185654 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.09, Z:-0.57 [[ 9.99996980e-01 -2.42424577e-03 -4.02959400e-04 1.20482330e+02] [ 2.42400095e-03 9.99996878e-01 -6.06934296e-04 -9.07997390e-02] [ 4.04429499e-04 6.05955689e-04 9.99999735e-01 -5.66110616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78589822699996 meters Centerline goodness [0,1] 0.7531345306675703 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.09, Z:-0.57 [[ 9.99996891e-01 -2.47048058e-03 -3.39199197e-04 1.20481904e+02] [ 2.47025774e-03 9.99996734e-01 -6.55824186e-04 -9.06212158e-02] [ 3.40818291e-04 6.54984237e-04 9.99999727e-01 -5.65732503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.815898227 meters Centerline goodness [0,1] 0.7768829137336969 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.09, Z:-0.56 [[ 9.99996915e-01 -2.47352708e-03 -2.25795996e-04 1.20481069e+02] [ 2.47342132e-03 9.99996832e-01 -4.67494855e-04 -9.17699667e-02] [ 2.26951642e-04 4.66934924e-04 9.99999865e-01 -5.64961330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84589822699996 meters Centerline goodness [0,1] 0.582124079915878 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.09, Z:-0.57 [[ 9.99997065e-01 -2.40602565e-03 -2.85247480e-04 1.20481349e+02] [ 2.40595296e-03 9.99997073e-01 -2.54919420e-04 -9.28562791e-02] [ 2.85859988e-04 2.54232380e-04 9.99999927e-01 -5.65128018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.875898227 meters Centerline goodness [0,1] 0.641025641025641 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.09, Z:-0.57 [[ 9.99997162e-01 -2.34416585e-03 -4.24299055e-04 1.20481892e+02] [ 2.34412821e-03 9.99997249e-01 -8.91819820e-05 -9.36159151e-02] [ 4.24506945e-04 8.81871176e-05 9.99999906e-01 -5.65283694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90589822699997 meters Centerline goodness [0,1] 0.499958014946679 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.09, Z:-0.57 [[ 9.99996930e-01 -2.40825377e-03 -5.83406265e-04 1.20482695e+02] [ 2.40814151e-03 9.99997082e-01 -1.93055637e-04 -9.31203981e-02] [ 5.83869489e-04 1.91650120e-04 9.99999811e-01 -5.65723200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.935898227 meters Centerline goodness [0,1] 0.6462113925403441 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.09, Z:-0.56 [[ 9.99999328e-01 -1.14976337e-03 -1.51096336e-04 1.20436758e+02] [ 1.14981511e-03 9.99999280e-01 3.42754975e-04 -9.02816929e-02] [ 1.50702140e-04 -3.42928478e-04 9.99999930e-01 -5.64942118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96589822699997 meters Centerline goodness [0,1] 0.6355928619756428 Centerline is valid? [False, False] Translation: X:120.46, Y:-0.09, Z:-0.56 [[ 9.99999544e-01 -1.84218143e-04 9.37569280e-04 1.20457312e+02] [ 1.93118293e-04 9.99954840e-01 -9.50157130e-03 -8.97790099e-02] [-9.35776578e-04 9.50174803e-03 9.99954420e-01 -5.64444245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.995898227 meters Centerline goodness [0,1] 0.5985034785715787 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.09, Z:-0.56 [[ 9.99993688e-01 -1.70293767e-03 -3.11839001e-03 1.20473788e+02] [ 1.69596027e-03 9.99996056e-01 -2.23877929e-03 -9.44021422e-02] [ 3.12219021e-03 2.23347649e-03 9.99992632e-01 -5.57070541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.02589822699997 meters Centerline goodness [0,1] 0.6110480275885273 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.09, Z:-0.56 [[ 9.99993939e-01 -1.76453764e-03 -3.00147496e-03 1.20473286e+02] [ 1.75757762e-03 9.99995764e-01 -2.31992661e-03 -9.40384379e-02] [ 3.00555584e-03 2.31463722e-03 9.99992805e-01 -5.56856040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05589822699994 meters Centerline goodness [0,1] 0.6229525565232132 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.09, Z:-0.56 [[ 9.99993814e-01 -1.78692355e-03 -3.02956217e-03 1.20473441e+02] [ 1.77981089e-03 9.99995658e-01 -2.34882534e-03 -9.38031754e-02] [ 3.03374618e-03 2.34341876e-03 9.99992652e-01 -5.56980222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.085898227 meters Centerline goodness [0,1] 0.6284125272262049 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.09, Z:-0.56 [[ 9.99993434e-01 -1.69977897e-03 -3.20055870e-03 1.20474333e+02] [ 1.69299057e-03 9.99996314e-01 -2.12252003e-03 -9.48905219e-02] [ 3.20415472e-03 2.11708758e-03 9.99992626e-01 -5.57572937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11589822699995 meters Centerline goodness [0,1] 0.5203111129898128 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99993374e-01 -1.41077934e-03 -3.35596012e-03 1.20475389e+02] [ 1.40749865e-03 9.99998530e-01 -9.79731988e-04 -1.00750860e-01] [ 3.35733737e-03 9.75001987e-04 9.99993889e-01 -5.58697910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.145898227 meters Centerline goodness [0,1] 0.5107581106068246 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.10, Z:-0.56 [[ 9.99993666e-01 -1.20729702e-03 -3.34827554e-03 1.20475348e+02] [ 1.20672328e-03 9.99999257e-01 -1.73366323e-04 -1.04966004e-01] [ 3.34848236e-03 1.69324783e-04 9.99994379e-01 -5.58763377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17589822699995 meters Centerline goodness [0,1] 0.4862377592924081 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.11, Z:-0.56 [[ 9.99994635e-01 -9.82354847e-04 -3.12491409e-03 1.20474468e+02] [ 9.84793719e-04 9.99999212e-01 7.79017513e-04 -1.09933343e-01] [ 3.12414635e-03 -7.82090729e-04 9.99994814e-01 -5.58622343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.205898227 meters Centerline goodness [0,1] 0.5322607816711591 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.12, Z:-0.56 [[ 9.99995884e-01 -1.03545739e-03 -2.67595922e-03 1.20472971e+02] [ 1.04184228e-03 9.99996611e-01 2.38572804e-03 -1.20380826e-01] [ 2.67347984e-03 -2.38850614e-03 9.99993574e-01 -5.58699376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23589822699995 meters Centerline goodness [0,1] 0.4261071870218608 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.12, Z:-0.56 [[ 9.99991882e-01 -2.38698951e-03 -3.24620573e-03 1.20477644e+02] [ 2.39164088e-03 9.99996118e-01 1.42973724e-03 -1.23323588e-01] [ 3.24278036e-03 -1.43748939e-03 9.99993709e-01 -5.61866017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.265898227 meters Centerline goodness [0,1] 0.414651002073255 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.13, Z:-0.56 [[ 9.99992335e-01 -2.13638139e-03 -3.28102094e-03 1.20477706e+02] [ 2.14299050e-03 9.99995679e-01 2.01215353e-03 -1.26124942e-01] [ 3.27670804e-03 -2.01916930e-03 9.99992593e-01 -5.61799377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29589822699995 meters Centerline goodness [0,1] 0.47985193909312696 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.13, Z:-0.56 [[ 9.99992188e-01 -1.97415196e-03 -3.42438448e-03 1.20478154e+02] [ 1.98172499e-03 9.99995595e-01 2.20951903e-03 -1.26849447e-01] [ 3.42000747e-03 -2.21628795e-03 9.99991696e-01 -5.61773890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.325898227 meters Centerline goodness [0,1] 0.48648307756989695 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.13, Z:-0.56 [[ 9.99991312e-01 -1.47230330e-03 -3.89968707e-03 1.20479902e+02] [ 1.48084731e-03 9.99996508e-01 2.18896711e-03 -1.25458216e-01] [ 3.89645063e-03 -2.19472293e-03 9.99990000e-01 -5.62131231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35589822699995 meters Centerline goodness [0,1] 0.48648307756989695 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.13, Z:-0.56 [[ 9.99991312e-01 -1.47230330e-03 -3.89968707e-03 1.20479902e+02] [ 1.48084731e-03 9.99996508e-01 2.18896711e-03 -1.25458216e-01] [ 3.89645063e-03 -2.19472293e-03 9.99990000e-01 -5.62131231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.385898227 meters Centerline goodness [0,1] 0.5044125353736506 Centerline is valid? [False, False] Translation: X:120.48, Y:-0.12, Z:-0.56 [[ 9.99990599e-01 -1.35103757e-03 -4.12026941e-03 1.20480746e+02] [ 1.35959724e-03 9.99996922e-01 2.07536121e-03 -1.24533093e-01] [ 4.11745284e-03 -2.08094361e-03 9.99989358e-01 -5.62339579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41589822699996 meters Centerline goodness [0,1] 0.5956484822755254 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.12, Z:-0.56 [[ 9.99987812e-01 -5.64204143e-04 -4.90483151e-03 1.20438800e+02] [ 5.67679869e-04 9.99999589e-01 7.07269788e-04 -1.19135039e-01] [ 4.90443045e-03 -7.10045542e-04 9.99987721e-01 -5.62997599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.445898227 meters Centerline goodness [0,1] 0.6550462208871872 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.11, Z:-0.56 [[ 9.99987809e-01 -3.59235550e-04 -4.92475478e-03 1.20438292e+02] [ 3.58576375e-04 9.99999927e-01 -1.34731727e-04 -1.13615874e-01] [ 4.92480282e-03 1.32964184e-04 9.99987864e-01 -5.61834667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47589822699996 meters Centerline goodness [0,1] 0.597266457151294 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.11, Z:-0.56 [[ 9.99987002e-01 -4.82194025e-04 -5.07570418e-03 1.20438489e+02] [ 4.78230092e-04 9.99999580e-01 -7.82146914e-04 -1.10102646e-01] [ 5.07607919e-03 7.79709394e-04 9.99986813e-01 -5.61318760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.505898227 meters Centerline goodness [0,1] 0.6899928248849871 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.11, Z:-0.56 [[ 9.99986336e-01 -5.98879156e-04 -5.19313070e-03 1.20439046e+02] [ 5.91807135e-04 9.99998896e-01 -1.36323281e-03 -1.06976105e-01] [ 5.19394137e-03 1.36014085e-03 9.99985586e-01 -5.61610239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53589822699996 meters Centerline goodness [0,1] 0.6080018599146131 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.11, Z:-0.56 [[ 9.99986387e-01 -6.26113010e-04 -5.18011935e-03 1.20439185e+02] [ 6.19185403e-04 9.99998912e-01 -1.33884078e-03 -1.07185859e-01] [ 5.18095198e-03 1.33561510e-03 9.99985687e-01 -5.61945933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.565898227 meters Centerline goodness [0,1] 0.6673617693522906 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.11, Z:-0.56 [[ 9.99986490e-01 -6.28123359e-04 -5.15990448e-03 1.20439217e+02] [ 6.22419717e-04 9.99999194e-01 -1.10690902e-03 -1.08513528e-01] [ 5.16059559e-03 1.10368244e-03 9.99986075e-01 -5.62124560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59589822699996 meters Centerline goodness [0,1] 0.5130873607504816 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.11, Z:-0.56 [[ 9.99973605e-01 -4.86434530e-03 -5.39701457e-03 1.20440442e+02] [ 4.83702090e-03 9.99975477e-01 -5.06442592e-03 -1.10286345e-01] [ 5.42151733e-03 5.03818678e-03 9.99972612e-01 -5.62834652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.625898227 meters Centerline goodness [0,1] 0.4741676954947791 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.11, Z:-0.56 [[ 9.99974026e-01 -4.65406195e-03 -5.50342465e-03 1.20441134e+02] [ 4.63057453e-03 9.99980150e-01 -4.27285051e-03 -1.14349828e-01] [ 5.52320152e-03 4.24725551e-03 9.99975727e-01 -5.63510201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65589822699997 meters Centerline goodness [0,1] 0.4326569235621911 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.12, Z:-0.56 [[ 9.99975223e-01 -4.43211580e-03 -5.46894998e-03 1.20441147e+02] [ 4.41244583e-03 9.99983772e-01 -3.60350364e-03 -1.17727147e-01] [ 5.48483237e-03 3.57928291e-03 9.99978552e-01 -5.63751982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.685898227 meters Centerline goodness [0,1] 0.4799765538319831 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.12, Z:-0.56 [[ 9.99976071e-01 -4.11089784e-03 -5.56403846e-03 1.20441237e+02] [ 4.09487891e-03 9.99987448e-01 -2.88734719e-03 -1.21169506e-01] [ 5.57583820e-03 2.86449404e-03 9.99980352e-01 -5.63455076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71589822699997 meters Centerline goodness [0,1] 0.5705244122965643 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.12, Z:-0.56 [[ 9.99976687e-01 -3.98578134e-03 -5.54428633e-03 1.20440834e+02] [ 3.97031958e-03 9.99988207e-01 -2.79699060e-03 -1.21406257e-01] [ 5.55536914e-03 2.77491281e-03 9.99980719e-01 -5.62883933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.745898227 meters Centerline goodness [0,1] 0.5117098489323993 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.12, Z:-0.56 [[ 9.99986302e-01 -1.97349978e-03 -4.84775323e-03 1.20435730e+02] [ 1.96969627e-03 9.99997749e-01 -7.89241578e-04 -1.23821880e-01] [ 4.84929989e-03 7.79682165e-04 9.99987938e-01 -5.59613200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77589822699997 meters Centerline goodness [0,1] 0.5551212541503804 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.12, Z:-0.56 [[ 9.99985587e-01 -1.78443756e-03 -5.06376207e-03 1.20436330e+02] [ 1.78070593e-03 9.99998140e-01 -7.41341059e-04 -1.23556454e-01] [ 5.06507552e-03 7.32313303e-04 9.99986904e-01 -5.59496000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80589822699994 meters Centerline goodness [0,1] 0.678100542159779 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.12, Z:-0.56 [[ 9.99984991e-01 -1.64530544e-03 -5.22603375e-03 1.20436904e+02] [ 1.64104709e-03 9.99998318e-01 -8.19017318e-04 -1.22697011e-01] [ 5.22737249e-03 8.10428858e-04 9.99986009e-01 -5.59565036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.835898227 meters Centerline goodness [0,1] 0.7087691069991955 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.12, Z:-0.56 [[ 9.99984221e-01 -1.26297307e-03 -5.47387149e-03 1.20437688e+02] [ 1.25679716e-03 9.99998570e-01 -1.13154716e-03 -1.19805455e-01] [ 5.47529278e-03 1.12464976e-03 9.99984378e-01 -5.59486054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86589822699995 meters Centerline goodness [0,1] 0.786492144382652 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.12, Z:-0.56 [[ 9.99983689e-01 -1.20400100e-03 -5.58322327e-03 1.20438095e+02] [ 1.19710334e-03 9.99998516e-01 -1.23860354e-03 -1.19013105e-01] [ 5.58470627e-03 1.23189965e-03 9.99983647e-01 -5.59568584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.895898227 meters Centerline goodness [0,1] 0.8731544622182568 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.12, Z:-0.56 [[ 9.99982975e-01 -1.18826414e-03 -5.71289891e-03 1.20438645e+02] [ 1.18078934e-03 9.99998443e-01 -1.31160199e-03 -1.18534882e-01] [ 5.71444854e-03 1.30483393e-03 9.99982821e-01 -5.59773298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92589822699995 meters Centerline goodness [0,1] 0.7432264583903496 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.12, Z:-0.56 [[ 9.99982449e-01 -1.11052088e-03 -5.81961204e-03 1.20439240e+02] [ 1.10365200e-03 9.99998691e-01 -1.18337662e-03 -1.19063869e-01] [ 5.82091859e-03 1.17693303e-03 9.99982366e-01 -5.60225952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.955898227 meters Centerline goodness [0,1] 0.7754364458722577 Centerline is valid? [False, False] Translation: X:120.44, Y:-0.12, Z:-0.56 [[ 9.99982834e-01 -1.09488502e-03 -5.75612756e-03 1.20438983e+02] [ 1.08868164e-03 9.99998823e-01 -1.08072172e-03 -1.19623721e-01] [ 5.75730406e-03 1.07443658e-03 9.99982849e-01 -5.60175581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98589822699995 meters Centerline goodness [0,1] 0.6581049989541936 Centerline is valid? [False, False] Translation: X:120.46, Y:-0.13, Z:-0.56 [[ 9.99992280e-01 -3.85260500e-03 -7.73465541e-04 1.20460574e+02] [ 3.85767564e-03 9.99970348e-01 6.66493038e-03 -1.25700000e-01] [ 7.47765262e-04 -6.66786271e-03 9.99977490e-01 -5.64311269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.015898227 meters Centerline goodness [0,1] 0.6247617850935059 Centerline is valid? [False, False] Translation: X:120.46, Y:-0.13, Z:-0.56 [[ 9.99992647e-01 -3.78031268e-03 -6.43648899e-04 1.20460157e+02] [ 3.78478976e-03 9.99967613e-01 7.10276430e-03 -1.28153237e-01] [ 6.16777383e-04 -7.10514816e-03 9.99974568e-01 -5.64341600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04589822699995 meters Centerline goodness [0,1] 0.7657179134483123 Centerline is valid? [False, False] Translation: X:120.46, Y:-0.13, Z:-0.56 [[ 9.99967031e-01 -8.08961409e-03 -7.03180696e-04 1.20460393e+02] [ 8.09136450e-03 9.99964081e-01 2.52312606e-03 -1.26552920e-01] [ 6.82744322e-04 -2.52873257e-03 9.99996570e-01 -5.64269158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.075898227 meters Centerline goodness [0,1] 0.5273130077012342 Centerline is valid? [False, False] Translation: X:120.46, Y:-0.13, Z:-0.56 [[ 9.99965241e-01 -8.31035180e-03 -6.74703938e-04 1.20460441e+02] [ 8.31259408e-03 9.99959698e-01 3.39150093e-03 -1.32289614e-01] [ 6.46492180e-04 -3.39699158e-03 9.99994021e-01 -5.64613812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10589822699995 meters Centerline goodness [0,1] 0.5090760459461725 Centerline is valid? [False, False] Translation: X:120.46, Y:-0.13, Z:-0.57 [[ 9.99950718e-01 -9.84721559e-03 -1.26226592e-03 1.20464951e+02] [ 9.84995677e-03 9.99949103e-01 2.18413255e-03 -1.33554862e-01] [ 1.24069405e-03 -2.19645818e-03 9.99996818e-01 -5.67547040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.135898227 meters Centerline goodness [0,1] 0.4904083050811767 Centerline is valid? [False, False] Translation: X:120.46, Y:-0.14, Z:-0.57 [[ 9.99952786e-01 -9.64033425e-03 -1.22048518e-03 1.20464884e+02] [ 9.64372959e-03 9.99949557e-01 2.80733119e-03 -1.36693119e-01] [ 1.19336001e-03 -2.81896868e-03 9.99995315e-01 -5.67680767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16589822699996 meters Centerline goodness [0,1] 0.45861316497531834 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.14, Z:-0.57 [[ 9.99955925e-01 -9.30035707e-03 -1.28531843e-03 1.20465322e+02] [ 9.30509534e-03 9.99949746e-01 3.73099941e-03 -1.41232463e-01] [ 1.25055421e-03 -3.74279498e-03 9.99992214e-01 -5.68117474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.195898227 meters Centerline goodness [0,1] 0.5945556614765385 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.14, Z:-0.57 [[ 9.99957373e-01 -9.14008738e-03 -1.30797463e-03 1.20465400e+02] [ 9.14538828e-03 9.99949751e-01 4.10584469e-03 -1.43023518e-01] [ 1.27038113e-03 -4.11763160e-03 9.99990716e-01 -5.68159950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22589822699996 meters Centerline goodness [0,1] 0.5779691559802196 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.14, Z:-0.57 [[ 9.99913499e-01 -1.30519414e-02 -1.62497399e-03 1.20466301e+02] [ 1.30511855e-02 9.99914717e-01 -4.74885892e-04 -1.40439586e-01] [ 1.63103359e-03 4.53636977e-04 9.99998567e-01 -5.67694962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.255898227 meters Centerline goodness [0,1] 0.59230158398462 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.14, Z:-0.57 [[ 9.99915832e-01 -1.28686452e-02 -1.65149951e-03 1.20466231e+02] [ 1.28683725e-02 9.99917184e-01 -1.75617636e-04 -1.41709675e-01] [ 1.65362270e-03 1.54350744e-04 9.99998621e-01 -5.67442580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28589822699996 meters Centerline goodness [0,1] 0.6420048744304334 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.14, Z:-0.57 [[ 9.99922618e-01 -1.23217078e-02 -1.71294635e-03 1.20466075e+02] [ 1.23223836e-02 9.99924003e-01 3.84569345e-04 -1.43567061e-01] [ 1.70807762e-03 -4.05647168e-04 9.99998459e-01 -5.66870967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.315898227 meters Centerline goodness [0,1] 0.6368320329751215 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.15, Z:-0.57 [[ 9.99926000e-01 -1.20166450e-02 -1.89601118e-03 1.20466632e+02] [ 1.20181359e-02 9.99927478e-01 7.76920736e-04 -1.45116315e-01] [ 1.88653770e-03 -7.99649763e-04 9.99997901e-01 -5.66878928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34589822699996 meters Centerline goodness [0,1] 0.5164634912655524 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.15, Z:-0.57 [[ 9.99929176e-01 -1.17114896e-02 -2.11745776e-03 1.20467667e+02] [ 1.17140545e-02 9.99930664e-01 1.20297481e-03 -1.46872682e-01] [ 2.10322232e-03 -1.22769362e-03 9.99997035e-01 -5.67438557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.375898227 meters Centerline goodness [0,1] 0.6966948598426526 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.15, Z:-0.57 [[ 9.99934915e-01 -1.11380299e-02 -2.47177384e-03 1.20469335e+02] [ 1.11430080e-02 9.99935896e-01 2.00942558e-03 -1.50101359e-01] [ 2.44923435e-03 -2.03683779e-03 9.99994926e-01 -5.68419454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40589822699997 meters Centerline goodness [0,1] 0.7280340875697914 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.15, Z:-0.57 [[ 9.99937540e-01 -1.08615348e-02 -2.63517181e-03 1.20469824e+02] [ 1.08679256e-02 9.99938006e-01 2.42310085e-03 -1.51874245e-01] [ 2.60868985e-03 -2.45158836e-03 9.99993592e-01 -5.68371393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.435898227 meters Centerline goodness [0,1] 0.8158236873007885 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.15, Z:-0.57 [[ 9.99940184e-01 -1.06038516e-02 -2.68084271e-03 1.20469802e+02] [ 1.06115241e-02 9.99939594e-01 2.86412417e-03 -1.53852897e-01] [ 2.65031002e-03 -2.89240068e-03 9.99992305e-01 -5.68112893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46589822699997 meters Centerline goodness [0,1] 0.8948625287939306 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.16, Z:-0.57 [[ 9.99945531e-01 -1.00938406e-02 -2.65508031e-03 1.20469292e+02] [ 1.01037653e-02 9.99941918e-01 3.75150271e-03 -1.57822147e-01] [ 2.61705903e-03 -3.77812468e-03 9.99989438e-01 -5.67445730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.495898227 meters Centerline goodness [0,1] 0.9102685226008271 Centerline is valid? [False, False] Translation: X:120.47, Y:-0.16, Z:-0.57 [[ 9.99947065e-01 -9.90422627e-03 -2.78815753e-03 1.20469745e+02] [ 9.91537804e-03 9.99942782e-01 4.01469409e-03 -1.58881698e-01] [ 2.74823556e-03 -4.04212721e-03 9.99988054e-01 -5.67490884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.52589822699997 meters Centerline goodness [0,1] 0.9744464808611937 Centerline is valid? [False, True] Translation: X:120.47, Y:-0.16, Z:-0.57 [[ 9.99981757e-01 -5.32287804e-03 -2.85536829e-03 1.20469619e+02] [ 5.34780736e-03 9.99947021e-01 8.79528154e-03 -1.60982303e-01] [ 2.80840080e-03 -8.81039105e-03 9.99957244e-01 -5.67082084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55589822699994 meters Centerline goodness [0,1] 0.986538948434467 Centerline is valid? [True, True] Translation: X:120.50, Y:-0.16, Z:-0.57 [[ 9.99993754e-01 -1.43404334e-03 -3.23036993e-03 1.20499093e+02] [ 1.43462681e-03 9.99998955e-01 1.78308441e-04 -1.55218225e-01] [ 3.23011086e-03 -1.82941703e-04 9.99994766e-01 -5.67448838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.585898227 meters Centerline goodness [0,1] 0.9953119060691811 Centerline is valid? [True, True] Translation: X:120.53, Y:-0.15, Z:-0.57 [[ 9.99993482e-01 2.25481841e-03 -2.81987796e-03 1.20528512e+02] [-2.25438842e-03 9.99997447e-01 1.55652713e-04 -1.51641306e-01] [ 2.82022173e-03 -1.49294598e-04 9.99996012e-01 -5.66918042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61589822699995 meters Centerline goodness [0,1] 0.9990651624280281 Centerline is valid? [True, True] Translation: X:120.56, Y:-0.14, Z:-0.56 [[ 9.99974642e-01 6.93491896e-03 -1.61963609e-03 1.20558722e+02] [-6.93478334e-03 9.99975950e-01 8.93353701e-05 -1.41647244e-01] [ 1.62021667e-03 -7.81012793e-05 9.99998684e-01 -5.64815513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.645898227 meters Centerline goodness [0,1] 0.9979433030129551 Centerline is valid? [True, True] Translation: X:120.59, Y:-0.14, Z:-0.56 [[ 9.99970844e-01 7.60524996e-03 -6.85881748e-04 1.20588273e+02] [-7.60522581e-03 9.99971079e-01 3.78112524e-05 -1.44380033e-01] [ 6.86149476e-04 -3.25938645e-05 9.99999764e-01 -5.64221222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67589822699995 meters Centerline goodness [0,1] 0.9989245951417004 Centerline is valid? [True, True] Translation: X:120.62, Y:-0.14, Z:-0.56 [[ 9.99968517e-01 7.93399271e-03 -1.33262646e-04 1.20618987e+02] [-7.93399180e-03 9.99968525e-01 7.35403233e-06 -1.38851111e-01] [ 1.33316798e-04 -6.29649605e-06 9.99999991e-01 -5.63489398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.705898227 meters Centerline goodness [0,1] 0.9986480777355302 Centerline is valid? [True, True] Translation: X:120.65, Y:-0.14, Z:-0.56 [[ 9.99970673e-01 7.65745024e-03 1.29436721e-04 1.20649965e+02] [-7.65744938e-03 9.99970681e-01 -7.14290059e-06 -1.38223518e-01] [-1.29487623e-04 6.15153598e-06 9.99999992e-01 -5.63148405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73589822699995 meters Centerline goodness [0,1] 0.9811399657090285 Centerline is valid? [True, True] Translation: X:120.68, Y:-0.14, Z:-0.56 [[ 9.99982865e-01 5.72607636e-03 1.21703039e-03 1.20679418e+02] [-5.72599900e-03 9.99983604e-01 -6.70431015e-05 -1.44996455e-01] [-1.21739433e-03 6.00732380e-05 9.99999257e-01 -5.62383007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.765898227 meters Centerline goodness [0,1] 0.9932734489241696 Centerline is valid? [True, True] Translation: X:120.71, Y:-0.14, Z:-0.56 [[ 9.99989665e-01 4.31547662e-03 1.43041830e-03 1.20710683e+02] [-4.31536803e-03 9.99990686e-01 -7.89927959e-05 -1.38639322e-01] [-1.43074587e-03 7.28191981e-05 9.99998974e-01 -5.61676241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79589822699995 meters Centerline goodness [0,1] 0.9746080257897051 Centerline is valid? [True, True] Translation: X:120.74, Y:-0.14, Z:-0.56 [[ 9.99996082e-01 2.59561842e-03 1.04842393e-03 1.20740322e+02] [-2.59555911e-03 9.99996630e-01 -5.79257001e-05 -1.44352305e-01] [-1.04857075e-03 5.52042268e-05 9.99999449e-01 -5.63548334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.825898227 meters Centerline goodness [0,1] 0.9658358356256431 Centerline is valid? [True, True] Translation: X:120.77, Y:-0.14, Z:-0.57 [[ 9.99995195e-01 -3.06975677e-03 -4.32078565e-04 1.20771590e+02] [ 3.06976739e-03 9.99995288e-01 2.38981056e-05 -1.41582560e-01] [ 4.32003168e-04 -2.52243715e-05 9.99999906e-01 -5.66174930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85589822699995 meters Centerline goodness [0,1] 0.8913582321556106 Centerline is valid? [True, False] Translation: X:120.77, Y:-0.14, Z:-0.57 [[ 9.99994162e-01 -3.37641485e-03 -5.24778990e-04 1.20772024e+02] [ 3.37635236e-03 9.99994293e-01 -1.19935226e-04 -1.41452706e-01] [ 5.25180946e-04 1.18162687e-04 9.99999855e-01 -5.66445160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.885898227 meters Centerline goodness [0,1] 0.7920802402202018 Centerline is valid? [False, False] Translation: X:120.77, Y:-0.14, Z:-0.57 [[ 9.99967928e-01 -7.98276772e-03 -6.46759122e-04 1.20772693e+02] [ 7.97933695e-03 9.99954934e-01 -5.14400130e-03 -1.37952329e-01] [ 6.87793343e-04 5.13867562e-03 9.99986560e-01 -5.66676494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91589822699996 meters Centerline goodness [0,1] 0.6160401318136977 Centerline is valid? [False, False] Translation: X:120.77, Y:-0.14, Z:-0.57 [[ 9.99956695e-01 -9.29223212e-03 -5.12149259e-04 1.20772667e+02] [ 9.28942859e-03 9.99943182e-01 -5.22864659e-03 -1.41481999e-01] [ 5.60705958e-04 5.22366259e-03 9.99986199e-01 -5.67348407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.945898227 meters Centerline goodness [0,1] 0.5511885495701885 Centerline is valid? [False, False] Translation: X:120.77, Y:-0.14, Z:-0.57 [[ 9.99956191e-01 -9.35102177e-03 -4.18665868e-04 1.20772502e+02] [ 9.34896704e-03 9.99945408e-01 -4.66674858e-03 -1.44790323e-01] [ 4.62281880e-04 4.66263003e-03 9.99989023e-01 -5.67642849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97589822699996 meters Centerline goodness [0,1] 0.514726420010422 Centerline is valid? [False, False] Translation: X:120.77, Y:-0.15, Z:-0.57 [[ 9.99955879e-01 -9.38700440e-03 -3.53157673e-04 1.20772375e+02] [ 9.38547226e-03 9.99947488e-01 -4.11517505e-03 -1.48096732e-01] [ 3.91768294e-04 4.11167894e-03 9.99991470e-01 -5.67869709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.005898227 meters Centerline goodness [0,1] 0.44079635283784346 Centerline is valid? [False, False] Translation: X:120.77, Y:-0.16, Z:-0.57 [[ 9.99951797e-01 -9.81144342e-03 -3.72106844e-04 1.20772975e+02] [ 9.81024765e-03 9.99947105e-01 -3.08963996e-03 -1.55402751e-01] [ 4.02400989e-04 3.08584057e-03 9.99995158e-01 -5.68921681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03589822699996 meters Centerline goodness [0,1] 0.6005537590091519 Centerline is valid? [False, False] Translation: X:120.77, Y:-0.16, Z:-0.57 [[ 9.99954232e-01 -9.54773948e-03 -6.12712128e-04 1.20774122e+02] [ 9.54649585e-03 9.99952428e-01 -2.00151430e-03 -1.60991401e-01] [ 6.31792917e-04 1.99557344e-03 9.99997809e-01 -5.69728773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.065898227 meters Centerline goodness [0,1] 0.38751823428680154 Centerline is valid? [False, False] Translation: X:120.78, Y:-0.17, Z:-0.57 [[ 9.99960230e-01 -8.84992360e-03 -1.10337183e-03 1.20776666e+02] [ 8.85029792e-03 9.99960779e-01 3.34831960e-04 -1.72775058e-01] [ 1.10036531e-03 -3.44583813e-04 9.99999335e-01 -5.71511907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09589822699996 meters Centerline goodness [0,1] 0.4646746011648518 Centerline is valid? [False, False] Translation: X:120.78, Y:-0.18, Z:-0.57 [[ 9.99963885e-01 -8.41518656e-03 -1.18902039e-03 1.20776878e+02] [ 8.41681049e-03 9.99963643e-01 1.36743086e-03 -1.77710221e-01] [ 1.17746997e-03 -1.37738924e-03 9.99998358e-01 -5.71490454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.125898227 meters Centerline goodness [0,1] 0.390233491270756 Centerline is valid? [False, False] Translation: X:120.78, Y:-0.18, Z:-0.57 [[ 9.99967000e-01 -8.03379917e-03 -1.20690430e-03 1.20776826e+02] [ 8.03641334e-03 9.99965338e-01 2.17701098e-03 -1.81543681e-01] [ 1.18937280e-03 -2.18663832e-03 9.99996902e-01 -5.71334395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15589822699997 meters Centerline goodness [0,1] 0.5369526996970917 Centerline is valid? [False, False] Translation: X:120.80, Y:-0.19, Z:-0.57 [[ 9.99998280e-01 -1.66683169e-03 -8.13186102e-04 1.20797953e+02] [ 1.66520421e-03 9.99996618e-01 -1.99795724e-03 -1.87638015e-01] [ 8.16513610e-04 1.99659969e-03 9.99997673e-01 -5.70066843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.185898227 meters Centerline goodness [0,1] 0.6018117617386187 Centerline is valid? [False, False] Translation: X:120.80, Y:-0.19, Z:-0.57 [[ 9.99998532e-01 -1.31802376e-03 -1.09533557e-03 1.20798703e+02] [ 1.31581164e-03 9.99997098e-01 -2.01785159e-03 -1.86695619e-01] [ 1.09799197e-03 2.01640737e-03 9.99997364e-01 -5.69809845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21589822699997 meters Centerline goodness [0,1] 0.47387832938661745 Centerline is valid? [False, False] Translation: X:120.80, Y:-0.19, Z:-0.57 [[ 9.99999003e-01 1.53822740e-04 -1.40333474e-03 1.20799357e+02] [-1.55845681e-04 9.99998949e-01 -1.44152877e-03 -1.85524068e-01] [ 1.40311152e-03 1.44174604e-03 9.99997976e-01 -5.69291546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24589822699994 meters Centerline goodness [0,1] 0.5295370663292207 Centerline is valid? [False, False] Translation: X:120.79, Y:-0.19, Z:-0.57 [[ 9.99998105e-01 1.85294992e-03 -5.97195353e-04 1.20793870e+02] [-1.85281623e-03 9.99998258e-01 2.24325843e-04 -1.87195019e-01] [ 5.97609977e-04 -2.23218924e-04 9.99999797e-01 -5.65902034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27589822699997 meters Centerline goodness [0,1] 0.5295370663292207 Centerline is valid? [False, False] Translation: X:120.79, Y:-0.19, Z:-0.57 [[ 9.99998105e-01 1.85294992e-03 -5.97195353e-04 1.20793870e+02] [-1.85281623e-03 9.99998258e-01 2.24325843e-04 -1.87195019e-01] [ 5.97609977e-04 -2.23218924e-04 9.99999797e-01 -5.65902034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30589822699994 meters Centerline goodness [0,1] 0.871599679473662 Centerline is valid? [False, False] Translation: X:120.79, Y:-0.19, Z:-0.57 [[ 9.99997938e-01 1.96355432e-03 -5.18255363e-04 1.20793295e+02] [-1.96336166e-03 9.99998003e-01 3.71995012e-04 -1.87874237e-01] [ 5.18984760e-04 -3.70976722e-04 9.99999797e-01 -5.65412414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.335898227 meters Centerline goodness [0,1] 0.8252400606469003 Centerline is valid? [False, False] Translation: X:120.79, Y:-0.19, Z:-0.57 [[ 9.99997521e-01 2.15785487e-03 -5.50026399e-04 1.20793483e+02] [-2.15738700e-03 9.99997312e-01 8.49813019e-04 -1.90213918e-01] [ 5.51858694e-04 -8.48624292e-04 9.99999488e-01 -5.65575029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36589822699995 meters Centerline goodness [0,1] 0.8935839246521341 Centerline is valid? [False, False] Translation: X:120.75, Y:-0.20, Z:-0.57 [[ 9.99997088e-01 1.33767269e-03 -2.00877905e-03 1.20752963e+02] [-1.33403489e-03 9.99997470e-01 1.81120130e-03 -1.95211958e-01] [ 2.01119676e-03 -1.80851624e-03 9.99996342e-01 -5.66868598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.395898227 meters Centerline goodness [0,1] 0.776663013236658 Centerline is valid? [False, False] Translation: X:120.79, Y:-0.20, Z:-0.56 [[ 9.99999804e-01 4.75331626e-04 -4.08537519e-04 1.20792505e+02] [-4.74672673e-04 9.99998589e-01 1.61154210e-03 -2.01564035e-01] [ 4.09302960e-04 -1.61134786e-03 9.99998618e-01 -5.64862745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42589822699995 meters Centerline goodness [0,1] 0.8194273594909862 Centerline is valid? [False, False] Translation: X:120.79, Y:-0.20, Z:-0.56 [[ 9.99999700e-01 7.24174318e-04 -2.75811549e-04 1.20791635e+02] [-7.23552961e-04 9.99997215e-01 2.24630812e-03 -2.04679783e-01] [ 2.77437500e-04 -2.24610788e-03 9.99997439e-01 -5.64148778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.455898227 meters Centerline goodness [0,1] 0.6077917723243289 Centerline is valid? [False, False] Translation: X:120.83, Y:-0.21, Z:-0.56 [[ 9.99995983e-01 3.37965674e-04 2.81407646e-03 1.20827526e+02] [-3.42990726e-04 9.99998347e-01 1.78539310e-03 -2.09993892e-01] [-2.81346841e-03 -1.78635113e-03 9.99994447e-01 -5.60495624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48589822699995 meters Centerline goodness [0,1] 0.8513698774597684 Centerline is valid? [False, False] Translation: X:120.83, Y:-0.21, Z:-0.56 [[ 9.99995879e-01 4.76646171e-04 2.83091896e-03 1.20827269e+02] [-4.82307054e-04 9.99997885e-01 1.99931666e-03 -2.10924617e-01] [-2.82996000e-03 -2.00067380e-03 9.99993994e-01 -5.60171346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.515898227 meters Centerline goodness [0,1] 0.8378891820580475 Centerline is valid? [False, False] Translation: X:120.83, Y:-0.21, Z:-0.56 [[ 9.99996281e-01 6.80082590e-04 2.64123463e-03 1.20827811e+02] [-6.86178674e-04 9.99997102e-01 2.30782327e-03 -2.12235441e-01] [-2.63965747e-03 -2.30962705e-03 9.99993849e-01 -5.60087727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54589822699995 meters Centerline goodness [0,1] 0.9362653825575173 Centerline is valid? [False, False] Translation: X:120.79, Y:-0.21, Z:-0.56 [[ 9.99999377e-01 -5.21107304e-05 1.11512445e-03 1.20787023e+02] [ 5.08245123e-05 9.99999334e-01 1.15342734e-03 -2.09093050e-01] [-1.11518381e-03 -1.15336995e-03 9.99998713e-01 -5.61102985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.575898227 meters Centerline goodness [0,1] 0.7484166525924675 Centerline is valid? [False, False] Translation: X:120.83, Y:-0.21, Z:-0.56 [[ 9.99998967e-01 -7.07080906e-04 1.25159977e-03 1.20829425e+02] [ 7.06154214e-04 9.99999476e-01 7.40693184e-04 -2.12987962e-01] [-1.25212284e-03 -7.39808596e-04 9.99998942e-01 -5.60177295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60589822699995 meters Centerline goodness [0,1] 0.7895691418689499 Centerline is valid? [False, False] Translation: X:120.83, Y:-0.22, Z:-0.56 [[ 9.99999051e-01 -6.03484204e-04 1.23836590e-03 1.20829428e+02] [ 6.01976034e-04 9.99999077e-01 1.21788326e-03 -2.15553034e-01] [-1.23909973e-03 -1.21713664e-03 9.99998492e-01 -5.60185062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.635898227 meters Centerline goodness [0,1] 0.7268041237113403 Centerline is valid? [False, False] Translation: X:120.83, Y:-0.22, Z:-0.56 [[ 9.99998561e-01 -8.53434187e-04 1.46639935e-03 1.20828401e+02] [ 8.50639066e-04 9.99997822e-01 1.90567935e-03 -2.20319054e-01] [-1.46802253e-03 -1.90442923e-03 9.99997109e-01 -5.59780923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66589822699996 meters Centerline goodness [0,1] 0.6338114451086841 Centerline is valid? [False, False] Translation: X:120.83, Y:-0.22, Z:-0.56 [[ 9.99998432e-01 -8.46481283e-04 1.55549721e-03 1.20828006e+02] [ 8.42863509e-04 9.99996942e-01 2.32498405e-03 -2.22752134e-01] [-1.55746050e-03 -2.32366933e-03 9.99996087e-01 -5.59655383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.695898227 meters Centerline goodness [0,1] 0.6367697954902989 Centerline is valid? [False, False] Translation: X:120.83, Y:-0.22, Z:-0.56 [[ 9.99985959e-01 -5.11505562e-03 1.38507296e-03 1.20828792e+02] [ 5.11770090e-03 9.99985075e-01 -1.91308706e-03 -2.23115962e-01] [-1.37526674e-03 1.92014859e-03 9.99997211e-01 -5.59991545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72589822699996 meters Centerline goodness [0,1] 0.6633264007058675 Centerline is valid? [False, False] Translation: X:120.83, Y:-0.23, Z:-0.56 [[ 9.99986856e-01 -4.95745112e-03 1.30831783e-03 1.20829155e+02] [ 4.95925884e-03 9.99986748e-01 -1.38209924e-03 -2.25805299e-01] [-1.30144880e-03 1.38856936e-03 9.99998189e-01 -5.60248037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.755898227 meters Centerline goodness [0,1] 0.5544134031237519 Centerline is valid? [False, False] Translation: X:120.83, Y:-0.23, Z:-0.56 [[ 9.99988331e-01 -4.69946470e-03 1.11901733e-03 1.20830090e+02] [ 4.70021094e-03 9.99988733e-01 -6.65171942e-04 -2.29266158e-01] [-1.11587877e-03 6.70423798e-04 9.99999153e-01 -5.60871687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78589822699996 meters Centerline goodness [0,1] 0.6392066796883384 Centerline is valid? [False, False] Translation: X:120.79, Y:-0.23, Z:-0.56 [[ 9.99995481e-01 -2.97041504e-03 4.63084435e-04 1.20786599e+02] [ 2.96957136e-03 9.99993949e-01 1.81204534e-03 -2.28124120e-01] [-4.68464159e-04 -1.81066199e-03 9.99998251e-01 -5.61043321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.815898227 meters Centerline goodness [0,1] 0.627765544720562 Centerline is valid? [False, False] Translation: X:120.85, Y:-0.23, Z:-0.56 [[ 9.99996778e-01 4.99497919e-04 -2.48874300e-03 1.20846424e+02] [-5.07750024e-04 9.99994372e-01 -3.31624481e-03 -2.31987914e-01] [ 2.48707253e-03 3.31749779e-03 9.99991404e-01 -5.56833479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84589822699996 meters Centerline goodness [0,1] 0.5734759493138882 Centerline is valid? [False, False] Translation: X:120.85, Y:-0.23, Z:-0.56 [[ 9.99996495e-01 5.34156278e-04 -2.59300847e-03 1.20846547e+02] [-5.43343578e-04 9.99993573e-01 -3.54369381e-03 -2.30509001e-01] [ 2.59109892e-03 3.54509029e-03 9.99990359e-01 -5.56423591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.875898227 meters Centerline goodness [0,1] 0.7149349963006024 Centerline is valid? [False, False] Translation: X:120.85, Y:-0.23, Z:-0.56 [[ 9.99983581e-01 5.00636710e-03 -2.78801351e-03 1.20847266e+02] [-5.00306643e-03 9.99986777e-01 1.18959537e-03 -2.32603638e-01] [ 2.79393220e-03 -1.17562722e-03 9.99995406e-01 -5.56552799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90589822699997 meters Centerline goodness [0,1] 0.7317909349037754 Centerline is valid? [False, False] Translation: X:120.85, Y:-0.23, Z:-0.56 [[ 9.99982852e-01 4.97712381e-03 -3.08609379e-03 1.20848591e+02] [-4.97432940e-03 9.99987212e-01 9.12500439e-04 -2.31069140e-01] [ 3.09059595e-03 -8.97133544e-04 9.99994822e-01 -5.57109551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.935898227 meters Centerline goodness [0,1] 0.7627418370139576 Centerline is valid? [False, False] Translation: X:120.85, Y:-0.23, Z:-0.56 [[ 9.99982775e-01 4.87664314e-03 -3.26619551e-03 1.20849405e+02] [-4.87515597e-03 9.99988009e-01 4.63126304e-04 -2.28732118e-01] [ 3.26841485e-03 -4.47195115e-04 9.99994559e-01 -5.57460668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96589822699997 meters Centerline goodness [0,1] 0.947998305443762 Centerline is valid? [False, False] Translation: X:120.85, Y:-0.22, Z:-0.56 [[ 9.99982305e-01 4.89051872e-03 -3.38705191e-03 1.20849888e+02] [-4.89149090e-03 9.99987998e-01 -2.78803870e-04 -2.24389669e-01] [ 3.38564776e-03 2.95366670e-04 9.99994225e-01 -5.57515257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99589822699994 meters Centerline goodness [0,1] 0.668416447944007 Centerline is valid? [False, False] Translation: X:120.89, Y:-0.22, Z:-0.56 [[ 9.99987425e-01 4.04558386e-03 -2.96346505e-03 1.20892552e+02] [-4.05470571e-03 9.99987041e-01 -3.07858846e-03 -2.22847988e-01] [ 2.95097195e-03 3.09056573e-03 9.99990870e-01 -5.57076624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.02589822699997 meters Centerline goodness [0,1] 0.9407766990291262 Centerline is valid? [False, False] Translation: X:120.88, Y:-0.22, Z:-0.56 [[ 9.99983705e-01 5.30787463e-03 2.10154549e-03 1.20877137e+02] [-5.31541679e-03 9.99979394e-01 3.59969339e-03 -2.23865901e-01] [-2.08239547e-03 -3.61080532e-03 9.99991313e-01 -5.63296739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05589822699994 meters Centerline goodness [0,1] 0.9724372286199736 Centerline is valid? [False, True] Translation: X:120.88, Y:-0.22, Z:-0.56 [[ 9.99984731e-01 5.25032081e-03 1.72374472e-03 1.20878579e+02] [-5.25497000e-03 9.99982537e-01 2.70378361e-03 -2.18771434e-01] [-1.70951888e-03 -2.71280055e-03 9.99994859e-01 -5.63618998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.085898227 meters Centerline goodness [0,1] 0.9929157979832361 Centerline is valid? [True, True] Translation: X:120.91, Y:-0.21, Z:-0.57 [[ 9.99979913e-01 6.33201529e-03 2.79987858e-04 1.20910331e+02] [-6.33201039e-03 9.99979952e-01 -1.83843784e-05 -2.12519923e-01] [-2.80098655e-04 1.66111231e-05 9.99999961e-01 -5.65047389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11589822699995 meters Centerline goodness [0,1] 0.9814611486486486 Centerline is valid? [True, True] Translation: X:120.94, Y:-0.22, Z:-0.57 [[ 9.99975318e-01 6.99366585e-03 -6.72009337e-04 1.20940445e+02] [-6.99363723e-03 9.99975543e-01 4.49320080e-05 -2.18755662e-01] [ 6.72307141e-04 -4.02311095e-05 9.99999773e-01 -5.68932308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.145898227 meters Centerline goodness [0,1] 0.8628697293895532 Centerline is valid? [True, False] Translation: X:120.94, Y:-0.22, Z:-0.57 [[ 9.99975609e-01 6.95230521e-03 -6.67909855e-04 1.20940459e+02] [-6.95220875e-03 9.99975822e-01 1.46641183e-04 -2.19585944e-01] [ 6.68913201e-04 -1.41994157e-04 9.99999766e-01 -5.69017709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17589822699995 meters Centerline goodness [0,1] 0.9647997597546065 Centerline is valid? [False, True] Translation: X:120.87, Y:-0.22, Z:-0.57 [[ 9.99993110e-01 3.62299922e-03 8.08502201e-04 1.20874797e+02] [-3.62822147e-03 9.99971940e-01 6.55398197e-03 -2.16533585e-01] [-7.84734443e-04 -6.55687024e-03 9.99978196e-01 -5.68780377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.205898227 meters Centerline goodness [0,1] 0.9571652409587533 Centerline is valid? [True, True] Translation: X:120.91, Y:-0.22, Z:-0.57 [[ 9.99994566e-01 3.21480173e-03 7.29551443e-04 1.20906326e+02] [-3.21476814e-03 9.99994832e-01 -4.72034289e-05 -2.17252671e-01] [-7.29699422e-04 4.48578337e-05 9.99999733e-01 -5.69604613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23589822699995 meters Centerline goodness [0,1] 0.9414652567975831 Centerline is valid? [True, False] Translation: X:120.91, Y:-0.22, Z:-0.57 [[ 9.99994292e-01 3.32411900e-03 6.05812954e-04 1.20906980e+02] [-3.32435490e-03 9.99994399e-01 3.88808231e-04 -2.19591526e-01] [-6.04517116e-04 -3.90819949e-04 9.99999741e-01 -5.70124490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.265898227 meters Centerline goodness [0,1] 0.9459623685203034 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.22, Z:-0.57 [[ 9.99994013e-01 3.39040404e-03 6.92479136e-04 1.20906759e+02] [-3.39086952e-03 9.99994025e-01 6.72121188e-04 -2.21174678e-01] [-6.90196236e-04 -6.74465270e-04 9.99999534e-01 -5.70254114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29589822699995 meters Centerline goodness [0,1] 0.9493956113380786 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.22, Z:-0.57 [[ 9.99993543e-01 3.48072247e-03 8.93458842e-04 1.20906008e+02] [-3.48160891e-03 9.99993447e-01 9.92513138e-04 -2.22837839e-01] [-8.89998324e-04 -9.95617404e-04 9.99999108e-01 -5.70113978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.325898227 meters Centerline goodness [0,1] 0.9612331785798336 Centerline is valid? [False, True] Translation: X:120.86, Y:-0.22, Z:-0.57 [[ 9.99990727e-01 2.56885521e-03 3.45640831e-03 1.20857828e+02] [-2.56908938e-03 9.99996698e-01 6.33109830e-05 -2.20423480e-01] [-3.45623426e-03 -7.21902178e-05 9.99994025e-01 -5.69034356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35589822699995 meters Centerline goodness [0,1] 0.9382731713506313 Centerline is valid? [True, False] Translation: X:120.90, Y:-0.22, Z:-0.57 [[ 9.99984326e-01 2.38910850e-03 5.06362760e-03 1.20897335e+02] [-2.38654963e-03 9.99997021e-01 -5.11325285e-04 -2.22831760e-01] [-5.06483413e-03 4.99232672e-04 9.99987049e-01 -5.67140863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.385898227 meters Centerline goodness [0,1] 0.8603384596122947 Centerline is valid? [False, False] Translation: X:120.94, Y:-0.22, Z:-0.57 [[ 9.99984284e-01 2.20879322e-03 5.15295950e-03 1.20939570e+02] [-2.20215012e-03 9.99996737e-01 -1.29449980e-03 -2.24859303e-01] [-5.15580197e-03 1.28313187e-03 9.99985886e-01 -5.66166859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41589822699996 meters Centerline goodness [0,1] 0.954391820524737 Centerline is valid? [False, True] Translation: X:120.92, Y:-0.23, Z:-0.56 [[ 9.99995262e-01 1.38004692e-03 2.75175995e-03 1.20916765e+02] [-1.40490678e-03 9.99958036e-01 9.05279164e-03 -2.26146051e-01] [-2.73915120e-03 -9.05661471e-03 9.99955236e-01 -5.62680878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.445898227 meters Centerline goodness [0,1] 0.9423733097434601 Centerline is valid? [True, False] Translation: X:120.92, Y:-0.22, Z:-0.56 [[ 9.99994390e-01 -2.36394286e-03 2.37292071e-03 1.20918197e+02] [ 2.35365717e-03 9.99987864e-01 4.32808661e-03 -2.22070610e-01] [-2.38312326e-03 -4.32247729e-03 9.99987818e-01 -5.63069722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47589822699996 meters Centerline goodness [0,1] 0.9484462385938354 Centerline is valid? [False, False] Translation: X:120.92, Y:-0.22, Z:-0.56 [[ 9.99994292e-01 -2.42674444e-03 2.35088246e-03 1.20918320e+02] [ 2.41686494e-03 9.99988275e-01 4.19623132e-03 -2.21505119e-01] [-2.36103807e-03 -4.19052561e-03 9.99988432e-01 -5.63169921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.505898227 meters Centerline goodness [0,1] 0.9253953918212178 Centerline is valid? [False, False] Translation: X:120.92, Y:-0.22, Z:-0.56 [[ 9.99994281e-01 -2.49382097e-03 2.28428424e-03 1.20918543e+02] [ 2.48433783e-03 9.99988324e-01 4.14493956e-03 -2.21429238e-01] [-2.29459431e-03 -4.13924092e-03 9.99988801e-01 -5.63153402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53589822699996 meters Centerline goodness [0,1] 0.8785957250241465 Centerline is valid? [False, False] Translation: X:120.92, Y:-0.22, Z:-0.56 [[ 9.99994029e-01 -2.70803945e-03 2.14663906e-03 1.20919173e+02] [ 2.69856462e-03 9.99986659e-01 4.40447191e-03 -2.23462518e-01] [-2.15853790e-03 -4.39865277e-03 9.99987996e-01 -5.63561806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.565898227 meters Centerline goodness [0,1] 0.8626113321963237 Centerline is valid? [False, False] Translation: X:120.92, Y:-0.23, Z:-0.56 [[ 9.99993962e-01 -2.71219694e-03 2.17249355e-03 1.20919206e+02] [ 2.70168452e-03 9.99984699e-01 4.82728147e-03 -2.25944797e-01] [-2.18555285e-03 -4.82138293e-03 9.99985989e-01 -5.63826503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59589822699996 meters Centerline goodness [0,1] 0.7627877641122675 Centerline is valid? [False, False] Translation: X:120.92, Y:-0.23, Z:-0.56 [[ 9.99994212e-01 -2.70754389e-03 2.06031344e-03 1.20919768e+02] [ 2.69644883e-03 9.99981951e-01 5.36899072e-03 -2.29079699e-01] [-2.07481303e-03 -5.36340412e-03 9.99983464e-01 -5.64250853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.625898227 meters Centerline goodness [0,1] 0.7184696514486207 Centerline is valid? [False, False] Translation: X:120.92, Y:-0.23, Z:-0.56 [[ 9.99974877e-01 -6.82083541e-03 1.92917197e-03 1.20920544e+02] [ 6.81754930e-03 9.99975307e-01 1.70485785e-03 -2.32463646e-01] [-1.94075289e-03 -1.69166279e-03 9.99996686e-01 -5.64799267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65589822699997 meters Centerline goodness [0,1] 0.6838925040141977 Centerline is valid? [False, False] Translation: X:120.92, Y:-0.24, Z:-0.56 [[ 9.99975445e-01 -6.69876241e-03 2.05805797e-03 1.20919889e+02] [ 6.69396603e-03 9.99974884e-01 2.32864846e-03 -2.35797417e-01] [-2.07360535e-03 -2.31481471e-03 9.99995171e-01 -5.64443254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.685898227 meters Centerline goodness [0,1] 0.7074327328153778 Centerline is valid? [False, False] Translation: X:120.92, Y:-0.24, Z:-0.56 [[ 9.99976009e-01 -6.60441865e-03 2.08857145e-03 1.20919597e+02] [ 6.59874651e-03 9.99974553e-01 2.71112920e-03 -2.37793046e-01] [-2.10642374e-03 -2.69728221e-03 9.99994144e-01 -5.64113097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71589822699997 meters Centerline goodness [0,1] 0.6876511789327556 Centerline is valid? [False, False] Translation: X:120.92, Y:-0.24, Z:-0.56 [[ 9.99976351e-01 -6.60333129e-03 1.92171813e-03 1.20920250e+02] [ 6.59799689e-03 9.99974399e-01 2.76907592e-03 -2.38167191e-01] [-1.93995406e-03 -2.75633095e-03 9.99994320e-01 -5.64291415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74589822699994 meters Centerline goodness [0,1] 0.7654890897822231 Centerline is valid? [False, False] Translation: X:120.90, Y:-0.23, Z:-0.56 [[ 9.99983022e-01 -5.28958272e-03 -2.44439001e-03 1.20899218e+02] [ 5.27314727e-03 9.99963772e-01 -6.68197052e-03 -2.32677977e-01] [ 2.47964629e-03 6.66896745e-03 9.99974688e-01 -5.61326298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77589822699997 meters Centerline goodness [0,1] 0.7640655290684051 Centerline is valid? [False, False] Translation: X:120.90, Y:-0.23, Z:-0.56 [[ 9.99996645e-01 -1.06542928e-03 -2.36094416e-03 1.20898564e+02] [ 1.06030557e-03 9.99997083e-01 -2.17038519e-03 -2.34106129e-01] [ 2.36324966e-03 2.16787459e-03 9.99994858e-01 -5.60798033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80589822699994 meters Centerline goodness [0,1] 0.7807439083769079 Centerline is valid? [False, False] Translation: X:120.90, Y:-0.23, Z:-0.56 [[ 9.99996344e-01 -1.12793248e-03 -2.45756108e-03 1.20898961e+02] [ 1.12216942e-03 9.99996620e-01 -2.34515014e-03 -2.33196357e-01] [ 2.46019795e-03 2.34238376e-03 9.99994230e-01 -5.60935713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.835898227 meters Centerline goodness [0,1] 0.5831231079717457 Centerline is valid? [False, False] Translation: X:120.90, Y:-0.23, Z:-0.56 [[ 9.99996105e-01 -1.19232826e-03 -2.52348131e-03 1.20899448e+02] [ 1.18614107e-03 9.99996291e-01 -2.45192242e-03 -2.32688387e-01] [ 2.52639545e-03 2.44891966e-03 9.99993810e-01 -5.61372067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86589822699995 meters Centerline goodness [0,1] 0.6842469197887855 Centerline is valid? [False, False] Translation: X:120.90, Y:-0.23, Z:-0.56 [[ 9.99995983e-01 -1.20605900e-03 -2.56518149e-03 1.20899787e+02] [ 1.20007056e-03 9.99996554e-01 -2.33476713e-03 -2.33376337e-01] [ 2.56798852e-03 2.33167935e-03 9.99993984e-01 -5.61708319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.895898227 meters Centerline goodness [0,1] 0.6615387861905968 Centerline is valid? [False, False] Translation: X:120.90, Y:-0.24, Z:-0.56 [[ 9.99995974e-01 -1.18751976e-03 -2.57710391e-03 1.20899979e+02] [ 1.18234716e-03 9.99997286e-01 -2.00773311e-03 -2.35187289e-01] [ 2.57948114e-03 2.00467799e-03 9.99994664e-01 -5.62020074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92589822699995 meters Centerline goodness [0,1] 0.5841875635377838 Centerline is valid? [False, False] Translation: X:120.90, Y:-0.24, Z:-0.56 [[ 9.99996160e-01 -1.40942559e-03 -2.38601030e-03 1.20899570e+02] [ 1.40637729e-03 9.99998193e-01 -1.27876863e-03 -2.40006040e-01] [ 2.38780832e-03 1.27540808e-03 9.99996336e-01 -5.62408912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.955898227 meters Centerline goodness [0,1] 0.5807246682115019 Centerline is valid? [False, False] Translation: X:120.90, Y:-0.24, Z:-0.56 [[ 9.99996140e-01 -1.31825419e-03 -2.44600704e-03 1.20899663e+02] [ 1.31652048e-03 9.99998881e-01 -7.10268142e-04 -2.43033688e-01] [ 2.44694061e-03 7.07045181e-04 9.99996756e-01 -5.62337375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98589822699995 meters Centerline goodness [0,1] 0.5533646584997483 Centerline is valid? [False, False] Translation: X:120.90, Y:-0.25, Z:-0.56 [[ 9.99996142e-01 -1.20305388e-03 -2.50374504e-03 1.20899898e+02] [ 1.20278048e-03 9.99999271e-01 -1.10698531e-04 -2.46239206e-01] [ 2.50387639e-03 1.07686648e-04 9.99996859e-01 -5.62508133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.015898227 meters Centerline goodness [0,1] 0.5164569215876089 Centerline is valid? [False, False] Translation: X:120.90, Y:-0.25, Z:-0.56 [[ 9.99996229e-01 -8.65571883e-04 -2.60638013e-03 1.20900063e+02] [ 8.67652244e-04 9.99999306e-01 7.97155497e-04 -2.50751393e-01] [ 2.60568833e-03 -7.99413922e-04 9.99996286e-01 -5.62279047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04589822699995 meters Centerline goodness [0,1] 0.6780702128567163 Centerline is valid? [False, False] Translation: X:120.86, Y:-0.25, Z:-0.56 [[ 9.99993165e-01 -4.45296527e-04 -3.67050951e-03 1.20858308e+02] [ 4.49444987e-04 9.99999261e-01 1.12946642e-03 -2.47873003e-01] [ 3.67000385e-03 -1.13110840e-03 9.99992626e-01 -5.63118727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.075898227 meters Centerline goodness [0,1] 0.5741825383448509 Centerline is valid? [False, False] Translation: X:120.88, Y:-0.25, Z:-0.57 [[ 9.99995780e-01 2.18557896e-03 -1.91395045e-03 1.20881307e+02] [-2.19948761e-03 9.99970970e-01 -7.29528135e-03 -2.47950703e-01] [ 1.89795047e-03 7.29946027e-03 9.99971557e-01 -5.65899441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10589822699995 meters Centerline goodness [0,1] 0.6856414071633543 Centerline is valid? [False, False] Translation: X:120.88, Y:-0.25, Z:-0.56 [[ 9.99975796e-01 6.73225168e-03 -1.75595946e-03 1.20880297e+02] [-6.73731349e-03 9.99973120e-01 -2.89283941e-03 -2.47846613e-01] [ 1.73643694e-03 2.90459985e-03 9.99994274e-01 -5.64908066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.135898227 meters Centerline goodness [0,1] 0.7143911594753047 Centerline is valid? [False, False] Translation: X:120.88, Y:-0.25, Z:-0.56 [[ 9.99936737e-01 1.11413993e-02 -1.54622017e-03 1.20879325e+02] [-1.11385305e-02 9.99936250e-01 1.85173262e-03 -2.50149428e-01] [ 1.56675249e-03 -1.83439286e-03 9.99997090e-01 -5.64282141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16589822699996 meters Centerline goodness [0,1] 0.7143911594753047 Centerline is valid? [False, False] Translation: X:120.88, Y:-0.25, Z:-0.56 [[ 9.99972679e-01 7.25781823e-03 -1.40219175e-03 1.20878888e+02] [-7.26168811e-03 9.99969784e-01 -2.77478738e-03 -2.46757620e-01] [ 1.38201048e-03 2.78489385e-03 9.99995167e-01 -5.64263215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.195898227 meters Centerline goodness [0,1] 0.7742727616169248 Centerline is valid? [False, False] Translation: X:120.88, Y:-0.25, Z:-0.56 [[ 9.99971319e-01 7.45431252e-03 -1.33964681e-03 1.20878477e+02] [-7.45825475e-03 9.99967799e-01 -2.96223977e-03 -2.45176523e-01] [ 1.31752221e-03 2.97214624e-03 9.99994715e-01 -5.63938118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22589822699996 meters Centerline goodness [0,1] 0.6855619239570867 Centerline is valid? [False, False] Translation: X:120.88, Y:-0.25, Z:-0.56 [[ 9.99971341e-01 7.45098994e-03 -1.34160477e-03 1.20878583e+02] [-7.45487657e-03 9.99967961e-01 -2.91568997e-03 -2.45534153e-01] [ 1.31983701e-03 2.92560790e-03 9.99994849e-01 -5.64107612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.255898227 meters Centerline goodness [0,1] 0.7256123490389522 Centerline is valid? [False, False] Translation: X:120.86, Y:-0.25, Z:-0.56 [[ 9.99977326e-01 5.43951245e-03 -3.96990298e-03 1.20856887e+02] [-5.41437826e-03 9.99965404e-01 6.31470756e-03 -2.46845061e-01] [ 4.00411457e-03 -6.29306982e-03 9.99972182e-01 -5.61688391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28589822699996 meters Centerline goodness [0,1] 0.7087450228579856 Centerline is valid? [False, False] Translation: X:120.86, Y:-0.25, Z:-0.57 [[ 9.99983948e-01 2.95207106e-03 -4.83618696e-03 1.20862769e+02] [-2.93346399e-03 9.99988286e-01 3.85005158e-03 -2.48125754e-01] [ 4.84749593e-03 -3.83580300e-03 9.99980894e-01 -5.65424787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.315898227 meters Centerline goodness [0,1] 0.614689122984083 Centerline is valid? [False, False] Translation: X:120.86, Y:-0.25, Z:-0.57 [[ 9.99986207e-01 -1.01748075e-03 -5.15277850e-03 1.20864347e+02] [ 1.02017467e-03 9.99999344e-01 5.20209075e-04 -2.52963607e-01] [ 5.15224582e-03 -5.25458633e-04 9.99986589e-01 -5.66480828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34589822699996 meters Centerline goodness [0,1] 0.6301606713617003 Centerline is valid? [False, False] Translation: X:120.86, Y:-0.26, Z:-0.57 [[ 9.99986696e-01 -7.97047191e-04 -5.09629167e-03 1.20864240e+02] [ 8.04814255e-04 9.99998518e-01 1.52219276e-03 -2.58270268e-01] [ 5.09507086e-03 -1.52627408e-03 9.99985855e-01 -5.66709410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.375898227 meters Centerline goodness [0,1] 0.6208485719721794 Centerline is valid? [False, False] Translation: X:120.86, Y:-0.26, Z:-0.57 [[ 9.99986885e-01 -5.79447968e-04 -5.08863942e-03 1.20864193e+02] [ 5.91779629e-04 9.99996891e-01 2.42219970e-03 -2.63008997e-01] [ 5.08722007e-03 -2.42517928e-03 9.99984119e-01 -5.66755488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40589822699997 meters Centerline goodness [0,1] 0.5711308960030308 Centerline is valid? [False, False] Translation: X:120.86, Y:-0.26, Z:-0.57 [[ 9.99976713e-01 -4.56863710e-03 -5.06954112e-03 1.20864115e+02] [ 4.56097379e-03 9.99988440e-01 -1.52216961e-03 -2.64395062e-01] [ 5.07643676e-03 1.49901212e-03 9.99985991e-01 -5.66642443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.435898227 meters Centerline goodness [0,1] 0.6283704821197118 Centerline is valid? [False, False] Translation: X:120.86, Y:-0.27, Z:-0.57 [[ 9.99978026e-01 -4.39779541e-03 -4.96044236e-03 1.20863274e+02] [ 4.39159311e-03 9.99989562e-01 -1.26055232e-03 -2.65514285e-01] [ 4.96593424e-03 1.23874038e-03 9.99986902e-01 -5.65815368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46589822699997 meters Centerline goodness [0,1] 0.6434009084791386 Centerline is valid? [False, False] Translation: X:120.88, Y:-0.27, Z:-0.57 [[ 9.99994552e-01 -2.19496408e-03 -2.46524831e-03 1.20884445e+02] [ 2.17013395e-03 9.99947344e-01 -1.00299723e-02 -2.66798009e-01] [ 2.48713393e-03 1.00245677e-02 9.99946660e-01 -5.67584210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49589822699994 meters Centerline goodness [0,1] 0.6655113015712966 Centerline is valid? [False, False] Translation: X:120.88, Y:-0.27, Z:-0.57 [[ 9.99993273e-01 2.74480679e-03 -2.43321916e-03 1.20883705e+02] [-2.75498590e-03 9.99987427e-01 -4.18995834e-03 -2.74215818e-01] [ 2.42168794e-03 4.19663364e-03 9.99988262e-01 -5.66740068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.52589822699997 meters Centerline goodness [0,1] 0.6708668076109936 Centerline is valid? [False, False] Translation: X:120.88, Y:-0.28, Z:-0.57 [[ 9.99992204e-01 2.94246857e-03 -2.63303256e-03 1.20884536e+02] [-2.95281581e-03 9.99987900e-01 -3.93456145e-03 -2.75215978e-01] [ 2.62142338e-03 3.94230563e-03 9.99988793e-01 -5.67067365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55589822699994 meters Centerline goodness [0,1] 0.7145315286958347 Centerline is valid? [False, False] Translation: X:120.89, Y:-0.28, Z:-0.57 [[ 9.99981159e-01 5.05501347e-03 -3.48254237e-03 1.20890345e+02] [-5.06033138e-03 9.99986041e-01 -1.51990380e-03 -2.78638560e-01] [ 3.47481062e-03 1.53749799e-03 9.99992781e-01 -5.70657584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.585898227 meters Centerline goodness [0,1] 0.719646984660643 Centerline is valid? [False, False] Translation: X:120.89, Y:-0.28, Z:-0.57 [[ 9.99978921e-01 5.34556413e-03 -3.68538289e-03 1.20891214e+02] [-5.35059469e-03 9.99984765e-01 -1.35649872e-03 -2.78947850e-01] [ 3.67807549e-03 1.37618912e-03 9.99992289e-01 -5.70959797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61589822699995 meters Centerline goodness [0,1] 0.732531488529554 Centerline is valid? [False, False] Translation: X:120.89, Y:-0.28, Z:-0.57 [[ 9.99978170e-01 5.45631181e-03 -3.72678462e-03 1.20891211e+02] [-5.46089616e-03 9.99984344e-01 -1.22104195e-03 -2.79488175e-01] [ 3.72006388e-03 1.24136687e-03 9.99992310e-01 -5.70744458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.645898227 meters Centerline goodness [0,1] 0.8459001744606612 Centerline is valid? [False, False] Translation: X:120.89, Y:-0.28, Z:-0.57 [[ 9.99977120e-01 5.63343342e-03 -3.74485452e-03 1.20891083e+02] [-5.63688651e-03 9.99983697e-01 -9.12176717e-04 -2.80847532e-01] [ 3.73965478e-03 9.33265166e-04 9.99992572e-01 -5.70442292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67589822699995 meters Centerline goodness [0,1] 0.7454759700361923 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.29, Z:-0.57 [[ 9.99986817e-01 5.13377782e-03 -1.05026715e-04 1.20909835e+02] [-5.13253357e-03 9.99940780e-01 9.59649796e-03 -2.88315847e-01] [ 1.54286784e-04 -9.59583239e-03 9.99953947e-01 -5.70693687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.705898227 meters Centerline goodness [0,1] 0.7073659349233462 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.29, Z:-0.57 [[ 9.99999432e-01 1.01057712e-03 -3.37766914e-04 1.20910815e+02] [-1.00894344e-03 9.99987959e-01 4.80238942e-03 -2.85074201e-01] [ 3.42616032e-04 -4.80204591e-03 9.99988411e-01 -5.71117837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73589822699995 meters Centerline goodness [0,1] 0.7868983675618747 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.29, Z:-0.57 [[ 9.99999319e-01 1.04647097e-03 -5.17453275e-04 1.20911638e+02] [-1.04392709e-03 9.99987488e-01 4.89222954e-03 -2.85585092e-01] [ 5.22566377e-04 -4.89168602e-03 9.99987899e-01 -5.71502824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.765898227 meters Centerline goodness [0,1] 0.681606054235863 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.29, Z:-0.57 [[ 9.99998991e-01 1.16919344e-03 -8.06539591e-04 1.20913324e+02] [-1.16495103e-03 9.99985589e-01 5.24058351e-03 -2.87373117e-01] [ 8.12655224e-04 -5.23963864e-03 9.99985943e-01 -5.72829928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79589822699995 meters Centerline goodness [0,1] 0.6446376446376446 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.29, Z:-0.57 [[ 9.99998756e-01 1.24658457e-03 -9.66104211e-04 1.20913976e+02] [-1.24125218e-03 9.99984101e-01 5.50056677e-03 -2.88770713e-01] [ 9.72945773e-04 -5.49936076e-03 9.99984405e-01 -5.73033127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.825898227 meters Centerline goodness [0,1] 0.7892851844787759 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.29, Z:-0.57 [[ 9.99995317e-01 -2.89637969e-03 -9.88771560e-04 1.20914229e+02] [ 2.89704436e-03 9.99995578e-01 6.71454925e-04 -2.85365307e-01] [ 9.86822399e-04 -6.74316295e-04 9.99999286e-01 -5.73244520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85589822699995 meters Centerline goodness [0,1] 0.7846786957898069 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.29, Z:-0.57 [[ 9.99995365e-01 -2.87519003e-03 -1.00196800e-03 1.20914144e+02] [ 2.87592925e-03 9.99995593e-01 7.37113594e-04 -2.85659384e-01] [ 9.99844240e-04 -7.39991766e-04 9.99999226e-01 -5.73020102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.885898227 meters Centerline goodness [0,1] 0.8685737105384842 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.28, Z:-0.57 [[ 9.99994804e-01 -3.02750539e-03 -1.10764387e-03 1.20914319e+02] [ 3.02763685e-03 9.99995410e-01 1.17027658e-04 -2.82346177e-01] [ 1.10728448e-03 -1.20380593e-04 9.99999380e-01 -5.72645332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91589822699996 meters Centerline goodness [0,1] 0.8538033705515828 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.28, Z:-0.57 [[ 9.99994413e-01 -3.13869503e-03 -1.15003545e-03 1.20914459e+02] [ 3.13825827e-03 9.99995003e-01 -3.81388504e-04 -2.79703276e-01] [ 1.15122677e-03 3.77777265e-04 9.99999266e-01 -5.72589461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.945898227 meters Centerline goodness [0,1] 0.869797495618388 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.28, Z:-0.57 [[ 9.99994149e-01 -3.24196128e-03 -1.09187233e-03 1.20914191e+02] [ 3.24102815e-03 9.99994382e-01 -8.55297780e-04 -2.77159283e-01] [ 1.09463904e-03 8.51753987e-04 9.99999038e-01 -5.72404277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97589822699996 meters Centerline goodness [0,1] 0.9357776789307577 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.28, Z:-0.57 [[ 9.99993888e-01 -3.35436499e-03 -9.86061411e-04 1.20913583e+02] [ 3.35315747e-03 9.99993629e-01 -1.22370803e-03 -2.75240764e-01] [ 9.90159893e-04 1.22039413e-03 9.99998765e-01 -5.71923250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.005898227 meters Centerline goodness [0,1] 0.7297598285390094 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.27, Z:-0.57 [[ 9.99993339e-01 -3.56193737e-03 -7.96183548e-04 1.20912384e+02] [ 3.56082385e-03 9.99992686e-01 -1.39564476e-03 -2.74722215e-01] [ 8.01148924e-04 1.39280040e-03 9.99998709e-01 -5.70993688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03589822699996 meters Centerline goodness [0,1] 0.8403787339226612 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.28, Z:-0.57 [[ 9.99992998e-01 -3.64134898e-03 -8.62852056e-04 1.20912548e+02] [ 3.64035281e-03 9.99992709e-01 -1.15328392e-03 -2.76274047e-01] [ 8.67045274e-04 1.15013476e-03 9.99998963e-01 -5.70976484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.065898227 meters Centerline goodness [0,1] 0.7502905809505696 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.28, Z:-0.57 [[ 9.99967659e-01 -7.98005360e-03 -1.00023132e-03 1.20913560e+02] [ 7.97467203e-03 9.99954296e-01 -5.27353993e-03 -2.77475707e-01] [ 1.04226873e-03 5.26539286e-03 9.99985595e-01 -5.71843304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09589822699996 meters Centerline goodness [0,1] 0.6887320108092255 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.28, Z:-0.57 [[ 9.99968201e-01 -7.87922531e-03 -1.23061848e-03 1.20914465e+02] [ 7.87349393e-03 9.99958447e-01 -4.59472168e-03 -2.81137429e-01] [ 1.26677019e-03 4.58488631e-03 9.99988687e-01 -5.72244610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.125898227 meters Centerline goodness [0,1] 0.6245294525877478 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.29, Z:-0.57 [[ 9.99991146e-01 -4.11299774e-03 -8.88985777e-04 1.20913366e+02] [ 4.11349932e-03 9.99991381e-01 5.63130272e-04 -2.87915510e-01] [ 8.86661961e-04 -5.66782128e-04 9.99999446e-01 -5.72339239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15589822699997 meters Centerline goodness [0,1] 0.6793607112616427 Centerline is valid? [False, False] Translation: X:120.91, Y:-0.29, Z:-0.57 [[ 9.99991849e-01 -3.95818540e-03 -7.96547454e-04 1.20912788e+02] [ 3.95903319e-03 9.99991595e-01 1.06557779e-03 -2.90477605e-01] [ 7.92323004e-04 -1.06872266e-03 9.99999115e-01 -5.71933820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.185898227 meters Centerline goodness [0,1] 0.6850294629563612 Centerline is valid? [False, False] Translation: X:120.93, Y:-0.29, Z:-0.57 [[ 9.99995008e-01 -2.89261509e-03 1.27151114e-03 1.20931554e+02] [ 2.90408091e-03 9.99954285e-01 -9.11007143e-03 -2.92573788e-01] [-1.24510108e-03 9.11371853e-03 9.99957694e-01 -5.71663650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21589822699997 meters Centerline goodness [0,1] 0.6853515993213096 Centerline is valid? [False, False] Translation: X:120.93, Y:-0.30, Z:-0.57 [[ 9.99997981e-01 1.42906701e-03 1.41236837e-03 1.20930621e+02] [-1.42347228e-03 9.99991168e-01 -3.95433907e-03 -2.97473142e-01] [-1.41800691e-03 3.95232062e-03 9.99991184e-01 -5.70970465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24589822699994 meters Centerline goodness [0,1] 0.6871549425866448 Centerline is valid? [False, False] Translation: X:120.93, Y:-0.30, Z:-0.57 [[ 9.99997926e-01 1.53955164e-03 1.33329851e-03 1.20930789e+02] [-1.53437470e-03 9.99991314e-01 -3.87515929e-03 -2.97608759e-01] [-1.33925293e-03 3.87310547e-03 9.99991603e-01 -5.70846914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27589822699997 meters Centerline goodness [0,1] 0.6989331196761407 Centerline is valid? [False, False] Translation: X:120.93, Y:-0.30, Z:-0.57 [[ 9.99997881e-01 1.69487605e-03 1.16845858e-03 1.20931418e+02] [-1.69058069e-03 9.99991846e-01 -3.66733778e-03 -2.98401601e-01] [-1.17466473e-03 3.66535463e-03 9.99992593e-01 -5.71040377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30589822699994 meters Centerline goodness [0,1] 0.7110645325203252 Centerline is valid? [False, False] Translation: X:120.93, Y:-0.30, Z:-0.57 [[ 9.99997218e-01 2.16957406e-03 9.26061839e-04 1.20932364e+02] [-2.16689774e-03 9.99993501e-01 -2.88128582e-03 -3.01711073e-01] [-9.32306984e-04 2.87927113e-03 9.99995420e-01 -5.71455856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.335898227 meters Centerline goodness [0,1] 0.6958056081124173 Centerline is valid? [False, False] Translation: X:120.93, Y:-0.30, Z:-0.57 [[ 9.99996776e-01 2.36570434e-03 9.23183510e-04 1.20932090e+02] [-2.36334208e-03 9.99993952e-01 -2.55157315e-03 -3.03137652e-01] [-9.29214194e-04 2.54938313e-03 9.99996319e-01 -5.70998906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36589822699995 meters Centerline goodness [0,1] 0.7365405201183804 Centerline is valid? [False, False] Translation: X:120.97, Y:-0.31, Z:-0.57 [[ 9.99992398e-01 3.29187207e-03 2.08975959e-03 1.20972470e+02] [-3.28733437e-03 9.99992240e-01 -2.17113461e-03 -3.08159198e-01] [-2.09689047e-03 2.16424837e-03 9.99995460e-01 -5.69445715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.395898227 meters Centerline goodness [0,1] 0.7086288045183557 Centerline is valid? [False, False] Translation: X:120.97, Y:-0.31, Z:-0.57 [[ 9.99991345e-01 3.73066752e-03 1.84154319e-03 1.20973479e+02] [-3.72790375e-03 9.99991923e-01 -1.50194759e-03 -3.11049706e-01] [-1.84713158e-03 1.49506950e-03 9.99997176e-01 -5.69862410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42589822699995 meters Centerline goodness [0,1] 0.8749787414965986 Centerline is valid? [False, False] Translation: X:120.93, Y:-0.31, Z:-0.57 [[ 9.99992870e-01 3.77286361e-03 1.60003590e-04 1.20932983e+02] [-3.77280204e-03 9.99992809e-01 -3.83358007e-04 -3.10981987e-01] [-1.61448797e-04 3.82751611e-04 9.99999914e-01 -5.71196767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.455898227 meters Centerline goodness [0,1] 0.7730352303523035 Centerline is valid? [False, False] Translation: X:120.93, Y:-0.31, Z:-0.57 [[ 9.99991976e-01 4.00602192e-03 2.14070073e-06 1.20933736e+02] [-4.00602219e-03 9.99991965e-01 1.47859109e-04 -3.13547356e-01] [-1.54835670e-06 -1.47866498e-04 9.99999989e-01 -5.71684631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48589822699995 meters Centerline goodness [0,1] 0.8834963791132003 Centerline is valid? [False, False] Translation: X:120.93, Y:-0.32, Z:-0.57 [[ 9.99991024e-01 4.23490950e-03 -1.35115736e-04 1.20934341e+02] [-4.23480811e-03 9.99990758e-01 7.42043206e-04 -3.16476495e-01] [ 1.38256973e-04 -7.41464356e-04 9.99999716e-01 -5.72050290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.515898227 meters Centerline goodness [0,1] 0.7482833203838642 Centerline is valid? [False, False] Translation: X:120.93, Y:-0.32, Z:-0.57 [[ 9.99988684e-01 4.75081977e-03 -2.47867541e-04 1.20934806e+02] [-4.75027389e-03 9.99986388e-01 2.15828937e-03 -3.23558180e-01] [ 2.58117811e-04 -2.15708751e-03 9.99997640e-01 -5.72388607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54589822699995 meters Centerline goodness [0,1] 0.8430961012529415 Centerline is valid? [False, False] Translation: X:120.93, Y:-0.33, Z:-0.57 [[ 9.99986852e-01 5.12100010e-03 -2.68270717e-04 1.20934826e+02] [-5.12013288e-03 9.99981964e-01 3.13928586e-03 -3.28361873e-01] [ 2.84342162e-04 -3.13787100e-03 9.99995036e-01 -5.72434123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.575898227 meters Centerline goodness [0,1] 0.8155922354625458 Centerline is valid? [False, False] Translation: X:120.94, Y:-0.33, Z:-0.58 [[ 9.99994300e-01 3.15730524e-03 -1.19606411e-03 1.20940566e+02] [-3.15560459e-03 9.99994011e-01 1.42109757e-03 -3.32537216e-01] [ 1.20054378e-03 -1.41731517e-03 9.99998275e-01 -5.75793899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60589822699995 meters Centerline goodness [0,1] 0.784720614542776 Centerline is valid? [False, False] Translation: X:120.94, Y:-0.34, Z:-0.58 [[ 9.99992962e-01 3.53519864e-03 -1.25608394e-03 1.20940629e+02] [-3.53215362e-03 9.99990838e-01 2.41821977e-03 -3.37536276e-01] [ 1.26462132e-03 -2.41376607e-03 9.99996287e-01 -5.75726251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.635898227 meters Centerline goodness [0,1] 0.8248928877463582 Centerline is valid? [False, False] Translation: X:120.90, Y:-0.34, Z:-0.58 [[ 9.99992421e-01 2.94979364e-03 -2.54111035e-03 1.20899339e+02] [-2.93820636e-03 9.99985325e-01 4.55165259e-03 -3.43802124e-01] [ 2.55449949e-03 -4.54415178e-03 9.99986413e-01 -5.76377689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66589822699996 meters Centerline goodness [0,1] 0.7745706359458715 Centerline is valid? [False, False] Translation: X:120.94, Y:-0.35, Z:-0.58 [[ 9.99995237e-01 1.68294188e-03 -2.58731520e-03 1.20942435e+02] [-1.68011497e-03 9.99997990e-01 1.09438851e-03 -3.46880726e-01] [ 2.58915179e-03 -1.09003631e-03 9.99996054e-01 -5.76057025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.695898227 meters Centerline goodness [0,1] 0.7957842056154042 Centerline is valid? [False, False] Translation: X:120.94, Y:-0.35, Z:-0.58 [[ 9.99994419e-01 1.94409718e-03 -2.71722542e-03 1.20942801e+02] [-1.93981407e-03 9.99996873e-01 1.57802660e-03 -3.49088076e-01] [ 2.72028476e-03 -1.57274688e-03 9.99995063e-01 -5.75986300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72589822699996 meters Centerline goodness [0,1] 0.8916942401315097 Centerline is valid? [False, False] Translation: X:120.94, Y:-0.35, Z:-0.58 [[ 9.99993050e-01 2.49980130e-03 -2.76588910e-03 1.20942592e+02] [-2.49491826e-03 9.99995326e-01 1.76749297e-03 -3.48838462e-01] [ 2.77029455e-03 -1.76058002e-03 9.99994613e-01 -5.75340944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.755898227 meters Centerline goodness [0,1] 0.9747184407924262 Centerline is valid? [False, True] Translation: X:120.90, Y:-0.34, Z:-0.57 [[ 9.99994162e-01 2.79188351e-03 -1.97031528e-03 1.20897508e+02] [-2.78833870e-03 9.99994493e-01 1.79956983e-03 -3.44504953e-01] [ 1.97532862e-03 -1.79406541e-03 9.99996440e-01 -5.74884494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78589822699996 meters Centerline goodness [0,1] 0.9618194872661232 Centerline is valid? [True, True] Translation: X:120.93, Y:-0.35, Z:-0.57 [[ 9.99980482e-01 6.11114425e-03 -1.29949182e-03 1.20926845e+02] [-6.11104870e-03 9.99981324e-01 7.74855776e-05 -3.47400299e-01] [ 1.29994107e-03 -6.95428075e-05 9.99999153e-01 -5.74501451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.815898227 meters Centerline goodness [0,1] 0.9888823256402683 Centerline is valid? [True, True] Translation: X:120.96, Y:-0.34, Z:-0.58 [[ 9.99931553e-01 1.15468958e-02 -1.88664732e-03 1.20956716e+02] [-1.15467041e-02 9.99933328e-01 1.12481058e-04 -3.41345819e-01] [ 1.88782034e-03 -9.06888010e-05 9.99998214e-01 -5.75706710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84589822699996 meters Centerline goodness [0,1] 0.9937469632634092 Centerline is valid? [True, True] Translation: X:120.99, Y:-0.34, Z:-0.58 [[ 9.99906706e-01 1.34940913e-02 -2.11851948e-03 1.20988764e+02] [-1.34938533e-02 9.99908946e-01 1.26587575e-04 -3.38812852e-01] [ 2.12003476e-03 -9.79887744e-05 9.99997748e-01 -5.76875884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.875898227 meters Centerline goodness [0,1] 0.9962221940821409 Centerline is valid? [True, True] Translation: X:121.02, Y:-0.34, Z:-0.58 [[ 9.99885803e-01 1.49368985e-02 -2.29575681e-03 1.21020896e+02] [-1.49366225e-02 9.99888433e-01 1.37302544e-04 -3.36209717e-01] [ 2.29755156e-03 -1.02996011e-04 9.99997355e-01 -5.76614157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90589822699997 meters Centerline goodness [0,1] 0.9968151513864708 Centerline is valid? [True, True] Translation: X:121.05, Y:-0.33, Z:-0.58 [[ 9.99869169e-01 1.60016037e-02 -2.36514994e-03 1.21053565e+02] [-1.60013120e-02 9.99871961e-01 1.42195205e-04 -3.33288569e-01] [ 2.36712246e-03 -1.04331099e-04 9.99997193e-01 -5.76511258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.935898227 meters Centerline goodness [0,1] 0.9970675109968338 Centerline is valid? [True, True] Translation: X:121.08, Y:-0.33, Z:-0.58 [[ 9.99875988e-01 1.52499504e-02 -3.93035846e-03 1.21084435e+02] [-1.52491383e-02 9.99883697e-01 2.36517282e-04 -3.34935583e-01] [ 3.93350823e-03 -1.76553372e-04 9.99992248e-01 -5.79594107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96589822699997 meters Centerline goodness [0,1] 0.9969282621216323 Centerline is valid? [True, True] Translation: X:121.12, Y:-0.33, Z:-0.58 [[ 9.99884389e-01 1.41892635e-02 -5.46564314e-03 1.21116686e+02] [-1.41876785e-02 9.99899296e-01 3.28658821e-04 -3.34500316e-01] [ 5.46975615e-03 -2.51076037e-04 9.99985009e-01 -5.81156964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99589822699994 meters Centerline goodness [0,1] 0.995452517053061 Centerline is valid? [True, True] Translation: X:121.15, Y:-0.34, Z:-0.58 [[ 9.99893028e-01 1.32018625e-02 -6.29629439e-03 1.21146779e+02] [-1.31997379e-02 9.99912808e-01 3.78861929e-04 -3.42636258e-01] [ 6.30074709e-03 -2.95711966e-04 9.99980106e-01 -5.84211217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.02589822699997 meters Centerline goodness [0,1] 0.9951094005826192 Centerline is valid? [True, True] Translation: X:121.18, Y:-0.34, Z:-0.58 [[ 9.99910731e-01 1.19511374e-02 -5.97505412e-03 1.21177562e+02] [-1.19492020e-02 9.99928541e-01 3.59504522e-04 -3.44702312e-01] [ 5.97892363e-03 -2.88075301e-04 9.99982085e-01 -5.83370603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05589822699994 meters Centerline goodness [0,1] 0.995855009939517 Centerline is valid? [True, True] Translation: X:121.21, Y:-0.34, Z:-0.58 [[ 9.99912826e-01 1.23338377e-02 -4.71350579e-03 1.21208577e+02] [-1.23326373e-02 9.99923910e-01 2.83662984e-04 -3.44741746e-01] [ 4.71664580e-03 -2.25508298e-04 9.99988851e-01 -5.81293200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.085898227 meters Centerline goodness [0,1] 0.995855009939517 Centerline is valid? [True, True] Translation: X:121.24, Y:-0.35, Z:-0.58 [[ 9.99912539e-01 1.23570918e-02 -4.71349703e-03 1.21239384e+02] [-1.23558909e-02 9.99923623e-01 2.83808623e-04 -3.46640370e-01] [ 4.71664407e-03 -2.25544345e-04 9.99988851e-01 -5.81389136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11589822699995 meters Centerline goodness [0,1] 0.9955306079220504 Centerline is valid? [True, True] Translation: X:121.27, Y:-0.35, Z:-0.58 [[ 9.99897697e-01 1.35935283e-02 -4.45107497e-03 1.21270279e+02] [-1.35924692e-02 9.99907582e-01 2.68115483e-04 -3.46700928e-01] [ 4.45430825e-03 -2.07586955e-04 9.99990058e-01 -5.80865824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.145898227 meters Centerline goodness [0,1] 0.9974839841850435 Centerline is valid? [True, True] Translation: X:121.30, Y:-0.34, Z:-0.58 [[ 9.99835735e-01 1.74047592e-02 -5.05745504e-03 1.21301745e+02] [-1.74034407e-02 9.99848502e-01 3.04596984e-04 -3.38972719e-01] [ 5.06199028e-03 -2.16529831e-04 9.99987165e-01 -5.81449722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17589822699995 meters Centerline goodness [0,1] 0.9976738284554221 Centerline is valid? [True, True] Translation: X:121.33, Y:-0.34, Z:-0.58 [[ 9.99800256e-01 1.95337782e-02 -4.22831587e-03 1.21332130e+02] [-1.95328753e-02 9.99809183e-01 2.54733435e-04 -3.35351578e-01] [ 4.23248494e-03 -1.72091387e-04 9.99991028e-01 -5.80529609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.205898227 meters Centerline goodness [0,1] 0.9983252035924383 Centerline is valid? [True, True] Translation: X:121.36, Y:-0.33, Z:-0.58 [[ 9.99761196e-01 2.17074807e-02 -2.51718246e-03 1.21364330e+02] [-2.17071672e-02 9.99764360e-01 1.51818473e-04 -3.30143485e-01] [ 2.51988491e-03 -9.71413180e-05 9.99996820e-01 -5.77679149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23589822699995 meters Centerline goodness [0,1] 0.9991101694915254 Centerline is valid? [True, True] Translation: X:121.40, Y:-0.32, Z:-0.57 [[ 9.99708687e-01 2.41337494e-02 -3.21712976e-04 1.21396437e+02] [-2.41337444e-02 9.99708739e-01 1.94708986e-05 -3.15889213e-01] [ 3.22089179e-04 -1.17010878e-05 9.99999948e-01 -5.73441838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.265898227 meters Centerline goodness [0,1] 0.9990812853652935 Centerline is valid? [True, True] Translation: X:121.43, Y:-0.31, Z:-0.57 [[ 9.99692940e-01 2.47768606e-02 -3.64339947e-04 1.21428097e+02] [-2.47768541e-02 9.99693006e-01 2.24963029e-05 -3.12448601e-01] [ 3.64785485e-04 -1.34621975e-05 9.99999933e-01 -5.73641565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29589822699995 meters Centerline goodness [0,1] 0.9995775421401715 Centerline is valid? [True, True] Translation: X:121.46, Y:-0.31, Z:-0.57 [[ 9.99691944e-01 2.47712301e-02 -1.55037634e-03 1.21461050e+02] [-2.47711133e-02 9.99693144e-01 9.44940261e-05 -3.07497080e-01] [ 1.55224134e-03 -5.60603686e-05 9.99998794e-01 -5.74834287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.325898227 meters Centerline goodness [0,1] 0.9993641912512716 Centerline is valid? [True, True] Translation: X:121.49, Y:-0.30, Z:-0.58 [[ 9.99750551e-01 2.22036540e-02 -2.41523797e-03 1.21492205e+02] [-2.22033648e-02 9.99753464e-01 1.46463550e-04 -3.03621885e-01] [ 2.41789455e-03 -9.28006047e-05 9.99997073e-01 -5.76371985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35589822699995 meters Centerline goodness [0,1] 0.9988877719076851 Centerline is valid? [True, True] Translation: X:121.52, Y:-0.30, Z:-0.57 [[ 9.99805899e-01 1.96719868e-02 -1.08494161e-03 1.21523661e+02] [-1.96719269e-02 9.99806487e-01 6.58774616e-05 -3.02041446e-01] [ 1.08602760e-03 -4.45217827e-05 9.99999409e-01 -5.74002673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.385898227 meters Centerline goodness [0,1] 0.9960055501829037 Centerline is valid? [True, True] Translation: X:121.55, Y:-0.31, Z:-0.57 [[ 9.99853087e-01 1.71254068e-02 7.24808937e-04 1.21552906e+02] [-1.71253794e-02 9.99853349e-01 -4.39599320e-05 -3.10100141e-01] [-7.25455475e-04 3.15408456e-05 9.99999736e-01 -5.71700824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41589822699996 meters Centerline goodness [0,1] 0.9945012440151373 Centerline is valid? [True, True] Translation: X:121.58, Y:-0.31, Z:-0.57 [[ 9.99888821e-01 1.48525285e-02 1.32193770e-03 1.21584333e+02] [-1.48524355e-02 9.99889693e-01 -8.01352129e-05 -3.09555141e-01] [-1.32298209e-03 6.04923092e-05 9.99999123e-01 -5.70330091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.445898227 meters Centerline goodness [0,1] 0.9884241265572806 Centerline is valid? [True, True] Translation: X:121.62, Y:-0.31, Z:-0.57 [[ 9.99945273e-01 1.04515821e-02 4.64524117e-04 1.21615281e+02] [-1.04515701e-02 9.99945380e-01 -2.81841363e-05 -3.09840013e-01] [-4.64793313e-04 2.33275875e-05 9.99999892e-01 -5.72234968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47589822699996 meters Centerline goodness [0,1] 0.9936301702136635 Centerline is valid? [True, True] Translation: X:121.65, Y:-0.30, Z:-0.57 [[ 9.99967247e-01 8.08463080e-03 -3.77722617e-04 1.21646232e+02] [-8.08462270e-03 9.99967319e-01 2.29593525e-05 -3.04832493e-01] [ 3.77895891e-04 -1.99048556e-05 9.99999928e-01 -5.73124241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.505898227 meters Centerline goodness [0,1] 0.9837612418121696 Centerline is valid? [True, True] Translation: X:121.68, Y:-0.31, Z:-0.57 [[ 9.99980882e-01 6.14784489e-03 -6.62597112e-04 1.21676518e+02] [-6.14781956e-03 9.99981101e-01 4.02546645e-05 -3.08847372e-01] [ 6.62832069e-04 -3.61803674e-05 9.99999780e-01 -5.74543905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53589822699996 meters Centerline goodness [0,1] 0.8893004461655022 Centerline is valid? [True, False] Translation: X:121.68, Y:-0.30, Z:-0.57 [[ 9.99984521e-01 5.52594564e-03 -6.49333347e-04 1.21676756e+02] [-5.52660902e-03 9.99984204e-01 -1.02431919e-03 -3.04209354e-01] [ 6.43662757e-04 1.02789195e-03 9.99999265e-01 -5.74900391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.565898227 meters Centerline goodness [0,1] 0.9322144679415547 Centerline is valid? [False, False] Translation: X:121.68, Y:-0.30, Z:-0.57 [[ 9.99985564e-01 5.33058791e-03 -6.76395302e-04 1.21676867e+02] [-5.33149175e-03 9.99984888e-01 -1.34157357e-03 -3.02876567e-01] [ 6.69233704e-04 1.34516040e-03 9.99998871e-01 -5.74922482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59589822699996 meters Centerline goodness [0,1] 0.9255549255549256 Centerline is valid? [False, False] Translation: X:121.68, Y:-0.30, Z:-0.58 [[ 9.99986562e-01 5.12632434e-03 -7.73025905e-04 1.21677244e+02] [-5.12757833e-03 9.99985527e-01 -1.62902172e-03 -3.01741318e-01] [ 7.64663823e-04 1.63296358e-03 9.99998374e-01 -5.75021273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.625898227 meters Centerline goodness [0,1] 0.929979862393019 Centerline is valid? [False, False] Translation: X:121.68, Y:-0.30, Z:-0.58 [[ 9.99988410e-01 4.72044456e-03 -9.47155965e-04 1.21678397e+02] [-4.72260178e-03 9.99986230e-01 -2.28841208e-03 -2.98929299e-01] [ 9.36340601e-04 2.29285860e-03 9.99996933e-01 -5.75941796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65589822699997 meters Centerline goodness [0,1] 0.9139798462279765 Centerline is valid? [False, False] Translation: X:121.68, Y:-0.30, Z:-0.58 [[ 9.99989048e-01 4.56152568e-03 -1.04726333e-03 1.21679015e+02] [-4.56426451e-03 9.99986131e-01 -2.62789637e-03 -2.97344896e-01] [ 1.03526159e-03 2.63264757e-03 9.99995999e-01 -5.76399237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.685898227 meters Centerline goodness [0,1] 0.9162416220545462 Centerline is valid? [False, False] Translation: X:121.68, Y:-0.30, Z:-0.58 [[ 9.99989410e-01 4.46190459e-03 -1.12795243e-03 1.21679655e+02] [-4.46511734e-03 9.99985936e-01 -2.86201984e-03 -2.96229147e-01] [ 1.11516650e-03 2.86702597e-03 9.99995268e-01 -5.77000752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71589822699997 meters Centerline goodness [0,1] 0.9297044511385899 Centerline is valid? [False, False] Translation: X:121.68, Y:-0.30, Z:-0.58 [[ 9.99989557e-01 4.40446393e-03 -1.21940702e-03 1.21680304e+02] [-4.40810114e-03 9.99985795e-01 -2.99632152e-03 -2.95609403e-01] [ 1.20619250e-03 3.00166549e-03 9.99994768e-01 -5.77589875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74589822699994 meters Centerline goodness [0,1] 0.8776955735844297 Centerline is valid? [False, False] Translation: X:121.68, Y:-0.29, Z:-0.58 [[ 9.99989467e-01 4.36696811e-03 -1.41231041e-03 1.21681209e+02] [-4.37142209e-03 9.99985433e-01 -3.16612751e-03 -2.94733346e-01] [ 1.39846346e-03 3.17226796e-03 9.99993990e-01 -5.78029763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77589822699997 meters Centerline goodness [0,1] 0.9437549788268835 Centerline is valid? [False, False] Translation: X:121.68, Y:-0.29, Z:-0.58 [[ 9.99989295e-01 4.36904081e-03 -1.52363647e-03 1.21681601e+02] [-4.37387820e-03 9.99985359e-01 -3.18615097e-03 -2.94606084e-01] [ 1.50969374e-03 3.19278106e-03 9.99993763e-01 -5.78067043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80589822699994 meters Centerline goodness [0,1] 0.9286260677404276 Centerline is valid? [False, False] Translation: X:121.66, Y:-0.30, Z:-0.57 [[ 9.99984800e-01 3.30317055e-03 -4.41471718e-03 1.21658476e+02] [-3.27307082e-03 9.99971469e-01 6.80796443e-03 -2.95841167e-01] [ 4.43707909e-03 -6.79341126e-03 9.99967080e-01 -5.73679555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.835898227 meters Centerline goodness [0,1] 0.9697154514290521 Centerline is valid? [False, True] Translation: X:121.68, Y:-0.29, Z:-0.58 [[ 9.99989339e-01 4.54298459e-03 -8.26000198e-04 1.21682183e+02] [-4.54517767e-03 9.99986099e-01 -2.67284655e-03 -2.92747588e-01] [ 8.13846014e-04 2.67657238e-03 9.99996087e-01 -5.78396397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86589822699995 meters Centerline goodness [0,1] 0.9765644793514061 Centerline is valid? [True, True] Translation: X:121.71, Y:-0.29, Z:-0.58 [[ 9.99982605e-01 5.84671067e-03 -7.77949279e-04 1.21712620e+02] [-5.84667448e-03 9.99982907e-01 4.87837159e-05 -2.92845843e-01] [ 7.78221206e-04 -4.42344511e-05 9.99999696e-01 -5.77470533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.895898227 meters Centerline goodness [0,1] 0.9864879085723908 Centerline is valid? [True, True] Translation: X:121.74, Y:-0.29, Z:-0.58 [[ 9.99972759e-01 7.36986388e-03 -4.08513790e-04 1.21743765e+02] [-7.36985400e-03 9.99972842e-01 2.56916579e-05 -2.89553414e-01] [ 4.08692040e-04 -2.26802710e-05 9.99999916e-01 -5.76741580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92589822699995 meters Centerline goodness [0,1] 0.9861409043112513 Centerline is valid? [True, True] Translation: X:121.78, Y:-0.29, Z:-0.58 [[ 9.99961589e-01 8.75438464e-03 4.26245569e-04 1.21775389e+02] [-8.75437409e-03 9.99961679e-01 -2.66037677e-05 -2.89041805e-01] [-4.26462134e-04 2.28712327e-05 9.99999909e-01 -5.75289245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.955898227 meters Centerline goodness [0,1] 0.9877529510961214 Centerline is valid? [True, True] Translation: X:121.81, Y:-0.29, Z:-0.57 [[ 9.99936358e-01 1.09450109e-02 2.73617275e-03 1.21806720e+02] [-1.09445821e-02 9.99940092e-01 -1.71626551e-04 -2.86094831e-01] [-2.73788729e-03 1.41669361e-04 9.99996242e-01 -5.72514331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98589822699995 meters Centerline goodness [0,1] 0.9826655419654154 Centerline is valid? [True, True] Translation: X:121.84, Y:-0.29, Z:-0.57 [[ 9.99936705e-01 1.06282891e-02 3.69118249e-03 1.21837721e+02] [-1.06275070e-02 9.99943500e-01 -2.31436801e-04 -2.88379890e-01] [-3.69343372e-03 1.92194085e-04 9.99993161e-01 -5.71947381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.015898227 meters Centerline goodness [0,1] 0.9904796699045818 Centerline is valid? [True, True] Translation: X:121.87, Y:-0.29, Z:-0.57 [[ 9.99950587e-01 9.06039838e-03 4.09060403e-03 1.21869522e+02] [-9.05942251e-03 9.99958930e-01 -2.57031656e-04 -2.85776471e-01] [-4.09276484e-03 2.19960445e-04 9.99991600e-01 -5.71949805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04589822699995 meters Centerline goodness [0,1] 0.9673162335040483 Centerline is valid? [True, True] Translation: X:121.90, Y:-0.30, Z:-0.57 [[ 9.99983330e-01 5.09084773e-03 2.72451546e-03 1.21898859e+02] [-5.09039978e-03 9.99987029e-01 -1.71323204e-04 -2.96215863e-01] [-2.72535231e-03 1.57451475e-04 9.99996274e-01 -5.74191634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.075898227 meters Centerline goodness [0,1] 0.9514785681235014 Centerline is valid? [True, True] Translation: X:121.93, Y:-0.30, Z:-0.58 [[ 9.99992666e-01 3.23560300e-03 2.04912762e-03 1.21929078e+02] [-3.23534592e-03 9.99994758e-01 -1.28761163e-04 -3.02071842e-01] [-2.04953350e-03 1.22130582e-04 9.99997892e-01 -5.75839650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10589822699995 meters Centerline goodness [0,1] 0.9044881110338873 Centerline is valid? [True, False] Translation: X:121.93, Y:-0.30, Z:-0.58 [[ 9.99992382e-01 3.29657677e-03 2.09011249e-03 1.21928802e+02] [-3.29736467e-03 9.99994494e-01 3.73631641e-04 -3.04913620e-01] [-2.08886927e-03 -3.80520658e-04 9.99997746e-01 -5.75643246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.135898227 meters Centerline goodness [0,1] 0.908816078005578 Centerline is valid? [False, False] Translation: X:121.91, Y:-0.31, Z:-0.57 [[ 9.99998316e-01 1.37244542e-03 1.21868926e-03 1.21906212e+02] [-1.38436987e-03 9.99950644e-01 9.83832115e-03 -3.06516822e-01] [-1.20512655e-03 -9.83999169e-03 9.99950860e-01 -5.74208568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16589822699996 meters Centerline goodness [0,1] 0.9617203476482618 Centerline is valid? [False, True] Translation: X:121.91, Y:-0.30, Z:-0.57 [[ 9.99995212e-01 -2.84885938e-03 1.20855222e-03 1.21906383e+02] [ 2.84290378e-03 9.99983947e-01 4.90130666e-03 -3.02704474e-01] [-1.22249595e-03 -4.89784739e-03 9.99987258e-01 -5.74404821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.195898227 meters Centerline goodness [0,1] 0.8812047787312804 Centerline is valid? [True, False] Translation: X:121.93, Y:-0.30, Z:-0.58 [[ 9.99993728e-01 -1.30970289e-03 3.29068149e-03 1.21928576e+02] [ 1.32488424e-03 9.99988471e-01 -4.61549870e-03 -3.02116972e-01] [-3.28459862e-03 4.61982953e-03 9.99983934e-01 -5.77247230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22589822699996 meters Centerline goodness [0,1] 0.8908082475972734 Centerline is valid? [False, False] Translation: X:121.93, Y:-0.30, Z:-0.58 [[ 9.99994469e-01 -1.22447028e-03 3.09220714e-03 1.21929606e+02] [ 1.23837008e-03 9.99989121e-01 -4.49720006e-03 -3.02627246e-01] [-3.08666681e-03 4.50100448e-03 9.99985107e-01 -5.77928833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.255898227 meters Centerline goodness [0,1] 0.9628747607909844 Centerline is valid? [False, True] Translation: X:121.93, Y:-0.30, Z:-0.58 [[ 9.99994737e-01 -1.18205920e-03 3.02130933e-03 1.21930040e+02] [ 1.19550430e-03 9.99989374e-01 -4.45216718e-03 -3.02744967e-01] [-3.01601451e-03 4.45575574e-03 9.99985525e-01 -5.78273749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28589822699996 meters Centerline goodness [0,1] 0.9224850444965861 Centerline is valid? [True, False] Translation: X:121.93, Y:-0.30, Z:-0.58 [[ 9.99995312e-01 -1.13125453e-03 2.84524379e-03 1.21930729e+02] [ 1.14405866e-03 9.99989209e-01 -4.50259424e-03 -3.02343447e-01] [-2.84011950e-03 4.50582826e-03 9.99985816e-01 -5.78480999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.315898227 meters Centerline goodness [0,1] 0.9882009642222787 Centerline is valid? [False, True] Translation: X:121.93, Y:-0.30, Z:-0.58 [[ 9.99996091e-01 -9.96672878e-04 2.61256236e-03 1.21931666e+02] [ 1.00890226e-03 9.99988522e-01 -4.68385912e-03 -3.00900922e-01] [-2.60786410e-03 4.68647663e-03 9.99985618e-01 -5.78798718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34589822699996 meters Centerline goodness [0,1] 0.990010649627263 Centerline is valid? [True, True] Translation: X:121.96, Y:-0.30, Z:-0.58 [[ 9.99996001e-01 2.96718621e-04 2.81236408e-03 1.21963148e+02] [-2.96281656e-04 9.99999944e-01 -1.55788126e-04 -3.03988294e-01] [-2.81241015e-03 1.54954251e-04 9.99996033e-01 -5.78063430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.375898227 meters Centerline goodness [0,1] 0.9637953082744597 Centerline is valid? [True, True] Translation: X:121.99, Y:-0.31, Z:-0.58 [[ 9.99994950e-01 1.81084652e-03 2.61173353e-03 1.21992996e+02] [-1.81047455e-03 9.99998351e-01 -1.44778380e-04 -3.14550605e-01] [-2.61199140e-03 1.40049172e-04 9.99996579e-01 -5.79434464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40589822699997 meters Centerline goodness [0,1] 0.9803143822535625 Centerline is valid? [True, True] Translation: X:122.02, Y:-0.31, Z:-0.58 [[ 9.99989468e-01 3.81313499e-03 2.55418407e-03 1.22022335e+02] [-3.81278602e-03 9.99992721e-01 -1.41478946e-04 -3.14086975e-01] [-2.55470495e-03 1.31738899e-04 9.99996728e-01 -5.79794316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.435898227 meters Centerline goodness [0,1] 0.9951724724596998 Centerline is valid? [True, True] Translation: X:122.05, Y:-0.31, Z:-0.58 [[ 9.99984615e-01 4.86500931e-03 2.66486179e-03 1.22054571e+02] [-4.86463431e-03 9.99988157e-01 -1.47184842e-04 -3.07786391e-01] [-2.66554628e-03 1.34219000e-04 9.99996438e-01 -5.79115237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46589822699997 meters Centerline goodness [0,1] 0.9961063287942248 Centerline is valid? [True, True] Translation: X:122.09, Y:-0.31, Z:-0.58 [[ 9.99982097e-01 5.44844329e-03 2.47387923e-03 1.22086733e+02] [-5.44812111e-03 9.99985150e-01 -1.36949885e-04 -3.07254006e-01] [-2.47458865e-03 1.23469440e-04 9.99996931e-01 -5.80158047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49589822699994 meters Centerline goodness [0,1] 0.9970969040706914 Centerline is valid? [True, True] Translation: X:122.12, Y:-0.31, Z:-0.58 [[ 9.99978845e-01 6.14320000e-03 2.13783101e-03 1.22119458e+02] [-6.14296060e-03 9.99981125e-01 -1.18528702e-04 -3.05385661e-01] [-2.13851880e-03 1.05393583e-04 9.99997708e-01 -5.81020117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.52589822699997 meters Centerline goodness [0,1] 0.9965992860612973 Centerline is valid? [True, True] Translation: X:122.15, Y:-0.31, Z:-0.58 [[ 9.99979892e-01 5.95135970e-03 2.19022671e-03 1.22151867e+02] [-5.95110712e-03 9.99982285e-01 -1.21823651e-04 -3.08218021e-01] [-2.19091293e-03 1.08786928e-04 9.99997594e-01 -5.81266298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55589822699994 meters Centerline goodness [0,1] 0.9929067564723216 Centerline is valid? [True, True] Translation: X:122.18, Y:-0.31, Z:-0.58 [[ 9.99985352e-01 5.07240262e-03 1.88848936e-03 1.22182373e+02] [-5.07221217e-03 9.99987131e-01 -1.05623591e-04 -3.12837760e-01] [-1.88900083e-03 9.60432255e-05 9.99998211e-01 -5.82514352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.585898227 meters Centerline goodness [0,1] 0.948815906116763 Centerline is valid? [True, False] Translation: X:122.18, Y:-0.31, Z:-0.58 [[ 9.99986287e-01 4.86360213e-03 1.94204600e-03 1.22182358e+02] [-4.86259968e-03 9.99988042e-01 -5.20568820e-04 -3.10969109e-01] [-1.94455462e-03 5.11118289e-04 9.99997979e-01 -5.82755185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61589822699995 meters Centerline goodness [0,1] 0.9412519186694421 Centerline is valid? [False, False] Translation: X:122.18, Y:-0.31, Z:-0.58 [[ 9.99987500e-01 4.61424680e-03 1.92577074e-03 1.22182527e+02] [-4.61220084e-03 9.99988796e-01 -1.06550211e-03 -3.08466754e-01] [-1.93066566e-03 1.05660675e-03 9.99997578e-01 -5.82913487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.645898227 meters Centerline goodness [0,1] 0.9918646205591759 Centerline is valid? [False, True] Translation: X:122.18, Y:-0.31, Z:-0.58 [[ 9.99988623e-01 4.35778907e-03 1.93978260e-03 1.22182443e+02] [-4.35459256e-03 9.99989159e-01 -1.64905397e-03 -3.05681918e-01] [-1.94694780e-03 1.64058824e-03 9.99996759e-01 -5.82793028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67589822699995 meters Centerline goodness [0,1] 0.9880674393196084 Centerline is valid? [True, True] Translation: X:122.21, Y:-0.30, Z:-0.58 [[ 9.99982834e-01 5.00247638e-03 3.05057324e-03 1.22213623e+02] [-5.00197745e-03 9.99987475e-01 -1.71161151e-04 -3.02655028e-01] [-3.05139126e-03 1.55899314e-04 9.99995332e-01 -5.80750289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.705898227 meters Centerline goodness [0,1] 0.9891011614206363 Centerline is valid? [True, True] Translation: X:122.25, Y:-0.30, Z:-0.58 [[ 9.99981829e-01 5.20327889e-03 3.04440125e-03 1.22246329e+02] [-5.20278265e-03 9.99986451e-01 -1.70896612e-04 -3.01232865e-01] [-3.04524922e-03 1.55054149e-04 9.99995351e-01 -5.81336020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73589822699995 meters Centerline goodness [0,1] 0.9720428297957381 Centerline is valid? [True, True] Translation: X:122.28, Y:-0.30, Z:-0.58 [[ 9.99981628e-01 5.13551433e-03 3.22020143e-03 1.22277451e+02] [-5.13495632e-03 9.99986800e-01 -1.81528542e-04 -3.04430437e-01] [-3.22109117e-03 1.64989613e-04 9.99994799e-01 -5.82020264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.765898227 meters Centerline goodness [0,1] 0.9843635218805751 Centerline is valid? [True, True] Translation: X:122.31, Y:-0.30, Z:-0.58 [[ 9.99982670e-01 4.69910688e-03 3.54644102e-03 1.22310204e+02] [-4.69842664e-03 9.99988942e-01 -2.00116108e-04 -2.99338604e-01] [-3.54734217e-03 1.83449947e-04 9.99993691e-01 -5.81515148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79589822699995 meters Centerline goodness [0,1] 0.9697904995454834 Centerline is valid? [True, True] Translation: X:122.34, Y:-0.30, Z:-0.58 [[ 9.99986300e-01 3.12767684e-03 4.19724727e-03 1.22340894e+02] [-3.12670565e-03 9.99995084e-01 -2.37928221e-04 -2.99259166e-01] [-4.19797080e-03 2.24801405e-04 9.99991163e-01 -5.80453795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.825898227 meters Centerline goodness [0,1] 0.9506123813902938 Centerline is valid? [True, True] Translation: X:122.37, Y:-0.30, Z:-0.58 [[ 9.99990687e-01 2.28518042e-03 3.66111527e-03 1.22371348e+02] [-2.28443630e-03 9.99997369e-01 -2.07418270e-04 -3.02723275e-01] [-3.66157962e-03 1.99052753e-04 9.99993277e-01 -5.81497225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85589822699995 meters Centerline goodness [0,1] 0.7878212220528986 Centerline is valid? [True, False] Translation: X:122.37, Y:-0.30, Z:-0.58 [[ 9.99992009e-01 1.93581124e-03 3.49769750e-03 1.22371998e+02] [-1.93328268e-03 9.99997868e-01 -7.26157218e-04 -3.00573500e-01] [-3.49909575e-03 7.19389377e-04 9.99993619e-01 -5.81618870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.885898227 meters Centerline goodness [0,1] 0.9111007679776588 Centerline is valid? [False, False] Translation: X:122.33, Y:-0.30, Z:-0.58 [[ 9.99993873e-01 2.01217964e-03 2.86457864e-03 1.22329579e+02] [-2.01237960e-03 9.99997973e-01 6.69252904e-05 -2.98709063e-01] [-2.86443817e-03 -7.26895000e-05 9.99995895e-01 -5.82437072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91589822699996 meters Centerline goodness [0,1] 0.8964812473662032 Centerline is valid? [False, False] Translation: X:122.33, Y:-0.30, Z:-0.58 [[ 9.99994142e-01 1.96174731e-03 2.80504910e-03 1.22329860e+02] [-1.96192658e-03 9.99998074e-01 6.11580642e-05 -2.98898306e-01] [-2.80492372e-03 -6.66610063e-05 9.99996064e-01 -5.82582765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.945898227 meters Centerline goodness [0,1] 0.8736947748286391 Centerline is valid? [False, False] Translation: X:122.29, Y:-0.30, Z:-0.58 [[ 9.99997680e-01 1.85150676e-03 1.10044949e-03 1.22290070e+02] [-1.85213324e-03 9.99998123e-01 5.68544041e-04 -2.97116539e-01] [-1.09939476e-03 -5.70580901e-04 9.99999233e-01 -5.84724781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97589822699996 meters Centerline goodness [0,1] 0.8736947748286391 Centerline is valid? [False, False] Translation: X:122.29, Y:-0.30, Z:-0.58 [[ 9.99997680e-01 1.85150676e-03 1.10044949e-03 1.22290070e+02] [-1.85213324e-03 9.99998123e-01 5.68544041e-04 -2.97116539e-01] [-1.09939476e-03 -5.70580901e-04 9.99999233e-01 -5.84724781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.005898227 meters Centerline goodness [0,1] 0.8935878795541227 Centerline is valid? [False, False] Translation: X:122.33, Y:-0.30, Z:-0.58 [[ 9.99999069e-01 1.33110806e-03 2.99387089e-04 1.22333568e+02] [-1.33090791e-03 9.99998891e-01 -6.67750767e-04 -2.98343590e-01] [-3.00275605e-04 6.67351689e-04 9.99999732e-01 -5.83672011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03589822699996 meters Centerline goodness [0,1] 0.898551637279597 Centerline is valid? [False, False] Translation: X:122.33, Y:-0.30, Z:-0.58 [[ 9.99999163e-01 1.28488802e-03 1.48718855e-04 1.22334095e+02] [-1.28476497e-03 9.99998835e-01 -8.24529079e-04 -2.97521201e-01] [-1.49778110e-04 8.24337321e-04 9.99999649e-01 -5.83710841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.065898227 meters Centerline goodness [0,1] 0.9232877876707962 Centerline is valid? [False, False] Translation: X:122.29, Y:-0.29, Z:-0.58 [[ 9.99997316e-01 2.28933925e-03 3.55366842e-04 1.22290409e+02] [-2.28901631e-03 9.99996969e-01 -9.06495087e-04 -2.93054274e-01] [-3.57441040e-04 9.05679214e-04 9.99999526e-01 -5.84356677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09589822699996 meters Centerline goodness [0,1] 0.9298906977233957 Centerline is valid? [False, False] Translation: X:122.29, Y:-0.30, Z:-0.58 [[ 9.99978537e-01 6.54166757e-03 3.63310276e-04 1.22290321e+02] [-6.54303697e-03 9.99970968e-01 3.90546430e-03 -2.96121913e-01] [-3.37751479e-04 -3.90775763e-03 9.99992308e-01 -5.84219575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.125898227 meters Centerline goodness [0,1] 0.9972196081786295 Centerline is valid? [False, True] Translation: X:122.25, Y:-0.29, Z:-0.59 [[ 9.99986899e-01 5.00694937e-03 -1.06398166e-03 1.22249457e+02] [-5.00619400e-03 9.99987216e-01 7.11432969e-04 -2.89472695e-01] [ 1.06753017e-03 -7.06097150e-04 9.99999181e-01 -5.85212487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15589822699997 meters Centerline goodness [0,1] 0.953117763462591 Centerline is valid? [True, True] Translation: X:122.28, Y:-0.31, Z:-0.59 [[ 9.99984964e-01 5.31008927e-03 -1.36891131e-03 1.22278996e+02] [-5.30998555e-03 9.99985899e-01 7.93945707e-05 -3.06149928e-01] [ 1.36931360e-03 -7.21244777e-05 9.99999060e-01 -5.87967822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.185898227 meters Centerline goodness [0,1] 0.9871946831477797 Centerline is valid? [True, True] Translation: X:122.31, Y:-0.30, Z:-0.59 [[ 9.99990753e-01 4.30034551e-03 -3.15887244e-05 1.22309678e+02] [-4.30034546e-03 9.99990753e-01 1.82785702e-06 -2.98575644e-01] [ 3.15962927e-05 -1.69199769e-06 9.99999999e-01 -5.85825952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21589822699997 meters Centerline goodness [0,1] 0.9035402125385148 Centerline is valid? [True, False] Translation: X:122.31, Y:-0.30, Z:-0.59 [[ 9.99990616e-01 4.33168203e-03 7.15412033e-05 1.22309072e+02] [-4.33169536e-03 9.99990601e-01 1.87241139e-04 -2.99619109e-01] [-7.07294618e-05 -1.87549276e-04 9.99999980e-01 -5.85392306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24589822699994 meters Centerline goodness [0,1] 0.9922203665729447 Centerline is valid? [False, True] Translation: X:122.31, Y:-0.30, Z:-0.59 [[ 9.99990353e-01 4.39121549e-03 1.04796837e-04 1.22308832e+02] [-4.39125247e-03 9.99990295e-01 3.55333158e-04 -3.00504348e-01] [-1.03235476e-04 -3.55789919e-04 9.99999931e-01 -5.85181985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27589822699997 meters Centerline goodness [0,1] 0.9873112549168888 Centerline is valid? [True, True] Translation: X:122.34, Y:-0.31, Z:-0.59 [[ 9.99990796e-01 4.28359497e-03 -2.40305861e-04 1.22338708e+02] [-4.28359174e-03 9.99990825e-01 1.39469728e-05 -3.06351716e-01] [ 2.40363399e-04 -1.29174722e-05 9.99999971e-01 -5.86158508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30589822699994 meters Centerline goodness [0,1] 0.9945030456098648 Centerline is valid? [True, True] Translation: X:122.37, Y:-0.30, Z:-0.59 [[ 9.99991756e-01 4.05318701e-03 -2.43272089e-04 1.22369406e+02] [-4.05318370e-03 9.99991786e-01 1.41038095e-05 -3.03159868e-01] [ 2.43327256e-04 -1.31176667e-05 9.99999970e-01 -5.85867122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.335898227 meters Centerline goodness [0,1] 0.9862215939062731 Centerline is valid? [True, True] Translation: X:122.40, Y:-0.31, Z:-0.59 [[ 9.99993240e-01 3.66910595e-03 -2.37953578e-04 1.22399617e+02] [-3.66910277e-03 9.99993269e-01 1.38136064e-05 -3.09833814e-01] [ 2.38002660e-04 -1.29404369e-05 9.99999972e-01 -5.85748971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36589822699995 meters Centerline goodness [0,1] 0.9636283316153733 Centerline is valid? [True, True] Translation: X:122.43, Y:-0.32, Z:-0.59 [[ 9.99994307e-01 3.32653165e-03 -5.65347861e-04 1.22429844e+02] [-3.32651363e-03 9.99994467e-01 3.28045170e-05 -3.18558501e-01] [ 5.65453858e-04 -3.09236929e-05 9.99999840e-01 -5.86048611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.395898227 meters Centerline goodness [0,1] 0.9831483158848188 Centerline is valid? [True, True] Translation: X:122.46, Y:-0.32, Z:-0.59 [[ 9.99994873e-01 2.94555094e-03 -1.25605290e-03 1.22460813e+02] [-2.94546175e-03 9.99995659e-01 7.28496467e-05 -3.16922863e-01] [ 1.25626203e-03 -6.91496174e-05 9.99999209e-01 -5.87519239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42589822699995 meters Centerline goodness [0,1] 0.9622904438157173 Centerline is valid? [True, True] Translation: X:122.49, Y:-0.32, Z:-0.59 [[ 9.99990686e-01 3.89901761e-03 -1.85105014e-03 1.22490053e+02] [-3.89882561e-03 9.99992394e-01 1.07322960e-04 -3.24955288e-01] [ 1.85145451e-03 -1.00105039e-04 9.99998281e-01 -5.88739860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.455898227 meters Centerline goodness [0,1] 0.9883461181825846 Centerline is valid? [True, True] Translation: X:122.52, Y:-0.32, Z:-0.59 [[ 9.99984857e-01 4.81212534e-03 -2.66990504e-03 1.22520783e+02] [-4.81172908e-03 9.99988412e-01 1.54821036e-04 -3.21651572e-01] [ 2.67061912e-03 -1.41971832e-04 9.99996424e-01 -5.89895221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48589822699995 meters Centerline goodness [0,1] 0.9973928766662462 Centerline is valid? [True, True] Translation: X:122.55, Y:-0.32, Z:-0.59 [[ 9.99973804e-01 6.34293817e-03 -3.48691177e-03 1.22550783e+02] [-6.34227196e-03 9.99979867e-01 2.02085470e-04 -3.17441550e-01] [ 3.48812338e-03 -1.79965234e-04 9.99993900e-01 -5.91007432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.515898227 meters Centerline goodness [0,1] 0.9957910686476703 Centerline is valid? [True, True] Translation: X:122.58, Y:-0.32, Z:-0.59 [[ 9.99950646e-01 8.89500898e-03 -4.42548420e-03 1.22579498e+02] [-8.89396120e-03 9.99960415e-01 2.56386289e-04 -3.22436226e-01] [ 4.42758957e-03 -2.17013551e-04 9.99990175e-01 -5.93650656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54589822699995 meters Centerline goodness [0,1] 0.9973426130971211 Centerline is valid? [True, True] Translation: X:122.61, Y:-0.32, Z:-0.59 [[ 9.99950657e-01 9.08026605e-03 -4.02883057e-03 1.22609779e+02] [-9.07939956e-03 9.99958754e-01 2.33311823e-04 -3.19709462e-01] [ 4.03078293e-03 -1.96720948e-04 9.99991857e-01 -5.93212586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.575898227 meters Centerline goodness [0,1] 0.9967243298792499 Centerline is valid? [True, True] Translation: X:122.64, Y:-0.32, Z:-0.59 [[ 9.99971321e-01 7.09124212e-03 -2.65939325e-03 1.22639457e+02] [-7.09085756e-03 9.99974848e-01 1.54008420e-04 -3.23027613e-01] [ 2.66041847e-03 -1.35146624e-04 9.99996452e-01 -5.91646592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60589822699995 meters Centerline goodness [0,1] 0.9907070707070708 Centerline is valid? [True, True] Translation: X:122.67, Y:-0.33, Z:-0.59 [[ 9.99980669e-01 5.51819679e-03 -2.86541900e-03 1.22668838e+02] [-5.51774387e-03 9.99984763e-01 1.65945990e-04 -3.30894598e-01] [ 2.86629106e-03 -1.50132134e-04 9.99995881e-01 -5.92123219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.635898227 meters Centerline goodness [0,1] 0.9780792663777401 Centerline is valid? [True, True] Translation: X:122.70, Y:-0.34, Z:-0.59 [[ 9.99986966e-01 3.90140461e-03 -3.29338864e-03 1.22697259e+02] [-3.90079728e-03 9.99992374e-01 1.90813516e-04 -3.38331046e-01] [ 3.29410796e-03 -1.77964188e-04 9.99994559e-01 -5.92881350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66589822699996 meters Centerline goodness [0,1] 0.9813766738568652 Centerline is valid? [True, True] Translation: X:122.73, Y:-0.34, Z:-0.59 [[ 9.99990684e-01 1.83799550e-03 -3.90563759e-03 1.22727934e+02] [-1.83712578e-03 9.99998287e-01 2.26258655e-04 -3.39857364e-01] [ 3.90604676e-03 -2.19081400e-04 9.99992347e-01 -5.92446164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.695898227 meters Centerline goodness [0,1] 0.9725877883424637 Centerline is valid? [True, True] Translation: X:122.76, Y:-0.34, Z:-0.59 [[ 9.99992431e-01 1.54242445e-03 -3.57202251e-03 1.22756813e+02] [-1.54169568e-03 9.99998790e-01 2.06766110e-04 -3.44016347e-01] [ 3.57233711e-03 -2.01257573e-04 9.99993599e-01 -5.92061342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72589822699996 meters Centerline goodness [0,1] 0.9771122320302648 Centerline is valid? [True, True] Translation: X:122.79, Y:-0.35, Z:-0.59 [[ 9.99991978e-01 2.29782859e-03 -3.28083779e-03 1.22786461e+02] [-2.29721805e-03 9.99997343e-01 1.89847946e-04 -3.45912202e-01] [ 3.28126531e-03 -1.82309624e-04 9.99994600e-01 -5.90701730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.755898227 meters Centerline goodness [0,1] 0.9532999811609068 Centerline is valid? [True, True] Translation: X:122.81, Y:-0.35, Z:-0.59 [[ 9.99990605e-01 2.81867237e-03 -3.29321679e-03 1.22814434e+02] [-2.81806022e-03 9.99996011e-01 1.90506213e-04 -3.52023336e-01] [ 3.29374063e-03 -1.81223940e-04 9.99994559e-01 -5.91068600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78589822699996 meters Centerline goodness [0,1] 0.9762357613125718 Centerline is valid? [True, True] Translation: X:122.84, Y:-0.35, Z:-0.59 [[ 9.99990556e-01 2.87168633e-03 -3.26212397e-03 1.22844276e+02] [-2.87108622e-03 9.99995861e-01 1.88630030e-04 -3.49257530e-01] [ 3.26265215e-03 -1.79262409e-04 9.99994661e-01 -5.90498404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.815898227 meters Centerline goodness [0,1] 0.9699989575732305 Centerline is valid? [True, True] Translation: X:122.87, Y:-0.35, Z:-0.59 [[ 9.99990932e-01 2.74940808e-03 -3.25214521e-03 1.22874337e+02] [-2.74881123e-03 9.99996204e-01 1.87980704e-04 -3.51730676e-01] [ 3.25264970e-03 -1.79039466e-04 9.99994694e-01 -5.90588141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84589822699996 meters Centerline goodness [0,1] 0.959370324320907 Centerline is valid? [True, True] Translation: X:122.90, Y:-0.35, Z:-0.59 [[ 9.99993664e-01 1.72270100e-03 -3.11520251e-03 1.22904105e+02] [-1.72214861e-03 9.99998501e-01 1.79994940e-04 -3.54353693e-01] [ 3.11550792e-03 -1.74628958e-04 9.99995132e-01 -5.88846640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.875898227 meters Centerline goodness [0,1] 0.9647337578539846 Centerline is valid? [True, True] Translation: X:122.93, Y:-0.35, Z:-0.59 [[ 9.99993121e-01 3.13674662e-03 -1.97935370e-03 1.22934510e+02] [-3.13652641e-03 9.99995075e-01 1.14348013e-04 -3.54298033e-01] [ 1.97970263e-03 -1.08138931e-04 9.99998035e-01 -5.86071360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90589822699997 meters Centerline goodness [0,1] 0.9615046838407494 Centerline is valid? [True, True] Translation: X:122.96, Y:-0.36, Z:-0.58 [[ 9.99990133e-01 4.33776977e-03 -9.57911608e-04 1.22963850e+02] [-4.33771877e-03 9.99990591e-01 5.53210180e-05 -3.55308237e-01] [ 9.58142565e-04 -5.11653210e-05 9.99999540e-01 -5.84913152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.935898227 meters Centerline goodness [0,1] 0.965857889281408 Centerline is valid? [True, True] Translation: X:122.99, Y:-0.35, Z:-0.58 [[ 9.99984521e-01 5.55950665e-03 -2.24051535e-04 1.22994282e+02] [-5.55950389e-03 9.99984546e-01 1.29426962e-05 -3.53847208e-01] [ 2.24120027e-04 -1.16968805e-05 9.99999975e-01 -5.83774117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96589822699997 meters Centerline goodness [0,1] 0.9763814058388673 Centerline is valid? [True, True] Translation: X:123.03, Y:-0.35, Z:-0.58 [[ 9.99973580e-01 7.25716659e-03 4.14857716e-04 1.23025313e+02] [-7.25715727e-03 9.99973666e-01 -2.39544890e-05 -3.49343855e-01] [-4.15020633e-04 2.09431685e-05 9.99999914e-01 -5.83347894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99589822699994 meters Centerline goodness [0,1] 0.9759781810552817 Centerline is valid? [True, True] Translation: X:123.06, Y:-0.35, Z:-0.58 [[ 9.99969790e-01 7.71602738e-03 9.38998130e-04 1.23056853e+02] [-7.71597984e-03 9.99970230e-01 -5.42461480e-05 -3.49736712e-01] [-9.39388740e-04 4.69992186e-05 9.99999558e-01 -5.83362177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.02589822699997 meters Centerline goodness [0,1] 0.9689178979180658 Centerline is valid? [True, True] Translation: X:123.09, Y:-0.35, Z:-0.58 [[ 9.99969820e-01 7.23498087e-03 2.83085659e-03 1.23088536e+02] [-7.23454648e-03 9.99973817e-01 -1.63657899e-04 -3.47457381e-01] [-2.83196653e-03 1.43172996e-04 9.99995980e-01 -5.80167435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05589822699994 meters Centerline goodness [0,1] 0.9233935847873785 Centerline is valid? [True, False] Translation: X:123.09, Y:-0.35, Z:-0.58 [[ 9.99971259e-01 7.01947702e-03 2.86490974e-03 1.23088456e+02] [-7.01799301e-03 9.99975234e-01 -5.27718781e-04 -3.45903908e-01] [-2.86854310e-03 5.07597697e-04 9.99995757e-01 -5.80199106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.085898227 meters Centerline goodness [0,1] 0.9391371988395072 Centerline is valid? [False, False] Translation: X:123.09, Y:-0.34, Z:-0.58 [[ 9.99972898e-01 6.82033367e-03 2.77239398e-03 1.23089029e+02] [-6.81793159e-03 9.99976375e-01 -8.74959664e-04 -3.44416790e-01] [-2.77829599e-03 8.56033958e-04 9.99995774e-01 -5.80618688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11589822699995 meters Centerline goodness [0,1] 0.9069664438023327 Centerline is valid? [False, False] Translation: X:123.09, Y:-0.34, Z:-0.58 [[ 9.99976740e-01 6.41680484e-03 2.31178717e-03 1.23091556e+02] [-6.41314985e-03 9.99978179e-01 -1.58498160e-03 -3.41365527e-01] [-2.32190724e-03 1.57011889e-03 9.99996072e-01 -5.82353950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.145898227 meters Centerline goodness [0,1] 0.897585800807537 Centerline is valid? [False, False] Translation: X:123.09, Y:-0.34, Z:-0.58 [[ 9.99978416e-01 6.24046560e-03 2.05525740e-03 1.23092759e+02] [-6.23651348e-03 9.99978702e-01 -1.92376238e-03 -3.39849864e-01] [-2.06721880e-03 1.91090322e-03 9.99996038e-01 -5.82941863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17589822699995 meters Centerline goodness [0,1] 0.9876709730447428 Centerline is valid? [False, True] Translation: X:123.09, Y:-0.34, Z:-0.58 [[ 9.99979864e-01 6.03482224e-03 1.96295633e-03 1.23093012e+02] [-6.03013050e-03 9.99978969e-01 -2.38733995e-03 -3.37702677e-01] [-1.97732222e-03 2.37545500e-03 9.99995224e-01 -5.82821835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.205898227 meters Centerline goodness [0,1] 0.9105646896609355 Centerline is valid? [True, False] Translation: X:123.09, Y:-0.34, Z:-0.58 [[ 9.99946924e-01 1.00143787e-02 2.42094441e-03 1.23090565e+02] [-1.00177050e-02 9.99948889e-01 1.36576674e-03 -3.35186130e-01] [-2.40714337e-03 -1.38994656e-03 9.99996137e-01 -5.80987526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23589822699995 meters Centerline goodness [0,1] 0.9930565722053749 Centerline is valid? [False, True] Translation: X:123.09, Y:-0.33, Z:-0.58 [[ 9.99948578e-01 9.82802830e-03 2.50010920e-03 1.23090016e+02] [-9.82900324e-03 9.99951623e-01 3.77972208e-04 -3.29958795e-01] [-2.49627353e-03 -4.02526353e-04 9.99996803e-01 -5.80382590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.265898227 meters Centerline goodness [0,1] 0.9982793713410412 Centerline is valid? [True, True] Translation: X:123.12, Y:-0.32, Z:-0.58 [[ 9.99910227e-01 1.31112288e-02 2.76303950e-03 1.23121765e+02] [-1.31108380e-02 9.99914037e-01 -1.59498721e-04 -3.21038302e-01] [-2.76489321e-03 1.23258639e-04 9.99996170e-01 -5.79876828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29589822699995 meters Centerline goodness [0,1] 0.9998314369995785 Centerline is valid? [True, True] Translation: X:123.15, Y:-0.30, Z:-0.58 [[ 9.99803988e-01 1.97916776e-02 5.25343829e-04 1.23153271e+02] [-1.97916643e-02 9.99804125e-01 -3.03288248e-05 -3.04894404e-01] [-5.25841186e-04 1.99254512e-05 9.99999862e-01 -5.83965926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.325898227 meters Centerline goodness [0,1] 0.9997875955819882 Centerline is valid? [True, True] Translation: X:123.19, Y:-0.30, Z:-0.59 [[ 9.99765139e-01 2.16696615e-02 -3.03551584e-04 1.23185033e+02] [-2.16696572e-02 9.99765185e-01 1.75495001e-05 -2.98479226e-01] [ 3.03860597e-04 -1.09675197e-05 9.99999954e-01 -5.86026797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35589822699995 meters Centerline goodness [0,1] 0.9999787021063616 Centerline is valid? [True, True] Translation: X:123.22, Y:-0.29, Z:-0.59 [[ 9.99703938e-01 2.43308922e-02 -2.10927623e-04 1.23216163e+02] [-2.43308901e-02 9.99703960e-01 1.21957667e-05 -2.93342937e-01] [ 2.11161913e-04 -7.06009923e-06 9.99999978e-01 -5.85331409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.25, Y:-0.29, Z:-0.59 [[ 9.99634448e-01 2.70362660e-02 1.05237146e-04 1.23246419e+02] [-2.70362655e-02 9.99634453e-01 -6.07919905e-06 -2.86900563e-01] [-1.05363036e-04 3.23175735e-06 9.99999994e-01 -5.85018879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41589822699996 meters Centerline goodness [0,1] 0.9997686110351501 Centerline is valid? [True, True] Translation: X:123.28, Y:-0.29, Z:-0.59 [[ 9.99638772e-01 2.68738225e-02 -3.51676446e-04 1.23276773e+02] [-2.68738170e-02 9.99638834e-01 2.03279675e-05 -2.85395252e-01] [ 3.52095723e-04 -1.08697360e-05 9.99999938e-01 -5.86399061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.445898227 meters Centerline goodness [0,1] 0.9999786857642219 Centerline is valid? [True, True] Translation: X:123.31, Y:-0.28, Z:-0.59 [[ 9.99618769e-01 2.76054761e-02 -5.04285742e-04 1.23307723e+02] [-2.76054649e-02 9.99618896e-01 2.91364859e-05 -2.77917962e-01] [ 5.04897883e-04 -1.52043358e-05 9.99999872e-01 -5.85647758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47589822699996 meters Centerline goodness [0,1] 0.9999366139153585 Centerline is valid? [True, True] Translation: X:123.34, Y:-0.28, Z:-0.59 [[ 9.99627203e-01 2.72850410e-02 -9.90468360e-04 1.23338305e+02] [-2.72849976e-02 9.99627694e-01 5.72482835e-05 -2.81090591e-01] [ 9.91661624e-04 -3.02020146e-05 9.99999508e-01 -5.87886594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.37, Y:-0.28, Z:-0.59 [[ 9.99627851e-01 2.72499048e-02 -1.26584587e-03 1.23368541e+02] [-2.72498340e-02 9.99628652e-01 7.31527024e-05 -2.81568097e-01] [ 1.26736920e-03 -3.86313890e-05 9.99999196e-01 -5.88042906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.40, Y:-0.28, Z:-0.59 [[ 9.99611212e-01 2.78697521e-02 -8.37788570e-04 1.23398623e+02] [-2.78697213e-02 9.99611563e-01 4.84154506e-05 -2.81066130e-01] [ 8.38812468e-04 -2.50476933e-05 9.99999648e-01 -5.86479452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.565898227 meters Centerline goodness [0,1] 0.9999789513565851 Centerline is valid? [True, True] Translation: X:123.43, Y:-0.27, Z:-0.58 [[ 9.99457841e-01 3.29164374e-02 7.29952783e-04 1.23429003e+02] [-3.29164154e-02 9.99458107e-01 -4.21837334e-05 -2.71125716e-01] [-7.30945765e-04 1.81334340e-05 9.99999733e-01 -5.82845411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.46, Y:-0.26, Z:-0.58 [[ 9.99304176e-01 3.72982969e-02 8.83757602e-06 1.23460108e+02] [-3.72982969e-02 9.99304176e-01 -5.10711770e-07 -2.59634735e-01] [-8.85047531e-06 1.80729870e-07 1.00000000e+00 -5.83363587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.49, Y:-0.25, Z:-0.58 [[ 9.99089073e-01 4.26652122e-02 -8.39413655e-04 1.23490204e+02] [-4.26651865e-02 9.99089425e-01 4.84896813e-05 -2.51489651e-01] [ 8.40718129e-04 -1.26317706e-05 9.99999647e-01 -5.84665244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.52, Y:-0.24, Z:-0.58 [[ 9.98829505e-01 4.83491791e-02 -1.40631632e-03 1.23520378e+02] [-4.83491126e-02 9.98830494e-01 8.12272184e-05 -2.39291298e-01] [ 1.40859889e-03 -1.31379962e-05 9.99999008e-01 -5.84662335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.685898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.55, Y:-0.21, Z:-0.59 [[ 9.98200574e-01 5.99425523e-02 -1.58274232e-03 1.23549376e+02] [-5.99424829e-02 9.98201828e-01 9.12888438e-05 -2.14897658e-01] [ 1.58536837e-03 3.74892819e-06 9.99998743e-01 -5.85968756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.58, Y:-0.21, Z:-0.59 [[ 9.97932657e-01 6.42304999e-02 -2.20348441e-03 1.23577466e+02] [-6.42303761e-02 9.97935089e-01 1.26984489e-04 -2.05351439e-01] [ 2.20709068e-03 1.48086634e-05 9.99997564e-01 -5.88333286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.61, Y:-0.20, Z:-0.59 [[ 9.97732954e-01 6.71921688e-02 -3.76360731e-03 1.23606203e+02] [-6.71918293e-02 9.97740052e-01 2.16709210e-04 -1.98054036e-01] [ 3.76966291e-03 3.66657397e-05 9.99992894e-01 -5.91588339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.63, Y:-0.20, Z:-0.59 [[ 9.97791972e-01 6.62686227e-02 -4.43283179e-03 1.23634950e+02] [-6.62681435e-02 9.97801818e-01 2.55055542e-04 -1.98906968e-01] [ 4.43998980e-03 3.92631612e-05 9.99990142e-01 -5.92070824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.66, Y:-0.20, Z:-0.59 [[ 9.97912905e-01 6.44586576e-02 -3.86205373e-03 1.23662303e+02] [-6.44582812e-02 9.97920378e-01 2.21979474e-04 -2.00331121e-01] [ 3.86833062e-03 2.74251639e-05 9.99992518e-01 -5.91502869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.835898227 meters Centerline goodness [0,1] 0.999979079497908 Centerline is valid? [True, True] Translation: X:123.69, Y:-0.20, Z:-0.59 [[ 9.98129264e-01 6.11241400e-02 -1.34630581e-03 1.23689813e+02] [-6.11240914e-02 9.98130172e-01 7.72765689e-05 -2.03597072e-01] [ 1.34851191e-03 5.15971461e-06 9.99999091e-01 -5.87435728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86589822699995 meters Centerline goodness [0,1] 0.9999159699172304 Centerline is valid? [True, True] Translation: X:123.72, Y:-0.21, Z:-0.59 [[ 9.98207844e-01 5.98397198e-02 -5.55562663e-04 1.23718598e+02] [-5.98397113e-02 9.98207998e-01 3.18466340e-05 -2.05582486e-01] [ 5.56472788e-04 1.45514953e-06 9.99999845e-01 -5.86301842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.895898227 meters Centerline goodness [0,1] 0.9999159699172304 Centerline is valid? [True, True] Translation: X:123.75, Y:-0.21, Z:-0.59 [[ 9.98210506e-01 5.97952927e-02 -5.55564079e-04 1.23746883e+02] [-5.97952843e-02 9.98210661e-01 3.18219476e-05 -2.07113687e-01] [ 5.56472789e-04 1.45510959e-06 9.99999845e-01 -5.86324666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.78, Y:-0.21, Z:-0.59 [[ 9.98235694e-01 5.93758297e-02 -9.82217071e-05 1.23775657e+02] [-5.93758295e-02 9.98235699e-01 5.59211140e-06 -2.07686173e-01] [ 9.83804507e-05 2.49750120e-07 9.99999995e-01 -5.85363228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.955898227 meters Centerline goodness [0,1] 0.9999373564418459 Centerline is valid? [True, True] Translation: X:123.81, Y:-0.21, Z:-0.58 [[ 9.98207930e-01 5.98315057e-02 1.05845538e-03 1.23805036e+02] [-5.98314750e-02 9.98208491e-01 -6.06367925e-05 -2.05050205e-01] [-1.06018714e-03 -2.80081970e-06 9.99999438e-01 -5.83304277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98589822699995 meters Centerline goodness [0,1] 0.9998318762609281 Centerline is valid? [True, True] Translation: X:123.83, Y:-0.20, Z:-0.58 [[ 9.98178935e-01 6.03125105e-02 1.10235430e-03 1.23833914e+02] [-6.03124776e-02 9.98179544e-01 -6.31011131e-05 -2.04575823e-01] [-1.10415329e-03 -3.49951691e-06 9.99999390e-01 -5.82289607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.015898227 meters Centerline goodness [0,1] 0.999874256014754 Centerline is valid? [True, True] Translation: X:123.86, Y:-0.20, Z:-0.58 [[ 9.98143264e-01 6.08999074e-02 1.10699268e-03 1.23863023e+02] [-6.08998746e-02 9.98143878e-01 -6.33173007e-05 -2.04456744e-01] [-1.10879399e-03 -4.21597835e-06 9.99999385e-01 -5.82227858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04589822699995 meters Centerline goodness [0,1] 0.99991508512716 Centerline is valid? [True, True] Translation: X:123.89, Y:-0.21, Z:-0.58 [[ 9.98099743e-01 6.16068091e-02 1.22646272e-03 1.23891499e+02] [-6.16067695e-02 9.98100496e-01 -7.00906285e-05 -2.05374884e-01] [-1.22845111e-03 -5.60096754e-06 9.99999245e-01 -5.81640938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.075898227 meters Centerline goodness [0,1] 0.9998952989215789 Centerline is valid? [True, True] Translation: X:123.92, Y:-0.20, Z:-0.58 [[ 9.97937783e-01 6.41215902e-02 2.93298695e-03 1.23920041e+02] [-6.41213752e-02 9.97942093e-01 -1.67393637e-04 -2.00689161e-01] [-2.93768468e-03 -2.10187220e-05 9.99995685e-01 -5.79610111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10589822699995 meters Centerline goodness [0,1] 0.9999363368206609 Centerline is valid? [True, True] Translation: X:123.95, Y:-0.20, Z:-0.58 [[ 9.97885918e-01 6.49211279e-02 2.99016866e-03 1.23949090e+02] [-6.49209084e-02 9.97890398e-01 -1.70501245e-04 -2.00256137e-01] [-2.99492973e-03 -2.39836739e-05 9.99995515e-01 -5.80081939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.135898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.98, Y:-0.20, Z:-0.58 [[ 9.97951641e-01 6.39119405e-02 2.79034346e-03 1.23978521e+02] [-6.39117458e-02 9.97955542e-01 -1.58998498e-04 -1.99001122e-01] [-2.79480062e-03 -1.96629099e-05 9.99996094e-01 -5.81101014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16589822699996 meters Centerline goodness [0,1] 0.9999790703028527 Centerline is valid? [True, True] Translation: X:124.01, Y:-0.20, Z:-0.58 [[ 9.98058466e-01 6.22100501e-02 3.03441290e-03 1.24006325e+02] [-6.22098124e-02 9.98063079e-01 -1.72740404e-04 -1.99293103e-01] [-3.03928167e-03 -1.63652347e-05 9.99995381e-01 -5.80936813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.195898227 meters Centerline goodness [0,1] 0.9999160422307579 Centerline is valid? [True, True] Translation: X:124.04, Y:-0.21, Z:-0.58 [[ 9.98371691e-01 5.70063316e-02 2.06022921e-03 1.24035148e+02] [-5.70062111e-02 9.98373817e-01 -1.17193836e-04 -2.07424931e-01] [-2.06355969e-03 -4.42853041e-07 9.99997871e-01 -5.83629769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.06, Y:-0.21, Z:-0.59 [[ 9.98544779e-01 5.39067822e-02 1.54406480e-03 1.24064153e+02] [-5.39067109e-02 9.98545972e-01 -8.77707824e-05 -2.12476255e-01] [-1.54655113e-03 4.40760164e-06 9.99998804e-01 -5.85256177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.255898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.09, Y:-0.22, Z:-0.59 [[ 9.98694274e-01 5.10711988e-02 1.21607735e-03 1.24093283e+02] [-5.10711525e-02 9.98695015e-01 -6.90871982e-05 -2.16860171e-01] [-1.21801875e-03 6.89051749e-06 9.99999258e-01 -5.85140511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.12, Y:-0.23, Z:-0.59 [[ 9.98965409e-01 4.54737577e-02 4.99513333e-04 1.24121037e+02] [-4.54737492e-02 9.98965534e-01 -2.83726442e-05 -2.25171436e-01] [-5.00286814e-04 5.62854607e-06 9.99999875e-01 -5.85389009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.315898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.15, Y:-0.23, Z:-0.59 [[ 9.99103908e-01 4.23180054e-02 -7.52736863e-04 1.24150725e+02] [-4.23179852e-02 9.99104192e-01 4.27100157e-05 -2.30892211e-01] [ 7.53869958e-04 -1.08174362e-05 9.99999716e-01 -5.87646512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.18, Y:-0.24, Z:-0.59 [[ 9.99217274e-01 3.95254122e-02 -1.60650951e-03 1.24178599e+02] [-3.95253168e-02 9.99218565e-01 9.10814953e-05 -2.35902564e-01] [ 1.60885416e-03 -2.75124063e-05 9.99998705e-01 -5.89506028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.375898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.21, Y:-0.24, Z:-0.59 [[ 9.99348835e-01 3.59825219e-02 -2.67673434e-03 1.24208503e+02] [-3.59822445e-02 9.99352418e-01 1.51737711e-04 -2.37942770e-01] [ 2.68046084e-03 -5.53239956e-05 9.99996406e-01 -5.90084006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.24, Y:-0.24, Z:-0.59 [[ 9.99374020e-01 3.52703799e-02 -2.75107955e-03 1.24236022e+02] [-3.52700848e-02 9.99377805e-01 1.55746241e-04 -2.39577010e-01] [ 2.75486107e-03 -5.86179380e-05 9.99996204e-01 -5.89571672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.435898227 meters Centerline goodness [0,1] 0.9999578707897121 Centerline is valid? [True, True] Translation: X:124.27, Y:-0.23, Z:-0.59 [[ 9.99380429e-01 3.50076366e-02 -3.63630043e-03 1.24265639e+02] [-3.50071197e-02 9.99387042e-01 2.05718556e-04 -2.33897729e-01] [ 3.64127325e-03 -7.82946942e-05 9.99993367e-01 -5.89823061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.29, Y:-0.23, Z:-0.59 [[ 9.99367996e-01 3.53147043e-02 -4.05958489e-03 1.24293126e+02] [-3.53140635e-02 9.99376238e-01 2.29422344e-04 -2.33631091e-01] [ 4.06515465e-03 -8.59169094e-05 9.99991734e-01 -5.90968485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49589822699994 meters Centerline goodness [0,1] 0.9999787518857701 Centerline is valid? [True, True] Translation: X:124.32, Y:-0.23, Z:-0.59 [[ 9.99351615e-01 3.57383707e-02 -4.37245683e-03 1.24322206e+02] [-3.57376324e-02 9.99361176e-01 2.46909131e-04 -2.27677116e-01] [ 4.37848773e-03 -9.04877840e-05 9.99990410e-01 -5.90798871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.52589822699997 meters Centerline goodness [0,1] 0.9999789588856626 Centerline is valid? [True, True] Translation: X:124.35, Y:-0.23, Z:-0.59 [[ 9.99339092e-01 3.60950351e-02 -4.30442114e-03 1.24349924e+02] [-3.60943240e-02 9.99348358e-01 2.42786165e-04 -2.25617955e-01] [ 4.31037957e-03 -8.72605339e-05 9.99990706e-01 -5.91443686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55589822699994 meters Centerline goodness [0,1] 0.9999789871821811 Centerline is valid? [True, True] Translation: X:124.38, Y:-0.22, Z:-0.59 [[ 9.99389030e-01 3.47890344e-02 -3.35996059e-03 1.24378162e+02] [-3.47885944e-02 9.99394676e-01 1.89309445e-04 -2.24270536e-01] [ 3.36451262e-03 -7.23054763e-05 9.99994337e-01 -5.90316196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.585898227 meters Centerline goodness [0,1] 0.9999373184847788 Centerline is valid? [True, True] Translation: X:124.41, Y:-0.23, Z:-0.59 [[ 9.99456015e-01 3.28852460e-02 -2.49687125e-03 1.24407206e+02] [-3.28849974e-02 9.99459132e-01 1.40564694e-04 -2.25701245e-01] [ 2.50014327e-03 -5.83786248e-05 9.99996873e-01 -5.88963140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61589822699995 meters Centerline goodness [0,1] 0.9998950615988415 Centerline is valid? [True, True] Translation: X:124.44, Y:-0.23, Z:-0.59 [[ 9.99540103e-01 3.02616326e-02 -1.95356535e-03 1.24435714e+02] [-3.02614755e-02 9.99542011e-01 1.09913248e-04 -2.29534095e-01] [ 1.95599679e-03 -5.07449293e-05 9.99998086e-01 -5.88096717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.645898227 meters Centerline goodness [0,1] 0.9997686937505257 Centerline is valid? [True, True] Translation: X:124.47, Y:-0.23, Z:-0.59 [[ 9.99670034e-01 2.55762796e-02 -2.38281566e-03 1.24466155e+02] [-2.55760325e-02 9.99672871e-01 1.34097595e-04 -2.33149317e-01] [ 2.38546589e-03 -7.31103764e-05 9.99997152e-01 -5.89435828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67589822699995 meters Centerline goodness [0,1] 0.9997896375454909 Centerline is valid? [True, True] Translation: X:124.50, Y:-0.24, Z:-0.59 [[ 9.99709879e-01 2.39205272e-02 -2.82257895e-03 1.24495976e+02] [-2.39201742e-02 9.99713859e-01 1.58762901e-04 -2.35002233e-01] [ 2.82556899e-03 -9.12002601e-05 9.99996004e-01 -5.90348699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.705898227 meters Centerline goodness [0,1] 0.999769561118676 Centerline is valid? [True, True] Translation: X:124.53, Y:-0.24, Z:-0.59 [[ 9.99749502e-01 2.20517976e-02 -3.82778412e-03 1.24525106e+02] [-2.20511353e-02 9.99756821e-01 2.15168869e-04 -2.36185076e-01] [ 3.83159814e-03 -1.30707984e-04 9.99992651e-01 -5.91143451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73589822699995 meters Centerline goodness [0,1] 0.9997272002350275 Centerline is valid? [True, True] Translation: X:124.55, Y:-0.24, Z:-0.59 [[ 9.99758919e-01 2.16142429e-02 -3.86368354e-03 1.24553719e+02] [-2.16135653e-02 9.99766376e-01 2.17055039e-04 -2.37265483e-01] [ 3.86747237e-03 -1.33494735e-04 9.99992512e-01 -5.90861121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.765898227 meters Centerline goodness [0,1] 0.9997674320267241 Centerline is valid? [True, True] Translation: X:124.58, Y:-0.24, Z:-0.59 [[ 9.99765582e-01 2.13955437e-02 -3.31838905e-03 1.24582467e+02] [-2.13950432e-02 9.99771083e-01 1.86259504e-04 -2.36802541e-01] [ 3.32161453e-03 -1.15218765e-04 9.99994477e-01 -5.89929498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79589822699995 meters Centerline goodness [0,1] 0.9998746893339738 Centerline is valid? [True, True] Translation: X:124.61, Y:-0.23, Z:-0.59 [[ 9.99744493e-01 2.25612923e-02 -1.39203337e-03 1.24611485e+02] [-2.25612054e-02 9.99745461e-01 7.80505560e-05 -2.33924325e-01] [ 1.39343997e-03 -4.66246626e-05 9.99999028e-01 -5.86747188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.825898227 meters Centerline goodness [0,1] 0.999664183020254 Centerline is valid? [True, True] Translation: X:124.64, Y:-0.23, Z:-0.59 [[ 9.99727999e-01 2.32863104e-02 -1.29471707e-03 1.24641462e+02] [-2.32862359e-02 9.99728836e-01 7.25803570e-05 -2.33228116e-01] [ 1.29605612e-03 -4.24115279e-05 9.99999159e-01 -5.87354161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85589822699995 meters Centerline goodness [0,1] 0.9997668701254663 Centerline is valid? [True, True] Translation: X:124.67, Y:-0.23, Z:-0.59 [[ 9.99711295e-01 2.39781485e-02 -1.54110611e-03 1.24669676e+02] [-2.39780439e-02 9.99712482e-01 8.63351077e-05 -2.34888602e-01] [ 1.54273317e-03 -4.93574724e-05 9.99998809e-01 -5.87294422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.885898227 meters Centerline goodness [0,1] 0.9997480738143724 Centerline is valid? [True, True] Translation: X:124.70, Y:-0.24, Z:-0.59 [[ 9.99707782e-01 2.40949897e-02 -1.94451963e-03 1.24697961e+02] [-2.40948234e-02 9.99709672e-01 1.08877671e-04 -2.36294450e-01] [ 1.94657849e-03 -6.19929974e-05 9.99998103e-01 -5.88297776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91589822699996 meters Centerline goodness [0,1] 0.9998107852412488 Centerline is valid? [True, True] Translation: X:124.73, Y:-0.24, Z:-0.59 [[ 9.99726667e-01 2.30490349e-02 -3.91573615e-03 1.24727245e+02] [-2.30483529e-02 9.99734327e-01 2.19198091e-04 -2.38475911e-01] [ 3.91974815e-03 -1.28886909e-04 9.99992309e-01 -5.92272487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.945898227 meters Centerline goodness [0,1] 0.9997465574047478 Centerline is valid? [True, True] Translation: X:124.76, Y:-0.24, Z:-0.59 [[ 9.99746717e-01 2.20818370e-02 -4.34668313e-03 1.24755063e+02] [-2.20809885e-02 9.99756156e-01 2.43111795e-04 -2.44275217e-01] [ 4.35099157e-03 -1.47071158e-04 9.99990524e-01 -5.93168448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97589822699996 meters Centerline goodness [0,1] 0.9998109323137683 Centerline is valid? [True, True] Translation: X:124.78, Y:-0.25, Z:-0.59 [[ 9.99766267e-01 2.11714412e-02 -4.37973126e-03 1.24784034e+02] [-2.11705718e-02 9.99775848e-01 2.44768278e-04 -2.47742272e-01] [ 4.38393164e-03 -1.51989652e-04 9.99990379e-01 -5.93643760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.005898227 meters Centerline goodness [0,1] 0.9997275033014024 Centerline is valid? [True, True] Translation: X:124.81, Y:-0.25, Z:-0.59 [[ 9.99777437e-01 2.05549238e-02 -4.75103575e-03 1.24812511e+02] [-2.05538951e-02 9.99788711e-01 2.65244399e-04 -2.46966142e-01] [ 4.75548399e-03 -1.67533075e-04 9.99988679e-01 -5.93749736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03589822699996 meters Centerline goodness [0,1] 0.9998531109012695 Centerline is valid? [True, True] Translation: X:124.84, Y:-0.25, Z:-0.59 [[ 9.99788081e-01 2.00923979e-02 -4.48200851e-03 1.24840984e+02] [-2.00914787e-02 9.99798115e-01 2.50024985e-04 -2.46455280e-01] [ 4.48612726e-03 -1.59921821e-04 9.99989924e-01 -5.93433740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.065898227 meters Centerline goodness [0,1] 0.9995197327208185 Centerline is valid? [True, True] Translation: X:124.87, Y:-0.26, Z:-0.59 [[ 9.99818559e-01 1.86784921e-02 -3.73662727e-03 1.24868858e+02] [-1.86778438e-02 9.99825532e-01 2.08319939e-04 -2.55920798e-01] [ 3.73986645e-03 -1.38490001e-04 9.99992997e-01 -5.93437332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09589822699996 meters Centerline goodness [0,1] 0.9998322006879772 Centerline is valid? [True, True] Translation: X:124.90, Y:-0.25, Z:-0.59 [[ 9.99828106e-01 1.81114055e-02 -3.96678900e-03 1.24898221e+02] [-1.81106712e-02 9.99835964e-01 2.20961332e-04 -2.49563475e-01] [ 3.97014023e-03 -1.49082139e-04 9.99992108e-01 -5.92707587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.125898227 meters Centerline goodness [0,1] 0.999727463312369 Centerline is valid? [True, True] Translation: X:124.93, Y:-0.25, Z:-0.59 [[ 9.99829789e-01 1.79228660e-02 -4.37759477e-03 1.24927224e+02] [-1.79219708e-02 9.99839359e-01 2.43647141e-04 -2.51076980e-01] [ 4.38125840e-03 -1.65150544e-04 9.99990389e-01 -5.93757519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15589822699997 meters Centerline goodness [0,1] 0.9998539475880487 Centerline is valid? [True, True] Translation: X:124.96, Y:-0.25, Z:-0.59 [[ 9.99822545e-01 1.85475039e-02 -3.29682106e-03 1.24955624e+02] [-1.85470001e-02 9.99827973e-01 1.83333810e-04 -2.50882979e-01] [ 3.29965430e-03 -1.22155136e-04 9.99994549e-01 -5.91846252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.185898227 meters Centerline goodness [0,1] 0.9997055297309804 Centerline is valid? [True, True] Translation: X:124.98, Y:-0.25, Z:-0.59 [[ 9.99824817e-01 1.85267957e-02 -2.66339974e-03 1.24983790e+02] [-1.85264673e-02 9.99828359e-01 1.47942590e-04 -2.53681107e-01] [ 2.66568349e-03 -9.85732846e-05 9.99996442e-01 -5.90913075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21589822699997 meters Centerline goodness [0,1] 0.999768294224207 Centerline is valid? [True, True] Translation: X:125.01, Y:-0.25, Z:-0.59 [[ 9.99840351e-01 1.77635649e-02 -1.93091251e-03 1.25013257e+02] [-1.77633909e-02 9.99842213e-01 1.07225263e-04 -2.51248230e-01] [ 1.93251254e-03 -7.29085910e-05 9.99998130e-01 -5.89500385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24589822699994 meters Centerline goodness [0,1] 0.9996645350665688 Centerline is valid? [True, True] Translation: X:125.04, Y:-0.26, Z:-0.59 [[ 9.99894576e-01 1.45168317e-02 -3.13853360e-04 1.25041936e+02] [-1.45168269e-02 9.99894625e-01 1.74369016e-05 -2.56548305e-01] [ 3.14073416e-04 -1.28789085e-05 9.99999951e-01 -5.87838232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27589822699997 meters Centerline goodness [0,1] 0.9996008906440365 Centerline is valid? [True, True] Translation: X:125.07, Y:-0.26, Z:-0.59 [[ 9.99922740e-01 1.24246980e-02 -3.75405453e-04 1.25072266e+02] [-1.24246911e-02 9.99922810e-01 2.08494045e-05 -2.55519326e-01] [ 3.75635523e-04 -1.61834969e-05 9.99999929e-01 -5.88747878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30589822699994 meters Centerline goodness [0,1] 0.9996193859426542 Centerline is valid? [True, True] Translation: X:125.10, Y:-0.26, Z:-0.59 [[ 9.99965457e-01 8.07583545e-03 -1.96622810e-03 1.25101206e+02] [-8.07563623e-03 9.99967386e-01 1.09237586e-04 -2.61357195e-01] [ 1.96704616e-03 -9.33552698e-05 9.99998061e-01 -5.91575195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.335898227 meters Centerline goodness [0,1] 0.9950903582993836 Centerline is valid? [True, True] Translation: X:125.13, Y:-0.28, Z:-0.59 [[ 9.99979999e-01 5.77216864e-03 -2.58546811e-03 1.25129180e+02] [-5.77181672e-03 9.99983333e-01 1.43553221e-04 -2.80984600e-01] [ 2.58625363e-03 -1.28627501e-04 9.99996647e-01 -5.94489947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36589822699995 meters Centerline goodness [0,1] 0.9974511647341481 Centerline is valid? [True, True] Translation: X:125.16, Y:-0.28, Z:-0.60 [[ 9.99990658e-01 3.04901404e-03 -3.06404436e-03 1.25159511e+02] [-3.04850707e-03 9.99995339e-01 1.70116001e-04 -2.79057412e-01] [ 3.06454876e-03 -1.60773651e-04 9.99995291e-01 -5.95524044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.395898227 meters Centerline goodness [0,1] 0.9873256493777667 Centerline is valid? [True, True] Translation: X:125.19, Y:-0.29, Z:-0.60 [[ 9.99987579e-01 -3.01855300e-03 -3.96624053e-03 1.25189301e+02] [ 3.01945008e-03 9.99995417e-01 2.20209626e-04 -2.90378070e-01] [ 3.96555764e-03 -2.32182756e-04 9.99992110e-01 -5.97004067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42589822699995 meters Centerline goodness [0,1] 0.9724797583588539 Centerline is valid? [True, True] Translation: X:125.22, Y:-0.30, Z:-0.60 [[ 9.99973035e-01 -5.89382975e-03 -4.38088061e-03 1.25219107e+02] [ 5.89495167e-03 9.99982595e-01 2.43226106e-04 -2.96732298e-01] [ 4.37937083e-03 -2.69044627e-04 9.99990374e-01 -5.97293173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.455898227 meters Centerline goodness [0,1] 0.9676257477462297 Centerline is valid? [True, True] Translation: X:125.25, Y:-0.30, Z:-0.60 [[ 9.99953797e-01 -8.26476253e-03 -4.90884811e-03 1.25249546e+02] [ 8.26619939e-03 9.99965797e-01 2.72492021e-04 -3.00324183e-01] [ 4.90642813e-03 -3.13056948e-04 9.99987914e-01 -5.97770756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48589822699995 meters Centerline goodness [0,1] 0.9467485382568057 Centerline is valid? [True, False] Translation: X:125.25, Y:-0.30, Z:-0.60 [[ 9.99954960e-01 -8.05372448e-03 -5.02152761e-03 1.25250137e+02] [ 8.05811746e-03 9.99967167e-01 8.55210639e-04 -3.03235175e-01] [ 5.01447511e-03 -8.95636179e-04 9.99987026e-01 -5.98121944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.515898227 meters Centerline goodness [0,1] 0.9795632347404092 Centerline is valid? [False, True] Translation: X:125.25, Y:-0.30, Z:-0.60 [[ 9.99955464e-01 -8.01766376e-03 -4.97859896e-03 1.25249553e+02] [ 8.02150826e-03 9.99967544e-01 7.52716675e-04 -3.02575881e-01] [ 4.97240234e-03 -7.92619025e-04 9.99987323e-01 -5.97351551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54589822699995 meters Centerline goodness [0,1] 0.9937865958970471 Centerline is valid? [True, True] Translation: X:125.28, Y:-0.30, Z:-0.59 [[ 9.99992095e-01 -3.06238973e-03 -2.53615764e-03 1.25280500e+02] [ 3.06275248e-03 9.99995300e-01 1.39162006e-04 -2.95967533e-01] [ 2.53571955e-03 -1.46928529e-04 9.99996774e-01 -5.91884959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.575898227 meters Centerline goodness [0,1] 0.9973710223568258 Centerline is valid? [True, True] Translation: X:125.31, Y:-0.29, Z:-0.59 [[ 9.99997196e-01 -2.12065224e-04 -2.35854649e-03 1.25311506e+02] [ 2.12371030e-04 9.99999969e-01 1.29408884e-04 -2.90922562e-01] [ 2.35851897e-03 -1.29909408e-04 9.99997210e-01 -5.91301022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60589822699995 meters Centerline goodness [0,1] 0.9983107394737953 Centerline is valid? [True, True] Translation: X:125.34, Y:-0.29, Z:-0.59 [[ 9.99992830e-01 2.71715407e-03 -2.63743338e-03 1.25340601e+02] [-2.71678192e-03 9.99996299e-01 1.44676191e-04 -2.90286470e-01] [ 2.63781673e-03 -1.37509822e-04 9.99996512e-01 -5.92349044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.635898227 meters Centerline goodness [0,1] 0.9993483698736678 Centerline is valid? [True, True] Translation: X:125.37, Y:-0.28, Z:-0.59 [[ 9.99977032e-01 5.71080231e-03 -3.64990340e-03 1.25371616e+02] [-5.71010953e-03 9.99983677e-01 2.00199753e-04 -2.84631380e-01] [ 3.65098713e-03 -1.79353807e-04 9.99993319e-01 -5.93542420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66589822699996 meters Centerline goodness [0,1] 0.9993273778244877 Centerline is valid? [True, True] Translation: X:125.40, Y:-0.28, Z:-0.60 [[ 9.99939982e-01 9.36739359e-03 -5.68197155e-03 1.25400905e+02] [-9.36577398e-03 9.99956092e-01 3.11585483e-04 -2.81498071e-01] [ 5.68464081e-03 -2.58350721e-04 9.99983809e-01 -5.98912719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.695898227 meters Centerline goodness [0,1] 0.9994932111409084 Centerline is valid? [True, True] Translation: X:125.43, Y:-0.28, Z:-0.60 [[ 9.99931939e-01 8.74349168e-03 -7.72454864e-03 1.25429885e+02] [-8.74048235e-03 9.99961712e-01 4.23253475e-04 -2.80349424e-01] [ 7.72795360e-03 -3.55708387e-04 9.99970076e-01 -6.00823789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72589822699996 meters Centerline goodness [0,1] 0.9989957318604067 Centerline is valid? [True, True] Translation: X:125.46, Y:-0.29, Z:-0.60 [[ 9.99934084e-01 7.42109992e-03 -8.76096703e-03 1.25457780e+02] [-7.41717955e-03 9.99972377e-01 4.79888358e-04 -2.87096539e-01] [ 8.76428632e-03 -4.14875061e-04 9.99961507e-01 -6.03453211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.755898227 meters Centerline goodness [0,1] 0.9997216810464793 Centerline is valid? [True, True] Translation: X:125.49, Y:-0.28, Z:-0.60 [[ 9.99938631e-01 5.79639186e-03 -9.44120677e-03 1.25487566e+02] [-5.79176886e-03 9.99983094e-01 5.16928843e-04 -2.82554658e-01] [ 9.44404348e-03 -4.62215832e-04 9.99955297e-01 -6.02588798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78589822699996 meters Centerline goodness [0,1] 0.9997216810464793 Centerline is valid? [True, True] Translation: X:125.52, Y:-0.28, Z:-0.60 [[ 9.99938899e-01 5.74982753e-03 -9.44123061e-03 1.25515888e+02] [-5.74520657e-03 9.99983363e-01 5.16493226e-04 -2.84024281e-01] [ 9.44404328e-03 -4.62219848e-04 9.99955297e-01 -6.02583888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.815898227 meters Centerline goodness [0,1] 0.9978091426163893 Centerline is valid? [True, True] Translation: X:125.54, Y:-0.30, Z:-0.60 [[ 9.99949484e-01 3.80887499e-03 -9.30173889e-03 1.25543504e+02] [-3.80430983e-03 9.99992634e-01 5.08429869e-04 -2.99656582e-01] [ 9.30360692e-03 -4.73017488e-04 9.99956609e-01 -6.04512331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84589822699996 meters Centerline goodness [0,1] 0.9973771046619849 Centerline is valid? [True, True] Translation: X:125.57, Y:-0.30, Z:-0.60 [[ 9.99963613e-01 -4.50974477e-04 -8.51881314e-03 1.25573865e+02] [ 4.54957574e-04 9.99999788e-01 4.65632684e-04 -3.04900862e-01] [ 8.51860134e-03 -4.69491440e-04 9.99963606e-01 -6.02815270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.875898227 meters Centerline goodness [0,1] 0.9953179785424846 Centerline is valid? [True, True] Translation: X:125.60, Y:-0.31, Z:-0.60 [[ 9.99965011e-01 -2.69809316e-03 -7.91817257e-03 1.25603662e+02] [ 2.70160391e-03 9.99996257e-01 4.32715967e-04 -3.12031011e-01] [ 7.91697543e-03 -4.54092592e-04 9.99968557e-01 -6.01628964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90589822699997 meters Centerline goodness [0,1] 0.9735161532682194 Centerline is valid? [True, True] Translation: X:125.63, Y:-0.33, Z:-0.60 [[ 9.99954541e-01 -6.59011471e-03 -6.89110402e-03 1.25632029e+02] [ 6.59286661e-03 9.99978196e-01 3.76700998e-04 -3.25065568e-01] [ 6.88847126e-03 -4.22116003e-04 9.99976185e-01 -6.00378796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.935898227 meters Centerline goodness [0,1] 0.9947013691662074 Centerline is valid? [True, True] Translation: X:125.66, Y:-0.32, Z:-0.60 [[ 9.99944480e-01 -8.09494963e-03 -6.74598779e-03 1.25661309e+02] [ 8.09761946e-03 9.99967146e-01 3.68545174e-04 -3.20283529e-01] [ 6.74278280e-03 -4.23151155e-04 9.99977178e-01 -5.99066191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96589822699997 meters Centerline goodness [0,1] 0.9035399533054288 Centerline is valid? [True, False] Translation: X:125.67, Y:-0.32, Z:-0.60 [[ 9.99914857e-01 -1.06379152e-02 -7.55739174e-03 1.25666896e+02] [ 1.06208214e-02 9.99940956e-01 -2.29840017e-03 -3.20307517e-01] [ 7.58139570e-03 2.21793876e-03 9.99968801e-01 -6.02337988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99589822699994 meters Centerline goodness [0,1] 0.7952288791652642 Centerline is valid? [False, False] Translation: X:125.67, Y:-0.32, Z:-0.60 [[ 9.99914654e-01 -1.05095752e-02 -7.76107228e-03 1.25668068e+02] [ 1.04975038e-02 9.99943628e-01 -1.59448096e-03 -3.24060790e-01] [ 7.77739210e-03 1.51287299e-03 9.99968611e-01 -6.03265738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.02589822699997 meters Centerline goodness [0,1] 0.8537721986649314 Centerline is valid? [False, False] Translation: X:125.67, Y:-0.33, Z:-0.60 [[ 9.99949472e-01 -6.47956152e-03 -7.68560274e-03 1.25668147e+02] [ 6.50643616e-03 9.99972788e-01 3.47691690e-03 -3.29558813e-01] [ 7.66286471e-03 -3.52674710e-03 9.99964421e-01 -6.04065655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05589822699994 meters Centerline goodness [0,1] 0.7687553684034106 Centerline is valid? [False, False] Translation: X:125.67, Y:-0.33, Z:-0.60 [[ 9.99950115e-01 -6.38389234e-03 -7.68206770e-03 1.25668131e+02] [ 6.41240900e-03 9.99972620e-01 3.69321982e-03 -3.30624646e-01] [ 7.65828025e-03 -3.74229614e-03 9.99963672e-01 -6.04058798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.085898227 meters Centerline goodness [0,1] 0.9744163465191877 Centerline is valid? [False, True] Translation: X:125.67, Y:-0.33, Z:-0.60 [[ 9.99952122e-01 -6.32718277e-03 -7.46460016e-03 1.25666842e+02] [ 6.35595633e-03 9.99972438e-01 3.83726443e-03 -3.31466876e-01] [ 7.44011535e-03 -3.88452539e-03 9.99964777e-01 -6.03115262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11589822699995 meters Centerline goodness [0,1] 0.9429633831222033 Centerline is valid? [True, False] Translation: X:125.67, Y:-0.33, Z:-0.60 [[ 9.99915669e-01 -1.04334075e-02 -7.73297144e-03 1.25667553e+02] [ 1.04262858e-02 9.99945183e-01 -9.60701142e-04 -3.27943963e-01] [ 7.74257093e-03 8.79993955e-04 9.99969639e-01 -6.02647191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.145898227 meters Centerline goodness [0,1] 0.9439439228729003 Centerline is valid? [False, False] Translation: X:125.67, Y:-0.33, Z:-0.60 [[ 9.99916582e-01 -1.02037338e-02 -7.91913838e-03 1.25668817e+02] [ 1.02035193e-02 9.99947940e-01 -6.74934461e-05 -3.32548061e-01] [ 7.91941480e-03 -1.33152651e-05 9.99968641e-01 -6.03833844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17589822699995 meters Centerline goodness [0,1] 0.6120825374168224 Centerline is valid? [False, False] Translation: X:125.67, Y:-0.34, Z:-0.60 [[ 9.99918608e-01 -9.91920207e-03 -8.02420000e-03 1.25669755e+02] [ 9.92541000e-03 9.99950472e-01 7.34197947e-04 -3.36498974e-01] [ 8.01651992e-03 -8.13781663e-04 9.99967536e-01 -6.04848299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.205898227 meters Centerline goodness [0,1] 0.9045202854917153 Centerline is valid? [False, False] Translation: X:125.67, Y:-0.34, Z:-0.61 [[ 9.99921395e-01 -9.61900944e-03 -8.04232673e-03 1.25670028e+02] [ 9.63198242e-03 9.99952370e-01 1.57591368e-03 -3.40704760e-01] [ 8.02678494e-03 -1.65325336e-03 9.99966418e-01 -6.05216434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23589822699995 meters Centerline goodness [0,1] 0.7664461866824455 Centerline is valid? [False, False] Translation: X:125.67, Y:-0.35, Z:-0.60 [[ 9.99928666e-01 -9.07006267e-03 -7.77149145e-03 1.25668934e+02] [ 9.09531620e-03 9.99953451e-01 3.22035131e-03 -3.49162379e-01] [ 7.74192091e-03 -3.29080576e-03 9.99964616e-01 -6.04902174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.265898227 meters Centerline goodness [0,1] 0.7270116749460269 Centerline is valid? [False, False] Translation: X:125.67, Y:-0.35, Z:-0.60 [[ 9.99885260e-01 -1.28539796e-02 -8.01507028e-03 1.25669586e+02] [ 1.28457901e-02 9.99916914e-01 -1.07241498e-03 -3.47813195e-01] [ 8.02818914e-03 9.69332022e-04 9.99967304e-01 -6.04362422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29589822699995 meters Centerline goodness [0,1] 0.9707122675325771 Centerline is valid? [False, True] Translation: X:125.67, Y:-0.35, Z:-0.60 [[ 9.99915029e-01 -1.07431784e-02 -7.38371872e-03 1.25665500e+02] [ 1.07517827e-02 9.99941563e-01 1.12659390e-03 -3.52804851e-01] [ 7.37118404e-03 -1.20588631e-03 9.99972105e-01 -6.01944702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.325898227 meters Centerline goodness [0,1] 0.9726549271926854 Centerline is valid? [True, True] Translation: X:125.69, Y:-0.36, Z:-0.60 [[ 9.99941838e-01 -7.38820074e-03 -7.85720743e-03 1.25694237e+02] [ 7.39197512e-03 9.99972577e-01 4.51438247e-04 -3.56209470e-01] [ 7.85365665e-03 -5.09492272e-04 9.99969030e-01 -6.02652795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35589822699995 meters Centerline goodness [0,1] 0.9795444562966681 Centerline is valid? [True, True] Translation: X:125.72, Y:-0.36, Z:-0.60 [[ 9.99960191e-01 -3.74980607e-03 -8.09661146e-03 1.25722967e+02] [ 3.75369330e-03 9.99992847e-01 4.64962611e-04 -3.58313060e-01] [ 8.09481002e-03 -4.95336297e-04 9.99967114e-01 -6.02690163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.385898227 meters Centerline goodness [0,1] 0.9986978619733692 Centerline is valid? [True, True] Translation: X:125.75, Y:-0.35, Z:-0.60 [[ 9.99965079e-01 3.79898991e-03 -7.44372834e-03 1.25754773e+02] [-3.79591279e-03 9.99992704e-01 4.27468694e-04 -3.46143133e-01] [ 7.44529798e-03 -3.99198023e-04 9.99972204e-01 -6.00259275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41589822699996 meters Centerline goodness [0,1] 0.9991571317192406 Centerline is valid? [True, True] Translation: X:125.79, Y:-0.34, Z:-0.60 [[ 9.99952310e-01 7.00981191e-03 -6.80000844e-03 1.25785107e+02] [-7.00731810e-03 9.99975372e-01 3.90491704e-04 -3.43266039e-01] [ 6.80257825e-03 -3.42823259e-04 9.99976803e-01 -5.99606412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.445898227 meters Centerline goodness [0,1] 0.9994320691613554 Centerline is valid? [True, True] Translation: X:125.82, Y:-0.34, Z:-0.60 [[ 9.99933678e-01 9.41856990e-03 -6.62801060e-03 1.25815326e+02] [-9.41625390e-03 9.99955594e-01 3.80546272e-04 -3.40533312e-01] [ 6.63130048e-03 -3.18110003e-04 9.99977962e-01 -5.99663925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47589822699996 meters Centerline goodness [0,1] 0.999304516428165 Centerline is valid? [True, True] Translation: X:125.84, Y:-0.34, Z:-0.60 [[ 9.99904916e-01 1.08634138e-02 -8.49386861e-03 1.25843130e+02] [-1.08596661e-02 9.99940913e-01 4.87224575e-04 -3.43785655e-01] [ 8.49865966e-03 -3.94937670e-04 9.99963808e-01 -6.03144160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.505898227 meters Centerline goodness [0,1] 0.9990999853485987 Centerline is valid? [True, True] Translation: X:125.87, Y:-0.35, Z:-0.61 [[ 9.99904658e-01 9.94973236e-03 -9.57484253e-03 1.25871545e+02] [-9.94493148e-03 9.99950397e-01 5.48888540e-04 -3.48902224e-01] [ 9.57982888e-03 -4.53615055e-04 9.99954009e-01 -6.05568787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53589822699996 meters Centerline goodness [0,1] 0.9994725181981222 Centerline is valid? [True, True] Translation: X:125.90, Y:-0.35, Z:-0.60 [[ 9.99934682e-01 7.05391116e-03 -8.99303607e-03 1.25902220e+02] [-7.04955939e-03 9.99975019e-01 5.15512301e-04 -3.49465645e-01] [ 8.99644779e-03 -4.52081687e-04 9.99959429e-01 -6.03291144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.565898227 meters Centerline goodness [0,1] 0.9987998736709127 Centerline is valid? [True, True] Translation: X:125.93, Y:-0.36, Z:-0.60 [[ 9.99957303e-01 5.27899939e-03 -7.58451154e-03 1.25930698e+02] [-5.27585494e-03 9.99985988e-01 4.34535811e-04 -3.56704994e-01] [ 7.58669918e-03 -3.94502475e-04 9.99971143e-01 -6.01474737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59589822699996 meters Centerline goodness [0,1] 0.9985340928128664 Centerline is valid? [True, True] Translation: X:125.96, Y:-0.36, Z:-0.60 [[ 9.99969913e-01 3.21771164e-03 -7.05834239e-03 1.25959210e+02] [-3.21493833e-03 9.99994750e-01 4.04222578e-04 -3.64865212e-01] [ 7.05960601e-03 -3.81518280e-04 9.99975008e-01 -6.00067318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.625898227 meters Centerline goodness [0,1] 0.996344195088965 Centerline is valid? [True, True] Translation: X:125.99, Y:-0.38, Z:-0.60 [[ 9.99963730e-01 -1.36954827e-03 -8.40613081e-03 1.25988553e+02] [ 1.37364260e-03 9.99998941e-01 4.81309785e-04 -3.75262033e-01] [ 8.40546273e-03 -4.92839347e-04 9.99964552e-01 -6.02709692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65589822699997 meters Centerline goodness [0,1] 0.9935447243365996 Centerline is valid? [True, True] Translation: X:126.02, Y:-0.38, Z:-0.60 [[ 9.99945747e-01 -3.24285409e-03 -9.89881183e-03 1.26018818e+02] [ 3.24862302e-03 9.99994563e-01 5.66767144e-04 -3.81200659e-01] [ 9.89692007e-03 -5.98893903e-04 9.99950845e-01 -6.04878774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.685898227 meters Centerline goodness [0,1] 0.9907270901437942 Centerline is valid? [True, True] Translation: X:126.05, Y:-0.39, Z:-0.60 [[ 9.99937256e-01 -5.30088343e-03 -9.86834584e-03 1.26048260e+02] [ 5.30671572e-03 9.99985760e-01 5.64918874e-04 -3.88882386e-01] [ 9.86521075e-03 -6.17251934e-04 9.99951147e-01 -6.04296981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71589822699997 meters Centerline goodness [0,1] 0.9800104547830633 Centerline is valid? [True, True] Translation: X:126.08, Y:-0.40, Z:-0.60 [[ 9.99951570e-01 -5.25679173e-03 -8.32004098e-03 1.26075976e+02] [ 5.26093226e-03 9.99986048e-01 4.75848874e-04 -3.95734692e-01] [ 8.31742346e-03 -5.19597001e-04 9.99965275e-01 -6.02073751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74589822699994 meters Centerline goodness [0,1] 0.9163650816894338 Centerline is valid? [True, False] Translation: X:126.07, Y:-0.40, Z:-0.60 [[ 9.99953256e-01 -5.24599251e-03 -8.12196210e-03 1.26074725e+02] [ 5.24949364e-03 9.99986137e-01 4.09810877e-04 -3.95348640e-01] [ 8.11969964e-03 -4.52427909e-04 9.99966932e-01 -6.01107192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77589822699997 meters Centerline goodness [0,1] 0.9926726777456343 Centerline is valid? [False, True] Translation: X:126.07, Y:-0.39, Z:-0.60 [[ 9.99970369e-01 -2.49020506e-03 -7.28422650e-03 1.26068265e+02] [ 2.51211289e-03 9.99992345e-01 2.99996931e-03 -3.94268726e-01] [ 7.27670019e-03 -3.01817922e-03 9.99968970e-01 -5.96559653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80589822699994 meters Centerline goodness [0,1] 0.9975136957437842 Centerline is valid? [True, True] Translation: X:126.10, Y:-0.39, Z:-0.60 [[ 9.99970757e-01 -7.60888924e-04 -7.60964603e-03 1.26098212e+02] [ 7.64136838e-04 9.99999618e-01 4.23917092e-04 -3.88301174e-01] [ 7.60932057e-03 -4.29719506e-04 9.99970956e-01 -5.96535595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.835898227 meters Centerline goodness [0,1] 0.9868548556983358 Centerline is valid? [True, True] Translation: X:126.13, Y:-0.40, Z:-0.60 [[ 9.99968288e-01 4.03241279e-04 -7.95368775e-03 1.26126084e+02] [-3.99731691e-04 9.99999822e-01 4.42837684e-04 -3.96832214e-01] [ 7.95386490e-03 -4.39644300e-04 9.99968271e-01 -5.97660829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86589822699995 meters Centerline goodness [0,1] 0.9700499168053245 Centerline is valid? [True, True] Translation: X:126.15, Y:-0.40, Z:-0.60 [[ 9.99964408e-01 8.78600613e-04 -8.39108005e-03 1.26153853e+02] [-8.74714606e-04 9.99999508e-01 4.66770420e-04 -4.01735005e-01] [ 8.39148603e-03 -4.59414007e-04 9.99964685e-01 -5.98471535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.895898227 meters Centerline goodness [0,1] 0.9532790309106098 Centerline is valid? [True, True] Translation: X:126.18, Y:-0.40, Z:-0.60 [[ 9.99959416e-01 -2.33671017e-04 -9.00625674e-03 1.26181898e+02] [ 2.38188542e-04 9.99999846e-01 5.00529103e-04 -4.02774111e-01] [ 9.00613840e-03 -5.02653976e-04 9.99959318e-01 -6.00046138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92589822699995 meters Centerline goodness [0,1] 0.9931376286694624 Centerline is valid? [True, True] Translation: X:126.21, Y:-0.40, Z:-0.60 [[ 9.99951531e-01 -1.98584311e-03 -9.64328777e-03 1.26212943e+02] [ 1.99110122e-03 9.99997874e-01 5.35691305e-04 -3.95159438e-01] [ 9.64220348e-03 -5.54866102e-04 9.99953359e-01 -6.00604240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.955898227 meters Centerline goodness [0,1] 0.9685187137585661 Centerline is valid? [True, True] Translation: X:126.24, Y:-0.41, Z:-0.60 [[ 9.99914832e-01 -8.27907092e-03 -1.00888613e-02 1.26242519e+02] [ 8.28514526e-03 9.99965521e-01 5.60436660e-04 -4.05681166e-01] [ 1.00838736e-02 -6.43976611e-04 9.99948949e-01 -6.02500756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98589822699995 meters Centerline goodness [0,1] 0.8647601089461554 Centerline is valid? [True, False] Translation: X:126.24, Y:-0.41, Z:-0.60 [[ 9.99868171e-01 -1.26533650e-02 -1.01750784e-02 1.26243106e+02] [ 1.26146606e-02 9.99912985e-01 -3.85906786e-03 -4.05056227e-01] [ 1.02230232e-02 3.73020396e-03 9.99940786e-01 -6.02709878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.015898227 meters Centerline goodness [0,1] 0.8128859744063157 Centerline is valid? [False, False] Translation: X:126.24, Y:-0.41, Z:-0.60 [[ 9.99867861e-01 -1.26676762e-02 -1.01877876e-02 1.26243382e+02] [ 1.26362187e-02 9.99915210e-01 -3.14622705e-03 -4.09241068e-01] [ 1.02267791e-02 3.01707620e-03 9.99943154e-01 -6.03149982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04589822699995 meters Centerline goodness [0,1] 0.47832103321033215 Centerline is valid? [False, False] Translation: X:126.27, Y:-0.42, Z:-0.61 [[ 9.99842103e-01 -1.66994046e-02 -6.07447035e-03 1.26268254e+02] [ 1.67237788e-02 9.99852210e-01 3.98414575e-03 -4.20308404e-01] [ 6.00703975e-03 -4.08510476e-03 9.99973613e-01 -6.08964698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.075898227 meters Centerline goodness [0,1] 0.6238259596276541 Centerline is valid? [False, False] Translation: X:126.27, Y:-0.42, Z:-0.61 [[ 9.99846424e-01 -1.64125126e-02 -6.14471162e-03 1.26268509e+02] [ 1.64413015e-02 9.99853953e-01 4.66431907e-03 -4.23662070e-01] [ 6.06726100e-03 -4.76462980e-03 9.99970243e-01 -6.09007184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10589822699995 meters Centerline goodness [0,1] 0.6564215378168867 Centerline is valid? [False, False] Translation: X:126.27, Y:-0.42, Z:-0.61 [[ 9.99926173e-01 -1.17041458e-02 -3.26517281e-03 1.26269877e+02] [ 1.16721279e-02 9.99885232e-01 -9.65838663e-03 -4.21842142e-01] [ 3.37784123e-03 9.61956207e-03 9.99948026e-01 -6.11438609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.135898227 meters Centerline goodness [0,1] 0.8983164841631812 Centerline is valid? [False, False] Translation: X:126.27, Y:-0.43, Z:-0.61 [[ 9.99991283e-01 -2.66154712e-03 -3.21722316e-03 1.26269282e+02] [ 2.66121467e-03 9.99996453e-01 -1.07609769e-04 -4.26363049e-01] [ 3.21749816e-03 9.90471093e-05 9.99994819e-01 -6.11117447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16589822699996 meters Centerline goodness [0,1] 0.9615829182691298 Centerline is valid? [False, True] Translation: X:126.27, Y:-0.42, Z:-0.61 [[ 9.99991549e-01 -2.14159465e-03 -3.50942136e-03 1.26270083e+02] [ 2.14046895e-03 9.99997657e-01 -3.24488568e-04 -4.23684853e-01] [ 3.51010806e-03 3.16974018e-04 9.99993789e-01 -6.10778080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.195898227 meters Centerline goodness [0,1] 0.9912746903247406 Centerline is valid? [True, True] Translation: X:126.30, Y:-0.42, Z:-0.61 [[ 9.99989760e-01 2.57739536e-03 -3.71973379e-03 1.26301243e+02] [-2.57660559e-03 9.99996657e-01 2.17094721e-04 -4.19077405e-01] [ 3.72028089e-03 -2.07508211e-04 9.99993058e-01 -6.11655980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22589822699996 meters Centerline goodness [0,1] 0.9990698461018096 Centerline is valid? [True, True] Translation: X:126.33, Y:-0.41, Z:-0.61 [[ 9.99964158e-01 7.93200566e-03 -2.96088199e-03 1.26332905e+02] [-7.93152859e-03 9.99968530e-01 1.72830635e-04 -4.07829484e-01] [ 2.96215971e-03 -1.49340121e-04 9.99995602e-01 -6.10428296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.255898227 meters Centerline goodness [0,1] 0.9972470316276137 Centerline is valid? [True, True] Translation: X:126.36, Y:-0.42, Z:-0.61 [[ 9.99958752e-01 8.89373736e-03 -1.84264113e-03 1.26360478e+02] [-8.89355454e-03 9.99960446e-01 1.07384863e-04 -4.21716131e-01] [ 1.84352330e-03 -9.09928039e-05 9.99998297e-01 -6.10279558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28589822699996 meters Centerline goodness [0,1] 0.9994075327972916 Centerline is valid? [True, True] Translation: X:126.39, Y:-0.42, Z:-0.61 [[ 9.99950719e-01 9.81626914e-03 -1.48363440e-03 1.26390448e+02] [-9.81615167e-03 9.99951817e-01 8.64428085e-05 -4.20122550e-01] [ 1.48441146e-03 -7.18749682e-05 9.99998896e-01 -6.08626093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.315898227 meters Centerline goodness [0,1] 0.9972299750278052 Centerline is valid? [True, True] Translation: X:126.42, Y:-0.43, Z:-0.61 [[ 9.99948164e-01 1.00787011e-02 -1.44549154e-03 1.26419352e+02] [-1.00785898e-02 9.99949206e-01 8.42348761e-05 -4.34945561e-01] [ 1.44626710e-03 -6.96619933e-05 9.99998952e-01 -6.09737241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34589822699996 meters Centerline goodness [0,1] 0.999448848942214 Centerline is valid? [True, True] Translation: X:126.45, Y:-0.43, Z:-0.61 [[ 9.99936083e-01 1.11164345e-02 -2.06278478e-03 1.26449085e+02] [-1.11162102e-02 9.99938206e-01 1.20140871e-04 -4.28288648e-01] [ 2.06399285e-03 -9.72028423e-05 9.99997865e-01 -6.08541507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.375898227 meters Centerline goodness [0,1] 0.9996628313735407 Centerline is valid? [True, True] Translation: X:126.48, Y:-0.43, Z:-0.61 [[ 9.99834783e-01 1.79395818e-02 -2.92892869e-03 1.26479242e+02] [-1.79391587e-02 9.99839066e-01 1.70660382e-04 -4.26180543e-01] [ 2.93151890e-03 -1.18089669e-04 9.99995696e-01 -6.09443712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40589822699997 meters Centerline goodness [0,1] 0.999874213836478 Centerline is valid? [True, True] Translation: X:126.51, Y:-0.42, Z:-0.61 [[ 9.99712243e-01 2.38247474e-02 -2.79509670e-03 1.26510332e+02] [-2.38243849e-02 9.99716146e-01 1.62923834e-04 -4.21532001e-01] [ 2.79818492e-03 -9.62854917e-05 9.99996080e-01 -6.08864882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.435898227 meters Centerline goodness [0,1] 0.9998313765992876 Centerline is valid? [True, True] Translation: X:126.54, Y:-0.42, Z:-0.61 [[ 9.99532083e-01 3.04959225e-02 -2.36936619e-03 1.26539907e+02] [-3.04956810e-02 9.99534889e-01 1.38016473e-04 -4.16068588e-01] [ 2.37247311e-03 -6.56964572e-05 9.99997184e-01 -6.08282748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.57, Y:-0.40, Z:-0.61 [[ 9.99056164e-01 4.34130026e-02 -1.44634648e-03 1.26570249e+02] [-4.34129262e-02 9.99057211e-01 8.42035622e-05 -3.99808346e-01] [ 1.44863841e-03 -2.13339552e-05 9.99998950e-01 -6.07022692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.60, Y:-0.39, Z:-0.61 [[ 9.98793690e-01 4.91008296e-02 -5.23327413e-04 1.26599456e+02] [-4.91008204e-02 9.98793827e-01 3.04526550e-05 -3.93154693e-01] [ 5.24191440e-04 -4.72011438e-06 9.99999863e-01 -6.06394990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.52589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.63, Y:-0.38, Z:-0.60 [[ 9.98414905e-01 5.62698617e-02 1.17505073e-03 1.26629110e+02] [-5.62698200e-02 9.98415596e-01 -6.85163599e-05 -3.84459802e-01] [-1.17704438e-03 2.28786203e-06 9.99999307e-01 -6.04428639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.66, Y:-0.39, Z:-0.61 [[ 9.98346175e-01 5.74690887e-02 1.48926704e-03 1.26656912e+02] [-5.74690233e-02 9.98347286e-01 -8.67463285e-05 -3.85530413e-01] [-1.49179094e-03 1.01614326e-06 9.99998887e-01 -6.05441913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.585898227 meters Centerline goodness [0,1] 0.999979029924298 Centerline is valid? [True, True] Translation: X:126.69, Y:-0.39, Z:-0.61 [[ 9.98353017e-01 5.73544676e-02 1.31128353e-03 1.26686212e+02] [-5.73544169e-02 9.98353878e-01 -7.62642060e-05 -3.88597699e-01] [-1.31349909e-03 9.30697982e-07 9.99999137e-01 -6.06304540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.72, Y:-0.40, Z:-0.61 [[ 9.98475175e-01 5.52025766e-02 2.15019776e-05 1.26715290e+02] [-5.52025765e-02 9.98475175e-01 -1.31477620e-06 -3.95763739e-01] [-2.15417699e-05 1.25806835e-07 1.00000000e+00 -6.08461235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.645898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.74, Y:-0.40, Z:-0.61 [[ 9.98498683e-01 5.47738442e-02 4.54598389e-04 1.26743838e+02] [-5.47738378e-02 9.98498786e-01 -2.65178849e-05 -3.99497912e-01] [-4.55368427e-04 1.57797472e-06 9.99999896e-01 -6.07750516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.77, Y:-0.40, Z:-0.61 [[ 9.98498927e-01 5.47507028e-02 1.50130316e-03 1.26772894e+02] [-5.47506336e-02 9.98500055e-01 -8.72013665e-05 -4.02647569e-01] [-1.50382562e-03 4.87317181e-06 9.99998869e-01 -6.05886664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.705898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.80, Y:-0.40, Z:-0.61 [[ 9.98500202e-01 5.47274427e-02 1.50130902e-03 1.26802012e+02] [-5.47273736e-02 9.98501330e-01 -8.71002412e-05 -4.04291537e-01] [-1.50382583e-03 4.80690859e-06 9.99998869e-01 -6.05970067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.73589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.83, Y:-0.41, Z:-0.60 [[ 9.98431413e-01 5.58573620e-02 3.83004039e-03 1.26831581e+02] [-5.58569213e-02 9.98438759e-01 -2.22011278e-04 -4.05981292e-01] [-3.83646174e-03 7.72876875e-06 9.99992641e-01 -6.01719365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.765898227 meters Centerline goodness [0,1] 0.9998108289894064 Centerline is valid? [True, True] Translation: X:126.86, Y:-0.41, Z:-0.60 [[ 9.98387156e-01 5.66014849e-02 4.39977584e-03 1.26860968e+02] [-5.66009109e-02 9.98396851e-01 -2.54976634e-04 -4.06626832e-01] [-4.40715440e-03 5.53407674e-06 9.99990288e-01 -6.00997534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.89, Y:-0.41, Z:-0.60 [[ 9.98293237e-01 5.82348022e-02 4.39546519e-03 1.26890880e+02] [-5.82342452e-02 9.98302914e-01 -2.54722470e-04 -4.06981393e-01] [-4.40283942e-03 -1.67887806e-06 9.99990307e-01 -6.00704559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.825898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.92, Y:-0.40, Z:-0.60 [[ 9.98077640e-01 6.18308912e-02 4.23845336e-03 1.26920275e+02] [-6.18304061e-02 9.98086640e-01 -2.45511087e-04 -4.02251563e-01] [-4.24552384e-03 -1.70261665e-05 9.99990988e-01 -6.00631516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85589822699995 meters Centerline goodness [0,1] 0.9998521897039571 Centerline is valid? [True, True] Translation: X:126.95, Y:-0.40, Z:-0.60 [[ 9.97969803e-01 6.35537333e-02 4.14660784e-03 1.26950362e+02] [-6.35532844e-02 9.97978418e-01 -2.40063888e-04 -3.99832764e-01] [-4.15348209e-03 -2.39540359e-05 9.99991374e-01 -6.00825821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.885898227 meters Centerline goodness [0,1] 0.9999790404728469 Centerline is valid? [True, True] Translation: X:126.98, Y:-0.40, Z:-0.60 [[ 9.97837508e-01 6.56314347e-02 3.58077604e-03 1.26980629e+02] [-6.56311136e-02 9.97843933e-01 -2.07231487e-04 -3.97249571e-01] [-3.58665655e-03 -2.82269688e-05 9.99993568e-01 -6.01739461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91589822699996 meters Centerline goodness [0,1] 0.9998947457056248 Centerline is valid? [True, True] Translation: X:127.01, Y:-0.39, Z:-0.61 [[ 9.97622053e-01 6.88883932e-02 2.15142681e-03 1.27009638e+02] [-6.88882849e-02 9.97624373e-01 -1.24494706e-04 -3.90583908e-01] [-2.15489206e-03 -2.40094386e-05 9.99997678e-01 -6.05407915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.945898227 meters Centerline goodness [0,1] 0.9999159027836179 Centerline is valid? [True, True] Translation: X:127.04, Y:-0.39, Z:-0.61 [[ 9.97520870e-01 7.03554133e-02 1.49316306e-03 1.27038548e+02] [-7.03553627e-02 9.97521987e-01 -8.64492622e-05 -3.88528585e-01] [-1.49554516e-03 -1.88170855e-05 9.99998881e-01 -6.06484171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97589822699996 meters Centerline goodness [0,1] 0.9998533540034357 Centerline is valid? [True, True] Translation: X:127.07, Y:-0.38, Z:-0.61 [[ 9.97334305e-01 7.29667963e-02 3.61055051e-04 1.27066932e+02] [-7.29667935e-02 9.97334371e-01 -2.10141345e-05 -3.81646609e-01] [-3.61625946e-04 -5.38691215e-06 9.99999935e-01 -6.07965307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.005898227 meters Centerline goodness [0,1] 0.9998944301338626 Centerline is valid? [True, True] Translation: X:127.10, Y:-0.38, Z:-0.61 [[ 9.97264763e-01 7.39118185e-02 -1.89421722e-04 1.27096121e+02] [-7.39118177e-02 9.97264781e-01 1.07812550e-05 -3.80917685e-01] [ 1.89700474e-04 3.24873805e-06 9.99999982e-01 -6.08852796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03589822699996 meters Centerline goodness [0,1] 0.9998735324494656 Centerline is valid? [True, True] Translation: X:127.13, Y:-0.38, Z:-0.61 [[ 9.97219219e-01 7.45203131e-02 -7.43413693e-04 1.27125477e+02] [-7.45203020e-02 9.97219496e-01 4.26686875e-05 -3.79646083e-01] [ 7.44526312e-04 1.28493776e-05 9.99999723e-01 -6.09856792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.065898227 meters Centerline goodness [0,1] 0.9998737559702906 Centerline is valid? [True, True] Translation: X:127.15, Y:-0.38, Z:-0.61 [[ 9.97266844e-01 7.38740466e-02 -1.21093773e-03 1.27153579e+02] [-7.38740166e-02 9.97267579e-01 6.94829296e-05 -3.78782590e-01] [ 1.21276192e-03 2.01638120e-05 9.99999264e-01 -6.11096519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09589822699996 meters Centerline goodness [0,1] 0.9999369747899159 Centerline is valid? [True, True] Translation: X:127.18, Y:-0.38, Z:-0.61 [[ 9.97312496e-01 7.32464668e-02 -1.65547970e-03 1.27182732e+02] [-7.32464100e-02 9.97313870e-01 9.50075106e-05 -3.80238855e-01] [ 1.65799183e-03 2.65057675e-05 9.99998625e-01 -6.11636659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.125898227 meters Centerline goodness [0,1] 0.9997646907822962 Centerline is valid? [True, True] Translation: X:127.21, Y:-0.38, Z:-0.61 [[ 9.97383381e-01 7.22676205e-02 -1.94468918e-03 1.27211436e+02] [-7.22675404e-02 9.97385277e-01 1.11536103e-04 -3.81758965e-01] [ 1.94766480e-03 2.92936486e-05 9.99998103e-01 -6.12590216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15589822699997 meters Centerline goodness [0,1] 0.999916082742416 Centerline is valid? [True, True] Translation: X:127.24, Y:-0.38, Z:-0.61 [[ 9.97427213e-01 7.16596531e-02 -1.96188648e-03 1.27239458e+02] [-7.16595707e-02 9.97429142e-01 1.12376079e-04 -3.83321669e-01] [ 1.96489558e-03 2.85009833e-05 9.99998069e-01 -6.14158710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.185898227 meters Centerline goodness [0,1] 0.9999153707817624 Centerline is valid? [True, True] Translation: X:127.27, Y:-0.39, Z:-0.61 [[ 9.97416918e-01 7.18286742e-02 -3.64507252e-04 1.27268341e+02] [-7.18286714e-02 9.97416985e-01 2.07587506e-05 -3.87404148e-01] [ 3.65056797e-04 5.47694255e-06 9.99999933e-01 -6.11416488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21589822699997 meters Centerline goodness [0,1] 0.9998729728585342 Centerline is valid? [True, True] Translation: X:127.30, Y:-0.39, Z:-0.61 [[ 9.97349518e-01 7.27585072e-02 3.71694550e-04 1.27295856e+02] [-7.27585043e-02 9.97349587e-01 -2.14499054e-05 -3.87540928e-01] [-3.72270069e-04 -5.65088671e-06 9.99999931e-01 -6.09477086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24589822699994 meters Centerline goodness [0,1] 0.9999152560327111 Centerline is valid? [True, True] Translation: X:127.32, Y:-0.39, Z:-0.61 [[ 9.97159769e-01 7.53141782e-02 -4.11803563e-04 1.27324118e+02] [-7.53141750e-02 9.97159854e-01 2.33569511e-05 -3.85371353e-01] [ 4.12393090e-04 7.72403362e-06 9.99999915e-01 -6.09605851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27589822699997 meters Centerline goodness [0,1] 0.9998111386242498 Centerline is valid? [True, True] Translation: X:127.35, Y:-0.38, Z:-0.61 [[ 9.97035645e-01 7.69305487e-02 -1.26992988e-03 1.27351825e+02] [-7.69305189e-02 9.97036454e-01 7.23540600e-05 -3.84110559e-01] [ 1.27173262e-03 2.55567877e-05 9.99999191e-01 -6.11922679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30589822699994 meters Centerline goodness [0,1] 0.9997044418172606 Centerline is valid? [True, True] Translation: X:127.38, Y:-0.38, Z:-0.61 [[ 9.96750320e-01 8.05184303e-02 -2.36265763e-03 1.27381347e+02] [-8.05183369e-02 9.96753119e-01 1.34788919e-04 -3.81229582e-01] [ 2.36583935e-03 5.58863648e-05 9.99997200e-01 -6.14136277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.335898227 meters Centerline goodness [0,1] 0.9997697154939603 Centerline is valid? [True, True] Translation: X:127.41, Y:-0.38, Z:-0.61 [[ 9.96577541e-01 8.26516611e-02 -1.38125793e-03 1.27409658e+02] [-8.26516315e-02 9.96578497e-01 7.85597075e-05 -3.78918332e-01] [ 1.38302505e-03 3.58723817e-05 9.99999043e-01 -6.12824281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36589822699995 meters Centerline goodness [0,1] 0.9996406755300036 Centerline is valid? [True, True] Translation: X:127.44, Y:-0.38, Z:-0.61 [[ 9.96415932e-01 8.45888272e-02 1.42435957e-04 1.27438530e+02] [-8.45888269e-02 9.96415942e-01 -8.24522380e-06 -3.78627763e-01] [-1.42622913e-04 -3.83281819e-06 9.99999990e-01 -6.10222378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.395898227 meters Centerline goodness [0,1] 0.9995754436613739 Centerline is valid? [True, True] Translation: X:127.47, Y:-0.37, Z:-0.61 [[ 9.96089757e-01 8.83116378e-02 2.50018176e-03 1.27469415e+02] [-8.83115582e-02 9.96092891e-01 -1.42447841e-04 -3.74530458e-01] [-2.50299309e-03 -7.89041118e-05 9.99996864e-01 -6.05655158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42589822699995 meters Centerline goodness [0,1] 0.9992806516449805 Centerline is valid? [True, True] Translation: X:127.50, Y:-0.37, Z:-0.61 [[ 9.95974063e-01 8.96145609e-02 2.21291652e-03 1.27497294e+02] [-8.96145016e-02 9.95976518e-01 -1.26117187e-04 -3.71487601e-01] [-2.21531483e-03 -7.26999642e-05 9.99997544e-01 -6.05696661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.455898227 meters Centerline goodness [0,1] 0.99945295404814 Centerline is valid? [True, True] Translation: X:127.53, Y:-0.37, Z:-0.61 [[ 9.95880919e-01 9.06652333e-02 1.00484799e-03 1.27525638e+02] [-9.06652216e-02 9.95881426e-01 -5.72981620e-05 -3.72473696e-01] [-1.00590440e-03 -3.40426196e-05 9.99999493e-01 -6.07625678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48589822699995 meters Centerline goodness [0,1] 0.9996420751221156 Centerline is valid? [True, True] Translation: X:127.55, Y:-0.37, Z:-0.61 [[ 9.95789796e-01 9.16572751e-02 -1.27535141e-03 1.27553535e+02] [-9.16572576e-02 9.95790611e-01 7.22891823e-05 -3.70733286e-01] [ 1.27660879e-03 4.49103827e-05 9.99999184e-01 -6.11662974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.515898227 meters Centerline goodness [0,1] 0.9996833773087072 Centerline is valid? [True, True] Translation: X:127.58, Y:-0.38, Z:-0.61 [[ 9.95731705e-01 9.22829756e-02 -1.49123389e-03 1.27581956e+02] [-9.22829524e-02 9.95732820e-01 8.45076843e-05 -3.76095487e-01] [ 1.49266915e-03 5.34684855e-05 9.99998885e-01 -6.11560843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54589822699995 meters Centerline goodness [0,1] 0.9992435544535732 Centerline is valid? [True, True] Translation: X:127.61, Y:-0.37, Z:-0.61 [[ 9.95627397e-01 9.34058288e-02 -1.19879118e-03 1.27609839e+02] [-9.34058148e-02 9.95628118e-01 6.77580462e-05 -3.69251588e-01] [ 1.19987920e-03 4.45122998e-05 9.99999279e-01 -6.12213376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.575898227 meters Centerline goodness [0,1] 0.9994247976139753 Centerline is valid? [True, True] Translation: X:127.64, Y:-0.37, Z:-0.61 [[ 9.95325751e-01 9.65710163e-02 -8.29564691e-04 1.27639794e+02] [-9.65710106e-02 9.95326096e-01 4.69840956e-05 -3.69355302e-01] [ 8.30224687e-04 3.33474203e-05 9.99999655e-01 -6.11084639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60589822699995 meters Centerline goodness [0,1] 0.9987813077828206 Centerline is valid? [True, True] Translation: X:127.67, Y:-0.36, Z:-0.61 [[ 9.95150792e-01 9.83594042e-02 -5.73051120e-04 1.27668362e+02] [-9.83594019e-02 9.95150957e-01 3.23179613e-05 -3.61181878e-01] [ 5.73451146e-04 2.42037206e-05 9.99999835e-01 -6.11289720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.635898227 meters Centerline goodness [0,1] 0.9988080799631969 Centerline is valid? [True, True] Translation: X:127.70, Y:-0.36, Z:-0.61 [[ 9.94993424e-01 9.99399635e-02 -3.01013318e-04 1.27698103e+02] [-9.99399629e-02 9.94993469e-01 1.69738078e-05 -3.61876894e-01] [ 3.01202648e-04 1.31944328e-05 9.99999955e-01 -6.10980006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66589822699996 meters Centerline goodness [0,1] 0.9906827107880003 Centerline is valid? [True, True] Translation: X:127.73, Y:-0.35, Z:-0.61 [[ 9.94851740e-01 1.01341057e-01 7.70554163e-05 1.27727700e+02] [-1.01341057e-01 9.94851743e-01 -4.45707342e-06 -3.47850013e-01] [-7.71103997e-05 -3.37475007e-06 9.99999997e-01 -6.10121432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.695898227 meters Centerline goodness [0,1] 0.9939176055013272 Centerline is valid? [True, True] Translation: X:127.76, Y:-0.35, Z:-0.61 [[ 9.94862827e-01 1.01232171e-01 5.95447445e-05 1.27756587e+02] [-1.01232171e-01 9.94862829e-01 -3.48848991e-06 -3.50734769e-01] [-5.95920004e-05 -2.55727482e-06 9.99999998e-01 -6.10277249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72589822699996 meters Centerline goodness [0,1] 0.9986856331220453 Centerline is valid? [True, True] Translation: X:127.79, Y:-0.36, Z:-0.61 [[ 9.94992125e-01 9.99529778e-02 -2.72213876e-04 1.27785045e+02] [-9.99529773e-02 9.94992162e-01 1.52434758e-05 -3.63235524e-01] [ 2.72374304e-04 1.20414490e-05 9.99999963e-01 -6.10525558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.755898227 meters Centerline goodness [0,1] 0.9993233098606441 Centerline is valid? [True, True] Translation: X:127.81, Y:-0.37, Z:-0.61 [[ 9.95304597e-01 9.67867011e-02 -1.04618420e-03 1.27814936e+02] [-9.67866925e-02 9.95305146e-01 5.90476047e-05 -3.67246986e-01] [ 1.04698754e-03 4.24863557e-05 9.99999451e-01 -6.12679821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78589822699996 meters Centerline goodness [0,1] 0.999722168793144 Centerline is valid? [True, True] Translation: X:127.84, Y:-0.38, Z:-0.61 [[ 9.95466247e-01 9.51112464e-02 -8.95207228e-04 1.27843189e+02] [-9.51112395e-02 9.95466649e-01 5.03722694e-05 -3.75858278e-01] [ 8.95939909e-04 3.50003750e-05 9.99999598e-01 -6.12482238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.815898227 meters Centerline goodness [0,1] 0.9993246950576119 Centerline is valid? [True, True] Translation: X:127.87, Y:-0.37, Z:-0.61 [[ 9.95593630e-01 9.37668026e-02 -1.05401669e-03 1.27871245e+02] [-9.37667925e-02 9.95594187e-01 5.91556823e-05 -3.74459837e-01] [ 1.05491973e-03 3.99367440e-05 9.99999443e-01 -6.13129099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84589822699996 meters Centerline goodness [0,1] 0.9995793635770921 Centerline is valid? [True, True] Translation: X:127.90, Y:-0.38, Z:-0.61 [[ 9.95793157e-01 9.16210853e-02 -1.25069399e-03 1.27900005e+02] [-9.16210692e-02 9.95793942e-01 7.03243548e-05 -3.83668309e-01] [ 1.25187670e-03 4.45614096e-05 9.99999215e-01 -6.12478129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.875898227 meters Centerline goodness [0,1] 0.9995592124595944 Centerline is valid? [True, True] Translation: X:127.93, Y:-0.39, Z:-0.61 [[ 9.95818634e-01 9.13492761e-02 -7.46628651e-04 1.27928137e+02] [-9.13492704e-02 9.95818914e-01 4.18299039e-05 -3.86178098e-01] [ 7.47328063e-04 2.65489847e-05 9.99999720e-01 -6.11457274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90589822699997 meters Centerline goodness [0,1] 0.9996390274976112 Centerline is valid? [True, True] Translation: X:127.96, Y:-0.39, Z:-0.61 [[ 9.95784302e-01 9.17231914e-02 -6.92438895e-04 1.27956760e+02] [-9.17231866e-02 9.95784543e-01 3.87785483e-05 -3.91676440e-01] [ 6.93076841e-04 2.48976324e-05 9.99999760e-01 -6.10160602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.935898227 meters Centerline goodness [0,1] 0.9993079004215516 Centerline is valid? [True, True] Translation: X:127.99, Y:-0.39, Z:-0.61 [[ 9.95437458e-01 9.54151811e-02 -4.57680515e-04 1.27986093e+02] [-9.54151794e-02 9.95437564e-01 2.56873545e-05 -3.87707619e-01] [ 4.58043340e-04 1.80995136e-05 9.99999895e-01 -6.09883590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96589822699997 meters Centerline goodness [0,1] 0.9990763869938496 Centerline is valid? [True, True] Translation: X:128.02, Y:-0.39, Z:-0.61 [[ 9.95156798e-01 9.82974222e-02 -7.50511631e-04 1.28016053e+02] [-9.82974183e-02 9.95157081e-01 4.21231949e-05 -3.86834132e-01] [ 7.51017565e-04 3.18541719e-05 9.99999717e-01 -6.10788824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99589822699994 meters Centerline goodness [0,1] 0.9988886092937427 Centerline is valid? [True, True] Translation: X:128.05, Y:-0.39, Z:-0.61 [[ 9.94859460e-01 1.01260966e-01 -9.33731384e-04 1.28046561e+02] [-1.01260961e-01 9.94859897e-01 5.23973352e-05 -3.85326224e-01] [ 9.34237713e-04 4.24225530e-05 9.99999563e-01 -6.11254344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.02589822699997 meters Centerline goodness [0,1] 0.996510964031211 Centerline is valid? [True, True] Translation: X:128.08, Y:-0.37, Z:-0.61 [[ 9.94291214e-01 1.06687700e-01 -1.64810227e-03 1.28076707e+02] [-1.06687693e-01 9.94292576e-01 9.25134051e-05 -3.74725219e-01] [ 1.64856590e-03 8.38469630e-05 9.99998638e-01 -6.11907938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05589822699994 meters Centerline goodness [0,1] 0.9940122276614072 Centerline is valid? [True, True] Translation: X:128.11, Y:-0.37, Z:-0.61 [[ 9.94031267e-01 1.09078633e-01 -1.92142215e-03 1.28107438e+02] [-1.09078628e-01 9.94033119e-01 1.07890948e-04 -3.70905470e-01] [ 1.92172585e-03 1.02339115e-04 9.99998148e-01 -6.12711070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.085898227 meters Centerline goodness [0,1] 0.9648912952237052 Centerline is valid? [True, True] Translation: X:128.14, Y:-0.36, Z:-0.61 [[ 9.93787753e-01 1.11270111e-01 -2.20531480e-03 1.28137151e+02] [-1.11270109e-01 9.93790193e-01 1.23799213e-04 -3.59895110e-01] [ 2.20539537e-03 1.22355477e-04 9.99997561e-01 -6.14343947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11589822699995 meters Centerline goodness [0,1] 0.9429404240149307 Centerline is valid? [True, False] Translation: X:128.14, Y:-0.35, Z:-0.61 [[ 9.94205898e-01 1.07459073e-01 -2.67949732e-03 1.28137666e+02] [-1.07471485e-01 9.94195476e-01 -5.02349635e-03 -3.53204062e-01] [ 2.12412385e-03 5.28235925e-03 9.99983792e-01 -6.14482802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.145898227 meters Centerline goodness [0,1] 0.9824056167493483 Centerline is valid? [False, True] Translation: X:128.14, Y:-0.35, Z:-0.61 [[ 9.94239327e-01 1.07144337e-01 -2.87267314e-03 1.28138529e+02] [-1.07159250e-01 9.94225706e-01 -5.66935062e-03 -3.50193146e-01] [ 2.24864667e-03 5.94452484e-03 9.99979803e-01 -6.14782480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17589822699995 meters Centerline goodness [0,1] 0.9952937185982913 Centerline is valid? [True, True] Translation: X:128.17, Y:-0.36, Z:-0.61 [[ 9.94448772e-01 1.05209717e-01 -1.59831796e-03 1.28167526e+02] [-1.05209722e-01 9.94450053e-01 8.13462585e-05 -3.61679876e-01] [ 1.59800580e-03 8.72639017e-05 9.99998719e-01 -6.13251135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.205898227 meters Centerline goodness [0,1] 0.9976101347207241 Centerline is valid? [True, True] Translation: X:128.20, Y:-0.36, Z:-0.61 [[ 9.95025583e-01 9.96187547e-02 4.39055565e-04 1.28196684e+02] [-9.96187545e-02 9.95025680e-01 -2.24381198e-05 -3.63383244e-01] [-4.39106820e-04 -2.14116653e-05 9.99999903e-01 -6.10058497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23589822699995 meters Centerline goodness [0,1] 0.998646133017431 Centerline is valid? [True, True] Translation: X:128.23, Y:-0.37, Z:-0.61 [[ 9.95317196e-01 9.66623027e-02 2.78705062e-04 1.28226476e+02] [-9.66623024e-02 9.95317235e-01 -1.43058604e-05 -3.69950199e-01] [-2.78782789e-04 -1.27014041e-05 9.99999961e-01 -6.10276422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.265898227 meters Centerline goodness [0,1] 0.9991384201567655 Centerline is valid? [True, True] Translation: X:128.26, Y:-0.37, Z:-0.61 [[ 9.95554208e-01 9.41870714e-02 -7.83691460e-04 1.28255576e+02] [-9.41870693e-02 9.95554516e-01 3.97810562e-05 -3.72345564e-01] [ 7.83954433e-04 3.42094039e-05 9.99999692e-01 -6.11845458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29589822699995 meters Centerline goodness [0,1] 0.9994082840236687 Centerline is valid? [True, True] Translation: X:128.28, Y:-0.37, Z:-0.62 [[ 9.95808682e-01 9.14136167e-02 -2.93601211e-03 1.28284135e+02] [-9.14135735e-02 9.95813003e-01 1.49177222e-04 -3.70509739e-01] [ 2.93735586e-03 1.19839386e-04 9.99995679e-01 -6.15246455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.325898227 meters Centerline goodness [0,1] 0.9992764263976676 Centerline is valid? [True, True] Translation: X:128.31, Y:-0.37, Z:-0.61 [[ 9.95834962e-01 9.11257506e-02 -2.97090987e-03 1.28312898e+02] [-9.11257057e-02 9.95839386e-01 1.50762263e-04 -3.73019996e-01] [ 2.97228739e-03 1.20591926e-04 9.99995575e-01 -6.14469679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35589822699995 meters Centerline goodness [0,1] 0.9993671420133322 Centerline is valid? [True, True] Translation: X:128.34, Y:-0.37, Z:-0.61 [[ 9.95807540e-01 9.14452364e-02 -2.26092110e-03 1.28341484e+02] [-9.14452116e-02 9.95810102e-01 1.14575513e-04 -3.72394858e-01] [ 2.26192546e-03 9.26552489e-05 9.99997438e-01 -6.12947785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.385898227 meters Centerline goodness [0,1] 0.998720127567613 Centerline is valid? [True, True] Translation: X:128.37, Y:-0.37, Z:-0.61 [[ 9.95656592e-01 9.31012936e-02 -3.15468239e-04 1.28370867e+02] [-9.31012933e-02 9.95656642e-01 1.58447724e-05 -3.65466749e-01] [ 3.15573216e-04 1.35945489e-05 9.99999950e-01 -6.08437917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41589822699996 meters Centerline goodness [0,1] 0.998217506186302 Centerline is valid? [True, True] Translation: X:128.40, Y:-0.36, Z:-0.61 [[ 9.95531172e-01 9.44328796e-02 3.43193662e-04 1.28399538e+02] [-9.44328792e-02 9.95531231e-01 -1.75104016e-05 -3.60256550e-01] [-3.43313567e-04 -1.49766150e-05 9.99999941e-01 -6.07594302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.445898227 meters Centerline goodness [0,1] 0.9983933705394893 Centerline is valid? [True, True] Translation: X:128.43, Y:-0.36, Z:-0.61 [[ 9.95380605e-01 9.60073675e-02 -1.89231786e-04 1.28429008e+02] [-9.60073674e-02 9.95380623e-01 9.48406688e-06 -3.59812695e-01] [ 1.89268193e-04 8.72738934e-06 9.99999982e-01 -6.07674733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47589822699996 meters Centerline goodness [0,1] 0.9953326044907913 Centerline is valid? [True, True] Translation: X:128.46, Y:-0.35, Z:-0.61 [[ 9.94994957e-01 9.98792138e-02 -3.02942456e-03 1.28458983e+02] [-9.98792081e-02 9.94999558e-01 1.53566395e-04 -3.47464393e-01] [ 3.02961419e-03 1.49778738e-04 9.99995399e-01 -6.13950995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.505898227 meters Centerline goodness [0,1] 0.9956609231543202 Centerline is valid? [True, True] Translation: X:128.49, Y:-0.35, Z:-0.62 [[ 9.94883289e-01 1.00947349e-01 -4.10776914e-03 1.28488187e+02] [-1.00947349e-01 9.94891748e-01 2.07923532e-04 -3.47288512e-01] [ 4.10777495e-03 2.07808757e-04 9.99991541e-01 -6.15632861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53589822699996 meters Centerline goodness [0,1] 0.996542783059637 Centerline is valid? [True, True] Translation: X:128.52, Y:-0.35, Z:-0.62 [[ 9.94780975e-01 1.01928550e-01 -4.62421949e-03 1.28518161e+02] [-1.01928560e-01 9.94791694e-01 2.34027460e-04 -3.48551264e-01] [ 4.62398921e-03 2.38533968e-04 9.99989281e-01 -6.16344475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.565898227 meters Centerline goodness [0,1] 0.9877462352891551 Centerline is valid? [True, True] Translation: X:128.55, Y:-0.34, Z:-0.61 [[ 9.94755467e-01 1.02245499e-01 -2.72364142e-03 1.28546160e+02] [-1.02245505e-01 9.94759186e-01 1.37474162e-04 -3.38099982e-01] [ 2.72342343e-03 1.41726918e-04 9.99996281e-01 -6.14169312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59589822699996 meters Centerline goodness [0,1] 0.9877462352891551 Centerline is valid? [True, True] Translation: X:128.57, Y:-0.34, Z:-0.61 [[ 9.94762326e-01 1.02178750e-01 -2.72365264e-03 1.28573651e+02] [-1.02178757e-01 9.94766044e-01 1.37251937e-04 -3.39351629e-01] [ 2.72342139e-03 1.41766383e-04 9.99996281e-01 -6.14296616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.625898227 meters Centerline goodness [0,1] 0.9975974826721096 Centerline is valid? [True, True] Translation: X:128.60, Y:-0.35, Z:-0.61 [[ 9.94799567e-01 1.01839489e-01 -1.59361294e-03 1.28602092e+02] [-1.01839491e-01 9.94800840e-01 8.01898583e-05 -3.48916882e-01] [ 1.59349399e-03 8.25198937e-05 9.99998727e-01 -6.11046034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65589822699997 meters Centerline goodness [0,1] 0.9974079615619665 Centerline is valid? [True, True] Translation: X:128.63, Y:-0.35, Z:-0.61 [[ 9.94889567e-01 1.00969046e-01 2.31067772e-05 1.28631015e+02] [-1.00969046e-01 9.94889568e-01 -1.38531782e-06 -3.46515868e-01] [-2.31285658e-05 -9.54831004e-07 1.00000000e+00 -6.09043248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.685898227 meters Centerline goodness [0,1] 0.997825484469269 Centerline is valid? [True, True] Translation: X:128.66, Y:-0.35, Z:-0.61 [[ 9.94947178e-01 1.00399763e-01 -2.62286686e-05 1.28659926e+02] [-1.00399763e-01 9.94947178e-01 1.09864528e-06 -3.47561210e-01] [ 2.62064436e-05 1.54025810e-06 1.00000000e+00 -6.09419961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71589822699997 meters Centerline goodness [0,1] 0.9816808984982964 Centerline is valid? [True, True] Translation: X:128.69, Y:-0.33, Z:-0.61 [[ 9.94950222e-01 1.00369083e-01 3.20372683e-04 1.28687251e+02] [-1.00369083e-01 9.94950274e-01 -1.64955030e-05 -3.34781095e-01] [-3.20410528e-04 -1.57433082e-05 9.99999949e-01 -6.10956878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74589822699994 meters Centerline goodness [0,1] 0.9958813663673227 Centerline is valid? [True, True] Translation: X:128.72, Y:-0.34, Z:-0.61 [[ 9.94888080e-01 1.00981774e-01 6.23903791e-04 1.28716001e+02] [-1.00981774e-01 9.94888275e-01 -3.15575245e-05 -3.43311457e-01] [-6.23901301e-04 -3.16067068e-05 9.99999805e-01 -6.09564920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77589822699997 meters Centerline goodness [0,1] 0.9878082395097852 Centerline is valid? [True, True] Translation: X:128.75, Y:-0.34, Z:-0.61 [[ 9.94662508e-01 1.03164140e-01 1.91175353e-03 1.28745902e+02] [-1.03164145e-01 9.94664340e-01 -9.60623289e-05 -3.36013676e-01] [-1.91146326e-03 -1.01674823e-04 9.99998168e-01 -6.08140133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80589822699994 meters Centerline goodness [0,1] 0.9807108525170757 Centerline is valid? [True, True] Translation: X:128.77, Y:-0.33, Z:-0.61 [[ 9.94568732e-01 1.04066009e-01 1.81744960e-03 1.28774000e+02] [-1.04066015e-01 9.94570388e-01 -9.14334582e-05 -3.33704895e-01] [-1.81709667e-03 -9.81978788e-05 9.99998344e-01 -6.08131607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.835898227 meters Centerline goodness [0,1] 0.9290041650889814 Centerline is valid? [True, False] Translation: X:128.77, Y:-0.33, Z:-0.61 [[ 9.94977093e-01 1.00093188e-01 1.39230752e-03 1.28774193e+02] [-1.00084777e-01 9.94965457e-01 -5.17470457e-03 -3.28129247e-01] [-1.90325057e-03 5.00936373e-03 9.99985642e-01 -6.08048909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86589822699995 meters Centerline goodness [0,1] 0.8688850728765287 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.33, Z:-0.61 [[ 9.94992528e-01 9.99435384e-02 1.07605268e-03 1.28775895e+02] [-9.99359255e-02 9.94977742e-01 -5.66601204e-03 -3.25633138e-01] [-1.63692975e-03 5.53010332e-03 9.99983369e-01 -6.09035120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.895898227 meters Centerline goodness [0,1] 0.9823003235424729 Centerline is valid? [False, True] Translation: X:128.78, Y:-0.32, Z:-0.61 [[ 9.95001368e-01 9.98567494e-02 9.51989805e-04 1.28776533e+02] [-9.98494680e-02 9.94985062e-01 -5.89997971e-03 -3.24478293e-01] [-1.53636843e-03 5.77543221e-03 9.99982142e-01 -6.09408084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92589822699995 meters Centerline goodness [0,1] 0.945203476226289 Centerline is valid? [True, False] Translation: X:128.78, Y:-0.33, Z:-0.61 [[ 9.94576373e-01 1.04001823e-01 1.20762797e-03 1.28776963e+02] [-1.04000372e-01 9.94576525e-01 -1.20783933e-03 -3.27154174e-01] [-1.32669593e-03 1.07569471e-03 9.99998541e-01 -6.09363676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.955898227 meters Centerline goodness [0,1] 0.9158529158529158 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.33, Z:-0.61 [[ 9.94581655e-01 1.03949689e-01 1.33924088e-03 1.28776279e+02] [-1.03947824e-01 9.94581774e-01 -1.39430652e-03 -3.26198144e-01] [-1.47692230e-03 1.24754051e-03 9.99998131e-01 -6.08891996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98589822699995 meters Centerline goodness [0,1] 0.9084419810627532 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.33, Z:-0.61 [[ 9.94581932e-01 1.03946325e-01 1.39367674e-03 1.28775844e+02] [-1.03944240e-01 9.94582005e-01 -1.49325830e-03 -3.25639231e-01] [-1.54134452e-03 1.34030305e-03 9.99997914e-01 -6.08448081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.015898227 meters Centerline goodness [0,1] 0.8267042444533915 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.32, Z:-0.61 [[ 9.94582851e-01 1.03936074e-01 1.49835610e-03 1.28775397e+02] [-1.03933522e-01 9.94582809e-01 -1.69099098e-03 -3.24517001e-01] [-1.66599419e-03 1.52610120e-03 9.99997448e-01 -6.08187486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04589822699995 meters Centerline goodness [0,1] 0.7928767352750267 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.32, Z:-0.61 [[ 9.94585811e-01 1.03910036e-01 1.32992192e-03 1.28776074e+02] [-1.03907456e-01 9.94585191e-01 -1.88099609e-03 -3.23453901e-01] [-1.51817501e-03 1.73262322e-03 9.99997347e-01 -6.08385016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.075898227 meters Centerline goodness [0,1] 0.7730809183608573 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.32, Z:-0.61 [[ 9.94593906e-01 1.03833833e-01 1.22352215e-03 1.28776766e+02] [-1.03831055e-01 9.94592626e-01 -2.14965180e-03 -3.22119377e-01] [-1.44011270e-03 2.01099098e-03 9.99996941e-01 -6.08930211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10589822699995 meters Centerline goodness [0,1] 0.7037303029022854 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.32, Z:-0.61 [[ 9.94605554e-01 1.03724182e-01 1.04228353e-03 1.28778168e+02] [-1.03720589e-01 9.94601788e-01 -3.05335753e-03 -3.17173975e-01] [-1.35336407e-03 2.92878010e-03 9.99994795e-01 -6.10043614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.135898227 meters Centerline goodness [0,1] 0.678849407783418 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.31, Z:-0.61 [[ 9.94631489e-01 1.03476313e-01 9.23743638e-04 1.28778780e+02] [-1.03472163e-01 9.94625219e-01 -3.76645547e-03 -3.13652246e-01] [-1.30851764e-03 3.65065346e-03 9.99992480e-01 -6.10326130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16589822699996 meters Centerline goodness [0,1] 0.662523020257827 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.31, Z:-0.61 [[ 9.94655482e-01 1.03247124e-01 7.08941569e-04 1.28779765e+02] [-1.03242995e-01 9.94646229e-01 -4.44547597e-03 -3.10228830e-01] [-1.16412867e-03 4.34852380e-03 9.99989868e-01 -6.10688991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.195898227 meters Centerline goodness [0,1] 0.6543041922183386 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.31, Z:-0.61 [[ 9.94679714e-01 1.03014126e-01 5.97778929e-04 1.28780362e+02] [-1.03009894e-01 9.94667811e-01 -4.99076099e-03 -3.07641612e-01] [-1.10871034e-03 4.90263156e-03 9.99987367e-01 -6.10980003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22589822699996 meters Centerline goodness [0,1] 0.6394489034949125 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.30, Z:-0.61 [[ 9.94735582e-01 1.02474777e-01 2.03050265e-04 1.28782150e+02] [-1.02471634e-01 9.94717172e-01 -6.10836208e-03 -3.02397893e-01] [-8.27930628e-04 6.05539822e-03 9.99981323e-01 -6.11621612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.255898227 meters Centerline goodness [0,1] 0.811162632407368 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.30, Z:-0.61 [[ 9.94768311e-01 1.02156782e-01 -1.29508003e-05 1.28783133e+02] [-1.02154524e-01 9.94745469e-01 -6.77528159e-03 -2.99285055e-01] [-6.79258212e-04 6.74115840e-03 9.99977047e-01 -6.12004050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28589822699996 meters Centerline goodness [0,1] 0.6431433426335773 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.30, Z:-0.61 [[ 9.94798854e-01 1.01858739e-01 -1.94393395e-04 1.28783704e+02] [-1.01857421e-01 9.94771985e-01 -7.33241112e-03 -2.96657651e-01] [-5.53493047e-04 7.31407459e-03 9.99973099e-01 -6.11910556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.315898227 meters Centerline goodness [0,1] 0.7138288695798531 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.29, Z:-0.62 [[ 9.95511140e-01 9.44316621e-02 6.34288763e-03 1.28784303e+02] [-9.44463431e-02 9.95527831e-01 2.05566954e-03 -2.94086173e-01] [-6.12040087e-03 -2.64550446e-03 9.99977771e-01 -6.15206219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34589822699996 meters Centerline goodness [0,1] 0.8082002842096464 Centerline is valid? [False, False] Translation: X:128.78, Y:-0.30, Z:-0.61 [[ 9.95542245e-01 9.41085158e-02 6.26297376e-03 1.28783724e+02] [-9.41233636e-02 9.95558286e-01 2.11912871e-03 -2.95156606e-01] [-6.03572737e-03 -2.69917431e-03 9.99978142e-01 -6.13956544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.375898227 meters Centerline goodness [0,1] 0.9909364288267828 Centerline is valid? [False, True] Translation: X:128.78, Y:-0.29, Z:-0.61 [[ 9.95962068e-01 8.95835078e-02 5.86126843e-03 1.28783221e+02] [-8.95687698e-02 9.95976896e-01 -2.73095094e-03 -2.92563772e-01] [-6.08233610e-03 2.19493694e-03 9.99979094e-01 -6.12971220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40589822699997 meters Centerline goodness [0,1] 0.9990914661201378 Centerline is valid? [True, True] Translation: X:128.81, Y:-0.31, Z:-0.62 [[ 9.96682449e-01 8.13114799e-02 3.54104115e-03 1.28813472e+02] [-8.13115266e-02 9.96688727e-01 -1.30989853e-04 -3.08117542e-01] [-3.53996677e-03 -1.57372174e-04 9.99993722e-01 -6.17684794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.435898227 meters Centerline goodness [0,1] 0.9986343390200857 Centerline is valid? [True, True] Translation: X:128.84, Y:-0.31, Z:-0.62 [[ 9.96947034e-01 7.80383818e-02 2.57353577e-03 1.28842796e+02] [-7.80383948e-02 9.96950350e-01 -9.55110239e-05 -3.06082295e-01] [-2.57314091e-03 -1.05615168e-04 9.99996684e-01 -6.22615026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46589822699997 meters Centerline goodness [0,1] 0.9995543104546033 Centerline is valid? [True, True] Translation: X:128.87, Y:-0.33, Z:-0.62 [[ 9.97311332e-01 7.31567292e-02 4.26623562e-03 1.28872016e+02] [-7.31567223e-02 9.97320445e-01 -1.57865805e-04 -3.29238318e-01] [-4.26635295e-03 -1.54662458e-04 9.99990887e-01 -6.17181618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49589822699994 meters Centerline goodness [0,1] 0.9990164277492937 Centerline is valid? [True, True] Translation: X:128.90, Y:-0.32, Z:-0.62 [[ 9.97380482e-01 7.20258078e-02 6.66759636e-03 1.28900659e+02] [-7.20257643e-02 9.97402741e-01 -2.46960091e-04 -3.23048703e-01] [-6.66806638e-03 -2.33925549e-04 9.99977741e-01 -6.15374007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.52589822699997 meters Centerline goodness [0,1] 0.998912429673938 Centerline is valid? [True, True] Translation: X:128.93, Y:-0.33, Z:-0.61 [[ 9.97341934e-01 7.23453852e-02 8.67250877e-03 1.28929451e+02] [-7.23453289e-02 9.97379592e-01 -3.20613206e-04 -3.26978296e-01] [-8.67297814e-03 -3.07654504e-04 9.99962342e-01 -6.10585659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55589822699994 meters Centerline goodness [0,1] 0.9990185022762395 Centerline is valid? [True, True] Translation: X:128.96, Y:-0.33, Z:-0.61 [[ 9.97221650e-01 7.37978776e-02 1.01416495e-02 1.28958238e+02] [-7.37978810e-02 9.97273148e-01 -3.74403810e-04 -3.34937550e-01] [-1.01416250e-02 -3.75068660e-04 9.99948502e-01 -6.07788316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.585898227 meters Centerline goodness [0,1] 0.998258727597044 Centerline is valid? [True, True] Translation: X:128.99, Y:-0.33, Z:-0.61 [[ 9.96799023e-01 7.92177034e-02 1.07825616e-02 1.28988446e+02] [-7.92180300e-02 9.96857234e-01 -3.97476308e-04 -3.33421151e-01] [-1.07801616e-02 -4.57969289e-04 9.99941787e-01 -6.06275357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61589822699995 meters Centerline goodness [0,1] 0.9948671370030839 Centerline is valid? [True, True] Translation: X:129.02, Y:-0.33, Z:-0.61 [[ 9.96521511e-01 8.27446534e-02 9.90956656e-03 1.29017481e+02] [-8.27451043e-02 9.96570677e-01 -3.65188703e-04 -3.26776110e-01] [-9.90580087e-03 -4.56049721e-04 9.99950832e-01 -6.08449269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.645898227 meters Centerline goodness [0,1] 0.9887899003546698 Centerline is valid? [True, True] Translation: X:129.05, Y:-0.32, Z:-0.62 [[ 9.95996089e-01 8.91792641e-02 6.23289659e-03 1.29047496e+02] [-8.91795684e-02 9.96015538e-01 -2.29646019e-04 -3.22592907e-01] [-6.22854151e-03 -3.27120491e-04 9.99980549e-01 -6.15543104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67589822699995 meters Centerline goodness [0,1] 0.994413407821229 Centerline is valid? [True, True] Translation: X:129.08, Y:-0.33, Z:-0.62 [[ 9.95788551e-01 9.15563085e-02 4.75430926e-03 1.29077346e+02] [-9.15565124e-02 9.95799867e-01 -1.75207202e-04 -3.28135515e-01] [-4.75038185e-03 -2.60818649e-04 9.99988683e-01 -6.17190289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.705898227 meters Centerline goodness [0,1] 0.9604178465798251 Centerline is valid? [True, True] Translation: X:129.11, Y:-0.32, Z:-0.62 [[ 9.95563127e-01 9.39722478e-02 4.82450840e-03 1.29107259e+02] [-9.39724862e-02 9.95574779e-01 -1.77760190e-04 -3.22022616e-01] [-4.81986341e-03 -2.76399558e-04 9.99988346e-01 -6.18312624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73589822699995 meters Centerline goodness [0,1] 0.9100346020761245 Centerline is valid? [True, False] Translation: X:129.11, Y:-0.32, Z:-0.62 [[ 9.95877359e-01 9.05844396e-02 4.76909160e-03 1.29106014e+02] [-9.05660808e-02 9.95882676e-01 -3.93465543e-03 -3.22899541e-01] [-5.10587426e-03 3.48651632e-03 9.99980887e-01 -6.17798063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.765898227 meters Centerline goodness [0,1] 0.8936246267715211 Centerline is valid? [False, False] Translation: X:129.11, Y:-0.33, Z:-0.62 [[ 9.95848174e-01 9.08964982e-02 4.92353986e-03 1.29105377e+02] [-9.08817775e-02 9.95856751e-01 -3.13582048e-03 -3.26835199e-01] [-5.18817551e-03 2.67534104e-03 9.99982963e-01 -6.17739769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79589822699995 meters Centerline goodness [0,1] 0.8848978221644077 Centerline is valid? [False, False] Translation: X:129.10, Y:-0.33, Z:-0.62 [[ 9.96212346e-01 8.68242687e-02 4.74433580e-03 1.29104401e+02] [-8.67875501e-02 9.96198882e-01 -7.46375874e-03 -3.26170832e-01] [-5.37433742e-03 7.02373932e-03 9.99960891e-01 -6.17154023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.825898227 meters Centerline goodness [0,1] 0.9275926666526342 Centerline is valid? [False, False] Translation: X:129.10, Y:-0.33, Z:-0.62 [[ 9.96194229e-01 8.70309894e-02 4.76088102e-03 1.29104201e+02] [-8.69981214e-02 9.96185789e-01 -6.72320719e-03 -3.29997932e-01] [-5.32784939e-03 6.28343249e-03 9.99966066e-01 -6.17099883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85589822699995 meters Centerline goodness [0,1] 0.9706371424361699 Centerline is valid? [False, True] Translation: X:129.11, Y:-0.34, Z:-0.62 [[ 9.96610077e-01 8.22681833e-02 5.48868743e-04 1.29105151e+02] [-8.22699302e-02 9.96577350e-01 8.07736055e-03 -3.40421990e-01] [ 1.17519621e-04 -8.09513431e-03 9.99967227e-01 -6.16112371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.885898227 meters Centerline goodness [0,1] 0.9711308326096626 Centerline is valid? [True, True] Translation: X:129.13, Y:-0.34, Z:-0.62 [[ 9.96632550e-01 8.19901730e-02 -1.08226318e-03 1.29134271e+02] [-8.19901887e-02 9.96633136e-01 2.99355780e-05 -3.40730338e-01] [ 1.08107377e-03 5.89001911e-05 9.99999414e-01 -6.17168356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91589822699996 meters Centerline goodness [0,1] 0.9927494631200697 Centerline is valid? [True, True] Translation: X:129.16, Y:-0.36, Z:-0.62 [[ 9.96545069e-01 8.29922224e-02 -3.19620425e-03 1.29163625e+02] [-8.29923637e-02 9.96550179e-01 8.86414462e-05 -3.56537579e-01] [ 3.19253446e-03 1.76925349e-04 9.99994888e-01 -6.18305985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.945898227 meters Centerline goodness [0,1] 0.9939639987970958 Centerline is valid? [True, True] Translation: X:129.19, Y:-0.36, Z:-0.62 [[ 9.96470424e-01 8.38706668e-02 -3.52213223e-03 1.29192473e+02] [-8.38708435e-02 9.96476629e-01 9.77465428e-05 -3.62454620e-01] [ 3.51792052e-03 1.98002662e-04 9.99993792e-01 -6.17898138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97589822699996 meters Centerline goodness [0,1] 0.9315463050562388 Centerline is valid? [True, False] Translation: X:129.22, Y:-0.37, Z:-0.62 [[ 9.96509859e-01 8.34711448e-02 8.18379019e-04 1.29216298e+02] [-8.34751522e-02 9.96458755e-01 1.00919709e-02 -3.70069546e-01] [ 2.69074257e-05 -1.01250628e-02 9.99948740e-01 -6.23581512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.005898227 meters Centerline goodness [0,1] 0.8838515672311901 Centerline is valid? [False, False] Translation: X:129.21, Y:-0.37, Z:-0.62 [[ 9.96801154e-01 7.99178068e-02 7.77109708e-04 1.29214890e+02] [-7.99212265e-02 9.96778684e-01 6.69725429e-03 -3.73718555e-01] [-2.39376517e-04 -6.73793837e-03 9.99977271e-01 -6.22924047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03589822699996 meters Centerline goodness [0,1] 0.9884289404581457 Centerline is valid? [False, True] Translation: X:129.15, Y:-0.38, Z:-0.62 [[ 9.97021322e-01 7.71258761e-02 -2.87955572e-04 1.29148865e+02] [-7.71156523e-02 9.96937627e-01 1.29824136e-02 -3.77691845e-01] [ 1.28835377e-03 -1.29215373e-02 9.99915683e-01 -6.21046230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.065898227 meters Centerline goodness [0,1] 0.9695979422740402 Centerline is valid? [True, True] Translation: X:129.18, Y:-0.37, Z:-0.62 [[ 9.96988409e-01 7.75504925e-02 1.81322434e-04 1.29176674e+02] [-7.75504930e-02 9.96988426e-01 -4.07629858e-06 -3.71490223e-01] [-1.81092487e-04 -9.99762172e-06 9.99999984e-01 -6.19105322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09589822699996 meters Centerline goodness [0,1] 0.8041828691539674 Centerline is valid? [True, False] Translation: X:129.17, Y:-0.37, Z:-0.62 [[ 9.97246757e-01 7.41535860e-02 3.89877073e-04 1.29174987e+02] [-7.41517316e-02 9.97240584e-01 -3.56921523e-03 -3.73570081e-01] [-6.53471349e-04 3.53047825e-03 9.99993554e-01 -6.18987332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.125898227 meters Centerline goodness [0,1] 0.953985261731323 Centerline is valid? [False, True] Translation: X:129.18, Y:-0.37, Z:-0.62 [[ 9.97232764e-01 7.43415540e-02 3.83811620e-04 1.29175102e+02] [-7.43399190e-02 9.97227643e-01 -3.25630071e-03 -3.74978579e-01] [-6.24826013e-04 3.21875723e-03 9.99994625e-01 -6.19170427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15589822699997 meters Centerline goodness [0,1] 0.9356576795672774 Centerline is valid? [True, False] Translation: X:129.18, Y:-0.38, Z:-0.62 [[ 9.97219514e-01 7.45196338e-02 2.56961399e-04 1.29175755e+02] [-7.45185135e-02 9.97215000e-01 -3.03879030e-03 -3.75805116e-01] [-4.82695302e-04 3.01119260e-03 9.99995350e-01 -6.19590533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.185898227 meters Centerline goodness [0,1] 0.8221640230637632 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.38, Z:-0.62 [[ 9.97176361e-01 7.50943098e-02 3.86559816e-04 1.29175652e+02] [-7.50929831e-02 9.97172798e-01 -2.73028313e-03 -3.76201342e-01] [-5.90495660e-04 2.69354586e-03 9.99996198e-01 -6.19961609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21589822699997 meters Centerline goodness [0,1] 0.7660655807425679 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.38, Z:-0.62 [[ 9.97161764e-01 7.52872556e-02 4.95019428e-04 1.29175531e+02] [-7.52855572e-02 9.97157962e-01 -2.84314005e-03 -3.75098991e-01] [-7.07664775e-04 2.79780273e-03 9.99995836e-01 -6.20261281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24589822699994 meters Centerline goodness [0,1] 0.6455677407038161 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.37, Z:-0.62 [[ 9.97152742e-01 7.54066258e-02 4.99260299e-04 1.29175798e+02] [-7.54046992e-02 9.97148065e-01 -3.14138694e-03 -3.73165859e-01] [-7.34717831e-04 3.09479603e-03 9.99994941e-01 -6.20663989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27589822699997 meters Centerline goodness [0,1] 0.5964174388317178 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.37, Z:-0.62 [[ 9.97149311e-01 7.54523001e-02 4.49195072e-04 1.29176231e+02] [-7.54501459e-02 9.97142772e-01 -3.68344210e-03 -3.69951542e-01] [-7.25835798e-04 3.63904992e-03 9.99993115e-01 -6.21064835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30589822699994 meters Centerline goodness [0,1] 0.46009548354387597 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.36, Z:-0.62 [[ 9.96815331e-01 7.97410074e-02 7.53589828e-04 1.29176899e+02] [-7.97407450e-02 9.96815567e-01 -3.72098515e-04 -3.64238605e-01] [-7.80861582e-04 3.10821690e-04 9.99999647e-01 -6.21856449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.335898227 meters Centerline goodness [0,1] 0.4146027865016968 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.36, Z:-0.62 [[ 9.96817118e-01 7.97173261e-02 8.83790913e-04 1.29176672e+02] [-7.97160026e-02 9.96816571e-01 -1.44347068e-03 -3.58181164e-01] [-9.96047049e-04 1.36842400e-03 9.99998568e-01 -6.21961775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.36589822699995 meters Centerline goodness [0,1] 0.4179358100214533 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.35, Z:-0.62 [[ 9.96832690e-01 7.95220098e-02 9.15171110e-04 1.29176815e+02] [-7.95194736e-02 9.96830086e-01 -2.53620812e-03 -3.52342040e-01] [-1.11395446e-03 2.45540123e-03 9.99996365e-01 -6.22276752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.395898227 meters Centerline goodness [0,1] 0.394112282338968 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.35, Z:-0.62 [[ 9.96855608e-01 7.92351224e-02 8.31547786e-04 1.29177330e+02] [-7.92316361e-02 9.96849680e-01 -3.61443788e-03 -3.46835792e-01] [-1.11531857e-03 3.53718778e-03 9.99993122e-01 -6.22613389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42589822699995 meters Centerline goodness [0,1] 0.39008282013166273 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.34, Z:-0.62 [[ 9.96920528e-01 7.84154095e-02 6.95899150e-04 1.29177638e+02] [-7.84101867e-02 9.96904819e-01 -5.71179582e-03 -3.36675173e-01] [-1.14163802e-03 5.63964093e-03 9.99983445e-01 -6.22304806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.455898227 meters Centerline goodness [0,1] 0.4013085223893279 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.33, Z:-0.62 [[ 9.96960572e-01 7.79050443e-02 6.50172219e-04 1.29177542e+02] [-7.78988984e-02 9.96938342e-01 -6.76039661e-03 -3.31849493e-01] [-1.17485061e-03 6.68920117e-03 9.99976937e-01 -6.21814088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48589822699995 meters Centerline goodness [0,1] 0.4052902651491066 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.32, Z:-0.63 [[ 9.97377850e-01 7.21144155e-02 6.07737363e-03 1.29181652e+02] [-7.21348055e-02 9.97389742e-01 3.20516032e-03 -3.22725052e-01] [-5.83037186e-03 -3.63514608e-03 9.99976396e-01 -6.26351904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.515898227 meters Centerline goodness [0,1] 0.4052902651491066 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.32, Z:-0.63 [[ 9.97648576e-01 6.82745703e-02 5.99174251e-03 1.29181003e+02] [-6.82674044e-02 9.97666087e-01 -1.39267221e-03 -3.19394953e-01] [-6.07284240e-03 9.80356743e-04 9.99981080e-01 -6.26169112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54589822699995 meters Centerline goodness [0,1] 0.5038610447034929 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.31, Z:-0.63 [[ 9.97958776e-01 6.36187768e-02 5.56172330e-03 1.29181468e+02] [-6.35770387e-02 9.97949613e-01 -7.38440979e-03 -3.10247296e-01] [-6.02010674e-03 7.01573866e-03 9.99957268e-01 -6.25995357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.575898227 meters Centerline goodness [0,1] 0.6277868695670655 Centerline is valid? [False, False] Translation: X:129.18, Y:-0.31, Z:-0.63 [[ 9.97994052e-01 6.30786322e-02 5.38137480e-03 1.29181973e+02] [-6.30321662e-02 9.97976088e-01 -8.40671557e-03 -3.05636744e-01] [-5.90076750e-03 8.05065242e-03 9.99950183e-01 -6.25803167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60589822699995 meters Centerline goodness [0,1] 0.6581019302404334 Centerline is valid? [False, False] Translation: X:129.19, Y:-0.30, Z:-0.63 [[ 9.98366153e-01 5.59949593e-02 1.13836894e-02 1.29186908e+02] [-5.59939372e-02 9.98431025e-01 -4.08732599e-04 -2.95937925e-01] [-1.13887157e-02 -2.29352797e-04 9.99935120e-01 -6.29898051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.635898227 meters Centerline goodness [0,1] 0.6116258408427465 Centerline is valid? [False, False] Translation: X:129.19, Y:-0.29, Z:-0.63 [[ 9.98391427e-01 5.55527446e-02 1.13336560e-02 1.29186397e+02] [-5.55442399e-02 9.98455660e-01 -1.06403721e-03 -2.93223654e-01] [-1.13752632e-02 4.32806317e-04 9.99935206e-01 -6.28743354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66589822699996 meters Centerline goodness [0,1] 0.558650162098438 Centerline is valid? [False, False] Translation: X:129.19, Y:-0.29, Z:-0.63 [[ 9.98698358e-01 4.80927110e-02 1.69905834e-02 1.29193086e+02] [-4.82060001e-02 9.98817407e-01 6.32210405e-03 -2.86757079e-01] [-1.66664434e-02 -7.13292300e-03 9.99835662e-01 -6.33180446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.695898227 meters Centerline goodness [0,1] 0.7891799787007454 Centerline is valid? [False, False] Translation: X:129.19, Y:-0.29, Z:-0.63 [[ 9.98717843e-01 4.77841562e-02 1.67136089e-02 1.29194131e+02] [-4.78885484e-02 9.98835247e-01 5.90227781e-03 -2.85087076e-01] [-1.64121063e-02 -6.69510063e-03 9.99842897e-01 -6.33508991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72589822699996 meters Centerline goodness [0,1] 0.7755462793372236 Centerline is valid? [False, False] Translation: X:129.19, Y:-0.28, Z:-0.63 [[ 9.98934658e-01 4.31384226e-02 1.63898050e-02 1.29194407e+02] [-4.31506546e-02 9.99068499e-01 3.93247322e-04 -2.79197315e-01] [-1.63575738e-02 -1.10005919e-03 9.99865601e-01 -6.33284524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.755898227 meters Centerline goodness [0,1] 0.8800889021862244 Centerline is valid? [False, False] Translation: X:129.19, Y:-0.27, Z:-0.63 [[ 9.99122611e-01 3.86046496e-02 1.62385251e-02 1.29193970e+02] [-3.85294043e-02 9.99245347e-01 -4.92147589e-03 -2.74163655e-01] [-1.64162625e-02 4.29149714e-03 9.99856034e-01 -6.32569713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78589822699996 meters Centerline goodness [0,1] 0.923507187031682 Centerline is valid? [False, False] Translation: X:129.21, Y:-0.27, Z:-0.63 [[ 9.99263145e-01 3.39967980e-02 1.78153057e-02 1.29213866e+02] [-3.40314523e-02 9.99419408e-01 1.64557088e-03 -2.72634999e-01] [-1.77490181e-02 -2.25063906e-03 9.99839941e-01 -6.33062993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.815898227 meters Centerline goodness [0,1] 0.9690020323029201 Centerline is valid? [False, True] Translation: X:129.20, Y:-0.27, Z:-0.64 [[ 9.99304636e-01 2.93449929e-02 2.30025369e-02 1.29195375e+02] [-2.94158053e-02 9.99563489e-01 2.74609326e-03 -2.71061290e-01] [-2.29119120e-02 -3.42082188e-03 9.99731635e-01 -6.37860063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84589822699996 meters Centerline goodness [0,1] 0.945053092870386 Centerline is valid? [True, False] Translation: X:129.20, Y:-0.27, Z:-0.64 [[ 9.99313747e-01 2.92072659e-02 2.27809381e-02 1.29196270e+02] [-2.92740001e-02 9.99568040e-01 2.60135291e-03 -2.70497983e-01] [-2.26951192e-02 -3.26645691e-03 9.99737096e-01 -6.38217303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.875898227 meters Centerline goodness [0,1] 0.9666511490118075 Centerline is valid? [False, True] Translation: X:129.20, Y:-0.27, Z:-0.64 [[ 9.99321769e-01 2.91025218e-02 2.25620139e-02 1.29197407e+02] [-2.91651323e-02 9.99571602e-01 2.45089937e-03 -2.69881965e-01] [-2.24810210e-02 -3.10726122e-03 9.99742441e-01 -6.39001793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90589822699997 meters Centerline goodness [0,1] 0.9875467788654672 Centerline is valid? [True, True] Translation: X:129.23, Y:-0.27, Z:-0.64 [[ 9.99371721e-01 2.82764526e-02 2.13683248e-02 1.29229479e+02] [-2.82966853e-02 9.99599361e-01 6.45029228e-04 -2.72277787e-01] [-2.13415247e-02 -1.24927673e-03 9.99771463e-01 -6.42370436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.935898227 meters Centerline goodness [0,1] 0.9843307851501457 Centerline is valid? [True, True] Translation: X:129.26, Y:-0.27, Z:-0.64 [[ 9.99388681e-01 2.74669560e-02 2.16293776e-02 1.29260884e+02] [-2.74874014e-02 9.99621940e-01 6.48467784e-04 -2.71421892e-01] [-2.16033889e-02 -1.24260675e-03 9.99765847e-01 -6.43497513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96589822699997 meters Centerline goodness [0,1] 0.9799991569718428 Centerline is valid? [True, True] Translation: X:129.29, Y:-0.27, Z:-0.64 [[ 9.99420114e-01 2.58589733e-02 2.21528604e-02 1.29291304e+02] [-2.58799600e-02 9.99664839e-01 6.61139719e-04 -2.71125299e-01] [-2.21283393e-02 -1.23407147e-03 9.99754377e-01 -6.43965273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99589822699994 meters Centerline goodness [0,1] 0.9981923043815099 Centerline is valid? [True, True] Translation: X:129.32, Y:-0.29, Z:-0.64 [[ 9.99503020e-01 2.22931343e-02 2.22874337e-02 1.29322837e+02] [-2.23134846e-02 9.99750802e-01 6.64785349e-04 -2.86419113e-01] [-2.22670596e-02 -1.16176527e-03 9.99751383e-01 -6.42881003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.02589822699997 meters Centerline goodness [0,1] 0.9968659290732405 Centerline is valid? [True, True] Translation: X:129.35, Y:-0.28, Z:-0.65 [[ 9.99529346e-01 2.06183308e-02 2.27149990e-02 1.29353252e+02] [-2.06390427e-02 9.99786763e-01 6.77730816e-04 -2.82006316e-01] [-2.26961817e-02 -1.14622767e-03 9.99741751e-01 -6.45369115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05589822699994 meters Centerline goodness [0,1] 0.9980517967939352 Centerline is valid? [True, True] Translation: X:129.39, Y:-0.28, Z:-0.65 [[ 9.99553677e-01 1.92453986e-02 2.28486798e-02 1.29385077e+02] [-1.92659867e-02 9.99814162e-01 6.81255323e-04 -2.84730847e-01] [-2.28313226e-02 -1.12115363e-03 9.99738703e-01 -6.46222972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.085898227 meters Centerline goodness [0,1] 0.998905062475847 Centerline is valid? [True, True] Translation: X:129.42, Y:-0.29, Z:-0.65 [[ 9.99562500e-01 1.83565849e-02 2.31914872e-02 1.29417412e+02] [-1.83775659e-02 9.99830879e-01 6.91861638e-04 -2.90381320e-01] [-2.31748648e-02 -1.11776203e-03 9.99730802e-01 -6.46135090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11589822699995 meters Centerline goodness [0,1] 0.9978275542056864 Centerline is valid? [True, True] Translation: X:129.45, Y:-0.29, Z:-0.65 [[ 9.99558685e-01 1.80526779e-02 2.35910203e-02 1.29448262e+02] [-1.80742073e-02 9.99836403e-01 6.99689324e-04 -2.89774968e-01] [-2.35745297e-02 -1.12576953e-03 9.99721448e-01 -6.46541523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.145898227 meters Centerline goodness [0,1] 0.9987550641458474 Centerline is valid? [True, True] Translation: X:129.48, Y:-0.30, Z:-0.65 [[ 9.99550825e-01 1.76815939e-02 2.41972984e-02 1.29481204e+02] [-1.77040464e-02 9.99843016e-01 7.13964486e-04 -2.98839503e-01] [-2.41808758e-02 -1.14203388e-03 9.99706948e-01 -6.45251386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17589822699995 meters Centerline goodness [0,1] 0.9982697501688048 Centerline is valid? [True, True] Translation: X:129.51, Y:-0.30, Z:-0.65 [[ 9.99534654e-01 1.76603122e-02 2.48714286e-02 1.29511960e+02] [-1.76839180e-02 9.99843361e-01 7.29471080e-04 -2.96718048e-01] [-2.48546501e-02 -1.16895593e-03 9.99690392e-01 -6.45877118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.205898227 meters Centerline goodness [0,1] 0.998897323889902 Centerline is valid? [True, True] Translation: X:129.54, Y:-0.30, Z:-0.64 [[ 9.99499074e-01 1.83162397e-02 2.58092492e-02 1.29544540e+02] [-1.83417727e-02 9.99831492e-01 7.52892522e-04 -3.02185030e-01] [-2.57911100e-02 -1.22590276e-03 9.99666602e-01 -6.44615005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23589822699995 meters Centerline goodness [0,1] 0.9980694980694981 Centerline is valid? [True, True] Translation: X:129.58, Y:-0.30, Z:-0.64 [[ 9.99459427e-01 1.92964729e-02 2.66176641e-02 1.29575754e+02] [-1.93238541e-02 9.99812979e-01 7.71822382e-04 -3.01852533e-01] [-2.65977926e-02 -1.28576101e-03 9.99645389e-01 -6.44041350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.265898227 meters Centerline goodness [0,1] 0.9861287321322846 Centerline is valid? [True, True] Translation: X:129.61, Y:-0.30, Z:-0.64 [[ 9.99413341e-01 2.08326191e-02 2.71841093e-02 1.29606196e+02] [-2.08616112e-02 9.99782066e-01 7.83310070e-04 -2.95324824e-01] [-2.71618666e-02 -1.34995485e-03 9.99630137e-01 -6.44614813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29589822699995 meters Centerline goodness [0,1] 0.9951636982988834 Centerline is valid? [True, True] Translation: X:129.64, Y:-0.30, Z:-0.64 [[ 9.99379589e-01 2.25276274e-02 2.70729388e-02 1.29637522e+02] [-2.25569844e-02 9.99745255e-01 7.79417862e-04 -3.02072057e-01] [-2.70484837e-02 -1.38961816e-03 9.99633157e-01 -6.44724182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.325898227 meters Centerline goodness [0,1] 0.9873076112165297 Centerline is valid? [True, True] Translation: X:129.67, Y:-0.30, Z:-0.65 [[ 9.99368020e-01 2.56496247e-02 2.46101027e-02 1.29666892e+02] [-2.56748151e-02 9.99670097e-01 7.08094823e-04 -2.99473483e-01] [-2.45838214e-02 -1.33950716e-03 9.99696875e-01 -6.49652441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35589822699995 meters Centerline goodness [0,1] 0.9808988056505951 Centerline is valid? [True, True] Translation: X:129.70, Y:-0.30, Z:-0.65 [[ 9.99373309e-01 2.69392148e-02 2.29623010e-02 1.29698147e+02] [-2.69615222e-02 9.99636253e-01 6.62386132e-04 -2.98595574e-01] [-2.29361044e-02 -1.28106961e-03 9.99736112e-01 -6.53380514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.385898227 meters Centerline goodness [0,1] 0.9729044257513633 Centerline is valid? [True, True] Translation: X:129.73, Y:-0.30, Z:-0.66 [[ 9.99350280e-01 2.81987642e-02 2.24465442e-02 1.29729976e+02] [-2.82203246e-02 9.99601520e-01 6.44277973e-04 -2.97917961e-01] [-2.24194318e-02 -1.27730814e-03 9.99747837e-01 -6.55313812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41589822699996 meters Centerline goodness [0,1] 0.9553493333333334 Centerline is valid? [True, True] Translation: X:129.76, Y:-0.30, Z:-0.66 [[ 9.99307957e-01 2.94663661e-02 2.27010958e-02 1.29761596e+02] [-2.94886518e-02 9.99564905e-01 6.47501914e-04 -2.97848472e-01] [-2.26721391e-02 -1.31647852e-03 9.99742087e-01 -6.56066383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.445898227 meters Centerline goodness [0,1] 0.8875459251837008 Centerline is valid? [True, False] Translation: X:129.80, Y:-0.30, Z:-0.66 [[ 9.99259464e-01 3.01638608e-02 2.38885853e-02 1.29802992e+02] [-3.02201553e-02 9.99541268e-01 1.99896887e-03 -3.00463286e-01] [-2.38173302e-02 -2.71940532e-03 9.99712629e-01 -6.56038149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47589822699996 meters Centerline goodness [0,1] 0.9023549076444576 Centerline is valid? [False, False] Translation: X:129.76, Y:-0.30, Z:-0.66 [[ 9.99258285e-01 3.08611408e-02 2.30319115e-02 1.29760418e+02] [-3.09060726e-02 9.99521017e-01 1.59735738e-03 -3.01562674e-01] [-2.29715833e-02 -2.30799852e-03 9.99733454e-01 -6.55427393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.505898227 meters Centerline goodness [0,1] 0.8420382976016286 Centerline is valid? [False, False] Translation: X:129.76, Y:-0.30, Z:-0.66 [[ 9.99258075e-01 3.09211541e-02 2.29604467e-02 1.29760627e+02] [-3.09626471e-02 9.99519485e-01 1.45376393e-03 -3.00556474e-01] [-2.29044618e-02 -2.16360156e-03 9.99735317e-01 -6.55391858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53589822699996 meters Centerline goodness [0,1] 0.7137920800474857 Centerline is valid? [False, False] Translation: X:129.76, Y:-0.30, Z:-0.66 [[ 9.99247426e-01 3.12901232e-02 2.29239953e-02 1.29760827e+02] [-3.13282309e-02 9.99508299e-01 1.30501816e-03 -2.98861445e-01] [-2.28718894e-02 -2.02220426e-03 9.99736359e-01 -6.55528891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.565898227 meters Centerline goodness [0,1] 0.7126977069173601 Centerline is valid? [False, False] Translation: X:129.76, Y:-0.29, Z:-0.66 [[ 9.99345382e-01 2.79798669e-02 2.29332527e-02 1.29760585e+02] [-2.79109407e-02 9.99604900e-01 -3.32017184e-03 -2.94016341e-01] [-2.30170897e-02 2.67790974e-03 9.99731485e-01 -6.55603430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59589822699996 meters Centerline goodness [0,1] 0.7086935588536978 Centerline is valid? [False, False] Translation: X:129.77, Y:-0.29, Z:-0.66 [[ 9.99286667e-01 3.04179048e-02 2.23809957e-02 1.29765334e+02] [-3.04095141e-02 9.99537268e-01 -7.15228720e-04 -2.93782729e-01] [-2.23923950e-02 3.41233209e-05 9.99749258e-01 -6.58897812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.625898227 meters Centerline goodness [0,1] 0.7676098350875697 Centerline is valid? [False, False] Translation: X:129.72, Y:-0.29, Z:-0.66 [[ 9.99291249e-01 3.05463450e-02 2.19981853e-02 1.29721284e+02] [-3.05047766e-02 9.99532149e-01 -2.22280090e-03 -2.93144083e-01] [-2.20557919e-02 1.55017576e-03 9.99755540e-01 -6.57396518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65589822699997 meters Centerline goodness [0,1] 0.5075953900933359 Centerline is valid? [False, False] Translation: X:129.73, Y:-0.29, Z:-0.66 [[ 9.99239678e-01 3.26342506e-02 2.13324273e-02 1.29726503e+02] [-3.26401918e-02 9.99467165e-01 -6.97188678e-05 -2.93237685e-01] [-2.13233358e-02 -6.26628658e-04 9.99772435e-01 -6.60863179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.685898227 meters Centerline goodness [0,1] 0.6552793720459149 Centerline is valid? [False, False] Translation: X:129.73, Y:-0.29, Z:-0.66 [[ 9.99237390e-01 3.26584259e-02 2.14024516e-02 1.29726068e+02] [-3.26632146e-02 9.99466407e-01 -1.25886068e-04 -2.92867501e-01] [-2.13951427e-02 -5.73282805e-04 9.99770933e-01 -6.60500826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71589822699997 meters Centerline goodness [0,1] 0.5541894257333868 Centerline is valid? [False, False] Translation: X:129.73, Y:-0.29, Z:-0.66 [[ 9.99235357e-01 3.26563125e-02 2.15003995e-02 1.29725483e+02] [-3.26576891e-02 9.99466554e-01 -2.87183574e-04 -2.91990557e-01] [-2.14983085e-02 -4.15189380e-04 9.99768798e-01 -6.60047696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74589822699994 meters Centerline goodness [0,1] 0.472141193259323 Centerline is valid? [False, False] Translation: X:129.73, Y:-0.29, Z:-0.66 [[ 9.99234674e-01 3.26358361e-02 2.15631269e-02 1.29725113e+02] [-3.26331157e-02 9.99467284e-01 -4.78117498e-04 -2.90870901e-01] [-2.15672436e-02 -2.25920432e-04 9.99767374e-01 -6.59757177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77589822699997 meters Centerline goodness [0,1] 0.6304535773780655 Centerline is valid? [False, False] Translation: X:129.72, Y:-0.29, Z:-0.66 [[ 9.99229544e-01 3.27318239e-02 2.16551458e-02 1.29724726e+02] [-3.27302918e-02 9.99464130e-01 -4.25269566e-04 -2.90982509e-01] [-2.16574613e-02 -2.83837325e-04 9.99765409e-01 -6.59612988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80589822699994 meters Centerline goodness [0,1] 0.6123206751054853 Centerline is valid? [False, False] Translation: X:129.72, Y:-0.29, Z:-0.66 [[ 9.99223899e-01 3.29131910e-02 2.16407393e-02 1.29724940e+02] [-3.29227091e-02 9.99457897e-01 8.35975041e-05 -2.93560641e-01] [-2.16262563e-02 -7.96004389e-04 9.99765808e-01 -6.59936761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.835898227 meters Centerline goodness [0,1] 0.6349491196216696 Centerline is valid? [False, False] Translation: X:129.73, Y:-0.29, Z:-0.66 [[ 9.99352740e-01 2.88518090e-02 2.14866140e-02 1.29725168e+02] [-2.87653903e-02 9.99576854e-01 -4.32031175e-03 -2.92656795e-01] [-2.16021708e-02 3.69944454e-03 9.99759801e-01 -6.60215698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86589822699995 meters Centerline goodness [0,1] 0.6376687244951345 Centerline is valid? [False, False] Translation: X:129.73, Y:-0.30, Z:-0.66 [[ 9.99466890e-01 2.50187047e-02 2.09761745e-02 1.29727176e+02] [-2.48609767e-02 9.99660902e-01 -7.74678229e-03 -2.96781965e-01] [-2.11628760e-02 7.22116422e-03 9.99749962e-01 -6.61451315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.895898227 meters Centerline goodness [0,1] 0.6068056895900642 Centerline is valid? [False, False] Translation: X:129.71, Y:-0.30, Z:-0.67 [[ 9.99549419e-01 2.12314605e-02 2.12175569e-02 1.29710277e+02] [-2.12328165e-02 9.99774545e-01 -1.61394152e-04 -3.02468147e-01] [-2.12161999e-02 -2.89187061e-04 9.99774869e-01 -6.66542889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92589822699995 meters Centerline goodness [0,1] 0.6799259944495837 Centerline is valid? [False, False] Translation: X:129.71, Y:-0.31, Z:-0.67 [[ 9.99542336e-01 2.15260788e-02 2.12543427e-02 1.29710069e+02] [-2.15471546e-02 9.99767542e-01 7.63058009e-04 -3.07097211e-01] [-2.12329763e-02 -1.22067939e-03 9.99773810e-01 -6.66327460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.955898227 meters Centerline goodness [0,1] 0.7334548692076144 Centerline is valid? [False, False] Translation: X:129.71, Y:-0.31, Z:-0.67 [[ 9.99530834e-01 2.19831388e-02 2.13272902e-02 1.29710079e+02] [-2.20300606e-02 9.99755373e-01 1.96761080e-03 -3.12955169e-01] [-2.12788187e-02 -2.43652916e-03 9.99770611e-01 -6.66640035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98589822699995 meters Centerline goodness [0,1] 0.5565761647405636 Centerline is valid? [False, False] Translation: X:129.71, Y:-0.31, Z:-0.67 [[ 9.99528991e-01 2.21189768e-02 2.12731562e-02 1.29710468e+02] [-2.21708502e-02 9.99751763e-01 2.20566710e-03 -3.13987079e-01] [-2.12190883e-02 -2.67627217e-03 9.99771268e-01 -6.67038269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.015898227 meters Centerline goodness [0,1] 0.6029890220608299 Centerline is valid? [False, False] Translation: X:129.71, Y:-0.31, Z:-0.67 [[ 9.99528567e-01 2.22699962e-02 2.11350681e-02 1.29711134e+02] [-2.23241769e-02 9.99748067e-01 2.33104549e-03 -3.14280499e-01] [-2.10778311e-02 -2.80176956e-03 9.99773912e-01 -6.67480313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04589822699995 meters Centerline goodness [0,1] 0.6460218243457994 Centerline is valid? [False, False] Translation: X:129.71, Y:-0.32, Z:-0.67 [[ 9.99427001e-01 2.65036089e-02 2.10529835e-02 1.29711974e+02] [-2.66618800e-02 9.99618051e-01 7.27292904e-03 -3.17862751e-01] [-2.08521835e-02 -7.83007378e-03 9.99751907e-01 -6.67888174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.075898227 meters Centerline goodness [0,1] 0.5407366427644318 Centerline is valid? [False, False] Translation: X:129.71, Y:-0.31, Z:-0.67 [[ 9.99526028e-01 2.24379940e-02 2.10773727e-02 1.29711455e+02] [-2.24883473e-02 9.99744783e-01 2.15496235e-03 -3.12813281e-01] [-2.10236403e-02 -2.62793624e-03 9.99775525e-01 -6.67726001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10589822699995 meters Centerline goodness [0,1] 0.5379050681106692 Centerline is valid? [False, False] Translation: X:129.71, Y:-0.31, Z:-0.67 [[ 9.99529820e-01 2.23781171e-02 2.09608842e-02 1.29711732e+02] [-2.24295404e-02 9.99745958e-01 2.22139187e-03 -3.13415968e-01] [-2.09058486e-02 -2.69049041e-03 9.99777829e-01 -6.67582081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.135898227 meters Centerline goodness [0,1] 0.554741288278775 Centerline is valid? [False, False] Translation: X:129.71, Y:-0.31, Z:-0.67 [[ 9.99617656e-01 1.81056554e-02 2.08980307e-02 1.29711321e+02] [-1.80569406e-02 9.99833791e-01 -2.51743531e-03 -3.11049661e-01] [-2.09401371e-02 2.13911829e-03 9.99778443e-01 -6.67043257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16589822699996 meters Centerline goodness [0,1] 0.6024510317377186 Centerline is valid? [False, False] Translation: X:129.71, Y:-0.31, Z:-0.67 [[ 9.99624820e-01 1.79838011e-02 2.06592115e-02 1.29711916e+02] [-1.79448151e-02 9.99836834e-01 -2.07095081e-03 -3.13984215e-01] [-2.06930842e-02 1.69944810e-03 9.99784431e-01 -6.66834995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.195898227 meters Centerline goodness [0,1] 0.8946848324292502 Centerline is valid? [False, False] Translation: X:129.71, Y:-0.32, Z:-0.66 [[ 9.99861038e-01 6.27918953e-03 1.54426661e-02 1.29706993e+02] [-6.34334607e-03 9.99971439e-01 4.10903159e-03 -3.18765460e-01] [-1.54164237e-02 -4.20641877e-03 9.99872312e-01 -6.61646931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22589822699996 meters Centerline goodness [0,1] 0.9587345254470426 Centerline is valid? [False, True] Translation: X:129.69, Y:-0.32, Z:-0.66 [[ 9.99911356e-01 -3.37967725e-04 1.33103364e-02 1.29685745e+02] [ 2.22065411e-04 9.99962058e-01 8.70820778e-03 -3.22312678e-01] [-1.33127744e-02 -8.70448008e-03 9.99873493e-01 -6.60198164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.255898227 meters Centerline goodness [0,1] 0.999007119166825 Centerline is valid? [True, True] Translation: X:129.72, Y:-0.34, Z:-0.66 [[ 9.99804672e-01 -1.21688756e-02 1.55735575e-02 1.29717678e+02] [ 1.21557736e-02 9.99925678e-01 9.35684967e-04 -3.41064246e-01] [-1.55837863e-02 -7.46193563e-04 9.99878287e-01 -6.56205332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28589822699996 meters Centerline goodness [0,1] 0.9993416302085546 Centerline is valid? [True, True] Translation: X:129.75, Y:-0.35, Z:-0.66 [[ 9.99716506e-01 -1.73138559e-02 1.63443636e-02 1.29747546e+02] [ 1.73001156e-02 9.99849860e-01 9.81700162e-04 -3.45050107e-01] [-1.63589067e-02 -6.98662475e-04 9.99865940e-01 -6.56031963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.315898227 meters Centerline goodness [0,1] 0.9999360736431631 Centerline is valid? [True, True] Translation: X:129.78, Y:-0.36, Z:-0.66 [[ 9.99625874e-01 -2.18268631e-02 1.64833438e-02 1.29779081e+02] [ 2.18134957e-02 9.99761567e-01 9.90339675e-04 -3.57751831e-01] [-1.65010296e-02 -6.30409815e-04 9.99863650e-01 -6.55461973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34589822699996 meters Centerline goodness [0,1] 0.9996630160067397 Centerline is valid? [True, True] Translation: X:129.81, Y:-0.36, Z:-0.66 [[ 9.99546585e-01 -2.54436931e-02 1.61010384e-02 1.29809240e+02] [ 2.54314077e-02 9.99676101e-01 9.67338059e-04 -3.55736931e-01] [-1.61204359e-02 -5.57427382e-04 9.99869902e-01 -6.58713359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.375898227 meters Centerline goodness [0,1] 0.9999157344793445 Centerline is valid? [True, True] Translation: X:129.84, Y:-0.37, Z:-0.66 [[ 9.99468873e-01 -2.83917119e-02 1.59963108e-02 1.29841659e+02] [ 2.83799605e-02 9.99596746e-01 9.61202432e-04 -3.70199008e-01] [-1.60171504e-02 -5.06717243e-04 9.99871589e-01 -6.57916086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40589822699997 meters Centerline goodness [0,1] 0.9999157344793445 Centerline is valid? [True, True] Translation: X:129.87, Y:-0.37, Z:-0.66 [[ 9.99470866e-01 -2.83214898e-02 1.59963147e-02 1.29874130e+02] [ 2.83097304e-02 9.99598737e-01 9.61138061e-04 -3.68383401e-01] [-1.60171169e-02 -5.07778132e-04 9.99871589e-01 -6.58653743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.435898227 meters Centerline goodness [0,1] 0.9999163966976695 Centerline is valid? [True, True] Translation: X:129.90, Y:-0.37, Z:-0.66 [[ 9.99367897e-01 -3.15956158e-02 1.62948848e-02 1.29904426e+02] [ 3.15838734e-02 9.99500627e-01 9.77525884e-04 -3.69828150e-01] [-1.63176331e-02 -4.62252407e-04 9.99866752e-01 -6.61133722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46589822699997 meters Centerline goodness [0,1] 0.9999579275090982 Centerline is valid? [True, True] Translation: X:129.94, Y:-0.38, Z:-0.66 [[ 9.99330722e-01 -3.25489419e-02 1.66935736e-02 1.29937655e+02] [ 3.25367497e-02 9.99470038e-01 1.00150581e-03 -3.79053220e-01] [-1.67173246e-02 -4.57680902e-04 9.99860151e-01 -6.59858426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.97, Y:-0.39, Z:-0.66 [[ 9.99286042e-01 -3.36239881e-02 1.72288511e-02 1.29970544e+02] [ 3.36111793e-02 9.99434451e-01 1.03255908e-03 -3.87546371e-01] [-1.72538261e-02 -4.52739870e-04 9.99851039e-01 -6.58932733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.52589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.00, Y:-0.39, Z:-0.66 [[ 9.99231128e-01 -3.49296211e-02 1.78065885e-02 1.30003403e+02] [ 3.49161616e-02 9.99389676e-01 1.06630120e-03 -3.92279869e-01] [-1.78329662e-02 -4.43743634e-04 9.99840882e-01 -6.58688949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.03, Y:-0.40, Z:-0.66 [[ 9.99106332e-01 -3.78702438e-02 1.87718546e-02 1.30034240e+02] [ 3.78558248e-02 9.99282580e-01 1.12299731e-03 -4.01840573e-01] [-1.88009155e-02 -4.11369684e-04 9.99823163e-01 -6.58804354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.585898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.07, Y:-0.41, Z:-0.66 [[ 9.99030849e-01 -3.96880202e-02 1.90321657e-02 1.30065405e+02] [ 3.96735310e-02 9.99212047e-01 1.13841856e-03 -4.06395259e-01] [-1.90623508e-02 -3.82242050e-04 9.99818224e-01 -6.59431689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.10, Y:-0.41, Z:-0.66 [[ 9.98958287e-01 -4.16736497e-02 1.85915926e-02 1.30097554e+02] [ 4.16601783e-02 9.99131220e-01 1.11147622e-03 -4.12097272e-01] [-1.86217598e-02 -3.35789324e-04 9.99826544e-01 -6.61283014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.645898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.13, Y:-0.42, Z:-0.66 [[ 9.98866731e-01 -4.40759967e-02 1.79599861e-02 1.30129419e+02] [ 4.40638278e-02 9.99028142e-01 1.07291078e-03 -4.16249156e-01] [-1.79898212e-02 -2.80309145e-04 9.99838131e-01 -6.63776516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67589822699995 meters Centerline goodness [0,1] 0.9999786561939725 Centerline is valid? [True, True] Translation: X:130.16, Y:-0.42, Z:-0.66 [[ 9.98772089e-01 -4.61845408e-02 1.79248871e-02 1.30161839e+02] [ 4.61727738e-02 9.98932896e-01 1.06998299e-03 -4.23480886e-01] [-1.79551761e-02 -2.41027386e-04 9.99838764e-01 -6.63883969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.705898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.19, Y:-0.43, Z:-0.66 [[ 9.98666541e-01 -4.81669186e-02 1.85765498e-02 1.30193632e+02] [ 4.81546411e-02 9.98839278e-01 1.10792133e-03 -4.32510186e-01] [-1.86083527e-02 -2.11896877e-04 9.99826827e-01 -6.63576507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.23, Y:-0.44, Z:-0.66 [[ 9.98682558e-01 -4.79326607e-02 1.83196003e-02 1.30226071e+02] [ 4.79206918e-02 9.98850547e-01 1.09201397e-03 -4.35032328e-01] [-1.83508859e-02 -2.12687384e-04 9.99831586e-01 -6.64621914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.765898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.26, Y:-0.44, Z:-0.67 [[ 9.98738008e-01 -4.73474278e-02 1.67514894e-02 1.30258070e+02] [ 4.73373497e-02 9.98878461e-01 9.97850145e-04 -4.36266352e-01] [-1.67799476e-02 -2.03619755e-04 9.99859186e-01 -6.67691540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.29, Y:-0.44, Z:-0.67 [[ 9.98791706e-01 -4.67177161e-02 1.52506514e-02 1.30288741e+02] [ 4.67093017e-02 9.98908113e-01 9.07662990e-04 -4.36160607e-01] [-1.52764034e-02 -1.94218989e-04 9.99883290e-01 -6.71534585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.825898227 meters Centerline goodness [0,1] 0.9998733027852271 Centerline is valid? [True, True] Translation: X:130.32, Y:-0.44, Z:-0.67 [[ 9.98826984e-01 -4.56763760e-02 1.60724849e-02 1.30320493e+02] [ 4.56669019e-02 9.98956265e-01 9.56173147e-04 -4.38070935e-01] [-1.60993840e-02 -2.21070951e-04 9.99870372e-01 -6.72536817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.35, Y:-0.44, Z:-0.67 [[ 9.98826682e-01 -4.53470069e-02 1.69973108e-02 1.30351660e+02] [ 4.53363704e-02 9.98971267e-01 1.01077419e-03 -4.39978549e-01] [-1.70256606e-02 -2.38991853e-04 9.99855024e-01 -6.71187931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.885898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.38, Y:-0.44, Z:-0.67 [[ 9.98815250e-01 -4.52700905e-02 1.78525889e-02 1.30383958e+02] [ 4.52583501e-02 9.98974752e-01 1.06130955e-03 -4.42665745e-01] [-1.78823311e-02 -2.52073449e-04 9.99840067e-01 -6.70501528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91589822699996 meters Centerline goodness [0,1] 0.9999579672985582 Centerline is valid? [True, True] Translation: X:130.42, Y:-0.44, Z:-0.67 [[ 9.98798604e-01 -4.56740772e-02 1.77546228e-02 1.30415212e+02] [ 4.56625448e-02 9.98956365e-01 1.05460561e-03 -4.43959031e-01] [-1.77842616e-02 -2.42617354e-04 9.99841818e-01 -6.71889684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.945898227 meters Centerline goodness [0,1] 0.9999149026699288 Centerline is valid? [True, True] Translation: X:130.45, Y:-0.45, Z:-0.68 [[ 9.98750098e-01 -4.72302692e-02 1.63567698e-02 1.30445618e+02] [ 4.72207008e-02 9.98884009e-01 9.70919140e-04 -4.50940278e-01] [-1.63843725e-02 -1.97327454e-04 9.99865748e-01 -6.76048045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.48, Y:-0.45, Z:-0.68 [[ 9.98739821e-01 -4.73649789e-02 1.65930038e-02 1.30477137e+02] [ 4.73551526e-02 9.98877630e-01 9.84825130e-04 -4.53744253e-01] [-1.66210266e-02 -1.97819846e-04 9.99861842e-01 -6.75868733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.005898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.51, Y:-0.46, Z:-0.67 [[ 9.98777836e-01 -4.62951800e-02 1.73086831e-02 1.30507297e+02] [ 4.62843355e-02 9.98927778e-01 1.02681472e-03 -4.55638549e-01] [-1.73376609e-02 -2.24438892e-04 9.99849666e-01 -6.74216718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.54, Y:-0.45, Z:-0.67 [[ 9.98863312e-01 -4.45145516e-02 1.70451679e-02 1.30538282e+02] [ 4.45037779e-02 9.99008704e-01 1.01105125e-03 -4.52795977e-01] [-1.70732776e-02 -2.51327633e-04 9.99854209e-01 -6.74727435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.065898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.57, Y:-0.45, Z:-0.68 [[ 9.98982761e-01 -4.19111450e-02 1.66402736e-02 1.30569164e+02] [ 4.19005221e-02 9.99121300e-01 9.86669931e-04 -4.49492161e-01] [-1.66670042e-02 -2.88430102e-04 9.99861054e-01 -6.75687413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.60, Y:-0.44, Z:-0.68 [[ 9.99127076e-01 -3.84518215e-02 1.63261822e-02 1.30599809e+02] [ 3.84411392e-02 9.99260398e-01 9.67738270e-04 -4.41150591e-01] [-1.63513187e-02 -3.39296464e-04 9.99866251e-01 -6.76808866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.125898227 meters Centerline goodness [0,1] 0.9999158320006734 Centerline is valid? [True, True] Translation: X:130.63, Y:-0.43, Z:-0.67 [[ 9.99400589e-01 -2.95291807e-02 1.80690662e-02 1.30629851e+02] [ 2.95146536e-02 9.99563775e-01 1.07017732e-03 -4.26789174e-01] [-1.80927855e-02 -5.36233610e-04 9.99836168e-01 -6.74409445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15589822699997 meters Centerline goodness [0,1] 0.9998520178424202 Centerline is valid? [True, True] Translation: X:130.66, Y:-0.42, Z:-0.67 [[ 9.99499684e-01 -2.58697287e-02 1.81972421e-02 1.30660250e+02] [ 2.58543888e-02 9.99665138e-01 1.07777475e-03 -4.19209733e-01] [-1.82190303e-02 -6.06756953e-04 9.99833836e-01 -6.74884393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.185898227 meters Centerline goodness [0,1] 0.9995588327976302 Centerline is valid? [True, True] Translation: X:130.69, Y:-0.41, Z:-0.68 [[ 9.99564119e-01 -2.33479882e-02 1.80677615e-02 1.30690081e+02] [ 2.33324582e-02 9.99727189e-01 1.06989687e-03 -4.08195386e-01] [-1.80878123e-02 -6.47865237e-04 9.99836192e-01 -6.76252179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21589822699997 meters Centerline goodness [0,1] 0.9996215784383804 Centerline is valid? [True, True] Translation: X:130.72, Y:-0.41, Z:-0.68 [[ 9.99597348e-01 -2.22180696e-02 1.76493548e-02 1.30722157e+02] [ 2.22030752e-02 9.99752935e-01 1.04509579e-03 -4.07494155e-01] [-1.76682143e-02 -6.52805026e-04 9.99843692e-01 -6.76904173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24589822699994 meters Centerline goodness [0,1] 0.9997248793701854 Centerline is valid? [True, True] Translation: X:130.75, Y:-0.40, Z:-0.68 [[ 9.99612437e-01 -2.21867177e-02 1.68144386e-02 1.30754460e+02] [ 2.21731164e-02 9.99753651e-01 9.94928446e-04 -4.03839712e-01] [-1.68323706e-02 -6.21714344e-04 9.99858132e-01 -6.79863727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27589822699997 meters Centerline goodness [0,1] 0.9997230093963736 Centerline is valid? [True, True] Translation: X:130.78, Y:-0.40, Z:-0.68 [[ 9.99576191e-01 -2.37824691e-02 1.67878928e-02 1.30784150e+02] [ 2.37691519e-02 9.99716981e-01 9.92373410e-04 -3.98289993e-01] [-1.68067426e-02 -5.92918858e-04 9.99858581e-01 -6.81218287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30589822699994 meters Centerline goodness [0,1] 0.9998745714524626 Centerline is valid? [True, True] Translation: X:130.82, Y:-0.40, Z:-0.68 [[ 9.99513966e-01 -2.60833261e-02 1.70731395e-02 1.30815707e+02] [ 2.60698901e-02 9.99659613e-01 1.00909489e-03 -4.01801946e-01] [-1.70936486e-02 -5.63509565e-04 9.99853734e-01 -6.80756961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.335898227 meters Centerline goodness [0,1] 0.9999788131104472 Centerline is valid? [True, True] Translation: X:130.85, Y:-0.41, Z:-0.68 [[ 9.99332142e-01 -3.24847972e-02 1.67334125e-02 1.30846948e+02] [ 3.24727954e-02 9.99472131e-01 9.88521133e-04 -4.13125158e-01] [-1.67566914e-02 -4.44480262e-04 9.99859498e-01 -6.80445535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36589822699995 meters Centerline goodness [0,1] 0.9998111663624347 Centerline is valid? [True, True] Translation: X:130.88, Y:-0.41, Z:-0.68 [[ 9.99225983e-01 -3.57069675e-02 1.65059694e-02 1.30877575e+02] [ 3.56957271e-02 9.99362229e-01 9.75203530e-04 -4.13607495e-01] [-1.65302639e-02 -3.85256128e-04 9.99863292e-01 -6.82578614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.395898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.91, Y:-0.42, Z:-0.68 [[ 9.99129555e-01 -3.86059329e-02 1.58023715e-02 1.30908736e+02] [ 3.85959984e-02 9.99254461e-01 9.33273419e-04 -4.16067954e-01] [-1.58266201e-02 -3.22552752e-04 9.99874699e-01 -6.84093544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42589822699995 meters Centerline goodness [0,1] 0.9999789393875574 Centerline is valid? [True, True] Translation: X:130.94, Y:-0.42, Z:-0.68 [[ 9.99011169e-01 -4.15179524e-02 1.59041899e-02 1.30939392e+02] [ 4.15082656e-02 9.99137719e-01 9.38831154e-04 -4.18257147e-01] [-1.59294544e-02 -2.77747469e-04 9.99873080e-01 -6.84723927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.455898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.97, Y:-0.42, Z:-0.68 [[ 9.98794891e-01 -4.60276697e-02 1.70358323e-02 1.30969659e+02] [ 4.60172135e-02 9.98940141e-01 1.00547948e-03 -4.20489817e-01] [-1.70640566e-02 -2.20326237e-04 9.99854374e-01 -6.83620013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.00, Y:-0.42, Z:-0.68 [[ 9.98711381e-01 -4.75079846e-02 1.78485088e-02 1.31000801e+02] [ 4.74967510e-02 9.98870837e-01 1.05300849e-03 -4.21867223e-01] [-1.78783812e-02 -2.03905389e-04 9.99840148e-01 -6.81993554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.03, Y:-0.42, Z:-0.68 [[ 9.98659897e-01 -4.84420720e-02 1.82147106e-02 1.31030813e+02] [ 4.84305368e-02 9.98825976e-01 1.07412874e-03 -4.20092747e-01] [-1.82453592e-02 -1.90541078e-04 9.99833521e-01 -6.82943576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.06, Y:-0.42, Z:-0.68 [[ 9.98607953e-01 -4.98942754e-02 1.71089918e-02 1.31062410e+02] [ 4.98843134e-02 9.98754493e-01 1.00880800e-03 -4.21390099e-01] [-1.71380161e-02 -1.53933384e-04 9.99853122e-01 -6.84520681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.575898227 meters Centerline goodness [0,1] 0.9998536513976292 Centerline is valid? [True, True] Translation: X:131.09, Y:-0.42, Z:-0.69 [[ 9.98571237e-01 -5.07000938e-02 1.68815153e-02 1.31092417e+02] [ 5.06905177e-02 9.98713914e-01 9.94940387e-04 -4.19356061e-01] [-1.69102478e-02 -1.37786101e-04 9.99857002e-01 -6.85720763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60589822699995 meters Centerline goodness [0,1] 0.9999158727154184 Centerline is valid? [True, True] Translation: X:131.12, Y:-0.42, Z:-0.69 [[ 9.98502342e-01 -5.19295316e-02 1.72161756e-02 1.31123242e+02] [ 5.19197573e-02 9.98650745e-01 1.01452019e-03 -4.18563292e-01] [-1.72456301e-02 -1.19141123e-04 9.99851276e-01 -6.86284272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.635898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.15, Y:-0.42, Z:-0.69 [[ 9.98385370e-01 -5.39718947e-02 1.77112093e-02 1.31153542e+02] [ 5.39618810e-02 9.98542451e-01 1.04315492e-03 -4.20450292e-01] [-1.77416954e-02 -8.57404426e-05 9.99842600e-01 -6.85035793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.18, Y:-0.42, Z:-0.68 [[ 9.98200337e-01 -5.69943923e-02 1.86474096e-02 1.31184225e+02] [ 5.69838191e-02 9.98374498e-01 1.09829525e-03 -4.23154161e-01] [-1.86796948e-02 -3.37180749e-05 9.99825519e-01 -6.83583933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.695898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.22, Y:-0.43, Z:-0.68 [[ 9.97791164e-01 -6.31887413e-02 2.04933062e-02 1.31215195e+02] [ 6.31772764e-02 9.98001591e-01 1.20704046e-03 -4.29979758e-01] [-2.05286235e-02 9.03369653e-05 9.99789262e-01 -6.81557884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.24, Y:-0.43, Z:-0.68 [[ 9.97564037e-01 -6.65101143e-02 2.10332142e-02 1.31243818e+02] [ 6.64987823e-02 9.97785738e-01 1.23850672e-03 -4.33829165e-01] [-2.10690143e-02 1.63193366e-04 9.99778010e-01 -6.81932101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.755898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.27, Y:-0.44, Z:-0.68 [[ 9.97149389e-01 -7.25077516e-02 2.08739414e-02 1.31273603e+02] [ 7.24978880e-02 9.97367808e-01 1.22988327e-03 -4.39178988e-01] [-2.09081733e-02 2.86939310e-04 9.99781359e-01 -6.83237037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78589822699996 meters Centerline goodness [0,1] 0.9998722860791827 Centerline is valid? [True, True] Translation: X:131.30, Y:-0.44, Z:-0.68 [[ 9.96955582e-01 -7.51661182e-02 2.07273147e-02 1.31302348e+02] [ 7.51569625e-02 9.97170968e-01 1.22145460e-03 -4.40316412e-01] [-2.07604884e-02 3.40066029e-04 9.99784420e-01 -6.84032959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.815898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.33, Y:-0.44, Z:-0.68 [[ 9.96813009e-01 -7.70603633e-02 2.06282486e-02 1.31331259e+02] [ 7.70516315e-02 9.97026359e-01 1.21894332e-03 -4.38930688e-01] [-2.06608398e-02 3.74381655e-04 9.99786472e-01 -6.84074226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.36, Y:-0.44, Z:-0.69 [[ 9.96709936e-01 -7.85168892e-02 2.01097548e-02 1.31359422e+02] [ 7.85088145e-02 9.96912707e-01 1.19191488e-03 -4.42562120e-01] [-2.01412555e-02 3.90799609e-04 9.99797068e-01 -6.86076451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.39, Y:-0.44, Z:-0.69 [[ 9.96648013e-01 -7.95287710e-02 1.91810425e-02 1.31387721e+02] [ 7.95215908e-02 9.96832494e-01 1.13797816e-03 -4.44040137e-01] [-1.92107884e-02 3.91143343e-04 9.99815379e-01 -6.88334246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.42, Y:-0.44, Z:-0.69 [[ 9.96593116e-01 -8.04730003e-02 1.80625768e-02 1.31416803e+02] [ 8.04667795e-02 9.96756715e-01 1.07209726e-03 -4.41620893e-01] [-1.80902696e-02 3.84992633e-04 9.99836284e-01 -6.90286424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.935898227 meters Centerline goodness [0,1] 0.9999788690727749 Centerline is valid? [True, True] Translation: X:131.44, Y:-0.44, Z:-0.69 [[ 9.96547585e-01 -8.10508415e-02 1.79908870e-02 1.31444768e+02] [ 8.10447040e-02 9.96709892e-01 1.07117853e-03 -4.42098329e-01] [-1.80185150e-02 3.90585736e-04 9.99837577e-01 -6.91752522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.47, Y:-0.44, Z:-0.69 [[ 9.96495794e-01 -8.16470861e-02 1.81627667e-02 1.31473262e+02] [ 8.16409191e-02 9.96661221e-01 1.08199210e-03 -4.40197127e-01] [-1.81904668e-02 4.04624391e-04 9.99834458e-01 -6.92279999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99589822699994 meters Centerline goodness [0,1] 0.9998947124597275 Centerline is valid? [True, True] Translation: X:131.50, Y:-0.44, Z:-0.69 [[ 9.96470211e-01 -8.19195916e-02 1.83384679e-02 1.31501315e+02] [ 8.19132881e-02 9.96638858e-01 1.09587942e-03 -4.40597214e-01] [-1.83666037e-02 4.10153011e-04 9.99831236e-01 -6.93307026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.02589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.53, Y:-0.44, Z:-0.70 [[ 9.96636490e-01 -8.00872523e-02 1.73706398e-02 1.31529710e+02] [ 8.00813113e-02 9.96787793e-01 1.03844681e-03 -4.37497250e-01] [-1.73980081e-02 3.56109631e-04 9.99848580e-01 -6.95143160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.56, Y:-0.43, Z:-0.70 [[ 9.96772613e-01 -7.85335613e-02 1.66384125e-02 1.31558638e+02] [ 7.85278535e-02 9.96911421e-01 9.97113194e-04 -4.31270812e-01] [-1.66653303e-02 3.12683698e-04 9.99861075e-01 -6.96506513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.59, Y:-0.43, Z:-0.70 [[ 9.96926771e-01 -7.65870158e-02 1.64754837e-02 1.31586057e+02] [ 7.65811034e-02 9.97062863e-01 9.90384893e-04 -4.28133910e-01] [-1.65029436e-02 2.74369509e-04 9.99863780e-01 -6.97831991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.62, Y:-0.42, Z:-0.70 [[ 9.97100902e-01 -7.42707592e-02 1.65422463e-02 1.31615195e+02] [ 7.42644737e-02 9.97238085e-01 9.94782555e-04 -4.23300717e-01] [-1.65704413e-02 2.36602634e-04 9.99862673e-01 -6.97985421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.64, Y:-0.41, Z:-0.70 [[ 9.97545875e-01 -6.79475467e-02 1.68925702e-02 1.31642835e+02] [ 6.79400302e-02 9.97688886e-01 1.01910690e-03 -4.12574375e-01] [-1.69227754e-02 1.31075846e-04 9.99856791e-01 -6.97763623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.67, Y:-0.40, Z:-0.70 [[ 9.97799285e-01 -6.42110080e-02 1.65388216e-02 1.31671750e+02] [ 6.42032880e-02 9.97936342e-01 9.97868334e-04 -4.04916939e-01] [-1.65687653e-02 6.61744179e-05 9.99862726e-01 -6.98426853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.70, Y:-0.40, Z:-0.70 [[ 9.98041416e-01 -6.03964086e-02 1.62974007e-02 1.31700959e+02] [ 6.03883503e-02 9.98174471e-01 9.86567554e-04 -3.97223998e-01] [-1.63272344e-02 -4.62138739e-07 9.99866702e-01 -6.98483081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.73, Y:-0.39, Z:-0.70 [[ 9.98226320e-01 -5.71633845e-02 1.66301631e-02 1.31730589e+02] [ 5.71545382e-02 9.98364835e-01 1.00712893e-03 -3.90844291e-01] [-1.66605409e-02 -5.48533121e-05 9.99861202e-01 -6.99056585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.76, Y:-0.38, Z:-0.70 [[ 9.98480512e-01 -5.24394375e-02 1.69343713e-02 1.31761091e+02] [ 5.24295742e-02 9.98624097e-01 1.02618255e-03 -3.82847114e-01] [-1.69648836e-02 -1.36761400e-04 9.99856077e-01 -6.98638745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.79, Y:-0.38, Z:-0.70 [[ 9.98511581e-01 -5.16379514e-02 1.75540620e-02 1.31791486e+02] [ 5.16272331e-02 9.98665859e-01 1.06351237e-03 -3.79880189e-01] [-1.75855600e-02 -1.55661765e-04 9.99845350e-01 -6.98139524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.325898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.82, Y:-0.38, Z:-0.70 [[ 9.98512813e-01 -5.16141207e-02 1.75540710e-02 1.31822260e+02] [ 5.16034014e-02 9.98667091e-01 1.06336281e-03 -3.78060686e-01] [-1.75855576e-02 -1.55931613e-04 9.99845350e-01 -6.98838828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.85, Y:-0.38, Z:-0.70 [[ 9.98521343e-01 -5.12691644e-02 1.80720702e-02 1.31852797e+02] [ 5.12577557e-02 9.98684858e-01 1.09423747e-03 -3.75110620e-01] [-1.81044035e-02 -1.66285706e-04 9.99836088e-01 -6.98553684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.385898227 meters Centerline goodness [0,1] 0.99995783170634 Centerline is valid? [True, True] Translation: X:131.88, Y:-0.37, Z:-0.70 [[ 9.98522573e-01 -5.09454175e-02 1.89006834e-02 1.31883255e+02] [ 5.09328850e-02 9.98701423e-01 1.14417065e-03 -3.69937305e-01] [-1.89344296e-02 -1.79813885e-04 9.99820711e-01 -6.98339895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.91, Y:-0.36, Z:-0.70 [[ 9.98560816e-01 -5.00701918e-02 1.92164441e-02 1.31914351e+02] [ 5.00570786e-02 9.98745681e-01 1.16309510e-03 -3.64802071e-01] [-1.92505769e-02 -1.99502137e-04 9.99814671e-01 -6.97588052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.445898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.95, Y:-0.36, Z:-0.70 [[ 9.98605545e-01 -4.93159914e-02 1.88387445e-02 1.31945839e+02] [ 4.93032627e-02 9.98783204e-01 1.13979980e-03 -3.61092978e-01] [-1.88720319e-02 -2.09398833e-04 9.99821885e-01 -6.99096613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.98, Y:-0.36, Z:-0.70 [[ 9.98660346e-01 -4.83062511e-02 1.85477742e-02 1.31977205e+02] [ 4.82937455e-02 9.98832546e-01 1.12181411e-03 -3.57334281e-01] [-1.85803112e-02 -2.24569776e-04 9.99827346e-01 -7.00175786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.01, Y:-0.35, Z:-0.70 [[ 9.98795376e-01 -4.53295506e-02 1.87890598e-02 1.32008010e+02] [ 4.53162044e-02 9.98972048e-01 1.13568988e-03 -3.50678116e-01] [-1.88212259e-02 -2.82872922e-04 9.99822825e-01 -7.00509474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.04, Y:-0.35, Z:-0.70 [[ 9.98862130e-01 -4.38223658e-02 1.88160932e-02 1.32038719e+02] [ 4.38087213e-02 9.99039290e-01 1.13692714e-03 -3.46011377e-01] [-1.88478392e-02 -3.11324486e-04 9.99822315e-01 -7.01377852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.07, Y:-0.34, Z:-0.70 [[ 9.98912126e-01 -4.25761586e-02 1.90219871e-02 1.32071122e+02] [ 4.25620000e-02 9.99093167e-01 1.14873852e-03 -3.42701484e-01] [-1.90536462e-02 -3.37875018e-04 9.99818406e-01 -7.01858466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.10, Y:-0.34, Z:-0.70 [[ 9.98961982e-01 -4.13529214e-02 1.91021985e-02 1.32103064e+02] [ 4.13384365e-02 9.99144537e-01 1.15269555e-03 -3.39281093e-01] [-1.91335246e-02 -3.61844014e-04 9.99816872e-01 -7.01948155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.13, Y:-0.33, Z:-0.70 [[ 9.99088146e-01 -3.86025929e-02 1.82404932e-02 1.32133519e+02] [ 3.85889437e-02 9.99254564e-01 1.09980162e-03 -3.33113406e-01] [-1.82693513e-02 -3.94917401e-04 9.99833023e-01 -7.04149844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65589822699997 meters Centerline goodness [0,1] 0.9997893317603438 Centerline is valid? [True, True] Translation: X:132.17, Y:-0.33, Z:-0.71 [[ 9.99176614e-01 -3.66664991e-02 1.73684133e-02 1.32165090e+02] [ 3.66538371e-02 9.99327474e-01 1.04690567e-03 -3.29252122e-01] [-1.73951190e-02 -4.09424665e-04 9.99848610e-01 -7.06579414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.685898227 meters Centerline goodness [0,1] 0.9999575632837531 Centerline is valid? [True, True] Translation: X:132.20, Y:-0.33, Z:-0.71 [[ 9.99259129e-01 -3.46197018e-02 1.68128000e-02 1.32196727e+02] [ 3.46075558e-02 9.99400466e-01 1.01292256e-03 -3.25100294e-01] [-1.68377872e-02 -4.30322205e-04 9.99858142e-01 -7.07933372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71589822699997 meters Centerline goodness [0,1] 0.9998737267446755 Centerline is valid? [True, True] Translation: X:132.23, Y:-0.32, Z:-0.71 [[ 9.99394783e-01 -3.05176271e-02 1.66955508e-02 1.32227131e+02] [ 3.05050941e-02 9.99534106e-01 1.00489089e-03 -3.19186108e-01] [-1.67184393e-02 -4.94983361e-04 9.99860115e-01 -7.08494280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74589822699994 meters Centerline goodness [0,1] 0.9998945525866251 Centerline is valid? [True, True] Translation: X:132.26, Y:-0.31, Z:-0.71 [[ 9.99439108e-01 -2.89188184e-02 1.68870429e-02 1.32257571e+02] [ 2.89057649e-02 9.99581624e-01 1.01661378e-03 -3.14020462e-01] [-1.69093770e-02 -5.27910678e-04 9.99856887e-01 -7.09329644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77589822699997 meters Centerline goodness [0,1] 0.9996406907192527 Centerline is valid? [True, True] Translation: X:132.29, Y:-0.31, Z:-0.71 [[ 9.99484406e-01 -2.72008411e-02 1.70597808e-02 1.32288801e+02] [ 2.71872972e-02 9.99629831e-01 1.02537031e-03 -3.08976850e-01] [-1.70813567e-02 -5.61032308e-04 9.99853946e-01 -7.09837026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80589822699994 meters Centerline goodness [0,1] 0.9995127118644068 Centerline is valid? [True, True] Translation: X:132.32, Y:-0.30, Z:-0.71 [[ 9.99597623e-01 -2.35261625e-02 1.58464897e-02 1.32318113e+02] [ 2.35140269e-02 9.99723054e-01 9.51730766e-04 -3.00843798e-01] [-1.58644917e-02 -5.78733026e-04 9.99873984e-01 -7.12356772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.835898227 meters Centerline goodness [0,1] 0.999764902006882 Centerline is valid? [True, True] Translation: X:132.35, Y:-0.30, Z:-0.71 [[ 9.99664481e-01 -2.14911539e-02 1.44587527e-02 1.32349740e+02] [ 2.14808357e-02 9.99768883e-01 8.68575626e-04 -3.01859044e-01] [-1.44740777e-02 -5.57698112e-04 9.99895090e-01 -7.14248407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86589822699995 meters Centerline goodness [0,1] 0.9990089406207827 Centerline is valid? [True, True] Translation: X:132.38, Y:-0.29, Z:-0.72 [[ 9.99712799e-01 -1.96396909e-02 1.37332106e-02 1.32379223e+02] [ 1.96302107e-02 9.99806969e-01 8.24784656e-04 -2.90822601e-01] [-1.37467582e-02 -5.54961960e-04 9.99905355e-01 -7.17540712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.895898227 meters Centerline goodness [0,1] 0.9995360509500412 Centerline is valid? [True, True] Translation: X:132.41, Y:-0.29, Z:-0.72 [[ 9.99747825e-01 -1.79827117e-02 1.34502231e-02 1.32410876e+02] [ 1.79734742e-02 9.99838138e-01 8.07363901e-04 -2.87923800e-01] [-1.34625646e-02 -5.65413067e-04 9.99909216e-01 -7.17926235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92589822699995 meters Centerline goodness [0,1] 0.9984205871204145 Centerline is valid? [True, True] Translation: X:132.44, Y:-0.27, Z:-0.72 [[ 9.99777206e-01 -1.52967719e-02 1.45446803e-02 1.32440220e+02] [ 1.52856984e-02 9.99882786e-01 8.72216583e-04 -2.74668857e-01] [-1.45563175e-02 -6.49696662e-04 9.99893840e-01 -7.17790380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.955898227 meters Centerline goodness [0,1] 0.9964534515516149 Centerline is valid? [True, True] Translation: X:132.47, Y:-0.27, Z:-0.72 [[ 9.99782522e-01 -1.44860795e-02 1.50020819e-02 1.32470511e+02] [ 1.44742048e-02 9.99894838e-01 8.99816299e-04 -2.66790503e-01] [-1.50135390e-02 -6.82477403e-04 9.99887058e-01 -7.18387134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98589822699995 meters Centerline goodness [0,1] 0.9976298347176776 Centerline is valid? [True, True] Translation: X:132.50, Y:-0.26, Z:-0.72 [[ 9.99793476e-01 -1.37389404e-02 1.49748512e-02 1.32502068e+02] [ 1.37270289e-02 9.99905377e-01 8.97935397e-04 -2.64930151e-01] [-1.49857710e-02 -6.92189737e-04 9.99887467e-01 -7.18347594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.015898227 meters Centerline goodness [0,1] 0.9994291996110101 Centerline is valid? [True, True] Translation: X:132.53, Y:-0.27, Z:-0.72 [[ 9.99799437e-01 -1.39488236e-02 1.43706845e-02 1.32534802e+02] [ 1.39378805e-02 9.99902492e-01 8.61367767e-04 -2.67199199e-01] [-1.43812983e-02 -6.60898125e-04 9.99896365e-01 -7.17581770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04589822699995 meters Centerline goodness [0,1] 0.9992807429502232 Centerline is valid? [True, True] Translation: X:132.57, Y:-0.26, Z:-0.72 [[ 9.99787574e-01 -1.45370469e-02 1.46109962e-02 1.32565243e+02] [ 1.45258090e-02 9.99894112e-01 8.74976085e-04 -2.60872276e-01] [-1.46221686e-02 -6.62553677e-04 9.99892871e-01 -7.18390342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.075898227 meters Centerline goodness [0,1] 0.9975118083670715 Centerline is valid? [True, True] Translation: X:132.60, Y:-0.25, Z:-0.72 [[ 9.99756185e-01 -1.53843778e-02 1.58395529e-02 1.32595980e+02] [ 1.53712864e-02 9.99881405e-01 9.47924015e-04 -2.51309183e-01] [-1.58522577e-02 -7.04218593e-04 9.99874097e-01 -7.18351529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10589822699995 meters Centerline goodness [0,1] 0.9978960213764229 Centerline is valid? [True, True] Translation: X:132.63, Y:-0.25, Z:-0.72 [[ 9.99709102e-01 -1.69242462e-02 1.71837609e-02 1.32626590e+02] [ 1.69090776e-02 9.99856503e-01 1.02764823e-03 -2.48276918e-01] [-1.71986872e-02 -7.36787739e-04 9.99851820e-01 -7.17374699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.135898227 meters Centerline goodness [0,1] 0.9993222779930957 Centerline is valid? [True, True] Translation: X:132.66, Y:-0.26, Z:-0.72 [[ 9.99666286e-01 -1.87092060e-02 1.78124176e-02 1.32658770e+02] [ 1.86931959e-02 9.99824700e-01 1.06490348e-03 -2.56235728e-01] [-1.78292186e-02 -7.31577099e-04 9.99840779e-01 -7.16284084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16589822699996 meters Centerline goodness [0,1] 0.9990788619758411 Centerline is valid? [True, True] Translation: X:132.69, Y:-0.25, Z:-0.72 [[ 9.99583388e-01 -2.19972459e-02 1.86861245e-02 1.32688232e+02] [ 2.19802149e-02 9.99757783e-01 1.11633999e-03 -2.52058753e-01] [-1.87061548e-02 -7.05149879e-04 9.99824776e-01 -7.16395556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.195898227 meters Centerline goodness [0,1] 0.9994105014947998 Centerline is valid? [True, True] Translation: X:132.72, Y:-0.26, Z:-0.72 [[ 9.99554478e-01 -2.33200030e-02 1.86285559e-02 1.32721095e+02] [ 2.33033029e-02 9.99727822e-01 1.11307628e-03 -2.58280714e-01] [-1.86494425e-02 -6.78473501e-04 9.99825854e-01 -7.15888109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22589822699996 meters Centerline goodness [0,1] 0.9996392879119014 Centerline is valid? [True, True] Translation: X:132.75, Y:-0.26, Z:-0.72 [[ 9.99535062e-01 -2.41247376e-02 1.86455465e-02 1.32753799e+02] [ 2.41081612e-02 9.99708736e-01 1.11331944e-03 -2.57414207e-01] [-1.86669743e-02 -6.63291974e-04 9.99825537e-01 -7.16672619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.255898227 meters Centerline goodness [0,1] 0.9997018485390579 Centerline is valid? [True, True] Translation: X:132.79, Y:-0.26, Z:-0.71 [[ 9.99518078e-01 -2.37864121e-02 1.99453626e-02 1.32786683e+02] [ 2.37674005e-02 9.99716808e-01 1.18972316e-03 -2.61934850e-01] [-1.99680135e-02 -7.15100386e-04 9.99800364e-01 -7.14574783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28589822699996 meters Centerline goodness [0,1] 0.9996615833668224 Centerline is valid? [True, True] Translation: X:132.82, Y:-0.26, Z:-0.71 [[ 9.99522253e-01 -2.24149422e-02 2.12799502e-02 1.32817549e+02] [ 2.23930138e-02 9.99748441e-01 1.26823401e-03 -2.56201969e-01] [-2.13030244e-02 -7.91105900e-04 9.99772752e-01 -7.13337228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.315898227 meters Centerline goodness [0,1] 0.9991993257479983 Centerline is valid? [True, True] Translation: X:132.85, Y:-0.24, Z:-0.71 [[ 9.99566121e-01 -2.03618111e-02 2.12829840e-02 1.32847436e+02] [ 2.03394264e-02 9.99792329e-01 1.26772608e-03 -2.42766674e-01] [-2.13043773e-02 -8.34292353e-04 9.99772688e-01 -7.14530247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34589822699996 meters Centerline goodness [0,1] 0.9977013415806412 Centerline is valid? [True, True] Translation: X:132.88, Y:-0.23, Z:-0.72 [[ 9.99728048e-01 -1.47018328e-02 1.81021195e-02 1.32876478e+02] [ 1.46847415e-02 9.99891594e-01 1.07673259e-03 -2.28048458e-01] [-1.81159871e-02 -8.10614827e-04 9.99835563e-01 -7.22117211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.375898227 meters Centerline goodness [0,1] 0.9988799425178047 Centerline is valid? [True, True] Translation: X:132.91, Y:-0.23, Z:-0.72 [[ 9.99791170e-01 -1.19506988e-02 1.65769986e-02 1.32907205e+02] [ 1.19359891e-02 9.99928277e-01 9.86011311e-04 -2.30240351e-01] [-1.65875932e-02 -7.87942528e-04 9.99862106e-01 -7.24147750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40589822699997 meters Centerline goodness [0,1] 0.9983661170878689 Centerline is valid? [True, True] Translation: X:132.94, Y:-0.22, Z:-0.73 [[ 9.99819820e-01 -9.92649410e-03 1.61800246e-02 1.32936515e+02] [ 9.91222469e-03 9.99950410e-01 9.61873884e-04 -2.23591244e-01] [-1.61887703e-02 -8.01320534e-04 9.99868632e-01 -7.25699505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.435898227 meters Centerline goodness [0,1] 0.9983830475298924 Centerline is valid? [True, True] Translation: X:132.97, Y:-0.22, Z:-0.73 [[ 9.99823849e-01 -9.11661718e-03 1.64060691e-02 1.32968421e+02] [ 9.10183276e-03 9.99958102e-01 9.75599451e-04 -2.20657833e-01] [-1.64142759e-02 -8.26102301e-04 9.99864935e-01 -7.26299439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46589822699997 meters Centerline goodness [0,1] 0.976794930972263 Centerline is valid? [True, True] Translation: X:133.00, Y:-0.21, Z:-0.73 [[ 9.99819827e-01 -8.96455192e-03 1.67317417e-02 1.32999447e+02] [ 8.94916555e-03 9.99959461e-01 9.94239732e-04 -2.07229439e-01] [-1.67399764e-02 -8.44325470e-04 9.99859520e-01 -7.27907696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49589822699994 meters Centerline goodness [0,1] 0.979159233529918 Centerline is valid? [True, True] Translation: X:133.03, Y:-0.21, Z:-0.73 [[ 9.99814699e-01 -1.03064946e-02 1.62586591e-02 1.33030778e+02] [ 1.02921615e-02 9.99946569e-01 9.64997742e-04 -2.08255947e-01] [-1.62677361e-02 -7.97482182e-04 9.99867354e-01 -7.30221229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.52589822699997 meters Centerline goodness [0,1] 0.9974881734834847 Centerline is valid? [True, True] Translation: X:133.06, Y:-0.22, Z:-0.73 [[ 9.99825272e-01 -1.10589871e-02 1.50706618e-02 1.33063237e+02] [ 1.10467590e-02 9.99938583e-01 8.94386644e-04 -2.18645126e-01] [-1.50796272e-02 -7.27748400e-04 9.99886031e-01 -7.32061815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55589822699994 meters Centerline goodness [0,1] 0.9988337574215437 Centerline is valid? [True, True] Translation: X:133.10, Y:-0.22, Z:-0.74 [[ 9.99849844e-01 -1.11690921e-02 1.32492132e-02 1.33095943e+02] [ 1.11596572e-02 9.99937420e-01 7.85831495e-04 -2.24504544e-01] [-1.32571611e-02 -6.37856820e-04 9.99911917e-01 -7.35129743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.585898227 meters Centerline goodness [0,1] 0.9981846965699208 Centerline is valid? [True, True] Translation: X:133.13, Y:-0.22, Z:-0.74 [[ 9.99848887e-01 -1.08453487e-02 1.35860843e-02 1.33127004e+02] [ 1.08354085e-02 9.99940971e-01 8.05038984e-04 -2.20793935e-01] [-1.35940133e-02 -6.57706559e-04 9.99907381e-01 -7.35652674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61589822699995 meters Centerline goodness [0,1] 0.9989074941698006 Centerline is valid? [True, True] Translation: X:133.16, Y:-0.22, Z:-0.73 [[ 9.99848240e-01 -1.00223619e-02 1.42495205e-02 1.33158742e+02] [ 1.00113514e-02 9.99949529e-01 8.43813265e-04 -2.21526427e-01] [-1.42572584e-02 -7.01028251e-04 9.99898114e-01 -7.34397577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.645898227 meters Centerline goodness [0,1] 0.9517015430141619 Centerline is valid? [True, True] Translation: X:133.19, Y:-0.20, Z:-0.74 [[ 9.99857683e-01 -9.12942272e-03 1.41868457e-02 1.33188774e+02] [ 9.11842631e-03 9.99958074e-01 8.39605553e-04 -2.02832086e-01] [-1.41939160e-02 -7.10124356e-04 9.99899009e-01 -7.37686542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67589822699995 meters Centerline goodness [0,1] 0.9767510424125005 Centerline is valid? [True, True] Translation: X:133.22, Y:-0.21, Z:-0.74 [[ 9.99896221e-01 -6.98437446e-03 1.26002224e-02 1.33219970e+02] [ 6.97553786e-03 9.99975393e-01 7.45117728e-04 -2.11599572e-01] [-1.26051165e-02 -6.57147072e-04 9.99920336e-01 -7.39117135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.705898227 meters Centerline goodness [0,1] 0.9634430465539883 Centerline is valid? [True, True] Translation: X:133.25, Y:-0.21, Z:-0.74 [[ 9.99910696e-01 -5.41814853e-03 1.22165626e-02 1.33250003e+02] [ 5.40972690e-03 9.99985106e-01 7.22301235e-04 -2.06536286e-01] [-1.22202942e-02 -6.56148463e-04 9.99925114e-01 -7.40787337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73589822699995 meters Centerline goodness [0,1] 0.9548465793181771 Centerline is valid? [True, True] Translation: X:133.28, Y:-0.20, Z:-0.74 [[ 9.99909025e-01 -3.91146096e-03 1.29089596e-02 1.33280656e+02] [ 3.90193448e-03 9.99992096e-01 7.63078103e-04 -2.01222583e-01] [-1.29118424e-02 -7.12638768e-04 9.99916385e-01 -7.40714894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.765898227 meters Centerline goodness [0,1] 0.9854411950879858 Centerline is valid? [True, True] Translation: X:133.31, Y:-0.21, Z:-0.74 [[ 9.99893337e-01 -2.83938916e-03 1.43266389e-02 1.33313456e+02] [ 2.82754389e-03 9.99995644e-01 8.46988046e-04 -2.05860169e-01] [-1.43289814e-02 -8.06388504e-04 9.99897010e-01 -7.37870781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79589822699995 meters Centerline goodness [0,1] 0.9904306220095693 Centerline is valid? [True, True] Translation: X:133.35, Y:-0.20, Z:-0.73 [[ 9.99854685e-01 -1.52447665e-03 1.69789798e-02 1.33345106e+02] [ 1.50766336e-03 9.99998360e-01 1.00299733e-03 -2.03337951e-01] [-1.69804810e-02 -9.77252988e-04 9.99855344e-01 -7.33747588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.825898227 meters Centerline goodness [0,1] 0.9638475894897981 Centerline is valid? [True, True] Translation: X:133.38, Y:-0.19, Z:-0.73 [[ 9.99848879e-01 -1.35632303e-03 1.73314797e-02 1.33376382e+02] [ 1.33879407e-03 9.99998581e-01 1.02295646e-03 -1.94371111e-01] [-1.73328426e-02 -9.99598584e-04 9.99849275e-01 -7.34566361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85589822699995 meters Centerline goodness [0,1] 0.9895124001681379 Centerline is valid? [True, True] Translation: X:133.41, Y:-0.20, Z:-0.74 [[ 9.99852460e-01 -1.58550312e-03 1.71039058e-02 1.33409253e+02] [ 1.56852519e-03 9.99998264e-01 1.00600414e-03 -1.97424714e-01] [-1.71054711e-02 -9.79027803e-04 9.99853211e-01 -7.35027377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.885898227 meters Centerline goodness [0,1] 0.9731959195667688 Centerline is valid? [True, True] Translation: X:133.44, Y:-0.19, Z:-0.74 [[ 9.99846690e-01 -2.67648307e-03 1.73041591e-02 1.33438864e+02] [ 2.65928979e-03 9.99995947e-01 1.01652646e-03 -1.89550009e-01] [-1.73068097e-02 -9.70353844e-04 9.99849755e-01 -7.36301074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91589822699996 meters Centerline goodness [0,1] 0.9894436820437031 Centerline is valid? [True, True] Translation: X:133.47, Y:-0.19, Z:-0.74 [[ 9.99838789e-01 -3.91706134e-03 1.75229117e-02 1.33470528e+02] [ 3.89962304e-03 9.99991867e-01 1.02922967e-03 -1.92802274e-01] [-1.75268007e-02 -9.60731000e-04 9.99845932e-01 -7.36248568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.945898227 meters Centerline goodness [0,1] 0.9962904746934926 Centerline is valid? [True, True] Translation: X:133.50, Y:-0.20, Z:-0.74 [[ 9.99823099e-01 -5.86067527e-03 1.78724418e-02 1.33501704e+02] [ 5.84285216e-03 9.99982380e-01 1.04929481e-03 -1.97095803e-01] [-1.78782765e-02 -9.44683149e-04 9.99839725e-01 -7.36916769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97589822699996 meters Centerline goodness [0,1] 0.9990944318086092 Centerline is valid? [True, True] Translation: X:133.53, Y:-0.21, Z:-0.74 [[ 9.99766233e-01 -1.18170741e-02 1.81062434e-02 1.33532982e+02] [ 1.17997602e-02 9.99929816e-01 1.06277566e-03 -2.06303394e-01] [-1.81175316e-02 -8.48877884e-04 9.99835504e-01 -7.38234103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.005898227 meters Centerline goodness [0,1] 0.9992669542998366 Centerline is valid? [True, True] Translation: X:133.56, Y:-0.21, Z:-0.74 [[ 9.99729662e-01 -1.47780481e-02 1.79502939e-02 1.33564519e+02] [ 1.47615079e-02 9.99890488e-01 1.05359772e-03 -2.10447846e-01] [-1.79638982e-02 -7.88339485e-04 9.99838325e-01 -7.39646256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03589822699996 meters Centerline goodness [0,1] 0.9994336535637874 Centerline is valid? [True, True] Translation: X:133.59, Y:-0.21, Z:-0.74 [[ 9.99691902e-01 -1.73379784e-02 1.77622030e-02 1.33594277e+02] [ 1.73221920e-02 9.99849416e-01 1.04224030e-03 -2.12294311e-01] [-1.77775987e-02 -7.34238896e-04 9.99841696e-01 -7.40932163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.065898227 meters Centerline goodness [0,1] 0.9996635757690447 Centerline is valid? [True, True] Translation: X:133.63, Y:-0.22, Z:-0.74 [[ 9.99662197e-01 -1.96962707e-02 1.69572703e-02 1.33626507e+02] [ 1.96822126e-02 9.99805791e-01 9.95536032e-04 -2.20726892e-01] [-1.69735854e-02 -6.61443137e-04 9.99855720e-01 -7.41585127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09589822699996 meters Centerline goodness [0,1] 0.9996379820694649 Centerline is valid? [True, True] Translation: X:133.66, Y:-0.22, Z:-0.74 [[ 9.99675567e-01 -1.94461448e-02 1.64501840e-02 1.33658314e+02] [ 1.94328942e-02 9.99810698e-01 9.64980240e-04 -2.21460424e-01] [-1.64658351e-02 -6.44992482e-04 9.99864221e-01 -7.42823830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.125898227 meters Centerline goodness [0,1] 0.9996571085679996 Centerline is valid? [True, True] Translation: X:133.69, Y:-0.22, Z:-0.74 [[ 9.99697064e-01 -1.85754988e-02 1.61471842e-02 1.33689997e+02] [ 1.85626314e-02 9.99827252e-01 9.46406259e-04 -2.21604893e-01] [-1.61619748e-02 -6.46385329e-04 9.99869178e-01 -7.44038824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15589822699997 meters Centerline goodness [0,1] 0.9991616891962695 Centerline is valid? [True, True] Translation: X:133.72, Y:-0.22, Z:-0.74 [[ 9.99736923e-01 -1.50368043e-02 1.73199020e-02 1.33719619e+02] [ 1.50214843e-02 9.99886657e-01 1.01429456e-03 -2.20573195e-01] [-1.73331907e-02 -7.53857088e-04 9.99849485e-01 -7.43251465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.185898227 meters Centerline goodness [0,1] 0.9987840925766756 Centerline is valid? [True, True] Translation: X:133.75, Y:-0.22, Z:-0.74 [[ 9.99755869e-01 -1.28008949e-02 1.80094181e-02 1.33751231e+02] [ 1.27839666e-02 9.99917725e-01 1.05478123e-03 -2.19464090e-01] [-1.80214385e-02 -8.24291926e-04 9.99837261e-01 -7.42657541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21589822699997 meters Centerline goodness [0,1] 0.9987840925766756 Centerline is valid? [True, True] Translation: X:133.78, Y:-0.22, Z:-0.74 [[ 9.99756740e-01 -1.27326463e-02 1.80094297e-02 1.33783717e+02] [ 1.27157106e-02 9.99918596e-01 1.05458333e-03 -2.17694351e-01] [-1.80213913e-02 -8.25324097e-04 9.99837261e-01 -7.43395506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24589822699994 meters Centerline goodness [0,1] 0.9985938298960286 Centerline is valid? [True, True] Translation: X:133.81, Y:-0.22, Z:-0.74 [[ 9.99781063e-01 -1.03729650e-02 1.81721609e-02 1.33814790e+02] [ 1.03553605e-02 9.99945817e-01 1.06259825e-03 -2.16464891e-01] [-1.81821986e-02 -8.74186332e-04 9.99834308e-01 -7.44051258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27589822699997 meters Centerline goodness [0,1] 0.9954409849153326 Centerline is valid? [True, True] Translation: X:133.85, Y:-0.21, Z:-0.75 [[ 9.99826704e-01 -5.18622900e-03 1.78791869e-02 1.33845164e+02] [ 5.16836302e-03 9.99986098e-01 1.04532370e-03 -2.12595337e-01] [-1.78843596e-02 -9.52736416e-04 9.99839608e-01 -7.45384898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30589822699994 meters Centerline goodness [0,1] 0.9929640875301016 Centerline is valid? [True, True] Translation: X:133.88, Y:-0.21, Z:-0.75 [[ 9.99837253e-01 -2.91895527e-03 1.78029940e-02 1.33876674e+02] [ 2.90089027e-03 9.99995251e-01 1.04045691e-03 -2.11980589e-01] [-1.78059465e-02 -9.88643048e-04 9.99840973e-01 -7.47086145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.335898227 meters Centerline goodness [0,1] 0.9752008010737797 Centerline is valid? [True, True] Translation: X:133.91, Y:-0.21, Z:-0.75 [[ 9.99850260e-01 -1.00378133e-03 1.72756890e-02 1.33906867e+02] [ 9.86493440e-04 9.99999004e-01 1.00919923e-03 -2.06028721e-01] [-1.72766848e-02 -9.92005761e-04 9.99850255e-01 -7.49429278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36589822699995 meters Centerline goodness [0,1] 0.9641105141328123 Centerline is valid? [True, True] Translation: X:133.94, Y:-0.20, Z:-0.75 [[ 9.99860192e-01 6.62064270e-04 1.67080387e-02 1.33937531e+02] [-6.78463305e-04 9.99999294e-01 9.75856492e-04 -2.04876551e-01] [-1.67073808e-02 -9.87055851e-04 9.99859935e-01 -7.51366111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.395898227 meters Centerline goodness [0,1] 0.9096696923852748 Centerline is valid? [True, False] Translation: X:133.94, Y:-0.21, Z:-0.75 [[ 9.99862586e-01 1.05521033e-03 1.65437341e-02 1.33938574e+02] [-1.08167988e-03 9.99998149e-01 1.59110816e-03 -2.07444554e-01] [-1.65420245e-02 -1.60878454e-03 9.99861877e-01 -7.52216937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42589822699995 meters Centerline goodness [0,1] 0.9882784826431378 Centerline is valid? [False, True] Translation: X:133.90, Y:-0.21, Z:-0.75 [[ 9.99883076e-01 1.09609950e-03 1.52523296e-02 1.33896442e+02] [-1.13393888e-03 9.99996301e-01 2.47246441e-03 -2.11125603e-01] [-1.52495631e-02 -2.48947053e-03 9.99880620e-01 -7.51863158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.455898227 meters Centerline goodness [0,1] 0.8460663986021347 Centerline is valid? [True, False] Translation: X:133.94, Y:-0.21, Z:-0.75 [[ 9.99876660e-01 1.71435629e-03 1.56117130e-02 1.33939208e+02] [-1.74602231e-03 9.99996446e-01 2.01494608e-03 -2.10026563e-01] [-1.56082032e-02 -2.04195596e-03 9.99876100e-01 -7.52220192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48589822699995 meters Centerline goodness [0,1] 0.9297394504621304 Centerline is valid? [False, False] Translation: X:133.94, Y:-0.22, Z:-0.75 [[ 9.99874966e-01 2.21668415e-03 1.56568845e-02 1.33938563e+02] [-2.26858816e-03 9.99991988e-01 3.29810941e-03 -2.16278842e-01] [-1.56494482e-02 -3.33321606e-03 9.99871984e-01 -7.51283825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.515898227 meters Centerline goodness [0,1] 0.8470269816625404 Centerline is valid? [False, False] Translation: X:133.94, Y:-0.22, Z:-0.75 [[ 9.99873449e-01 2.49765848e-03 1.57113619e-02 1.33938240e+02] [-2.56353065e-03 9.99988003e-01 4.17390401e-03 -2.20732245e-01] [-1.57007484e-02 -4.21365236e-03 9.99867857e-01 -7.50953298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54589822699995 meters Centerline goodness [0,1] 0.9636329257531829 Centerline is valid? [False, True] Translation: X:133.94, Y:-0.22, Z:-0.75 [[ 9.99873314e-01 -1.54919118e-03 1.58415654e-02 1.33937889e+02] [ 1.55163037e-03 9.99998786e-01 -1.41684846e-04 -2.20166202e-01] [-1.58413267e-02 1.66247151e-04 9.99874504e-01 -7.51101381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.575898227 meters Centerline goodness [0,1] 0.9886306001690617 Centerline is valid? [True, True] Translation: X:133.97, Y:-0.23, Z:-0.75 [[ 9.99872293e-01 -2.57480496e-03 1.57723535e-02 1.33969659e+02] [ 2.55932412e-03 9.99996223e-01 1.00162357e-03 -2.27056078e-01] [-1.57748729e-02 -9.61129091e-04 9.99875107e-01 -7.51019178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60589822699995 meters Centerline goodness [0,1] 0.9709714766866646 Centerline is valid? [True, True] Translation: X:134.00, Y:-0.22, Z:-0.75 [[ 9.99886023e-01 -1.96334998e-03 1.49694839e-02 1.34000971e+02] [ 1.94934090e-03 9.99997648e-01 9.50376041e-04 -2.23882611e-01] [-1.49713146e-02 -9.21087093e-04 9.99887499e-01 -7.53663144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.635898227 meters Centerline goodness [0,1] 0.9057000483589496 Centerline is valid? [True, False] Translation: X:134.00, Y:-0.22, Z:-0.75 [[ 9.99888607e-01 -1.89185597e-03 1.48052197e-02 1.34001744e+02] [ 1.87631852e-03 9.99997674e-01 1.06327793e-03 -2.24361825e-01] [-1.48071969e-02 -1.03538018e-03 9.99889831e-01 -7.54065600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66589822699996 meters Centerline goodness [0,1] 0.9070130308269726 Centerline is valid? [False, False] Translation: X:134.00, Y:-0.22, Z:-0.75 [[ 9.99891194e-01 -1.85986058e-03 1.46335309e-02 1.34002465e+02] [ 1.84451722e-03 9.99997735e-01 1.06193366e-03 -2.24329163e-01] [-1.46354728e-02 -1.03482632e-03 9.99892360e-01 -7.54338660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.695898227 meters Centerline goodness [0,1] 0.9229560082418166 Centerline is valid? [False, False] Translation: X:133.98, Y:-0.22, Z:-0.75 [[ 9.99928275e-01 7.46285555e-04 1.19535450e-02 1.33980058e+02] [-6.61279285e-04 9.99974478e-01 -7.11376032e-03 -2.23597025e-01] [-1.19585488e-02 7.10534545e-03 9.99903249e-01 -7.51355353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72589822699996 meters Centerline goodness [0,1] 0.9343241869918699 Centerline is valid? [False, False] Translation: X:133.98, Y:-0.22, Z:-0.75 [[ 9.99932724e-01 3.69710492e-03 1.09944587e-02 1.33984782e+02] [-3.65715395e-03 9.99986645e-01 -3.65162374e-03 -2.24776886e-01] [-1.10078123e-02 3.61116965e-03 9.99932892e-01 -7.53422190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.755898227 meters Centerline goodness [0,1] 0.9424421962227023 Centerline is valid? [False, False] Translation: X:133.96, Y:-0.23, Z:-0.75 [[ 9.99974670e-01 2.96476833e-03 6.47068670e-03 1.33963483e+02] [-3.00788701e-03 9.99973270e-01 6.66416709e-03 -2.29327517e-01] [-6.45075603e-03 -6.68346138e-03 9.99956859e-01 -7.48888685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78589822699996 meters Centerline goodness [0,1] 0.810540768905788 Centerline is valid? [False, False] Translation: X:134.01, Y:-0.22, Z:-0.75 [[ 9.99978009e-01 1.21466524e-03 6.51964692e-03 1.34006389e+02] [-1.23154046e-03 9.99995901e-01 2.58497348e-03 -2.24924222e-01] [-6.51648031e-03 -2.59294585e-03 9.99975406e-01 -7.49254694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.815898227 meters Centerline goodness [0,1] 0.9583034697921498 Centerline is valid? [False, True] Translation: X:134.01, Y:-0.23, Z:-0.75 [[ 9.99978539e-01 1.24013197e-03 6.43294798e-03 1.34006623e+02] [-1.25844961e-03 9.99995163e-01 2.84420666e-03 -2.26406778e-01] [-6.42938968e-03 -2.85224117e-03 9.99975264e-01 -7.49161111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84589822699996 meters Centerline goodness [0,1] 0.9873521187352119 Centerline is valid? [True, True] Translation: X:134.04, Y:-0.23, Z:-0.75 [[ 9.99975192e-01 -8.77089655e-04 6.98903213e-03 1.34037626e+02] [ 8.73980066e-04 9.99999518e-01 4.47965938e-04 -2.31554454e-01] [-6.98942167e-03 -4.41846550e-04 9.99975476e-01 -7.48921356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.875898227 meters Centerline goodness [0,1] 0.8498870387415279 Centerline is valid? [True, False] Translation: X:134.12, Y:-0.23, Z:-0.75 [[ 9.99982393e-01 -1.41300372e-03 5.76336055e-03 1.34115023e+02] [ 1.41912428e-03 9.99998433e-01 -1.05802689e-03 -2.27908969e-01] [-5.76185653e-03 1.06618719e-03 9.99982832e-01 -7.45513183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90589822699997 meters Centerline goodness [0,1] 0.9882685660416884 Centerline is valid? [False, True] Translation: X:134.11, Y:-0.23, Z:-0.75 [[ 9.99982515e-01 -1.37935057e-03 5.75031872e-03 1.34114797e+02] [ 1.38372359e-03 9.99998756e-01 -7.56574823e-04 -2.29528529e-01] [-5.74926799e-03 7.64518446e-04 9.99983181e-01 -7.45031745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.935898227 meters Centerline goodness [0,1] 0.9935852945506551 Centerline is valid? [True, True] Translation: X:134.15, Y:-0.23, Z:-0.74 [[ 9.99974358e-01 -3.39215801e-03 6.30692322e-03 1.34145721e+02] [ 3.38981289e-03 9.99994181e-01 3.82484778e-04 -2.30758498e-01] [-6.30818397e-03 -3.61095680e-04 9.99980038e-01 -7.43093944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96589822699997 meters Centerline goodness [0,1] 0.9779255487047831 Centerline is valid? [True, True] Translation: X:134.18, Y:-0.22, Z:-0.74 [[ 9.99975375e-01 -3.14372759e-03 6.27431286e-03 1.34176371e+02] [ 3.14140142e-03 9.99994993e-01 3.80565713e-04 -2.22175770e-01] [-6.27547784e-03 -3.60846206e-04 9.99980244e-01 -7.43436171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99589822699994 meters Centerline goodness [0,1] 0.98951290477885 Centerline is valid? [True, True] Translation: X:134.21, Y:-0.22, Z:-0.74 [[ 9.99974948e-01 -2.30468863e-03 6.69274000e-03 1.34208406e+02] [ 2.30202443e-03 9.99997268e-01 4.05748526e-04 -2.23777176e-01] [-6.69365684e-03 -3.90331510e-04 9.99977521e-01 -7.43174072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.02589822699997 meters Centerline goodness [0,1] 0.9762265102787236 Centerline is valid? [True, True] Translation: X:134.24, Y:-0.22, Z:-0.74 [[ 9.99979575e-01 2.16779211e-04 6.38771513e-03 1.34238230e+02] [-2.19254140e-04 9.99999901e-01 3.86753744e-04 -2.16091601e-01] [-6.38763066e-03 -3.88146377e-04 9.99979524e-01 -7.44229555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05589822699994 meters Centerline goodness [0,1] 0.969500652055025 Centerline is valid? [True, True] Translation: X:134.27, Y:-0.21, Z:-0.75 [[ 9.99983890e-01 1.30834816e-03 5.52331185e-03 1.34269737e+02] [-1.31021709e-03 9.99999086e-01 3.34767244e-04 -2.11781610e-01] [-5.52286881e-03 -3.41998589e-04 9.99984690e-01 -7.45649013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.085898227 meters Centerline goodness [0,1] 0.9490955692346478 Centerline is valid? [True, False] Translation: X:134.27, Y:-0.21, Z:-0.75 [[ 9.99985204e-01 1.15209850e-03 5.31636362e-03 1.34270707e+02] [-1.15171815e-03 9.99999334e-01 -7.46044964e-05 -2.09790814e-01] [-5.31644603e-03 6.84804401e-05 9.99985865e-01 -7.46162503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11589822699995 meters Centerline goodness [0,1] 0.8797555769472231 Centerline is valid? [False, False] Translation: X:134.27, Y:-0.21, Z:-0.75 [[ 9.99986020e-01 1.07836792e-03 5.17664359e-03 1.34271398e+02] [-1.07635856e-03 9.99999344e-01 -3.90930624e-04 -2.08127634e-01] [-5.17706176e-03 3.85353234e-04 9.99986525e-01 -7.46536377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.145898227 meters Centerline goodness [0,1] 0.8696320309868643 Centerline is valid? [False, False] Translation: X:134.27, Y:-0.21, Z:-0.75 [[ 9.99984369e-01 1.05313204e-03 5.49111590e-03 1.34270118e+02] [-1.04814782e-03 9.99999036e-01 -9.10486174e-04 -2.05010301e-01] [-5.49206947e-03 9.04716441e-04 9.99984509e-01 -7.46125655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17589822699995 meters Centerline goodness [0,1] 0.8949496232325798 Centerline is valid? [False, False] Translation: X:134.27, Y:-0.20, Z:-0.75 [[ 9.99983535e-01 9.13267607e-04 5.66535263e-03 1.34269480e+02] [-9.05445705e-04 9.99998634e-01 -1.38306696e-03 -2.02575789e-01] [-5.66660800e-03 1.37791452e-03 9.99982995e-01 -7.46043223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.205898227 meters Centerline goodness [0,1] 0.8433606041535557 Centerline is valid? [False, False] Translation: X:134.28, Y:-0.20, Z:-0.75 [[ 9.99983281e-01 3.15969361e-03 4.84291071e-03 1.34275082e+02] [-3.16419165e-03 9.99994569e-01 9.21409139e-04 -2.01392603e-01] [-4.83997304e-03 -9.36717632e-04 9.99987849e-01 -7.49462003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23589822699995 meters Centerline goodness [0,1] 0.9041274377942166 Centerline is valid? [False, False] Translation: X:134.28, Y:-0.20, Z:-0.75 [[ 9.99985630e-01 2.73052475e-03 4.61347133e-03 1.34276208e+02] [-2.72940554e-03 9.99996244e-01 -2.48873067e-04 -1.95662940e-01] [-4.61413356e-03 2.36277456e-04 9.99989327e-01 -7.50221801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.265898227 meters Centerline goodness [0,1] 0.935986487913016 Centerline is valid? [False, False] Translation: X:134.28, Y:-0.19, Z:-0.75 [[ 9.99986419e-01 2.60177582e-03 4.51571388e-03 1.34276601e+02] [-2.59945401e-03 9.99996486e-01 -5.19955864e-04 -1.94404666e-01] [-4.51705082e-03 5.08210413e-04 9.99989669e-01 -7.50387502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29589822699995 meters Centerline goodness [0,1] 0.9449417328154028 Centerline is valid? [False, False] Translation: X:134.28, Y:-0.19, Z:-0.75 [[ 9.99986819e-01 2.50980612e-03 4.47906139e-03 1.34276463e+02] [-2.50684014e-03 9.99996635e-01 -6.67678452e-04 -1.93774169e-01] [-4.48072206e-03 6.56441361e-04 9.99989746e-01 -7.49988990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.325898227 meters Centerline goodness [0,1] 0.8288473651060256 Centerline is valid? [False, False] Translation: X:134.27, Y:-0.19, Z:-0.75 [[ 9.99985860e-01 2.40883567e-03 4.74107637e-03 1.34274600e+02] [-2.40582341e-03 9.99996901e-01 -6.40954550e-04 -1.94208726e-01] [-4.74260563e-03 6.29539294e-04 9.99988556e-01 -7.48284613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35589822699995 meters Centerline goodness [0,1] 0.9411096622218483 Centerline is valid? [False, False] Translation: X:134.27, Y:-0.19, Z:-0.75 [[ 9.99985725e-01 2.33178093e-03 4.80746562e-03 1.34274037e+02] [-2.32832546e-03 9.99997027e-01 -7.24242253e-04 -1.93906923e-01] [-4.80914010e-03 7.13038571e-04 9.99988182e-01 -7.47751974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.385898227 meters Centerline goodness [0,1] 0.9384806292853237 Centerline is valid? [False, False] Translation: X:134.27, Y:-0.19, Z:-0.75 [[ 9.99986228e-01 2.28463869e-03 4.72493506e-03 1.34274256e+02] [-2.28073513e-03 9.99997054e-01 -8.31384749e-04 -1.93452603e-01] [-4.72682055e-03 8.20596973e-04 9.99988492e-01 -7.47683882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41589822699996 meters Centerline goodness [0,1] 0.930732934885184 Centerline is valid? [False, False] Translation: X:134.28, Y:-0.19, Z:-0.75 [[ 9.99987219e-01 2.22310187e-03 4.54080134e-03 1.34275047e+02] [-2.21868210e-03 9.99997060e-01 -9.78149820e-04 -1.92791141e-01] [-4.54296252e-03 9.68062724e-04 9.99989212e-01 -7.48017765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.445898227 meters Centerline goodness [0,1] 0.9551665963728385 Centerline is valid? [False, True] Translation: X:134.28, Y:-0.19, Z:-0.75 [[ 9.99988689e-01 2.11302229e-03 4.26118802e-03 1.34276634e+02] [-2.10754004e-03 9.99996946e-01 -1.29063537e-03 -1.91327270e-01] [-4.26390215e-03 1.28164015e-03 9.99990088e-01 -7.49192303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47589822699996 meters Centerline goodness [0,1] 0.8296825730502417 Centerline is valid? [True, False] Translation: X:134.28, Y:-0.19, Z:-0.75 [[ 9.99989446e-01 2.02016252e-03 4.12628547e-03 1.34277195e+02] [-2.01391846e-03 9.99996822e-01 -1.51683396e-03 -1.90286038e-01] [-4.12933661e-03 1.50850795e-03 9.99990336e-01 -7.49415073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.505898227 meters Centerline goodness [0,1] 0.8766565793592821 Centerline is valid? [False, False] Translation: X:134.28, Y:-0.19, Z:-0.75 [[ 9.99989608e-01 2.02280295e-03 4.08570493e-03 1.34277417e+02] [-2.01603454e-03 9.99996590e-01 -1.66004849e-03 -1.89379671e-01] [-4.08904895e-03 1.65179432e-03 9.99990276e-01 -7.49545666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53589822699996 meters Centerline goodness [0,1] 0.7499476790423172 Centerline is valid? [False, False] Translation: X:134.28, Y:-0.19, Z:-0.75 [[ 9.99989003e-01 2.06956445e-03 4.20834876e-03 1.34276947e+02] [-2.06173243e-03 9.99996136e-01 -1.86455677e-03 -1.88035368e-01] [-4.21219132e-03 1.85585978e-03 9.99989407e-01 -7.49481413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.565898227 meters Centerline goodness [0,1] 0.8116175792869412 Centerline is valid? [False, False] Translation: X:134.28, Y:-0.19, Z:-0.75 [[ 9.99989090e-01 2.06538322e-03 4.18985639e-03 1.34276773e+02] [-2.05758502e-03 9.99996145e-01 -1.86466555e-03 -1.88021781e-01] [-4.19369148e-03 1.85602422e-03 9.99989484e-01 -7.49128419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59589822699996 meters Centerline goodness [0,1] 0.8079971483686992 Centerline is valid? [False, False] Translation: X:134.28, Y:-0.19, Z:-0.75 [[ 9.99989810e-01 2.04394915e-03 4.02531299e-03 1.34276882e+02] [-2.03802500e-03 9.99996835e-01 -1.47527706e-03 -1.90365504e-01] [-4.02831564e-03 1.46705834e-03 9.99990810e-01 -7.48459555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.625898227 meters Centerline goodness [0,1] 0.9257453708546919 Centerline is valid? [False, False] Translation: X:134.28, Y:-0.19, Z:-0.75 [[ 9.99990216e-01 2.09152246e-03 3.89790608e-03 1.34277085e+02] [-2.08755089e-03 9.99997298e-01 -1.02268960e-03 -1.92940042e-01] [-3.90003452e-03 1.01454252e-03 9.99991880e-01 -7.48090218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65589822699997 meters Centerline goodness [0,1] 0.9740485161508827 Centerline is valid? [False, True] Translation: X:134.26, Y:-0.20, Z:-0.74 [[ 9.99999675e-01 -8.06795440e-04 -7.01812874e-06 1.34255151e+02] [ 8.06825357e-04 9.99971760e-01 7.47185906e-03 -1.98898257e-01] [ 9.89668722e-07 -7.47186229e-03 9.99972085e-01 -7.44011750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.685898227 meters Centerline goodness [0,1] 0.9283194018565968 Centerline is valid? [True, False] Translation: X:134.25, Y:-0.20, Z:-0.74 [[ 9.99987440e-01 -5.01136234e-03 7.52850816e-05 1.34254853e+02] [ 5.01110366e-03 9.99982597e-01 3.11362693e-03 -1.98308353e-01] [-9.08872841e-05 -3.11321057e-03 9.99995150e-01 -7.43926315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71589822699997 meters Centerline goodness [0,1] 0.9759068816621123 Centerline is valid? [False, True] Translation: X:134.25, Y:-0.20, Z:-0.74 [[ 9.99959136e-01 -9.03647473e-03 2.60607857e-04 1.34254290e+02] [ 9.03666873e-03 9.99958885e-01 -7.53091241e-04 -2.00205709e-01] [-2.53791852e-04 7.55415494e-04 9.99999682e-01 -7.43766125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74589822699994 meters Centerline goodness [0,1] 0.9887116100145046 Centerline is valid? [True, True] Translation: X:134.28, Y:-0.21, Z:-0.74 [[ 9.99960506e-01 -8.86725038e-03 5.98342152e-04 1.34284774e+02] [ 8.86722798e-03 9.99960685e-01 4.00922166e-05 -2.05188555e-01] [-5.98674135e-04 -3.47849970e-05 9.99999820e-01 -7.42859499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77589822699997 meters Centerline goodness [0,1] 0.9647384189905508 Centerline is valid? [True, True] Translation: X:134.32, Y:-0.20, Z:-0.74 [[ 9.99967355e-01 -8.05542721e-03 6.31999894e-04 1.34315120e+02] [ 8.05540204e-03 9.99967554e-01 4.23736908e-05 -2.00009407e-01] [-6.32320726e-04 -3.72812943e-05 9.99999799e-01 -7.43176780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80589822699994 meters Centerline goodness [0,1] 0.9842251254578949 Centerline is valid? [True, True] Translation: X:134.35, Y:-0.21, Z:-0.74 [[ 9.99983597e-01 -5.69171004e-03 -6.40667514e-04 1.34345979e+02] [ 5.69168368e-03 9.99983801e-01 -4.29546636e-05 -2.05525619e-01] [ 6.40901622e-04 3.93074821e-05 9.99999794e-01 -7.44898111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.835898227 meters Centerline goodness [0,1] 0.9186647265979208 Centerline is valid? [True, False] Translation: X:134.35, Y:-0.21, Z:-0.75 [[ 9.99983910e-01 -5.61983067e-03 -7.72282240e-04 1.34346642e+02] [ 5.61984478e-03 9.99984208e-01 1.60909158e-05 -2.05693726e-01] [ 7.72179616e-04 -2.04307632e-05 9.99999702e-01 -7.45284602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86589822699995 meters Centerline goodness [0,1] 0.8982281261219404 Centerline is valid? [False, False] Translation: X:134.35, Y:-0.21, Z:-0.75 [[ 9.99984897e-01 -5.43171381e-03 -8.37414259e-04 1.34347023e+02] [ 5.43198272e-03 9.99985196e-01 3.19177133e-04 -2.06983401e-01] [ 8.35668183e-04 -3.23721132e-04 9.99999598e-01 -7.45580589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.895898227 meters Centerline goodness [0,1] 0.8834358412671666 Centerline is valid? [False, False] Translation: X:134.35, Y:-0.21, Z:-0.75 [[ 9.99986861e-01 -5.02935118e-03 -9.91410214e-04 1.34347537e+02] [ 5.03071572e-03 9.99986395e-01 1.37870862e-03 -2.12147884e-01] [ 9.84462716e-04 -1.38367801e-03 9.99998558e-01 -7.45529532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92589822699995 meters Centerline goodness [0,1] 0.9897094943677479 Centerline is valid? [False, True] Translation: X:134.35, Y:-0.22, Z:-0.75 [[ 9.99988059e-01 -4.77217529e-03 -1.05235759e-03 1.34347657e+02] [ 4.77431654e-03 9.99986519e-01 2.04167326e-03 -2.15389487e-01] [ 1.04260018e-03 -2.04667317e-03 9.99997362e-01 -7.45324787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.955898227 meters Centerline goodness [0,1] 0.972002023950076 Centerline is valid? [True, True] Translation: X:134.38, Y:-0.21, Z:-0.75 [[ 9.99983458e-01 -5.74371379e-03 -3.07272544e-04 1.34377049e+02] [ 5.74370775e-03 9.99983505e-01 -2.05411273e-05 -2.10241336e-01] [ 3.07385458e-04 1.87759039e-05 9.99999953e-01 -7.45745714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98589822699995 meters Centerline goodness [0,1] 0.9782462623887116 Centerline is valid? [True, True] Translation: X:134.41, Y:-0.21, Z:-0.75 [[ 9.99979868e-01 -6.34115139e-03 2.29498632e-04 1.34407520e+02] [ 6.34114805e-03 9.99979895e-01 1.53070885e-05 -2.11368888e-01] [-2.29591082e-04 -1.38514955e-05 9.99999974e-01 -7.45047766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.015898227 meters Centerline goodness [0,1] 0.9573685758709081 Centerline is valid? [True, True] Translation: X:134.44, Y:-0.21, Z:-0.75 [[ 9.99980840e-01 -6.18965996e-03 9.22255401e-05 1.34436495e+02] [ 6.18965942e-03 9.99980844e-01 6.10692764e-06 -2.07064132e-01] [-9.22615732e-05 -5.53596595e-06 9.99999996e-01 -7.45992952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04589822699995 meters Centerline goodness [0,1] 0.9859077210407912 Centerline is valid? [True, True] Translation: X:134.47, Y:-0.21, Z:-0.75 [[ 9.99984663e-01 -5.51949369e-03 -4.56874290e-04 1.34467623e+02] [ 5.51948034e-03 9.99984767e-01 -3.04777098e-05 -2.10098720e-01] [ 4.57035552e-04 2.79555337e-05 9.99999895e-01 -7.46227857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.075898227 meters Centerline goodness [0,1] 0.9846672604657081 Centerline is valid? [True, True] Translation: X:134.50, Y:-0.21, Z:-0.75 [[ 9.99988039e-01 -4.86302326e-03 -5.23152474e-04 1.34498067e+02] [ 4.86300567e-03 9.99988175e-01 -3.48990732e-05 -2.06438702e-01] [ 5.23316003e-04 3.23545623e-05 9.99999863e-01 -7.46820356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10589822699995 meters Centerline goodness [0,1] 0.977668449197861 Centerline is valid? [True, True] Translation: X:134.53, Y:-0.20, Z:-0.75 [[ 9.99990005e-01 -4.29993389e-03 -1.22506863e-03 1.34528027e+02] [ 4.29983699e-03 9.99990752e-01 -8.17233251e-05 -2.02029011e-01] [ 1.22540870e-03 7.64549129e-05 9.99999246e-01 -7.48315651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.135898227 meters Centerline goodness [0,1] 0.977668449197861 Centerline is valid? [True, True] Translation: X:134.56, Y:-0.20, Z:-0.75 [[ 9.99989906e-01 -4.32289496e-03 -1.22506056e-03 1.34557182e+02] [ 4.32279793e-03 9.99990653e-01 -8.18442037e-05 -2.00041478e-01] [ 1.22540292e-03 7.65476883e-05 9.99999246e-01 -7.48433953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16589822699996 meters Centerline goodness [0,1] 0.9760518071529194 Centerline is valid? [True, True] Translation: X:134.59, Y:-0.20, Z:-0.75 [[ 9.99985588e-01 -4.66066470e-03 -2.66485197e-03 1.34586880e+02] [ 4.66020708e-03 9.99989125e-01 -1.77908487e-04 -1.97244520e-01] [ 2.66565216e-03 1.65487161e-04 9.99996433e-01 -7.51247122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.195898227 meters Centerline goodness [0,1] 0.976197528774543 Centerline is valid? [True, True] Translation: X:134.62, Y:-0.20, Z:-0.75 [[ 9.99980524e-01 -5.21781543e-03 -3.42429090e-03 1.34616440e+02] [ 5.21706269e-03 9.99986365e-01 -2.28720362e-04 -1.95212240e-01] [ 3.42543763e-03 2.10851168e-04 9.99994111e-01 -7.52166649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22589822699996 meters Centerline goodness [0,1] 0.9785884050589932 Centerline is valid? [True, True] Translation: X:134.64, Y:-0.19, Z:-0.75 [[ 9.99970313e-01 -6.40898938e-03 -4.27755028e-03 1.34644830e+02] [ 6.40782448e-03 9.99979429e-01 -2.85977493e-04 -1.91348837e-01] [ 4.27929511e-03 2.58559212e-04 9.99990810e-01 -7.53749929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.255898227 meters Centerline goodness [0,1] 0.956469522344662 Centerline is valid? [True, True] Translation: X:134.67, Y:-0.18, Z:-0.75 [[ 9.99971481e-01 -6.28832434e-03 -4.18266157e-03 1.34671976e+02] [ 6.28720830e-03 9.99980196e-01 -2.79921480e-04 -1.83337438e-01] [ 4.18433897e-03 2.53616232e-04 9.99991213e-01 -7.54691336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28589822699996 meters Centerline goodness [0,1] 0.9834740702831798 Centerline is valid? [True, True] Translation: X:134.70, Y:-0.19, Z:-0.75 [[ 9.99971108e-01 -6.01816428e-03 -4.64386136e-03 1.34701379e+02] [ 6.01678028e-03 9.99981850e-01 -3.11942493e-04 -1.85896024e-01] [ 4.64565440e-03 2.83992387e-04 9.99989169e-01 -7.54060126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.315898227 meters Centerline goodness [0,1] 0.9561709228397017 Centerline is valid? [True, True] Translation: X:134.73, Y:-0.18, Z:-0.76 [[ 9.99975469e-01 -5.30124461e-03 -4.57791602e-03 1.34728823e+02] [ 5.29989329e-03 9.99985908e-01 -3.07263888e-04 -1.75973900e-01] [ 4.57948039e-03 2.82993884e-04 9.99989474e-01 -7.55368677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34589822699996 meters Centerline goodness [0,1] 0.7579396794683044 Centerline is valid? [True, False] Translation: X:134.73, Y:-0.17, Z:-0.76 [[ 9.99986380e-01 -1.30270785e-03 -5.05394069e-03 1.34730405e+02] [ 1.32101591e-03 9.99992572e-01 3.62088626e-03 -1.74606854e-01] [ 5.04918619e-03 -3.62751328e-03 9.99980673e-01 -7.55523884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.375898227 meters Centerline goodness [0,1] 0.8946742041059208 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.17, Z:-0.76 [[ 9.99985582e-01 -1.51151747e-03 -5.15286998e-03 1.34730852e+02] [ 1.52729891e-03 9.99994152e-01 3.06009307e-03 -1.71843719e-01] [ 5.14821446e-03 -3.06791892e-03 9.99982042e-01 -7.55776787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40589822699997 meters Centerline goodness [0,1] 0.9321468532944878 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.17, Z:-0.76 [[ 9.99985259e-01 -1.64262110e-03 -5.17522229e-03 1.34730852e+02] [ 1.65622740e-03 9.99995181e-01 2.62593580e-03 -1.69639066e-01] [ 5.17088393e-03 -2.63446844e-03 9.99983161e-01 -7.55702404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.435898227 meters Centerline goodness [0,1] 0.9336184809536917 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.17, Z:-0.75 [[ 9.99987014e-01 -1.85923084e-03 -4.74499027e-03 1.34728985e+02] [ 1.86834879e-03 9.99996415e-01 1.91788630e-03 -1.65904560e-01] [ 4.74140746e-03 -1.92672669e-03 9.99986903e-01 -7.54946875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46589822699997 meters Centerline goodness [0,1] 0.9486941086974896 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.16, Z:-0.75 [[ 9.99986920e-01 -2.03603109e-03 -4.69186327e-03 1.34728732e+02] [ 2.04328729e-03 9.99996723e-01 1.54227532e-03 -1.64123682e-01] [ 4.68870778e-03 -1.55184197e-03 9.99987804e-01 -7.54811829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49589822699994 meters Centerline goodness [0,1] 0.8658480461886034 Centerline is valid? [False, False] Translation: X:134.75, Y:-0.16, Z:-0.76 [[ 9.99998400e-01 -1.30806013e-03 -1.22041163e-03 1.34749843e+02] [ 1.29709969e-03 9.99959206e-01 -8.93890729e-03 -1.58618480e-01] [ 1.23205447e-03 8.93730999e-03 9.99959302e-01 -7.57404916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.52589822699997 meters Centerline goodness [0,1] 0.9652742616033755 Centerline is valid? [False, True] Translation: X:134.73, Y:-0.16, Z:-0.76 [[ 9.99984771e-01 -3.50346782e-03 -4.26431368e-03 1.34730662e+02] [ 3.50588059e-03 9.99993698e-01 5.58460663e-04 -1.61940565e-01] [ 4.26233025e-03 -5.73402333e-04 9.99990752e-01 -7.56196804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55589822699994 meters Centerline goodness [0,1] 0.895888566258469 Centerline is valid? [True, False] Translation: X:134.73, Y:-0.16, Z:-0.76 [[ 9.99984695e-01 -3.52144768e-03 -4.26729144e-03 1.34730518e+02] [ 3.52397725e-03 9.99993619e-01 5.85407188e-04 -1.62091301e-01] [ 4.26520274e-03 -6.00436066e-04 9.99990724e-01 -7.55919469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.585898227 meters Centerline goodness [0,1] 0.9357723236723069 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.16, Z:-0.76 [[ 9.99984647e-01 -3.53470618e-03 -4.26752658e-03 1.34730271e+02] [ 3.53703507e-03 9.99993600e-01 5.38299667e-04 -1.61781488e-01] [ 4.26559653e-03 -5.53385793e-04 9.99990749e-01 -7.55495804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61589822699995 meters Centerline goodness [0,1] 0.861601625505352 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.16, Z:-0.76 [[ 9.99985328e-01 -3.47490525e-03 -4.15553498e-03 1.34729825e+02] [ 3.47653909e-03 9.99993882e-01 3.86013014e-04 -1.60618413e-01] [ 4.15416820e-03 -4.00454230e-04 9.99991291e-01 -7.55370471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.645898227 meters Centerline goodness [0,1] 0.7724725537987209 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.16, Z:-0.76 [[ 9.99985614e-01 -3.45856208e-03 -4.10010461e-03 1.34729574e+02] [ 3.45969444e-03 9.99993979e-01 2.69119501e-04 -1.59832590e-01] [ 4.09914916e-03 -2.83300739e-04 9.99991558e-01 -7.55285685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67589822699995 meters Centerline goodness [0,1] 0.9001922594666889 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.16, Z:-0.75 [[ 9.99986336e-01 -3.45591497e-03 -3.92218002e-03 1.34728725e+02] [ 3.45628959e-03 9.99994023e-01 8.87406520e-05 -1.58673707e-01] [ 3.92184990e-03 -1.02295629e-04 9.99992304e-01 -7.54912600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.705898227 meters Centerline goodness [0,1] 0.7761105835179909 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.16, Z:-0.75 [[ 9.99986548e-01 -3.52570381e-03 -3.80425033e-03 1.34728260e+02] [ 3.52492760e-03 9.99993765e-01 -2.10722173e-04 -1.57052332e-01] [ 3.80496955e-03 1.97309632e-04 9.99992742e-01 -7.54778340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73589822699995 meters Centerline goodness [0,1] 0.8966554480437526 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.16, Z:-0.76 [[ 9.99991131e-01 8.20691522e-04 -4.13085244e-03 1.34729578e+02] [-8.03186636e-04 9.99990699e-01 4.23747312e-03 -1.57917990e-01] [ 4.13429168e-03 -4.23411769e-03 9.99982490e-01 -7.55235857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.765898227 meters Centerline goodness [0,1] 0.8064448409782723 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.16, Z:-0.76 [[ 9.99990370e-01 7.70443626e-04 -4.32043183e-03 1.34730838e+02] [-7.53733778e-04 9.99992235e-01 3.86792926e-03 -1.55987778e-01] [ 4.32337831e-03 -3.86463556e-03 9.99983186e-01 -7.56345368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79589822699995 meters Centerline goodness [0,1] 0.825110188711541 Centerline is valid? [False, False] Translation: X:134.69, Y:-0.16, Z:-0.76 [[ 9.99978629e-01 2.90480015e-03 -5.85687668e-03 1.34690485e+02] [-2.87183680e-03 9.99980035e-01 5.62872193e-03 -1.56445395e-01] [ 5.87311006e-03 -5.61178165e-03 9.99967007e-01 -7.58175082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.825898227 meters Centerline goodness [0,1] 0.6279529213955444 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.15, Z:-0.76 [[ 9.99989902e-01 1.95618864e-03 -4.04577516e-03 1.34729433e+02] [-1.94791846e-03 9.99996008e-01 2.04708527e-03 -1.49852291e-01] [ 4.04976349e-03 -2.03918376e-03 9.99989721e-01 -7.57198975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85589822699995 meters Centerline goodness [0,1] 0.6375664725246898 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.15, Z:-0.76 [[ 9.99990310e-01 2.00435508e-03 -3.91950358e-03 1.34728629e+02] [-1.99606997e-03 9.99995768e-01 2.11658630e-03 -1.50142754e-01] [ 3.92372938e-03 -2.10874219e-03 9.99990079e-01 -7.56568791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.885898227 meters Centerline goodness [0,1] 0.7708475443383356 Centerline is valid? [False, False] Translation: X:134.73, Y:-0.15, Z:-0.76 [[ 9.99990393e-01 -2.39950557e-03 -3.66818398e-03 1.34727753e+02] [ 2.39021047e-03 9.99993927e-01 -2.53626335e-03 -1.48241329e-01] [ 3.67424748e-03 2.52747125e-03 9.99990056e-01 -7.56499631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91589822699996 meters Centerline goodness [0,1] 0.8232990081495988 Centerline is valid? [False, False] Translation: X:134.75, Y:-0.15, Z:-0.76 [[ 9.99984394e-01 -5.35332976e-03 -1.59799841e-03 1.34751738e+02] [ 5.36125444e-03 9.99973144e-01 4.99673717e-03 -1.48578634e-01] [ 1.57120631e-03 -5.00522647e-03 9.99986239e-01 -7.60138586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.945898227 meters Centerline goodness [0,1] 0.850216014428925 Centerline is valid? [False, False] Translation: X:134.76, Y:-0.15, Z:-0.76 [[ 9.99974157e-01 -6.72234758e-03 -2.54868789e-03 1.34756643e+02] [ 6.73257696e-03 9.99969229e-01 4.02647642e-03 -1.48664842e-01] [ 2.52154209e-03 -4.04353160e-03 9.99988646e-01 -7.62477779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97589822699996 meters Centerline goodness [0,1] 0.9958500105329682 Centerline is valid? [False, True] Translation: X:134.76, Y:-0.15, Z:-0.76 [[ 9.99929584e-01 -1.15455850e-02 -2.74355490e-03 1.34757357e+02] [ 1.15462375e-02 9.99933315e-01 2.22081887e-04 -1.53081044e-01] [ 2.74080789e-03 -2.53743986e-04 9.99996212e-01 -7.62279793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.005898227 meters Centerline goodness [0,1] 0.9988865312296477 Centerline is valid? [True, True] Translation: X:134.79, Y:-0.16, Z:-0.76 [[ 9.99842246e-01 -1.76679544e-02 -1.82410483e-03 1.34788031e+02] [ 1.76677520e-02 9.99843905e-01 -1.27054042e-04 -1.60441375e-01] [ 1.82606489e-03 9.48061673e-05 9.99998328e-01 -7.60458147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03589822699996 meters Centerline goodness [0,1] 0.9995557717936243 Centerline is valid? [True, True] Translation: X:134.82, Y:-0.17, Z:-0.76 [[ 9.99705654e-01 -2.42218750e-02 -1.38057021e-03 1.34817634e+02] [ 2.42217652e-02 9.99706605e-01 -9.62383026e-05 -1.68696684e-01] [ 1.38249623e-03 6.27701279e-05 9.99999042e-01 -7.59680815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.065898227 meters Centerline goodness [0,1] 0.9998732653190545 Centerline is valid? [True, True] Translation: X:134.85, Y:-0.19, Z:-0.76 [[ 9.99328705e-01 -3.65793407e-02 -2.02242636e-03 1.34849030e+02] [ 3.65791303e-02 9.99330750e-01 -1.40926535e-04 -1.88349129e-01] [ 2.02622785e-03 6.68533343e-05 9.99997945e-01 -7.61521404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09589822699996 meters Centerline goodness [0,1] 0.9999364447174968 Centerline is valid? [True, True] Translation: X:134.88, Y:-0.20, Z:-0.76 [[ 9.99119793e-01 -4.18892011e-02 -2.22135790e-03 1.34880503e+02] [ 4.18889602e-02 9.99122260e-01 -1.54856683e-04 -1.96951972e-01] [ 2.22589495e-03 6.16700040e-05 9.99997521e-01 -7.61810833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.125898227 meters Centerline goodness [0,1] 0.9999578512570862 Centerline is valid? [True, True] Translation: X:134.91, Y:-0.20, Z:-0.76 [[ 9.98935597e-01 -4.60871492e-02 -1.90970532e-03 1.34909588e+02] [ 4.60869787e-02 9.98937422e-01 -1.33235863e-04 -2.04507876e-01] [ 1.91381657e-03 4.50814975e-05 9.99998168e-01 -7.62067143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15589822699997 meters Centerline goodness [0,1] 0.9998956376539344 Centerline is valid? [True, True] Translation: X:134.94, Y:-0.21, Z:-0.76 [[ 9.98805230e-01 -4.88366284e-02 -1.75961426e-03 1.34937862e+02] [ 4.88364876e-02 9.98806779e-01 -1.22916726e-04 -2.10008971e-01] [ 1.76351749e-03 3.68364891e-05 9.99998444e-01 -7.61654726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.185898227 meters Centerline goodness [0,1] 0.9999578876442348 Centerline is valid? [True, True] Translation: X:134.97, Y:-0.22, Z:-0.76 [[ 9.98719216e-01 -5.05560370e-02 -2.00352497e-03 1.34967203e+02] [ 5.05558568e-02 9.98721225e-01 -1.40469936e-04 -2.17608503e-01] [ 2.00806452e-03 3.90001032e-05 9.99997983e-01 -7.62456181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21589822699997 meters Centerline goodness [0,1] 0.9999372634308539 Centerline is valid? [True, True] Translation: X:135.00, Y:-0.22, Z:-0.76 [[ 9.98769876e-01 -4.95351754e-02 -2.23640815e-03 1.34995126e+02] [ 4.95349486e-02 9.98772379e-01 -1.56682528e-04 -2.16677114e-01] [ 2.24142399e-03 4.57094257e-05 9.99997487e-01 -7.62604886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24589822699994 meters Centerline goodness [0,1] 0.9999362786745964 Centerline is valid? [True, True] Translation: X:135.02, Y:-0.21, Z:-0.76 [[ 9.98866910e-01 -4.75429826e-02 -2.13556600e-03 1.35023499e+02] [ 4.75427702e-02 9.98869192e-01 -1.50168275e-04 -2.13699015e-01] [ 2.14029054e-03 4.84673971e-05 9.99997708e-01 -7.62741483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27589822699997 meters Centerline goodness [0,1] 0.9999789849742566 Centerline is valid? [True, True] Translation: X:135.05, Y:-0.21, Z:-0.76 [[ 9.98997858e-01 -4.47167982e-02 -1.92036660e-03 1.35052380e+02] [ 4.47166214e-02 9.98999702e-01 -1.34884095e-04 -2.09080068e-01] [ 1.92447724e-03 4.88766159e-05 9.99998147e-01 -7.62315204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30589822699994 meters Centerline goodness [0,1] 0.9998738939448076 Centerline is valid? [True, True] Translation: X:135.08, Y:-0.20, Z:-0.76 [[ 9.99250831e-01 -3.86453160e-02 -2.07780217e-03 1.35081341e+02] [ 3.86450961e-02 9.99252989e-01 -1.45861735e-04 -1.99506778e-01] [ 2.08188691e-03 6.54555949e-05 9.99997831e-01 -7.62986648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.335898227 meters Centerline goodness [0,1] 0.999853021458867 Centerline is valid? [True, True] Translation: X:135.11, Y:-0.19, Z:-0.76 [[ 9.99351661e-01 -3.59109651e-02 -2.58070111e-03 1.35110170e+02] [ 3.59106164e-02 9.99354989e-01 -1.81322108e-04 -1.93687216e-01] [ 2.58554798e-03 8.85299823e-05 9.99996654e-01 -7.64243888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36589822699995 meters Centerline goodness [0,1] 0.9996428421362242 Centerline is valid? [True, True] Translation: X:135.14, Y:-0.19, Z:-0.77 [[ 9.99485550e-01 -3.18353924e-02 -3.89146029e-03 1.35138581e+02] [ 3.18345687e-02 9.99493114e-01 -2.73419053e-04 -1.87188133e-01] [ 3.89819217e-03 1.49395432e-04 9.99992391e-01 -7.66774410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.395898227 meters Centerline goodness [0,1] 0.9994326062287228 Centerline is valid? [True, True] Translation: X:135.17, Y:-0.19, Z:-0.77 [[ 9.99499213e-01 -3.12671881e-02 -4.86688449e-03 1.35167062e+02] [ 3.12658882e-02 9.99511044e-01 -3.42970030e-04 -1.85072872e-01] [ 4.87522850e-03 1.90630809e-04 9.99988098e-01 -7.68329378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42589822699995 meters Centerline goodness [0,1] 0.9993041057759221 Centerline is valid? [True, True] Translation: X:135.20, Y:-0.18, Z:-0.77 [[ 9.99499086e-01 -3.11846600e-02 -5.39387644e-03 1.35195045e+02] [ 3.11830617e-02 9.99513618e-01 -3.80173296e-04 -1.82686271e-01] [ 5.40310853e-03 2.11785280e-04 9.99985381e-01 -7.69679299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.455898227 meters Centerline goodness [0,1] 0.9997889315716155 Centerline is valid? [True, True] Translation: X:135.22, Y:-0.19, Z:-0.77 [[ 9.99471370e-01 -3.18936249e-02 -6.30690079e-03 1.35224674e+02] [ 3.18914461e-02 9.99491239e-01 -4.45750865e-04 -1.88076673e-01] [ 6.31790870e-03 2.44379041e-04 9.99980012e-01 -7.69402145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48589822699995 meters Centerline goodness [0,1] 0.9988279860195475 Centerline is valid? [True, True] Translation: X:135.25, Y:-0.18, Z:-0.77 [[ 9.99459109e-01 -3.22287886e-02 -6.54178179e-03 1.35252182e+02] [ 3.22264507e-02 9.99480486e-01 -4.62509450e-04 -1.78205996e-01] [ 6.55328936e-03 2.51440874e-04 9.99978495e-01 -7.71654110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.515898227 meters Centerline goodness [0,1] 0.9991194783957735 Centerline is valid? [True, True] Translation: X:135.28, Y:-0.18, Z:-0.77 [[ 9.99440476e-01 -3.27748993e-02 -6.67395972e-03 1.35280833e+02] [ 3.27724702e-02 9.99462726e-01 -4.73045079e-04 -1.75443531e-01] [ 6.68587798e-03 2.54058253e-04 9.99977617e-01 -7.71384313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54589822699995 meters Centerline goodness [0,1] 0.99991508512716 Centerline is valid? [True, True] Translation: X:135.31, Y:-0.18, Z:-0.77 [[ 9.99426133e-01 -3.32387298e-02 -6.52629096e-03 1.35310478e+02] [ 3.32364103e-02 9.99447410e-01 -4.63573270e-04 -1.81004130e-01] [ 6.53809318e-03 2.46396757e-04 9.99978596e-01 -7.69448888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.575898227 meters Centerline goodness [0,1] 0.9997058329130947 Centerline is valid? [True, True] Translation: X:135.34, Y:-0.18, Z:-0.77 [[ 9.99421333e-01 -3.37011437e-02 -4.60774387e-03 1.35338931e+02] [ 3.36999884e-02 9.99431940e-01 -3.28160232e-04 -1.79682777e-01] [ 4.61618577e-03 1.72689422e-04 9.99989330e-01 -7.66308592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60589822699995 meters Centerline goodness [0,1] 0.9998109720238595 Centerline is valid? [True, True] Translation: X:135.37, Y:-0.18, Z:-0.77 [[ 9.99417399e-01 -3.38823042e-02 -4.10502936e-03 1.35366574e+02] [ 3.38813885e-02 9.99425818e-01 -2.92420945e-04 -1.75927420e-01] [ 4.11258022e-03 1.53166485e-04 9.99991532e-01 -7.65303141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.635898227 meters Centerline goodness [0,1] 0.9998105542341129 Centerline is valid? [True, True] Translation: X:135.39, Y:-0.18, Z:-0.77 [[ 9.99402492e-01 -3.41745015e-02 -5.17322919e-03 1.35394804e+02] [ 3.41730452e-02 9.99415863e-01 -3.69677765e-04 -1.76429411e-01] [ 5.18284087e-03 1.92671884e-04 9.99986550e-01 -7.65440675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66589822699996 meters Centerline goodness [0,1] 0.9997459188210633 Centerline is valid? [True, True] Translation: X:135.42, Y:-0.17, Z:-0.77 [[ 9.99425204e-01 -3.34150219e-02 -5.71812863e-03 1.35423415e+02] [ 3.34132254e-02 9.99441538e-01 -4.09443686e-04 -1.73960422e-01] [ 5.72861684e-03 2.18147219e-04 9.99983568e-01 -7.66366077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.695898227 meters Centerline goodness [0,1] 0.9996192410204341 Centerline is valid? [True, True] Translation: X:135.45, Y:-0.17, Z:-0.77 [[ 9.99486708e-01 -3.15874741e-02 -5.34349464e-03 1.35452779e+02] [ 3.15858799e-02 9.99500968e-01 -3.82493435e-04 -1.72384948e-01] [ 5.35291007e-03 2.13518124e-04 9.99985650e-01 -7.65771194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72589822699996 meters Centerline goodness [0,1] 0.9995986565556283 Centerline is valid? [True, True] Translation: X:135.48, Y:-0.17, Z:-0.76 [[ 9.99572928e-01 -2.88710483e-02 -4.51923852e-03 1.35481727e+02] [ 2.88698789e-02 9.99583126e-01 -3.23801746e-04 -1.70421350e-01] [ 4.52670307e-03 1.93193590e-04 9.99989736e-01 -7.62885716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.755898227 meters Centerline goodness [0,1] 0.9994053560430692 Centerline is valid? [True, True] Translation: X:135.51, Y:-0.16, Z:-0.76 [[ 9.99728431e-01 -2.30346930e-02 -3.53076902e-03 1.35511649e+02] [ 2.30339432e-02 9.99734652e-01 -2.52889842e-04 -1.61133048e-01] [ 3.53565738e-03 1.71493632e-04 9.99993735e-01 -7.61787246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78589822699996 meters Centerline goodness [0,1] 0.9926604735043093 Centerline is valid? [True, True] Translation: X:135.54, Y:-0.15, Z:-0.76 [[ 9.99786681e-01 -2.02045361e-02 -4.28604570e-03 1.35539418e+02] [ 2.02034049e-02 9.99795843e-01 -3.07073365e-04 -1.46948157e-01] [ 4.29137495e-03 2.20415144e-04 9.99990768e-01 -7.63430705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.815898227 meters Centerline goodness [0,1] 0.9786270376322765 Centerline is valid? [True, True] Translation: X:135.57, Y:-0.14, Z:-0.76 [[ 9.99828453e-01 -1.78505018e-02 -4.94207730e-03 1.35568443e+02] [ 1.78489689e-02 9.99840632e-01 -3.54121122e-04 -1.38563082e-01] [ 4.94761093e-03 2.65849390e-04 9.99987725e-01 -7.64719466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84589822699996 meters Centerline goodness [0,1] 0.9918858539875232 Centerline is valid? [True, True] Translation: X:135.60, Y:-0.14, Z:-0.76 [[ 9.99866641e-01 -1.54037551e-02 -5.42447197e-03 1.35599274e+02] [ 1.54018719e-02 9.99881309e-01 -3.88781533e-04 -1.43388275e-01] [ 5.42981683e-03 3.05182663e-04 9.99985212e-01 -7.63609653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.875898227 meters Centerline goodness [0,1] 0.988725046803677 Centerline is valid? [True, True] Translation: X:135.63, Y:-0.14, Z:-0.76 [[ 9.99876624e-01 -1.50341452e-02 -4.55097070e-03 1.35627101e+02] [ 1.50328143e-02 9.99886948e-01 -3.26524786e-04 -1.40065398e-01] [ 4.55536523e-03 2.58070603e-04 9.99989591e-01 -7.62077233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90589822699997 meters Centerline goodness [0,1] 0.9913882045775166 Centerline is valid? [True, True] Translation: X:135.66, Y:-0.14, Z:-0.76 [[ 9.99881294e-01 -1.49944735e-02 -3.54443129e-03 1.35655847e+02] [ 1.49936631e-02 9.99887556e-01 -2.55107821e-04 -1.39035155e-01] [ 3.54785795e-03 2.01933530e-04 9.99993686e-01 -7.60013706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.935898227 meters Centerline goodness [0,1] 0.9926343701334231 Centerline is valid? [True, True] Translation: X:135.68, Y:-0.14, Z:-0.76 [[ 9.99895981e-01 -1.41449360e-02 -2.81928414e-03 1.35684287e+02] [ 1.41444185e-02 9.99899942e-01 -2.03439167e-04 -1.36514231e-01] [ 2.82187968e-03 1.63540871e-04 9.99996005e-01 -7.57745367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96589822699997 meters Centerline goodness [0,1] 0.9694048968963924 Centerline is valid? [True, True] Translation: X:135.71, Y:-0.13, Z:-0.76 [[ 9.99918549e-01 -1.23462108e-02 -3.23531098e-03 1.35713274e+02] [ 1.23455209e-02 9.99923764e-01 -2.33151935e-04 -1.26686903e-01] [ 3.23794287e-03 1.93191346e-04 9.99994739e-01 -7.58809288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99589822699994 meters Centerline goodness [0,1] 0.9270323212536729 Centerline is valid? [True, False] Translation: X:135.69, Y:-0.13, Z:-0.76 [[ 9.99952401e-01 -8.43407946e-03 -4.90536150e-03 1.35693305e+02] [ 8.39954756e-03 9.99940095e-01 -7.01813054e-03 -1.26943549e-01] [ 4.96425911e-03 6.97659366e-03 9.99963341e-01 -7.59300614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.02589822699997 meters Centerline goodness [0,1] 0.9270323212536729 Centerline is valid? [False, False] Translation: X:135.69, Y:-0.13, Z:-0.76 [[ 9.99976776e-01 -4.45096249e-03 -5.16114210e-03 1.35693850e+02] [ 4.43861654e-03 9.99987267e-01 -2.40108903e-03 -1.30232929e-01] [ 5.17176354e-03 2.37812494e-03 9.99983799e-01 -7.58962969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05589822699994 meters Centerline goodness [0,1] 0.8997540496989229 Centerline is valid? [False, False] Translation: X:135.69, Y:-0.13, Z:-0.76 [[ 9.99986034e-01 -1.43255115e-05 -5.28504882e-03 1.35694130e+02] [ 2.57688572e-05 9.99997656e-01 2.16516816e-03 -1.31525209e-01] [ 5.28500541e-03 -2.16527411e-03 9.99983690e-01 -7.58792069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.085898227 meters Centerline goodness [0,1] 0.9365022760168656 Centerline is valid? [False, False] Translation: X:135.72, Y:-0.13, Z:-0.76 [[ 9.99997946e-01 1.29217654e-03 -1.56176311e-03 1.35716502e+02] [-1.30406376e-03 9.99970006e-01 -7.63451336e-03 -1.26473193e-01] [ 1.55185113e-03 7.63653432e-03 9.99969637e-01 -7.62971943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11589822699995 meters Centerline goodness [0,1] 0.9341828581041298 Centerline is valid? [False, False] Translation: X:135.72, Y:-0.13, Z:-0.76 [[ 9.99997708e-01 1.34087165e-03 -1.66931565e-03 1.35716924e+02] [-1.35344061e-03 9.99970573e-01 -7.55119071e-03 -1.26777505e-01] [ 1.65914135e-03 7.55343272e-03 9.99970096e-01 -7.63125024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.145898227 meters Centerline goodness [0,1] 0.9419005934093683 Centerline is valid? [False, False] Translation: X:135.72, Y:-0.13, Z:-0.76 [[ 9.99997178e-01 1.37365031e-03 -1.93831278e-03 1.35718160e+02] [-1.38775766e-03 9.99972423e-01 -7.29568227e-03 -1.28174692e-01] [ 1.92823762e-03 7.29835159e-03 9.99971508e-01 -7.63696049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17589822699995 meters Centerline goodness [0,1] 0.9351014498835477 Centerline is valid? [False, False] Translation: X:135.72, Y:-0.13, Z:-0.76 [[ 9.99996867e-01 1.35431036e-03 -2.10530182e-03 1.35719013e+02] [-1.36955422e-03 9.99972736e-01 -7.25620338e-03 -1.28459047e-01] [ 2.09541727e-03 7.25906397e-03 9.99971457e-01 -7.64180218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.205898227 meters Centerline goodness [0,1] 0.8768488474990519 Centerline is valid? [False, False] Translation: X:135.72, Y:-0.13, Z:-0.76 [[ 9.99996704e-01 1.31903828e-03 -2.20272575e-03 1.35719619e+02] [-1.33497214e-03 9.99972842e-01 -7.24796741e-03 -1.28598494e-01] [ 2.19310558e-03 7.25088410e-03 9.99971307e-01 -7.64668623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23589822699995 meters Centerline goodness [0,1] 0.9777471654127371 Centerline is valid? [False, True] Translation: X:135.72, Y:-0.13, Z:-0.76 [[ 9.99996804e-01 1.27310555e-03 -2.18418793e-03 1.35719465e+02] [-1.28876210e-03 9.99973380e-01 -7.18176523e-03 -1.29096088e-01] [ 2.17498664e-03 7.18455718e-03 9.99971825e-01 -7.64512010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.265898227 meters Centerline goodness [0,1] 0.9393281631964933 Centerline is valid? [True, False] Translation: X:135.72, Y:-0.13, Z:-0.76 [[ 9.99982903e-01 5.31103245e-03 -2.44666992e-03 1.35720025e+02] [-5.31654335e-03 9.99983333e-01 -2.25143862e-03 -1.33627318e-01] [ 2.43467168e-03 2.26440795e-03 9.99994472e-01 -7.63926702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29589822699995 meters Centerline goodness [0,1] 0.9398121768492139 Centerline is valid? [False, False] Translation: X:135.72, Y:-0.13, Z:-0.76 [[ 9.99982761e-01 5.35141330e-03 -2.41669963e-03 1.35719719e+02] [-5.35645488e-03 9.99983481e-01 -2.08451475e-03 -1.34519449e-01] [ 2.40550461e-03 2.09742375e-03 9.99994907e-01 -7.63555631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.325898227 meters Centerline goodness [0,1] 0.9690084830022635 Centerline is valid? [False, True] Translation: X:135.72, Y:-0.14, Z:-0.76 [[ 9.99981875e-01 5.44691288e-03 -2.56513936e-03 1.35720270e+02] [-5.45113156e-03 9.99983797e-01 -1.64051238e-03 -1.36975280e-01] [ 2.55616206e-03 1.65446555e-03 9.99995364e-01 -7.63675612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35589822699995 meters Centerline goodness [0,1] 0.9354149203688181 Centerline is valid? [True, False] Translation: X:135.72, Y:-0.14, Z:-0.76 [[ 9.99981554e-01 5.47520370e-03 -2.62940384e-03 1.35720716e+02] [-5.47917634e-03 9.99983855e-01 -1.50603424e-03 -1.37718547e-01] [ 2.62111554e-03 1.52041343e-03 9.99995409e-01 -7.64035083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.385898227 meters Centerline goodness [0,1] 0.9301285162597337 Centerline is valid? [False, False] Translation: X:135.72, Y:-0.14, Z:-0.76 [[ 9.99981302e-01 5.48819926e-03 -2.69735790e-03 1.35721147e+02] [-5.49215571e-03 9.99983850e-01 -1.46157510e-03 -1.37998861e-01] [ 2.68929293e-03 1.47636208e-03 9.99995294e-01 -7.64380300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41589822699996 meters Centerline goodness [0,1] 0.9196873227006241 Centerline is valid? [False, False] Translation: X:135.72, Y:-0.14, Z:-0.76 [[ 9.99981486e-01 5.47914833e-03 -2.64715915e-03 1.35721165e+02] [-5.48359930e-03 9.99983559e-01 -1.67709165e-03 -1.36840012e-01] [ 2.63792659e-03 1.69157656e-03 9.99995090e-01 -7.64698674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.445898227 meters Centerline goodness [0,1] 0.9716377139442571 Centerline is valid? [False, True] Translation: X:135.68, Y:-0.14, Z:-0.77 [[ 9.99985742e-01 5.01463450e-03 -1.83572111e-03 1.35676042e+02] [-5.01725172e-03 9.99986400e-01 -1.42390013e-03 -1.37565232e-01] [ 1.82855580e-03 1.43309010e-03 9.99997301e-01 -7.65081632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47589822699996 meters Centerline goodness [0,1] 0.881321602633078 Centerline is valid? [True, False] Translation: X:135.68, Y:-0.14, Z:-0.76 [[ 9.99955250e-01 9.24284330e-03 -2.01672243e-03 1.35676571e+02] [-9.23631919e-03 9.99952158e-01 3.22068886e-03 -1.39829943e-01] [ 2.04639427e-03 -3.20191764e-03 9.99992780e-01 -7.64875935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.505898227 meters Centerline goodness [0,1] 0.892068958276463 Centerline is valid? [False, False] Translation: X:135.68, Y:-0.14, Z:-0.77 [[ 9.99956503e-01 9.13813868e-03 -1.86724226e-03 1.35676254e+02] [-9.13336040e-03 9.99955034e-01 2.55170662e-03 -1.36199873e-01] [ 1.89047614e-03 -2.53454144e-03 9.99995001e-01 -7.65199676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53589822699996 meters Centerline goodness [0,1] 0.8980489550228359 Centerline is valid? [False, False] Translation: X:135.68, Y:-0.13, Z:-0.77 [[ 9.99985992e-01 5.05309550e-03 -1.57522776e-03 1.35675379e+02] [-5.05713383e-03 9.99983909e-01 -2.57029033e-03 -1.30650318e-01] [ 1.56221449e-03 2.57822046e-03 9.99995456e-01 -7.65501454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.565898227 meters Centerline goodness [0,1] 0.9726112334566291 Centerline is valid? [False, True] Translation: X:135.63, Y:-0.13, Z:-0.77 [[ 9.99989346e-01 4.35437751e-03 -1.53214641e-03 1.35631485e+02] [-4.35818350e-03 9.99987404e-01 -2.48958693e-03 -1.30911244e-01] [ 1.52128651e-03 2.49623778e-03 9.99995727e-01 -7.66137696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59589822699996 meters Centerline goodness [0,1] 0.9302134300658006 Centerline is valid? [True, False] Translation: X:135.65, Y:-0.13, Z:-0.76 [[ 9.99990910e-01 4.16855963e-03 -8.95753453e-04 1.35650503e+02] [-4.16141995e-03 9.99960687e-01 7.82986760e-03 -1.30777979e-01] [ 9.28357509e-04 -7.82606882e-03 9.99968945e-01 -7.63772064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.625898227 meters Centerline goodness [0,1] 0.6549516071466062 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.13, Z:-0.76 [[ 9.99991405e-01 4.11883254e-03 -4.75087955e-04 1.35648951e+02] [-4.11545286e-03 9.99967671e-01 6.90795758e-03 -1.25422988e-01] [ 5.03525316e-04 -6.90594300e-03 9.99976027e-01 -7.63537011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65589822699997 meters Centerline goodness [0,1] 0.9164253556255416 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.12, Z:-0.76 [[ 9.99992252e-01 3.92356101e-03 -3.18627032e-04 1.35648461e+02] [-3.92148453e-03 9.99972622e-01 6.27519915e-03 -1.22164078e-01] [ 3.43239435e-04 -6.27390104e-03 9.99980260e-01 -7.63625471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.685898227 meters Centerline goodness [0,1] 0.8352437042197032 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.12, Z:-0.76 [[ 9.99992948e-01 3.75183787e-03 -1.67132460e-04 1.35648137e+02] [-3.75083582e-03 9.99977066e-01 5.63899705e-03 -1.18903409e-01] [ 1.88285229e-04 -5.63833040e-03 9.99984087e-01 -7.63933315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71589822699997 meters Centerline goodness [0,1] 0.6016225986800623 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.11, Z:-0.76 [[ 9.99993136e-01 3.69983012e-03 -1.99280560e-04 1.35648730e+02] [-3.69892710e-03 9.99983673e-01 4.35572113e-03 -1.11509243e-01] [ 2.15392734e-04 -4.35495411e-03 9.99990494e-01 -7.64977457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74589822699994 meters Centerline goodness [0,1] 0.7155756687275585 Centerline is valid? [False, False] Translation: X:135.61, Y:-0.11, Z:-0.77 [[ 9.99996133e-01 2.43895276e-03 -1.33600732e-03 1.35608181e+02] [-2.43593224e-03 9.99994484e-01 2.25783904e-03 -1.08498225e-01] [ 1.34150672e-03 -2.25457589e-03 9.99996559e-01 -7.67572791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77589822699997 meters Centerline goodness [0,1] 0.5215397181092798 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.10, Z:-0.77 [[ 9.99994857e-01 2.39592892e-03 -2.13217527e-03 1.35650760e+02] [-2.39935795e-03 9.99995830e-01 -1.60712824e-03 -9.92110255e-02] [ 2.12831582e-03 1.61223583e-03 9.99996435e-01 -7.67785622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80589822699994 meters Centerline goodness [0,1] 0.4848867293494037 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.09, Z:-0.77 [[ 9.99995450e-01 2.08489119e-03 -2.18007112e-03 1.35651446e+02] [-2.09183640e-03 9.99992729e-01 -3.18835893e-03 -9.05133464e-02] [ 2.17340789e-03 3.19290477e-03 9.99992541e-01 -7.68836784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.835898227 meters Centerline goodness [0,1] 0.5597215463066799 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.09, Z:-0.77 [[ 9.99996072e-01 1.85642237e-03 -2.10008380e-03 1.35651116e+02] [-1.86450623e-03 9.99990835e-01 -3.85391832e-03 -8.71427453e-02] [ 2.09291005e-03 3.85781880e-03 9.99990368e-01 -7.68782913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86589822699995 meters Centerline goodness [0,1] 0.5009552602296823 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.09, Z:-0.77 [[ 9.99979956e-01 5.86326189e-03 -2.38963484e-03 1.35651658e+02] [-5.86187121e-03 9.99982646e-01 5.88551285e-04 -8.87094805e-02] [ 2.39304420e-03 -5.74531757e-04 9.99996972e-01 -7.68040818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.895898227 meters Centerline goodness [0,1] 0.60275152278933 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.08, Z:-0.77 [[ 9.99982613e-01 5.34159211e-03 -2.49806714e-03 1.35652106e+02] [-5.34263983e-03 9.99985643e-01 -4.12927349e-04 -8.42188336e-02] [ 2.49582558e-03 4.26266442e-04 9.99996795e-01 -7.68276767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92589822699995 meters Centerline goodness [0,1] 0.5900086132644272 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.08, Z:-0.77 [[ 9.99983679e-01 5.07800772e-03 -2.61839966e-03 1.35652763e+02] [-5.08034768e-03 9.99986701e-01 -8.87783975e-04 -8.21668164e-02] [ 2.61385666e-03 9.01071866e-04 9.99996178e-01 -7.68755860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.955898227 meters Centerline goodness [0,1] 0.6155611224554238 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.08, Z:-0.77 [[ 9.99984060e-01 4.92321157e-03 -2.76440660e-03 1.35653272e+02] [-4.92636905e-03 9.99987219e-01 -1.13654639e-03 -8.10952099e-02] [ 2.75877581e-03 1.15014676e-03 9.99995533e-01 -7.68812951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98589822699995 meters Centerline goodness [0,1] 0.6154396448334631 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.08, Z:-0.77 [[ 9.99984366e-01 4.77358376e-03 -2.91221873e-03 1.35653349e+02] [-4.77714389e-03 9.99987849e-01 -1.21675365e-03 -8.10664901e-02] [ 2.90637507e-03 1.23064671e-03 9.99995019e-01 -7.68160772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.015898227 meters Centerline goodness [0,1] 0.6228613882402887 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.08, Z:-0.77 [[ 9.99984757e-01 4.68858243e-03 -2.91606336e-03 1.35653135e+02] [-4.69249061e-03 9.99988099e-01 -1.33483206e-03 -8.06249514e-02] [ 2.90977019e-03 1.34849531e-03 9.99994857e-01 -7.67775620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04589822699995 meters Centerline goodness [0,1] 0.5520392337678669 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.08, Z:-0.77 [[ 9.99990205e-01 3.79290347e-03 -2.28138153e-03 1.35673272e+02] [-3.77354618e-03 9.99957345e-01 8.43018613e-03 -8.07888175e-02] [ 2.31325910e-03 -8.42149466e-03 9.99961863e-01 -7.66270449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.075898227 meters Centerline goodness [0,1] 0.6193122247850702 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.07, Z:-0.77 [[ 9.99997859e-01 -3.91038260e-04 -2.03200021e-03 1.35672460e+02] [ 3.97241022e-04 9.99995261e-01 3.05303332e-03 -7.40176897e-02] [ 2.03079673e-03 -3.05383398e-03 9.99993275e-01 -7.66434848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10589822699995 meters Centerline goodness [0,1] 0.6348312245155323 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.07, Z:-0.77 [[ 9.99997840e-01 -4.82443457e-04 -2.02178613e-03 1.35672279e+02] [ 4.88092288e-04 9.99995976e-01 2.79441915e-03 -7.27212114e-02] [ 2.02042985e-03 -2.79539993e-03 9.99994052e-01 -7.66231464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.135898227 meters Centerline goodness [0,1] 0.6615100825891922 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.07, Z:-0.77 [[ 9.99997740e-01 -5.80317882e-04 -2.04511391e-03 1.35672229e+02] [ 5.85346485e-04 9.99996805e-01 2.45909787e-03 -7.10241633e-02] [ 2.04368032e-03 -2.46028941e-03 9.99994885e-01 -7.66059095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16589822699996 meters Centerline goodness [0,1] 0.5391977451042258 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.07, Z:-0.77 [[ 9.99997785e-01 -7.75495451e-04 -1.95685865e-03 1.35671779e+02] [ 7.79232140e-04 9.99997873e-01 1.90949529e-03 -6.82425152e-02] [ 1.95537368e-03 -1.91101591e-03 9.99996262e-01 -7.65838264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.195898227 meters Centerline goodness [0,1] 0.5970830502717391 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.06, Z:-0.77 [[ 9.99993853e-01 3.50576643e-03 -5.58676491e-05 1.35651713e+02] [-3.50597425e-03 9.99984609e-01 -4.29987350e-03 -6.31306219e-02] [ 4.07924371e-05 4.30004294e-03 9.99990754e-01 -7.69676740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22589822699996 meters Centerline goodness [0,1] 0.5900351501291661 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.06, Z:-0.77 [[ 9.99994691e-01 3.25862535e-03 4.21774459e-06 1.35651468e+02] [-3.25856337e-03 9.99982150e-01 -5.00805058e-03 -5.95630275e-02] [-2.05370299e-05 5.00801025e-03 9.99987460e-01 -7.69650567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.255898227 meters Centerline goodness [0,1] 0.5674779689467058 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.06, Z:-0.77 [[ 9.99974166e-01 7.17940333e-03 -3.50754973e-04 1.35652245e+02] [-7.17962403e-03 9.99974026e-01 -6.32046336e-04 -6.09323766e-02] [ 3.46208147e-04 6.34548297e-04 9.99999739e-01 -7.68980578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28589822699996 meters Centerline goodness [0,1] 0.5977113795295613 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.06, Z:-0.77 [[ 9.99975828e-01 6.94760723e-03 -2.72969193e-04 1.35651800e+02] [-6.94788351e-03 9.99975338e-01 -1.02454779e-03 -5.92603473e-02] [ 2.65844305e-04 1.02641959e-03 9.99999438e-01 -7.68699877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.315898227 meters Centerline goodness [0,1] 0.6358902211116477 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.05, Z:-0.77 [[ 9.99994734e-01 2.51921247e-03 2.04593472e-03 1.35671097e+02] [-2.52920663e-03 9.99984811e-01 4.89708301e-03 -5.44562287e-02] [-2.03356685e-03 -4.90223181e-03 9.99985916e-01 -7.68711551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34589822699996 meters Centerline goodness [0,1] 0.5869768796953364 Centerline is valid? [False, False] Translation: X:135.71, Y:-0.05, Z:-0.77 [[ 9.99994131e-01 9.62144335e-04 3.28816504e-03 1.35710916e+02] [-9.65740642e-04 9.99998937e-01 1.09229963e-03 -4.69641530e-02] [-3.28711059e-03 -1.09546873e-03 9.99993997e-01 -7.67384701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.375898227 meters Centerline goodness [0,1] 0.6467014072026835 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.05, Z:-0.77 [[ 9.99994187e-01 -1.06909576e-04 3.40804371e-03 1.35667520e+02] [ 1.07239025e-04 9.99999990e-01 -9.64855998e-05 -4.72642221e-02] [-3.40803336e-03 9.68505142e-05 9.99994188e-01 -7.67987835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40589822699997 meters Centerline goodness [0,1] 0.6199019834675977 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.04, Z:-0.77 [[ 9.99994326e-01 -4.76338809e-04 3.33479365e-03 1.35668043e+02] [ 4.80369868e-04 9.99999155e-01 -1.20809156e-03 -4.16344734e-02] [-3.33421537e-03 1.20968664e-03 9.99993710e-01 -7.68581769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.435898227 meters Centerline goodness [0,1] 0.6526918381950583 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.04, Z:-0.77 [[ 9.99994258e-01 -7.55507482e-04 3.30358409e-03 1.35668385e+02] [ 7.62133959e-04 9.99997699e-01 -2.00504609e-03 -3.76701048e-02] [-3.30206166e-03 2.00755235e-03 9.99992533e-01 -7.69110158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46589822699997 meters Centerline goodness [0,1] 0.5794473229706391 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.03, Z:-0.77 [[ 9.99993911e-01 -1.01499635e-03 3.33870620e-03 1.35668531e+02] [ 1.02431573e-03 9.99995581e-01 -2.79079014e-03 -3.36583658e-02] [-3.33585880e-03 2.79419304e-03 9.99990532e-01 -7.69627905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49589822699994 meters Centerline goodness [0,1] 0.536243752887321 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.03, Z:-0.77 [[ 9.99996315e-01 1.28958427e-03 2.38912555e-03 1.35674622e+02] [-1.28738136e-03 9.99998745e-01 -9.23363724e-04 -2.82342775e-02] [-2.39031330e-03 9.20284605e-04 9.99996720e-01 -7.73506221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.52589822699997 meters Centerline goodness [0,1] 0.610392897062235 Centerline is valid? [False, False] Translation: X:135.68, Y:-0.02, Z:-0.77 [[ 9.99996913e-01 9.91612123e-04 2.27824995e-03 1.35675357e+02] [-9.87681428e-04 9.99998023e-01 -1.72579116e-03 -2.43096762e-02] [-2.27995676e-03 1.72353565e-03 9.99995916e-01 -7.74248820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55589822699994 meters Centerline goodness [0,1] 0.5901460007573527 Centerline is valid? [False, False] Translation: X:135.68, Y:-0.02, Z:-0.77 [[ 9.99997426e-01 6.49949004e-04 2.17370066e-03 1.35675977e+02] [-6.44199778e-04 9.99996296e-01 -2.64455767e-03 -1.97787598e-02] [-2.17541144e-03 2.64315057e-03 9.99994141e-01 -7.74806785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.585898227 meters Centerline goodness [0,1] 0.45978089432627134 Centerline is valid? [False, False] Translation: X:135.64, Y:-0.02, Z:-0.78 [[ 9.99998081e-01 1.68803115e-03 9.94175218e-04 1.35635050e+02] [-1.68653798e-03 9.99997452e-01 -1.50084475e-03 -1.95140075e-02] [-9.96706157e-04 1.49916516e-03 9.99998380e-01 -7.76315618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61589822699995 meters Centerline goodness [0,1] 0.48159476848433713 Centerline is valid? [False, False] Translation: X:135.64, Y:-0.01, Z:-0.78 [[ 9.99986452e-01 5.16840432e-03 6.18486553e-04 1.35636050e+02] [-5.16943541e-03 9.99985232e-01 1.67728763e-03 -1.49682364e-02] [-6.09808518e-04 -1.68046213e-03 9.99998402e-01 -7.76118914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.645898227 meters Centerline goodness [0,1] 0.5803996598639456 Centerline is valid? [False, False] Translation: X:135.64, Y:-0.01, Z:-0.78 [[ 9.99987821e-01 4.89602338e-03 6.22250235e-04 1.35635984e+02] [-4.89673940e-03 9.99987345e-01 1.15443303e-03 -1.26597581e-02] [-6.16590229e-04 -1.15746597e-03 9.99999140e-01 -7.76103508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67589822699995 meters Centerline goodness [0,1] 0.6390204703095923 Centerline is valid? [False, False] Translation: X:135.64, Y:-0.01, Z:-0.78 [[ 9.99989006e-01 4.66456511e-03 4.80021255e-04 1.35636164e+02] [-4.66503392e-03 9.99988638e-01 9.80202276e-04 -1.22038601e-02] [-4.75443584e-04 -9.82430814e-04 9.99999404e-01 -7.75671774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.705898227 meters Centerline goodness [0,1] 0.6208341268329842 Centerline is valid? [False, False] Translation: X:135.63, Y:-0.01, Z:-0.77 [[ 9.99999818e-01 5.09452479e-05 6.01274473e-04 1.35634861e+02] [-4.87711291e-05 9.99993464e-01 -3.61531177e-03 -1.12839241e-02] [-6.01454726e-04 3.61528179e-03 9.99993284e-01 -7.74252621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73589822699995 meters Centerline goodness [0,1] 0.6736317151694968 Centerline is valid? [False, False] Translation: X:135.63, Y:-0.01, Z:-0.77 [[ 9.99999900e-01 -9.57230415e-05 4.35905468e-04 1.35634955e+02] [ 9.71147401e-05 9.99994895e-01 -3.19376027e-03 -1.40463899e-02] [-4.35597526e-04 3.19380228e-03 9.99994805e-01 -7.73516554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.765898227 meters Centerline goodness [0,1] 0.680492992992993 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.01, Z:-0.77 [[ 9.99986661e-01 -4.79178369e-03 1.92806787e-03 1.35654947e+02] [ 4.78571104e-03 9.99983612e-01 3.14198578e-03 -1.46482272e-02] [-1.94309199e-03 -3.13271669e-03 9.99993205e-01 -7.73301052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79589822699995 meters Centerline goodness [0,1] 0.9634277066649852 Centerline is valid? [False, True] Translation: X:135.65, Y:-0.02, Z:-0.77 [[ 9.99957438e-01 -8.98903993e-03 2.07815559e-03 1.35654444e+02] [ 8.99102821e-03 9.99959129e-01 -9.49398920e-04 -1.56791890e-02] [-2.06953647e-03 9.68043268e-04 9.99997390e-01 -7.73097648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.825898227 meters Centerline goodness [0,1] 0.8009123972501945 Centerline is valid? [True, False] Translation: X:135.65, Y:-0.02, Z:-0.77 [[ 9.99985722e-01 -4.98843387e-03 1.91609503e-03 1.35654675e+02] [ 4.98051355e-03 9.99979125e-01 4.11633733e-03 -2.08949155e-02] [-1.93658910e-03 -4.10673542e-03 9.99989692e-01 -7.72588997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85589822699995 meters Centerline goodness [0,1] 0.9468220608839638 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.02, Z:-0.77 [[ 9.99986017e-01 -4.89668648e-03 1.99712347e-03 1.35654412e+02] [ 4.88804792e-03 9.99978775e-01 4.30768214e-03 -2.18197318e-02] [-2.01817445e-03 -4.29785987e-03 9.99988728e-01 -7.72526057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.885898227 meters Centerline goodness [0,1] 0.723324801745479 Centerline is valid? [False, False] Translation: X:135.65, Y:-0.02, Z:-0.77 [[ 9.99986757e-01 -4.76773157e-03 1.93788568e-03 1.35654699e+02] [ 4.75896858e-03 9.99978543e-01 4.50166583e-03 -2.26523126e-02] [-1.95930684e-03 -4.49238388e-03 9.99987990e-01 -7.72677105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91589822699996 meters Centerline goodness [0,1] 0.9751850516447856 Centerline is valid? [False, True] Translation: X:135.64, Y:-0.03, Z:-0.77 [[ 9.99999016e-01 -7.68791313e-04 -1.17313721e-03 1.35635165e+02] [ 7.66264435e-04 9.99997389e-01 -2.15288093e-03 -2.56542198e-02] [ 1.17478927e-03 2.15197988e-03 9.99996994e-01 -7.71651909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.945898227 meters Centerline goodness [0,1] 0.9751850516447856 Centerline is valid? [True, True] Translation: X:135.66, Y:-0.02, Z:-0.77 [[ 9.99998821e-01 -8.00022420e-04 -1.31044865e-03 1.35664384e+02] [ 7.99908793e-04 9.99999676e-01 -8.72302018e-05 -2.45834382e-02] [ 1.31051801e-03 8.61818596e-05 9.99999138e-01 -7.71884055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97589822699996 meters Centerline goodness [0,1] 0.853076547818525 Centerline is valid? [True, False] Translation: X:135.66, Y:-0.03, Z:-0.77 [[ 9.99998838e-01 -6.51885219e-04 -1.37816719e-03 1.35664998e+02] [ 6.51991482e-04 9.99999785e-01 7.66571910e-05 -2.51490333e-02] [ 1.37811692e-03 -7.75556552e-05 9.99999047e-01 -7.72560377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.005898227 meters Centerline goodness [0,1] 0.8374620189061445 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.03, Z:-0.77 [[ 9.99998688e-01 -4.91333369e-04 -1.54381019e-03 1.35665771e+02] [ 4.91829310e-04 9.99999828e-01 3.20881731e-04 -2.61700566e-02] [ 1.54365227e-03 -3.21640601e-04 9.99998757e-01 -7.72977362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03589822699996 meters Centerline goodness [0,1] 0.8521116438786407 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.03, Z:-0.77 [[ 9.99998647e-01 -3.18667892e-04 -1.61403722e-03 1.35666079e+02] [ 3.19820597e-04 9.99999694e-01 7.13966982e-04 -2.80336398e-02] [ 1.61380920e-03 -7.14482218e-04 9.99998443e-01 -7.73110320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.065898227 meters Centerline goodness [0,1] 0.9332371903630811 Centerline is valid? [False, False] Translation: X:135.62, Y:-0.04, Z:-0.77 [[ 9.99998596e-01 -1.02869945e-03 -1.32257261e-03 1.35622483e+02] [ 1.03110812e-03 9.99997809e-01 1.82180883e-03 -3.61370020e-02] [ 1.32069562e-03 -1.82316999e-03 9.99997466e-01 -7.73289419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09589822699996 meters Centerline goodness [0,1] 0.7790551048715901 Centerline is valid? [False, False] Translation: X:135.63, Y:-0.04, Z:-0.78 [[ 9.99993489e-01 -2.98686556e-03 -2.02495652e-03 1.35627850e+02] [ 2.98637684e-03 9.99995511e-01 -2.44328753e-04 -3.64241708e-02] [ 2.02567721e-03 2.38279879e-04 9.99997920e-01 -7.76821702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.125898227 meters Centerline goodness [0,1] 0.8067421893129127 Centerline is valid? [False, False] Translation: X:135.63, Y:-0.04, Z:-0.78 [[ 9.99994090e-01 -2.72191292e-03 -2.10039453e-03 1.35628019e+02] [ 2.72295013e-03 9.99996172e-01 4.91114855e-04 -4.00036162e-02] [ 2.09904971e-03 -4.96831221e-04 9.99997674e-01 -7.76652361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15589822699997 meters Centerline goodness [0,1] 0.9853505480294261 Centerline is valid? [False, True] Translation: X:135.63, Y:-0.05, Z:-0.78 [[ 9.99995064e-01 -2.28889835e-03 -2.15258492e-03 1.35627739e+02] [ 2.29357012e-03 9.99995015e-01 2.17034799e-03 -4.88657677e-02] [ 2.14760648e-03 -2.17527438e-03 9.99995328e-01 -7.75691930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.185898227 meters Centerline goodness [0,1] 0.9372190685209023 Centerline is valid? [True, False] Translation: X:135.63, Y:-0.05, Z:-0.78 [[ 9.99995588e-01 -1.92801345e-03 -2.25993441e-03 1.35628025e+02] [ 1.93523803e-03 9.99993011e-01 3.19899291e-03 -5.40292327e-02] [ 2.25375091e-03 -3.20335231e-03 9.99992330e-01 -7.75506785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21589822699997 meters Centerline goodness [0,1] 0.9909545599659466 Centerline is valid? [False, True] Translation: X:135.63, Y:-0.06, Z:-0.78 [[ 9.99980462e-01 -5.86676516e-03 -2.15807807e-03 1.35627774e+02] [ 5.86514048e-03 9.99982512e-01 -7.58394207e-04 -5.51277249e-02] [ 2.16248965e-03 7.45721959e-04 9.99997384e-01 -7.75539659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24589822699994 meters Centerline goodness [0,1] 0.8927368927368927 Centerline is valid? [True, False] Translation: X:135.67, Y:-0.06, Z:-0.77 [[ 9.99988699e-01 -4.37348016e-03 -1.86420215e-03 1.35670430e+02] [ 4.37771088e-03 9.99987838e-01 2.27144486e-03 -6.03425137e-02] [ 1.85424536e-03 -2.27958013e-03 9.99995683e-01 -7.74780448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27589822699997 meters Centerline goodness [0,1] 0.8850545706895464 Centerline is valid? [False, False] Translation: X:135.67, Y:-0.07, Z:-0.77 [[ 9.99966758e-01 -7.96519394e-03 -1.74304408e-03 1.35669993e+02] [ 7.96371786e-03 9.99967926e-01 -8.52149979e-04 -6.54920980e-02] [ 1.74977571e-03 8.38240541e-04 9.99998118e-01 -7.74491383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30589822699994 meters Centerline goodness [0,1] 0.9249984069330275 Centerline is valid? [False, False] Translation: X:135.66, Y:-0.07, Z:-0.77 [[ 9.99947655e-01 -1.01924363e-02 -8.94851297e-04 1.35664863e+02] [ 1.01895888e-02 9.99943183e-01 -3.13096424e-03 -6.78995443e-02] [ 9.26712608e-04 3.12168218e-03 9.99994698e-01 -7.71577239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.335898227 meters Centerline goodness [0,1] 0.9004885789451705 Centerline is valid? [False, False] Translation: X:135.71, Y:-0.07, Z:-0.77 [[ 9.99969616e-01 -7.78152912e-03 -4.63389481e-04 1.35706885e+02] [ 7.78176675e-03 9.99969590e-01 5.13216570e-04 -7.12828223e-02] [ 4.59381779e-04 -5.16806965e-04 9.99999761e-01 -7.70703471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36589822699995 meters Centerline goodness [0,1] 0.9663594958161211 Centerline is valid? [False, True] Translation: X:135.71, Y:-0.07, Z:-0.77 [[ 9.99971337e-01 -7.56160784e-03 -3.84750903e-04 1.35706605e+02] [ 7.56197122e-03 9.99970955e-01 9.51924433e-04 -7.33360910e-02] [ 3.77541649e-04 -9.54806623e-04 9.99999473e-01 -7.70633247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.395898227 meters Centerline goodness [0,1] 0.9639688994711224 Centerline is valid? [True, True] Translation: X:135.74, Y:-0.08, Z:-0.77 [[ 9.99983915e-01 -5.52145031e-03 1.29746891e-03 1.35737061e+02] [ 5.52133518e-03 9.99984753e-01 9.22990085e-05 -7.56855686e-02] [-1.29795876e-03 -8.51337630e-05 9.99999154e-01 -7.68211922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42589822699995 meters Centerline goodness [0,1] 0.9295442584991054 Centerline is valid? [True, False] Translation: X:135.74, Y:-0.08, Z:-0.77 [[ 9.99985028e-01 -5.31229407e-03 1.31302824e-03 1.35736780e+02] [ 5.31169157e-03 9.99985786e-01 4.61924883e-04 -7.72716880e-02] [-1.31546346e-03 -4.54943566e-04 9.99999031e-01 -7.67790332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.455898227 meters Centerline goodness [0,1] 0.9329538671441971 Centerline is valid? [False, False] Translation: X:135.73, Y:-0.08, Z:-0.76 [[ 9.99968415e-01 -7.64231296e-03 2.18252858e-03 1.35731012e+02] [ 7.64647113e-03 9.99968954e-01 -1.90325946e-03 -7.85819255e-02] [-2.16791552e-03 1.91988799e-03 9.99995807e-01 -7.64074228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48589822699995 meters Centerline goodness [0,1] 0.9343763671590175 Centerline is valid? [False, False] Translation: X:135.77, Y:-0.08, Z:-0.76 [[ 9.99974398e-01 -6.57822203e-03 2.81599879e-03 1.35772769e+02] [ 6.57920800e-03 9.99978299e-01 -3.41009477e-04 -7.90604081e-02] [-2.81369445e-03 3.59527788e-04 9.99995977e-01 -7.63042585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.515898227 meters Centerline goodness [0,1] 0.9583579444772593 Centerline is valid? [False, True] Translation: X:135.77, Y:-0.08, Z:-0.76 [[ 9.99935661e-01 -1.09403261e-02 2.99702482e-03 1.35772305e+02] [ 1.09554339e-02 9.99927125e-01 -5.07175565e-03 -7.67779316e-02] [-2.94131975e-03 5.10426305e-03 9.99982647e-01 -7.63098832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54589822699995 meters Centerline goodness [0,1] 0.9826205737102028 Centerline is valid? [True, True] Translation: X:135.80, Y:-0.08, Z:-0.76 [[ 9.99899168e-01 -1.39872161e-02 2.45166392e-03 1.35803356e+02] [ 1.39868205e-02 9.99902164e-01 1.78469842e-04 -8.16223725e-02] [-2.45392035e-03 -1.44160864e-04 9.99996979e-01 -7.63180279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.575898227 meters Centerline goodness [0,1] 0.9952588738776538 Centerline is valid? [True, True] Translation: X:135.83, Y:-0.09, Z:-0.76 [[ 9.99842613e-01 -1.75754710e-02 2.41908391e-03 1.35834254e+02] [ 1.75750962e-02 9.99845531e-01 1.76078489e-04 -8.66310116e-02] [-2.42180490e-03 -1.33535144e-04 9.99997059e-01 -7.63542588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60589822699995 meters Centerline goodness [0,1] 0.9996400059293141 Centerline is valid? [True, True] Translation: X:135.87, Y:-0.10, Z:-0.76 [[ 9.99688103e-01 -2.48183475e-02 2.78314093e-03 1.35865189e+02] [ 2.48178795e-02 9.99691968e-01 2.02576954e-04 -9.59390775e-02] [-2.78731126e-03 -1.33442115e-04 9.99996107e-01 -7.63304403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.635898227 meters Centerline goodness [0,1] 0.9993041204504238 Centerline is valid? [True, True] Translation: X:135.89, Y:-0.10, Z:-0.76 [[ 9.99591373e-01 -2.84851366e-02 2.38408898e-03 1.35894891e+02] [ 2.84848035e-02 9.99594211e-01 1.73539831e-04 -9.50745202e-02] [-2.38806484e-03 -1.05558612e-04 9.99997143e-01 -7.63867196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66589822699996 meters Centerline goodness [0,1] 0.999621204149919 Centerline is valid? [True, True] Translation: X:135.92, Y:-0.10, Z:-0.76 [[ 9.99494000e-01 -3.17464148e-02 1.97712148e-03 1.35924883e+02] [ 3.17461921e-02 9.99495952e-01 1.43941446e-04 -9.81414733e-02] [-1.98069454e-03 -8.11025334e-05 9.99998035e-01 -7.64768000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.695898227 meters Centerline goodness [0,1] 0.999958296843071 Centerline is valid? [True, True] Translation: X:135.96, Y:-0.11, Z:-0.77 [[ 9.99331814e-01 -3.65420663e-02 7.76857638e-04 1.35955684e+02] [ 3.65420333e-02 9.99332115e-01 5.65708840e-05 -1.06341295e-01] [-7.78406003e-04 -2.81451264e-05 9.99999697e-01 -7.66411836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72589822699996 meters Centerline goodness [0,1] 0.9999360477510125 Centerline is valid? [True, True] Translation: X:135.98, Y:-0.11, Z:-0.77 [[ 9.99281706e-01 -3.78878872e-02 7.61995621e-04 1.35984782e+02] [ 3.78878561e-02 9.99281996e-01 5.53341071e-05 -1.09355366e-01] [-7.63544998e-04 -2.64239805e-05 9.99999708e-01 -7.66979322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.755898227 meters Centerline goodness [0,1] 0.9998951386267354 Centerline is valid? [True, True] Translation: X:136.01, Y:-0.11, Z:-0.77 [[ 9.99262253e-01 -3.84050262e-02 6.81461486e-05 1.36012957e+02] [ 3.84050260e-02 9.99262255e-01 4.87735447e-06 -1.07310483e-01] [-6.82831890e-05 -2.25660161e-06 9.99999998e-01 -7.67854164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78589822699996 meters Centerline goodness [0,1] 0.9998956441884248 Centerline is valid? [True, True] Translation: X:136.04, Y:-0.11, Z:-0.77 [[ 9.99247178e-01 -3.87919752e-02 -5.10057439e-04 1.36040949e+02] [ 3.87919610e-02 9.99247308e-01 -3.76746439e-05 -1.08085545e-01] [ 5.11134996e-04 1.78601533e-05 9.99999869e-01 -7.69218898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.815898227 meters Centerline goodness [0,1] 0.9999790162833642 Centerline is valid? [True, True] Translation: X:136.07, Y:-0.11, Z:-0.77 [[ 9.99230215e-01 -3.91411527e-02 -2.63594707e-03 1.36067486e+02] [ 3.91407786e-02 9.99233687e-01 -1.93389512e-04 -1.07008412e-01] [ 2.64149660e-03 9.00676231e-05 9.99996507e-01 -7.73239249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84589822699996 meters Centerline goodness [0,1] 0.9999158709460312 Centerline is valid? [True, True] Translation: X:136.10, Y:-0.11, Z:-0.78 [[ 9.99194278e-01 -3.99399269e-02 -3.94930527e-03 1.36096702e+02] [ 3.99390905e-02 9.99202074e-01 -2.90447996e-04 -1.05304007e-01] [ 3.95775449e-03 1.32482315e-04 9.99992159e-01 -7.76087718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.875898227 meters Centerline goodness [0,1] 0.9997049650172806 Centerline is valid? [True, True] Translation: X:136.13, Y:-0.11, Z:-0.78 [[ 9.99144152e-01 -4.10998519e-02 -4.66547760e-03 1.36126204e+02] [ 4.10986943e-02 9.99155033e-01 -3.43757462e-04 -1.05893608e-01] [ 4.67566380e-03 1.51718220e-04 9.99989058e-01 -7.77791235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90589822699997 meters Centerline goodness [0,1] 0.9999580783097175 Centerline is valid? [True, True] Translation: X:136.16, Y:-0.11, Z:-0.78 [[ 9.99015851e-01 -4.42075622e-02 -3.60832457e-03 1.36155243e+02] [ 4.42068901e-02 9.99022362e-01 -2.65848042e-04 -1.09367095e-01] [ 3.61654943e-03 1.06073600e-04 9.99993455e-01 -7.75072734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.935898227 meters Centerline goodness [0,1] 0.9999789082932591 Centerline is valid? [True, True] Translation: X:136.18, Y:-0.11, Z:-0.77 [[ 9.98921640e-01 -4.63630495e-02 -2.45457427e-03 1.36184795e+02] [ 4.63627435e-02 9.98924653e-01 -1.81437579e-04 -1.12744657e-01] [ 2.46034675e-03 6.74411270e-05 9.99996971e-01 -7.73469600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96589822699997 meters Centerline goodness [0,1] 0.9999787098147754 Centerline is valid? [True, True] Translation: X:136.21, Y:-0.11, Z:-0.77 [[ 9.98801926e-01 -4.88949295e-02 -1.99985484e-03 1.36214104e+02] [ 4.88947316e-02 9.98803926e-01 -1.47786239e-04 -1.14718466e-01] [ 2.00468886e-03 4.98268149e-05 9.99997989e-01 -7.73067379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.24, Y:-0.12, Z:-0.77 [[ 9.98544906e-01 -5.38511696e-02 -2.84985459e-03 1.36244640e+02] [ 5.38507880e-02 9.98548971e-01 -2.10538818e-04 -1.20170847e-01] [ 2.85705714e-03 5.67655490e-05 9.99995917e-01 -7.73882356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.02589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.27, Y:-0.12, Z:-0.77 [[ 9.98444267e-01 -5.56888043e-02 -2.79322358e-03 1.36272131e+02] [ 5.56884442e-02 9.98448173e-01 -2.06602148e-04 -1.20166442e-01] [ 2.80039440e-03 5.07304551e-05 9.99996078e-01 -7.74291559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.30, Y:-0.12, Z:-0.77 [[ 9.98335109e-01 -5.76413743e-02 -2.11691338e-03 1.36301374e+02] [ 5.76411706e-02 9.98337353e-01 -1.57128000e-04 -1.21132146e-01] [ 2.12245077e-03 3.48450333e-05 9.99997747e-01 -7.72749605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.33, Y:-0.13, Z:-0.77 [[ 9.98100190e-01 -6.16117248e-02 7.85641149e-05 1.36330979e+02] [ 6.16117246e-02 9.98100193e-01 5.57119830e-06 -1.25341105e-01] [-7.87581094e-05 -7.20143475e-07 9.99999997e-01 -7.68894338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.36, Y:-0.13, Z:-0.77 [[ 9.97945319e-01 -6.40678650e-02 6.70098875e-04 1.36358807e+02] [ 6.40678461e-02 9.97945544e-01 4.96889700e-05 -1.26118368e-01] [-6.71905652e-04 -6.65508340e-06 9.99999774e-01 -7.67820033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.39, Y:-0.13, Z:-0.77 [[ 9.97784599e-01 -6.65263487e-02 3.73148569e-04 1.36387230e+02] [ 6.65263430e-02 9.97784669e-01 2.75063575e-05 -1.25791271e-01] [-3.74151819e-04 -2.62121018e-06 9.99999930e-01 -7.67986339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.42, Y:-0.13, Z:-0.77 [[ 9.97634916e-01 -6.87351016e-02 -2.43548158e-04 1.36416122e+02] [ 6.87350992e-02 9.97634946e-01 -1.84530498e-05 -1.26795061e-01] [ 2.44240526e-04 1.66910000e-06 9.99999970e-01 -7.68258021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.45, Y:-0.13, Z:-0.77 [[ 9.97322564e-01 -7.31279937e-02 1.64617027e-05 1.36445656e+02] [ 7.31279937e-02 9.97322564e-01 9.52837999e-07 -1.30509318e-01] [-1.64873067e-05 2.53524457e-07 1.00000000e+00 -7.68106785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.47, Y:-0.13, Z:-0.77 [[ 9.97150575e-01 -7.54334146e-02 7.28447257e-04 1.36473542e+02] [ 7.54333951e-02 9.97150841e-01 5.42871547e-05 -1.31371238e-01] [-7.30466861e-04 8.16782219e-07 9.99999733e-01 -7.66563581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.50, Y:-0.13, Z:-0.77 [[ 9.96965119e-01 -7.78437376e-02 9.50829769e-04 1.36501689e+02] [ 7.78437052e-02 9.96965572e-01 7.11377557e-05 -1.31955494e-01] [-9.53482173e-04 3.09425111e-06 9.99999545e-01 -7.66240861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.53, Y:-0.14, Z:-0.77 [[ 9.96665803e-01 -8.15921269e-02 -5.38429372e-05 1.36529859e+02] [ 8.15921267e-02 9.96665804e-01 -4.15190101e-06 -1.35374294e-01] [ 5.40021767e-05 -2.55102010e-07 9.99999999e-01 -7.68464798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.325898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.56, Y:-0.13, Z:-0.77 [[ 9.96551438e-01 -8.29707135e-02 -1.04500285e-03 1.36558595e+02] [ 8.29706762e-02 9.96551986e-01 -7.90320940e-05 -1.33050710e-01] [ 1.04795701e-03 -7.94504594e-06 9.99999451e-01 -7.69466501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.59, Y:-0.13, Z:-0.77 [[ 9.96510276e-01 -8.34626793e-02 -1.11879584e-03 1.36586653e+02] [ 8.34626371e-02 9.96510904e-01 -8.44964522e-05 -1.29989354e-01] [ 1.12194456e-03 -9.17606846e-06 9.99999371e-01 -7.69446714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.61, Y:-0.12, Z:-0.77 [[ 9.96512211e-01 -8.34464417e-02 -3.23376928e-04 1.36613254e+02] [ 8.34464381e-02 9.96512264e-01 -2.45612973e-05 -1.23717966e-01] [ 3.24298627e-04 -2.50902016e-06 9.99999947e-01 -7.67647325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.64, Y:-0.12, Z:-0.77 [[ 9.96498523e-01 -8.36095883e-02 3.61785446e-04 1.36640378e+02] [ 8.36095839e-02 9.96498588e-01 2.72096952e-05 -1.20299539e-01] [-3.62793678e-04 3.13430957e-06 9.99999934e-01 -7.66619363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.445898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.67, Y:-0.11, Z:-0.77 [[ 9.96465248e-01 -8.40027393e-02 7.41130299e-04 1.36667582e+02] [ 8.40027210e-02 9.96465524e-01 5.58396774e-05 -1.14602425e-01] [-7.43201477e-04 6.61466364e-06 9.99999724e-01 -7.65388089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.70, Y:-0.11, Z:-0.77 [[ 9.96407527e-01 -8.46877500e-02 1.60088020e-04 1.36695039e+02] [ 8.46877492e-02 9.96407540e-01 1.19921414e-05 -1.08797349e-01] [-1.60528498e-04 1.60843413e-06 9.99999987e-01 -7.66460705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.72, Y:-0.10, Z:-0.77 [[ 9.96358045e-01 -8.52658766e-02 -6.14307208e-04 1.36723011e+02] [ 8.52658639e-02 9.96358234e-01 -4.68264830e-05 -1.02736335e-01] [ 6.16062746e-04 -5.72349179e-06 9.99999810e-01 -7.67764555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.75, Y:-0.10, Z:-0.77 [[ 9.96293921e-01 -8.59976505e-02 -1.68113137e-03 1.36750547e+02] [ 8.59975571e-02 9.96295340e-01 -1.27915273e-04 -9.88698254e-02] [ 1.68590376e-03 -1.71319821e-05 9.99998579e-01 -7.69929350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.78, Y:-0.09, Z:-0.77 [[ 9.96115936e-01 -8.79898751e-02 -3.28995489e-03 1.36777989e+02] [ 8.79895279e-02 9.96121368e-01 -2.50421494e-04 -9.42385014e-02] [ 3.29922893e-03 -4.00327372e-05 9.99994557e-01 -7.72801652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.81, Y:-0.09, Z:-0.77 [[ 9.96025295e-01 -8.90047831e-02 -3.42931602e-03 1.36806467e+02] [ 8.90044091e-02 9.96031198e-01 -2.61812189e-04 -8.67257743e-02] [ 3.43900828e-03 -4.44526828e-05 9.99994086e-01 -7.71599891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.83, Y:-0.08, Z:-0.77 [[ 9.95968521e-01 -8.96411647e-02 -3.34170985e-03 1.36833805e+02] [ 8.96408131e-02 9.95974126e-01 -2.55143907e-04 -8.49970739e-02] [ 3.35112795e-03 -4.54382891e-05 9.99994384e-01 -7.72576077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.86, Y:-0.08, Z:-0.77 [[ 9.95890629e-01 -9.05127925e-02 -3.04780182e-03 1.36861223e+02] [ 9.05125036e-02 9.95895292e-01 -2.32877876e-04 -8.16250078e-02] [ 3.05636991e-03 -4.39432791e-05 9.99995328e-01 -7.72830912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.685898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.89, Y:-0.08, Z:-0.77 [[ 9.95701783e-01 -9.25559735e-02 -3.36908552e-03 1.36889344e+02] [ 9.25556316e-02 9.95707481e-01 -2.57601928e-04 -7.64621789e-02] [ 3.37846626e-03 -5.53331397e-05 9.99994291e-01 -7.73946052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.92, Y:-0.07, Z:-0.77 [[ 9.95617658e-01 -9.34409943e-02 -3.77613086e-03 1.36917808e+02] [ 9.34405679e-02 9.95624817e-01 -2.89558997e-04 -6.72213457e-02] [ 3.78666628e-03 -6.45537617e-05 9.99992828e-01 -7.72672558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.95, Y:-0.07, Z:-0.77 [[ 9.95581161e-01 -9.38321709e-02 -3.69800657e-03 1.36945946e+02] [ 9.38317646e-02 9.95588027e-01 -2.83607706e-04 -6.69233527e-02] [ 3.70830259e-03 -6.46359925e-05 9.99993122e-01 -7.74279729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.97, Y:-0.06, Z:-0.77 [[ 9.95568920e-01 -9.39825758e-02 -3.13055393e-03 1.36973791e+02] [ 9.39822828e-02 9.95573841e-01 -2.40914247e-04 -5.81422344e-02] [ 3.13933935e-03 -5.43698687e-05 9.99995071e-01 -7.72999272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.00, Y:-0.05, Z:-0.77 [[ 9.95473234e-01 -9.50188726e-02 -2.11032567e-03 1.37001639e+02] [ 9.50187417e-02 9.95475470e-01 -1.62406190e-04 -5.41622353e-02] [ 2.11620909e-03 -3.88494749e-05 9.99997760e-01 -7.72145517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.835898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.03, Y:-0.05, Z:-0.77 [[ 9.95456698e-01 -9.51919545e-02 -2.11028196e-03 1.37029043e+02] [ 9.51918229e-02 9.95458935e-01 -1.62973724e-04 -5.18437787e-02] [ 2.11621282e-03 -3.86483013e-05 9.99997760e-01 -7.72193243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.06, Y:-0.04, Z:-0.77 [[ 9.95375759e-01 -9.60332044e-02 -2.17323838e-03 1.37057448e+02] [ 9.60330661e-02 9.95378130e-01 -1.68168355e-04 -4.27507627e-02] [ 2.17934370e-03 -4.13120417e-05 9.99997624e-01 -7.70928647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.895898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.09, Y:-0.04, Z:-0.77 [[ 9.95317989e-01 -9.66356798e-02 -1.90943858e-03 1.37085757e+02] [ 9.66355734e-02 9.95319820e-01 -1.48103901e-04 -3.70917451e-02] [ 1.91481418e-03 -3.71092153e-05 9.99998166e-01 -7.70824120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.11, Y:-0.03, Z:-0.77 [[ 9.95346557e-01 -9.63571400e-02 -7.30687553e-04 1.37112831e+02] [ 9.63571244e-02 9.95346825e-01 -5.67099690e-05 -2.82378728e-02] [ 7.32751946e-04 -1.39608790e-05 9.99999731e-01 -7.69084423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.955898227 meters Centerline goodness [0,1] 0.9999790672360378 Centerline is valid? [True, True] Translation: X:137.14, Y:-0.03, Z:-0.77 [[ 9.95327367e-01 -9.65577832e-02 1.66546971e-04 1.37140244e+02] [ 9.65577824e-02 9.95327381e-01 1.27767790e-05 -2.71029825e-02] [-1.67002458e-04 3.36432843e-06 9.99999986e-01 -7.67662070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.17, Y:-0.02, Z:-0.77 [[ 9.95279600e-01 -9.70424469e-02 1.13226746e-03 1.37167330e+02] [ 9.70424099e-02 9.95280243e-01 8.77010712e-05 -1.72163077e-02] [-1.13543416e-03 2.25908756e-05 9.99999355e-01 -7.65421932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.015898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.20, Y:-0.01, Z:-0.76 [[ 9.95190768e-01 -9.79351219e-02 2.01163849e-03 1.37195430e+02] [ 9.79350057e-02 9.95192801e-01 1.56429738e-04 -1.02076186e-02] [-2.01728810e-03 4.13323956e-05 9.99997964e-01 -7.64091333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.22, Y:-0.00, Z:-0.77 [[ 9.95056726e-01 -9.93057957e-02 6.86088663e-04 1.37223792e+02] [ 9.93057826e-02 9.95056963e-01 5.32738842e-05 -1.18586142e-03] [-6.87987707e-04 1.51220349e-05 9.99999763e-01 -7.67170302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.075898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.25, Y:0.00, Z:-0.77 [[ 9.94902042e-01 -1.00845036e-01 -4.54188142e-04 1.37252239e+02] [ 1.00845031e-01 9.94902145e-01 -3.58299104e-05 2.44835137e-03] [ 4.55486026e-04 -1.01553661e-05 9.99999896e-01 -7.69626737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.28, Y:0.00, Z:-0.77 [[ 9.94704545e-01 -1.02759248e-01 -1.84541504e-03 1.37280107e+02] [ 1.02759157e-01 9.94706256e-01 -1.44606321e-04 8.74355571e-04] [ 1.85050552e-03 -4.57927289e-05 9.99998287e-01 -7.72336805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.135898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.31, Y:0.00, Z:-0.77 [[ 9.94457590e-01 -1.05104036e-01 -2.69130188e-03 1.37309691e+02] [ 1.05103850e-01 9.94461229e-01 -2.10841953e-04 4.09213693e-03] [ 2.69855572e-03 -7.31928095e-05 9.99996356e-01 -7.73850644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16589822699996 meters Centerline goodness [0,1] 0.9999580017219294 Centerline is valid? [True, True] Translation: X:137.34, Y:0.00, Z:-0.77 [[ 9.93834438e-01 -1.10843804e-01 -2.60005157e-03 1.37340013e+02] [ 1.10843651e-01 9.93837836e-01 -2.03670589e-04 2.30084283e-03] [ 2.60660525e-03 -8.57843624e-05 9.99996599e-01 -7.73715478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.195898227 meters Centerline goodness [0,1] 0.9999791297088595 Centerline is valid? [True, True] Translation: X:137.37, Y:-0.00, Z:-0.77 [[ 9.93457065e-01 -1.14186924e-01 -2.09898841e-03 1.37369581e+02] [ 1.14186831e-01 9.93459280e-01 -1.64504284e-04 -5.63513429e-04] [ 2.10404376e-03 -7.62488919e-05 9.99997784e-01 -7.73359247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22589822699996 meters Centerline goodness [0,1] 0.9999370329947108 Centerline is valid? [True, True] Translation: X:137.40, Y:-0.00, Z:-0.77 [[ 9.93052049e-01 -1.17659178e-01 -1.98643262e-03 1.37400289e+02] [ 1.17659102e-01 9.93054033e-01 -1.55644923e-04 -2.26598552e-03] [ 1.99094798e-03 -7.91583683e-05 9.99998015e-01 -7.73331676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.255898227 meters Centerline goodness [0,1] 0.9997704172145346 Centerline is valid? [True, True] Translation: X:137.43, Y:-0.00, Z:-0.78 [[ 9.92412707e-01 -1.22902871e-01 -3.45008341e-03 1.37430609e+02] [ 1.22902672e-01 9.92418692e-01 -2.70384914e-04 -3.83090742e-03] [ 3.45715835e-03 -1.55691045e-04 9.99994012e-01 -7.75990088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28589822699996 meters Centerline goodness [0,1] 0.9995377180079849 Centerline is valid? [True, True] Translation: X:137.46, Y:-0.00, Z:-0.78 [[ 9.92174024e-01 -1.24792422e-01 -4.19021289e-03 1.37460071e+02] [ 1.24792145e-01 9.92182852e-01 -3.28502509e-04 -2.33639203e-03] [ 4.19845200e-03 -1.96973998e-04 9.99991167e-01 -7.77461531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.315898227 meters Centerline goodness [0,1] 0.9995405659392294 Centerline is valid? [True, True] Translation: X:137.49, Y:-0.00, Z:-0.78 [[ 9.91984713e-01 -1.26255628e-01 -5.08380860e-03 1.37488238e+02] [ 1.26255238e-01 9.91997710e-01 -3.98822261e-04 -1.81423467e-03] [ 5.09348004e-03 -2.46231880e-04 9.99986998e-01 -7.78990938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34589822699996 meters Centerline goodness [0,1] 0.9993873196290115 Centerline is valid? [True, True] Translation: X:137.52, Y:0.00, Z:-0.78 [[ 9.91801310e-01 -1.27664757e-01 -5.64553549e-03 1.37517290e+02] [ 1.27664298e-01 9.91817337e-01 -4.43055339e-04 2.59686332e-04] [ 5.65590253e-03 -2.81310458e-04 9.99983966e-01 -7.79663551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.375898227 meters Centerline goodness [0,1] 0.9984851035179263 Centerline is valid? [True, True] Translation: X:137.55, Y:0.00, Z:-0.78 [[ 9.91574747e-01 -1.29441561e-01 -4.94006424e-03 1.37545515e+02] [ 1.29441230e-01 9.91587020e-01 -3.87994788e-04 1.01849293e-03] [ 4.94872623e-03 -2.54722159e-04 9.99987723e-01 -7.78212662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40589822699997 meters Centerline goodness [0,1] 0.9985255397577673 Centerline is valid? [True, True] Translation: X:137.57, Y:0.01, Z:-0.78 [[ 9.91520579e-01 -1.29903531e-01 -3.46613832e-03 1.37573582e+02] [ 1.29903368e-01 9.91526621e-01 -2.73004307e-04 6.54672153e-03] [ 3.47223264e-03 -1.79573653e-04 9.99993956e-01 -7.75232221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.435898227 meters Centerline goodness [0,1] 0.997738219895288 Centerline is valid? [True, True] Translation: X:137.60, Y:0.01, Z:-0.77 [[ 9.91409179e-01 -1.30781242e-01 -2.02660554e-03 1.37602241e+02] [ 1.30781187e-01 9.91411244e-01 -1.60065792e-04 8.40558499e-03] [ 2.03013312e-03 -1.06351182e-04 9.99997934e-01 -7.72940081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46589822699997 meters Centerline goodness [0,1] 0.9979520310784562 Centerline is valid? [True, True] Translation: X:137.63, Y:0.01, Z:-0.77 [[ 9.91196303e-01 -1.32386067e-01 -1.95379338e-03 1.37631424e+02] [ 1.32386020e-01 9.91198223e-01 -1.54175012e-04 1.12352100e-02] [ 1.95700715e-03 -1.05837226e-04 9.99998079e-01 -7.72230709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49589822699994 meters Centerline goodness [0,1] 0.9943765591306921 Centerline is valid? [True, True] Translation: X:137.66, Y:0.00, Z:-0.78 [[ 9.90747260e-01 -1.35650238e-01 -4.34503242e-03 1.37661447e+02] [ 1.35650035e-01 9.90756757e-01 -3.42816177e-04 4.18093595e-03] [ 4.35137332e-03 -2.49759610e-04 9.99990502e-01 -7.76574385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.52589822699997 meters Centerline goodness [0,1] 0.9907819520324003 Centerline is valid? [True, True] Translation: X:137.69, Y:0.00, Z:-0.78 [[ 9.90581322e-01 -1.36846164e-01 -4.66608186e-03 1.37691236e+02] [ 1.36845942e-01 9.90592274e-01 -3.68267541e-04 3.41877876e-03] [ 4.67258064e-03 -2.73735423e-04 9.99989046e-01 -7.77358580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55589822699994 meters Centerline goodness [0,1] 0.9687769753879192 Centerline is valid? [True, True] Translation: X:137.72, Y:-0.00, Z:-0.78 [[ 9.90521368e-01 -1.37302343e-01 -3.93520902e-03 1.37719649e+02] [ 1.37302188e-01 9.90529158e-01 -3.10873140e-04 -4.83092887e-04] [ 3.94062289e-03 -2.32386321e-04 9.99992209e-01 -7.76180347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.585898227 meters Centerline goodness [0,1] 0.9894665594991328 Centerline is valid? [True, True] Translation: X:137.75, Y:0.01, Z:-0.77 [[ 9.90593096e-01 -1.36821576e-01 -2.27485531e-03 1.37748051e+02] [ 1.36821521e-01 9.90595699e-01 -1.80294777e-04 9.08760463e-03] [ 2.27813010e-03 -1.32650402e-04 9.99997396e-01 -7.72270982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61589822699995 meters Centerline goodness [0,1] 0.9904272854063649 Centerline is valid? [True, True] Translation: X:137.78, Y:0.02, Z:-0.77 [[ 9.91144256e-01 -1.32781946e-01 1.42099800e-03 1.37776555e+02] [ 1.32781921e-01 9.91145271e-01 1.12439285e-04 1.73370978e-02] [-1.42334535e-03 7.72392924e-05 9.99998984e-01 -7.65824852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.645898227 meters Centerline goodness [0,1] 0.9799340239110793 Centerline is valid? [True, True] Translation: X:137.81, Y:0.02, Z:-0.77 [[ 9.91477300e-01 -1.30269968e-01 1.58077570e-03 1.37805428e+02] [ 1.30269934e-01 9.91478557e-01 1.25135168e-04 1.72391868e-02] [-1.58360657e-03 8.18588674e-05 9.99998743e-01 -7.65193510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67589822699995 meters Centerline goodness [0,1] 0.9992411787024156 Centerline is valid? [True, True] Translation: X:137.83, Y:0.04, Z:-0.77 [[ 9.91783588e-01 -1.27926137e-01 4.68045763e-04 1.37833955e+02] [ 1.27926134e-01 9.91783698e-01 3.70476620e-05 3.59395440e-02] [-4.68939521e-04 2.31320216e-05 9.99999890e-01 -7.66516723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.705898227 meters Centerline goodness [0,1] 0.9993669149766814 Centerline is valid? [True, True] Translation: X:137.86, Y:0.04, Z:-0.77 [[ 9.92024761e-01 -1.26039362e-01 -9.75918990e-04 1.37862641e+02] [ 1.26039346e-01 9.92025240e-01 -7.73525868e-05 4.22418267e-02] [ 9.77885741e-04 -4.62685101e-05 9.99999521e-01 -7.69006912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73589822699995 meters Centerline goodness [0,1] 0.9993276745945038 Centerline is valid? [True, True] Translation: X:137.89, Y:0.05, Z:-0.77 [[ 9.92189567e-01 -1.24727014e-01 -1.74221748e-03 1.37890425e+02] [ 1.24726963e-01 9.92191093e-01 -1.38178333e-04 4.94109266e-02] [ 1.74584723e-03 -8.02023941e-05 9.99998473e-01 -7.71100996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.765898227 meters Centerline goodness [0,1] 0.9990066994948962 Centerline is valid? [True, True] Translation: X:137.92, Y:0.05, Z:-0.77 [[ 9.92098714e-01 -1.25448895e-01 -1.64793943e-03 1.37917857e+02] [ 1.25448850e-01 9.92100080e-01 -1.30856767e-04 4.97064572e-02] [ 1.65133668e-03 -7.69092760e-05 9.99998634e-01 -7.71125521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79589822699995 meters Centerline goodness [0,1] 0.9996804295027483 Centerline is valid? [True, True] Translation: X:137.95, Y:0.06, Z:-0.77 [[ 9.91940402e-01 -1.26692441e-01 -1.80647355e-03 1.37946998e+02] [ 1.26692389e-01 9.91942044e-01 -1.43398032e-04 5.96730036e-02] [ 1.81008451e-03 -8.66241487e-05 9.99998358e-01 -7.71404433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.825898227 meters Centerline goodness [0,1] 0.9971953353999283 Centerline is valid? [True, True] Translation: X:137.98, Y:0.06, Z:-0.77 [[ 9.91606881e-01 -1.29277983e-01 -1.73106110e-03 1.37976371e+02] [ 1.29277940e-01 9.91608388e-01 -1.37453170e-04 5.79730688e-02] [ 1.73430438e-03 -8.74885034e-05 9.99998492e-01 -7.72005200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85589822699995 meters Centerline goodness [0,1] 0.9979275696043542 Centerline is valid? [True, True] Translation: X:138.00, Y:0.07, Z:-0.77 [[ 9.91490960e-01 -1.30168047e-01 -1.39870383e-03 1.38004578e+02] [ 1.30168019e-01 9.91491944e-01 -1.11522741e-04 6.63529251e-02] [ 1.40132028e-03 -7.14927176e-05 9.99999016e-01 -7.71217297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.885898227 meters Centerline goodness [0,1] 0.9927618566679292 Centerline is valid? [True, True] Translation: X:138.03, Y:0.07, Z:-0.77 [[ 9.91400551e-01 -1.30860888e-01 -6.12801635e-04 1.38032327e+02] [ 1.30860882e-01 9.91400740e-01 -4.88716092e-05 6.67697292e-02] [ 6.13927376e-04 -3.17404224e-05 9.99999811e-01 -7.70739703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91589822699996 meters Centerline goodness [0,1] 0.9978015075376885 Centerline is valid? [True, True] Translation: X:138.06, Y:0.08, Z:-0.77 [[ 9.91322239e-01 -1.31452939e-01 -5.86121840e-04 1.38059785e+02] [ 1.31452935e-01 9.91322412e-01 -4.67846197e-05 7.90631970e-02] [ 5.87185692e-04 -3.06688020e-05 9.99999827e-01 -7.70367879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.945898227 meters Centerline goodness [0,1] 0.9969528853023999 Centerline is valid? [True, True] Translation: X:138.09, Y:0.09, Z:-0.77 [[ 9.91147505e-01 -1.32756031e-01 -1.56828676e-03 1.38087947e+02] [ 1.32755999e-01 9.91148742e-01 -1.25028884e-04 8.76419153e-02] [ 1.57100379e-03 -8.42774091e-05 9.99998762e-01 -7.71978792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97589822699996 meters Centerline goodness [0,1] 0.996263408694922 Centerline is valid? [True, True] Translation: X:138.12, Y:0.09, Z:-0.77 [[ 9.90983248e-01 -1.33977974e-01 -1.45066164e-03 1.38117033e+02] [ 1.33977947e-01 9.90984307e-01 -1.15669321e-04 9.30602584e-02] [ 1.45308006e-03 -7.97303096e-05 9.99998941e-01 -7.72295590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.005898227 meters Centerline goodness [0,1] 0.9948212600901563 Centerline is valid? [True, True] Translation: X:138.15, Y:0.10, Z:-0.77 [[ 9.90700776e-01 -1.36051131e-01 -1.43576958e-03 1.38147322e+02] [ 1.36051108e-01 9.90701813e-01 -1.14442794e-04 9.69490855e-02] [ 1.43798960e-03 -8.19594777e-05 9.99998963e-01 -7.73145684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03589822699996 meters Centerline goodness [0,1] 0.9792391167721122 Centerline is valid? [True, True] Translation: X:138.18, Y:0.10, Z:-0.78 [[ 9.89828307e-01 -1.42237547e-01 -2.89884197e-03 1.38177468e+02] [ 1.42237478e-01 9.89832535e-01 -2.31063623e-04 9.75527699e-02] [ 2.90223402e-03 -1.83610657e-04 9.99995772e-01 -7.76614398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.065898227 meters Centerline goodness [0,1] 0.8614335613143419 Centerline is valid? [True, False] Translation: X:138.18, Y:0.09, Z:-0.78 [[ 9.90280798e-01 -1.39042205e-01 -3.34769649e-03 1.38177814e+02] [ 1.39055360e-01 9.90276193e-01 4.08274589e-03 9.41875810e-02] [ 2.74747014e-03 -4.50858000e-03 9.99986062e-01 -7.77369064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09589822699996 meters Centerline goodness [0,1] 0.958145633737284 Centerline is valid? [False, True] Translation: X:138.18, Y:0.10, Z:-0.78 [[ 9.89634385e-01 -1.43580980e-01 -2.87848257e-03 1.38178217e+02] [ 1.43578787e-01 9.89638429e-01 -9.55309997e-04 9.80073493e-02] [ 2.98582132e-03 5.32118584e-04 9.99995401e-01 -7.77519490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.125898227 meters Centerline goodness [0,1] 0.8118218521322231 Centerline is valid? [True, False] Translation: X:138.18, Y:0.10, Z:-0.78 [[ 9.89583739e-01 -1.43930105e-01 -2.85440075e-03 1.38178464e+02] [ 1.43928083e-01 9.89587739e-01 -9.02579592e-04 9.68864193e-02] [ 2.95458836e-03 4.82349659e-04 9.99995519e-01 -7.77859474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15589822699997 meters Centerline goodness [0,1] 0.6168864995519994 Centerline is valid? [False, False] Translation: X:138.18, Y:0.09, Z:-0.78 [[ 9.90134191e-01 -1.40085881e-01 -3.19826241e-03 1.38177968e+02] [ 1.40097866e-01 9.90130005e-01 3.89361189e-03 9.28206537e-02] [ 2.62125553e-03 -4.30326800e-03 9.99987305e-01 -7.78047903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.185898227 meters Centerline goodness [0,1] 0.6618020568763792 Centerline is valid? [False, False] Translation: X:138.18, Y:0.09, Z:-0.78 [[ 9.90689204e-01 -1.36098933e-01 -3.46155259e-03 1.38177039e+02] [ 1.36124300e-01 9.90654081e-01 8.64096895e-03 8.92898598e-02] [ 2.25317455e-03 -9.03171608e-03 9.99956675e-01 -7.77869444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21589822699997 meters Centerline goodness [0,1] 0.8717092753010776 Centerline is valid? [False, False] Translation: X:138.13, Y:0.09, Z:-0.78 [[ 9.91572441e-01 -1.29513689e-01 -3.20902506e-03 1.38130269e+02] [ 1.29501427e-01 9.91572056e-01 -3.77323986e-03 8.92958398e-02] [ 3.67066579e-03 3.32586734e-03 9.99987732e-01 -7.75488867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24589822699994 meters Centerline goodness [0,1] 0.8902110840131192 Centerline is valid? [False, False] Translation: X:138.13, Y:0.09, Z:-0.78 [[ 9.92132326e-01 -1.25136684e-01 -3.77607826e-03 1.38130508e+02] [ 1.25141549e-01 9.92138310e-01 1.08005343e-03 8.62097369e-02] [ 3.61123759e-03 -1.54410021e-03 9.99992287e-01 -7.75628322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27589822699997 meters Centerline goodness [0,1] 0.9416313870142935 Centerline is valid? [False, False] Translation: X:138.13, Y:0.08, Z:-0.78 [[ 9.92670557e-01 -1.20775778e-01 -4.28688529e-03 1.38130734e+02] [ 1.20799990e-01 9.92659171e-01 5.92722139e-03 8.30998957e-02] [ 3.53955123e-03 -6.40163386e-03 9.99973245e-01 -7.75944824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30589822699994 meters Centerline goodness [0,1] 0.8699515687513161 Centerline is valid? [False, False] Translation: X:138.13, Y:0.08, Z:-0.78 [[ 9.92664236e-01 -1.20826485e-01 -4.32143466e-03 1.38130707e+02] [ 1.20850001e-01 9.92654576e-01 5.67182202e-03 8.44669015e-02] [ 3.60438557e-03 -6.15246026e-03 9.99974577e-01 -7.75834934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.335898227 meters Centerline goodness [0,1] 0.9605089578279927 Centerline is valid? [False, True] Translation: X:138.13, Y:0.09, Z:-0.78 [[ 9.92656985e-01 -1.20893333e-01 -4.11251701e-03 1.38129764e+02] [ 1.20914327e-01 9.92648746e-01 5.30964269e-03 8.64951176e-02] [ 3.44038446e-03 -5.76791613e-03 9.99977447e-01 -7.75543204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36589822699995 meters Centerline goodness [0,1] 0.9188871143985878 Centerline is valid? [True, False] Translation: X:138.13, Y:0.09, Z:-0.78 [[ 9.92651940e-01 -1.20936046e-01 -4.07413298e-03 1.38129370e+02] [ 1.20956194e-01 9.92644606e-01 5.12683356e-03 8.74829892e-02] [ 3.42414716e-03 -5.58195290e-03 9.99978558e-01 -7.75209146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.395898227 meters Centerline goodness [0,1] 0.9521510929364896 Centerline is valid? [False, True] Translation: X:138.13, Y:0.09, Z:-0.77 [[ 9.92641436e-01 -1.21025451e-01 -3.97745798e-03 1.38128817e+02] [ 1.21044231e-01 9.92635124e-01 4.87890510e-03 8.87282923e-02] [ 3.35769281e-03 -5.32445171e-03 9.99980188e-01 -7.74901818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42589822699995 meters Centerline goodness [0,1] 0.9734801948739674 Centerline is valid? [True, True] Translation: X:138.16, Y:0.10, Z:-0.77 [[ 9.92679005e-01 -1.20721682e-01 -3.83000070e-03 1.38157317e+02] [ 1.20721738e-01 9.92686363e-01 -2.17500458e-04 9.70291829e-02] [ 3.82824648e-03 -2.46456202e-04 9.99992642e-01 -7.74983524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.455898227 meters Centerline goodness [0,1] 0.9681706005188888 Centerline is valid? [True, True] Translation: X:138.18, Y:0.10, Z:-0.78 [[ 9.92684191e-01 -1.20621898e-01 -5.33438337e-03 1.38184819e+02] [ 1.20622001e-01 9.92698464e-01 -3.03618975e-04 1.00284819e-01] [ 5.33205728e-03 -3.42046238e-04 9.99985726e-01 -7.77407242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48589822699995 meters Centerline goodness [0,1] 0.9159977245433285 Centerline is valid? [True, False] Translation: X:138.18, Y:0.10, Z:-0.78 [[ 9.93157524e-01 -1.16641697e-01 -5.73115962e-03 1.38184924e+02] [ 1.16666666e-01 9.93162104e-01 4.23367982e-03 9.80263291e-02] [ 5.19814695e-03 -4.87334626e-03 9.99974615e-01 -7.77976496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.515898227 meters Centerline goodness [0,1] 0.9613334176201614 Centerline is valid? [False, True] Translation: X:138.18, Y:0.10, Z:-0.78 [[ 9.93563574e-01 -1.13122559e-01 -5.89169185e-03 1.38184083e+02] [ 1.13168828e-01 9.93541755e-01 8.22176381e-03 9.77753292e-02] [ 4.92357491e-03 -8.83560089e-03 9.99948844e-01 -7.78170469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54589822699995 meters Centerline goodness [0,1] 0.8289043507418895 Centerline is valid? [True, False] Translation: X:138.18, Y:0.10, Z:-0.78 [[ 9.93533248e-01 -1.13393178e-01 -5.80284109e-03 1.38183727e+02] [ 1.13436452e-01 9.93514886e-01 7.76806022e-03 9.97683403e-02] [ 4.88436397e-03 -8.37607981e-03 9.99952991e-01 -7.78144157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.575898227 meters Centerline goodness [0,1] 0.9664778393057942 Centerline is valid? [False, True] Translation: X:138.18, Y:0.11, Z:-0.78 [[ 9.93003272e-01 -1.17968569e-01 -5.28374061e-03 1.38183301e+02] [ 1.17981960e-01 9.93013080e-01 2.29765148e-03 1.06027849e-01] [ 4.97577288e-03 -2.90496151e-03 9.99983401e-01 -7.77948270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60589822699995 meters Centerline goodness [0,1] 0.7762942091761639 Centerline is valid? [True, False] Translation: X:138.18, Y:0.10, Z:-0.78 [[ 9.93426411e-01 -1.14330792e-01 -5.69517068e-03 1.38183617e+02] [ 1.14367342e-01 9.93416816e-01 6.56818788e-03 1.04439509e-01] [ 4.90673220e-03 -7.17635285e-03 9.99962211e-01 -7.78718399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.635898227 meters Centerline goodness [0,1] 0.8695333137657764 Centerline is valid? [False, False] Translation: X:138.18, Y:0.11, Z:-0.78 [[ 9.93816887e-01 -1.10854909e-01 -6.25966062e-03 1.38184668e+02] [ 1.10914112e-01 9.93778968e-01 1.00708399e-02 1.06965287e-01] [ 5.10431702e-03 -1.07028555e-02 9.99929695e-01 -7.79972443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66589822699996 meters Centerline goodness [0,1] 0.7165787711367821 Centerline is valid? [False, False] Translation: X:138.18, Y:0.11, Z:-0.78 [[ 9.93776615e-01 -1.11215763e-01 -6.25241525e-03 1.38184806e+02] [ 1.11270567e-01 9.93747258e-01 9.23299176e-03 1.11067379e-01] [ 5.18646629e-03 -9.87124110e-03 9.99937828e-01 -7.80453253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.695898227 meters Centerline goodness [0,1] 0.7408917090389545 Centerline is valid? [False, False] Translation: X:138.18, Y:0.11, Z:-0.78 [[ 9.93737928e-01 -1.11561891e-01 -6.23495127e-03 1.38184739e+02] [ 1.11612521e-01 9.93715735e-01 8.46655535e-03 1.14761928e-01] [ 5.25122426e-03 -9.10943580e-03 9.99944720e-01 -7.80632800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72589822699996 meters Centerline goodness [0,1] 0.6878183762027545 Centerline is valid? [False, False] Translation: X:138.18, Y:0.12, Z:-0.78 [[ 9.93701676e-01 -1.11890626e-01 -6.12104951e-03 1.38184259e+02] [ 1.11937110e-01 9.93684155e-01 7.86659649e-03 1.17507632e-01] [ 5.20219150e-03 -8.50222271e-03 9.99950323e-01 -7.80595015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.755898227 meters Centerline goodness [0,1] 0.6878183762027545 Centerline is valid? [False, False] Translation: X:138.18, Y:0.12, Z:-0.78 [[ 9.93701676e-01 -1.11890626e-01 -6.12104951e-03 1.38184259e+02] [ 1.11937110e-01 9.93684155e-01 7.86659649e-03 1.17507632e-01] [ 5.20219150e-03 -8.50222271e-03 9.99950323e-01 -7.80595015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78589822699996 meters Centerline goodness [0,1] 0.8432933249105075 Centerline is valid? [False, False] Translation: X:138.18, Y:0.12, Z:-0.78 [[ 9.93647501e-01 -1.12376143e-01 -6.02050803e-03 1.38183779e+02] [ 1.12418185e-01 9.93635117e-01 7.16980721e-03 1.20395444e-01] [ 5.17647292e-03 -7.80107560e-03 9.99956173e-01 -7.80474408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.815898227 meters Centerline goodness [0,1] 0.5872240013483904 Centerline is valid? [False, False] Translation: X:138.18, Y:0.12, Z:-0.78 [[ 9.93633422e-01 -1.12502393e-01 -5.98610011e-03 1.38183880e+02] [ 1.12543502e-01 9.93621850e-01 7.04122162e-03 1.20890767e-01] [ 5.15576558e-03 -7.67008981e-03 9.99957293e-01 -7.80839451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84589822699996 meters Centerline goodness [0,1] 0.6895980542217935 Centerline is valid? [False, False] Translation: X:138.18, Y:0.12, Z:-0.78 [[ 9.93626698e-01 -1.12564301e-01 -5.93828571e-03 1.38183995e+02] [ 1.12605091e-01 9.93614805e-01 7.05069167e-03 1.20729913e-01] [ 5.10671243e-03 -7.67443668e-03 9.99957511e-01 -7.81259545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.875898227 meters Centerline goodness [0,1] 0.4962352547477621 Centerline is valid? [False, False] Translation: X:138.18, Y:0.12, Z:-0.78 [[ 9.93606565e-01 -1.12744507e-01 -5.88818717e-03 1.38183794e+02] [ 1.12784779e-01 9.93594610e-01 7.02453067e-03 1.20419029e-01] [ 5.05849379e-03 -7.64371767e-03 9.99957992e-01 -7.81120194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90589822699997 meters Centerline goodness [0,1] 0.6109289617486339 Centerline is valid? [False, False] Translation: X:138.18, Y:0.12, Z:-0.78 [[ 9.93606043e-01 -1.12743838e-01 -5.98823539e-03 1.38184101e+02] [ 1.12784989e-01 9.93594429e-01 7.04676697e-03 1.20266547e-01] [ 5.15539777e-03 -7.67709331e-03 9.99957241e-01 -7.81077891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.935898227 meters Centerline goodness [0,1] 0.4803139717425432 Centerline is valid? [False, False] Translation: X:138.18, Y:0.12, Z:-0.78 [[ 9.93605393e-01 -1.12737518e-01 -6.21086715e-03 1.38184955e+02] [ 1.12780534e-01 9.93594733e-01 7.07518434e-03 1.20085883e-01] [ 5.37344616e-03 -7.73040623e-03 9.99955682e-01 -7.81267527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96589822699997 meters Centerline goodness [0,1] 0.6572127659574468 Centerline is valid? [False, False] Translation: X:138.14, Y:0.12, Z:-0.78 [[ 9.93990830e-01 -1.09199858e-01 -7.59084325e-03 1.38139114e+02] [ 1.09132176e-01 9.93988087e-01 -8.82327329e-03 1.22453140e-01] [ 8.50870796e-03 7.94184750e-03 9.99932262e-01 -7.78761410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99589822699994 meters Centerline goodness [0,1] 0.6967894359363793 Centerline is valid? [False, False] Translation: X:138.14, Y:0.12, Z:-0.78 [[ 9.94469549e-01 -1.04716266e-01 -8.05108084e-03 1.38139451e+02] [ 1.04689059e-01 9.94498005e-01 -3.73072761e-03 1.18240512e-01] [ 8.39745170e-03 2.86723493e-03 9.99960630e-01 -7.79133272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.02589822699997 meters Centerline goodness [0,1] 0.6131409918921764 Centerline is valid? [False, False] Translation: X:138.14, Y:0.11, Z:-0.78 [[ 9.94917742e-01 -1.00365045e-01 -8.09599817e-03 1.38138031e+02] [ 1.00378028e-01 9.94948633e-01 1.21247908e-03 1.14497174e-01] [ 7.93341179e-03 -2.01897728e-03 9.99966492e-01 -7.78707172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05589822699994 meters Centerline goodness [0,1] 0.715216935652903 Centerline is valid? [False, False] Translation: X:138.14, Y:0.11, Z:-0.78 [[ 9.95341651e-01 -9.60716502e-02 -8.07683519e-03 1.38136388e+02] [ 9.61226496e-02 9.95350300e-01 6.18200366e-03 1.10423148e-01] [ 7.44536503e-03 -6.92957253e-03 9.99948272e-01 -7.78105220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.085898227 meters Centerline goodness [0,1] 0.6513527096071698 Centerline is valid? [False, False] Translation: X:138.14, Y:0.11, Z:-0.78 [[ 9.95355881e-01 -9.59279942e-02 -8.03053132e-03 1.38136039e+02] [ 9.59796529e-02 9.95363266e-01 6.31470424e-03 1.10033794e-01] [ 7.38753897e-03 -7.05614562e-03 9.99947816e-01 -7.77830007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11589822699995 meters Centerline goodness [0,1] 0.7960957627296148 Centerline is valid? [False, False] Translation: X:138.14, Y:0.11, Z:-0.78 [[ 9.95364894e-01 -9.58217910e-02 -8.17997148e-03 1.38136895e+02] [ 9.58759612e-02 9.95372012e-01 6.50821408e-03 1.09171186e-01] [ 7.51848595e-03 -7.26231044e-03 9.99945364e-01 -7.78389684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.145898227 meters Centerline goodness [0,1] 0.6298714933646901 Centerline is valid? [False, False] Translation: X:138.14, Y:0.11, Z:-0.78 [[ 9.95373658e-01 -9.57187769e-02 -8.31839597e-03 1.38137707e+02] [ 9.57760306e-02 9.95379818e-01 6.78005289e-03 1.07876191e-01] [ 7.63098510e-03 -7.54538900e-03 9.99942416e-01 -7.78952408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17589822699995 meters Centerline goodness [0,1] 0.6802182810368349 Centerline is valid? [False, False] Translation: X:138.14, Y:0.11, Z:-0.78 [[ 9.95380354e-01 -9.56428712e-02 -8.38994675e-03 1.38138023e+02] [ 9.57025533e-02 9.95385183e-01 7.02561629e-03 1.06584761e-01] [ 7.67927856e-03 -7.79609976e-03 9.99940123e-01 -7.78999957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.205898227 meters Centerline goodness [0,1] 0.5689493335558291 Centerline is valid? [False, False] Translation: X:138.14, Y:0.10, Z:-0.78 [[ 9.95383413e-01 -9.56193540e-02 -8.29458073e-03 1.38137340e+02] [ 9.56807249e-02 9.95384962e-01 7.34690575e-03 1.04666522e-01] [ 7.55379454e-03 -8.10661962e-03 9.99938610e-01 -7.78294940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23589822699995 meters Centerline goodness [0,1] 0.5154471544715447 Centerline is valid? [False, False] Translation: X:138.14, Y:0.10, Z:-0.78 [[ 9.95380127e-01 -9.56605307e-02 -8.21369641e-03 1.38136778e+02] [ 9.57211356e-02 9.95381185e-01 7.33210579e-03 1.04620624e-01] [ 7.47436574e-03 -8.08445675e-03 9.99939386e-01 -7.77840943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.265898227 meters Centerline goodness [0,1] 0.6150194487431511 Centerline is valid? [False, False] Translation: X:138.14, Y:0.11, Z:-0.78 [[ 9.95375006e-01 -9.57171462e-02 -8.17464850e-03 1.38136828e+02] [ 9.57767850e-02 9.95376473e-01 7.24466493e-03 1.05079925e-01] [ 7.44341414e-03 -7.99409995e-03 9.99940343e-01 -7.78139813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29589822699995 meters Centerline goodness [0,1] 0.7725685996572662 Centerline is valid? [False, False] Translation: X:138.14, Y:0.11, Z:-0.78 [[ 9.95362590e-01 -9.58400226e-02 -8.24642813e-03 1.38137279e+02] [ 9.58990922e-02 9.95365791e-01 7.09263576e-03 1.05699839e-01] [ 7.52845409e-03 -7.85056928e-03 9.99940844e-01 -7.78514479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.325898227 meters Centerline goodness [0,1] 0.5090216435718173 Centerline is valid? [False, False] Translation: X:138.14, Y:0.10, Z:-0.78 [[ 9.95358963e-01 -9.58752069e-02 -8.27521225e-03 1.38137367e+02] [ 9.59356747e-02 9.95361148e-01 7.24788040e-03 1.04667581e-01] [ 7.54193273e-03 -8.00813079e-03 9.99939493e-01 -7.78490209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35589822699995 meters Centerline goodness [0,1] 0.671934835501957 Centerline is valid? [False, False] Translation: X:138.13, Y:0.11, Z:-0.77 [[ 9.95173439e-01 -9.78587657e-02 -7.31352156e-03 1.38131500e+02] [ 9.78980729e-02 9.95182734e-01 5.22428950e-03 1.05355588e-01] [ 6.76704786e-03 -5.91505382e-03 9.99959609e-01 -7.74573459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.385898227 meters Centerline goodness [0,1] 0.4964550873156959 Centerline is valid? [False, False] Translation: X:138.13, Y:0.10, Z:-0.77 [[ 9.95171789e-01 -9.78763571e-02 -7.30272720e-03 1.38131551e+02] [ 9.79181471e-02 9.95178703e-01 5.60221606e-03 1.03096071e-01] [ 6.71919408e-03 -6.29023689e-03 9.99957642e-01 -7.74658811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41589822699996 meters Centerline goodness [0,1] 0.4957438269649156 Centerline is valid? [False, False] Translation: X:138.13, Y:0.10, Z:-0.78 [[ 9.95137362e-01 -9.82198035e-02 -7.38242616e-03 1.38133032e+02] [ 9.82661806e-02 9.95140819e-01 6.20556538e-03 9.86631671e-02] [ 6.73704420e-03 -6.90083278e-03 9.99953494e-01 -7.76377562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.445898227 meters Centerline goodness [0,1] 0.42311235813895054 Centerline is valid? [False, False] Translation: X:138.14, Y:0.09, Z:-0.78 [[ 9.95149337e-01 -9.80689778e-02 -7.76356633e-03 1.38135203e+02] [ 9.81231473e-02 9.95150126e-01 6.93359130e-03 9.49314771e-02] [ 7.04594380e-03 -7.66174435e-03 9.99945825e-01 -7.77815975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47589822699996 meters Centerline goodness [0,1] 0.359962347034829 Centerline is valid? [False, False] Translation: X:138.14, Y:0.09, Z:-0.78 [[ 9.95142563e-01 -9.81255987e-02 -7.91487618e-03 1.38136910e+02] [ 9.81903624e-02 9.95133401e-01 8.25637405e-03 8.64928752e-02] [ 7.06619600e-03 -8.99343379e-03 9.99934591e-01 -7.79313216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.505898227 meters Centerline goodness [0,1] 0.3775024631574534 Centerline is valid? [False, False] Translation: X:138.14, Y:0.08, Z:-0.78 [[ 9.95171419e-01 -9.78327953e-02 -7.91148647e-03 1.38136989e+02] [ 9.79041482e-02 9.95153333e-01 9.19899600e-03 8.16127540e-02] [ 6.97317863e-03 -9.92914524e-03 9.99926391e-01 -7.79203090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53589822699996 meters Centerline goodness [0,1] 0.3665318609475515 Centerline is valid? [False, False] Translation: X:138.14, Y:0.08, Z:-0.78 [[ 9.95198474e-01 -9.75585095e-02 -7.89525690e-03 1.38136788e+02] [ 9.76349318e-02 9.95172519e-01 9.95375604e-03 7.77920558e-02] [ 6.88606910e-03 -1.06768157e-02 9.99919291e-01 -7.78752368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.565898227 meters Centerline goodness [0,1] 0.43794774546986937 Centerline is valid? [False, False] Translation: X:138.11, Y:0.07, Z:-0.78 [[ 9.95578533e-01 -9.39099606e-02 -2.07455280e-03 1.38114764e+02] [ 9.39229490e-02 9.95551566e-01 7.45385723e-03 7.11397768e-02] [ 1.36533284e-03 -7.61574836e-03 9.99970068e-01 -7.81348650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59589822699996 meters Centerline goodness [0,1] 0.4548812664907652 Centerline is valid? [False, False] Translation: X:138.11, Y:0.07, Z:-0.78 [[ 9.95604145e-01 -9.36384661e-02 -2.05542120e-03 1.38114485e+02] [ 9.36518694e-02 9.95573898e-01 7.87021139e-03 6.93726252e-02] [ 1.30936917e-03 -8.02810912e-03 9.99966917e-01 -7.80932950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.625898227 meters Centerline goodness [0,1] 0.513029007183333 Centerline is valid? [False, False] Translation: X:138.11, Y:0.07, Z:-0.78 [[ 9.96081957e-01 -8.84116020e-02 2.03052719e-03 1.38114880e+02] [ 8.84212525e-02 9.96069103e-01 -5.29375535e-03 6.99329172e-02] [-1.55451601e-03 5.45255595e-03 9.99983926e-01 -7.82739106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65589822699997 meters Centerline goodness [0,1] 0.5030871351806975 Centerline is valid? [False, False] Translation: X:138.12, Y:0.06, Z:-0.78 [[ 9.96504606e-01 -8.35224224e-02 1.60480901e-03 1.38115676e+02] [ 8.35216329e-02 9.96505811e-01 5.52964250e-04 6.25209376e-02] [-1.64538641e-03 -4.16995154e-04 9.99998559e-01 -7.83643518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.685898227 meters Centerline goodness [0,1] 0.5064978690348723 Centerline is valid? [False, False] Translation: X:138.12, Y:0.06, Z:-0.78 [[ 9.96869512e-01 -7.90558026e-02 1.16443530e-03 1.38116491e+02] [ 7.90476072e-02 9.96853294e-01 5.91494587e-03 5.67612765e-02] [-1.62838196e-03 -5.80438338e-03 9.99981829e-01 -7.84379369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71589822699997 meters Centerline goodness [0,1] 0.5195904294222129 Centerline is valid? [False, False] Translation: X:138.12, Y:0.06, Z:-0.78 [[ 9.97270004e-01 -7.38314571e-02 -1.20618528e-03 1.38118869e+02] [ 7.38195400e-02 9.97239595e-01 -7.99163843e-03 5.78131514e-02] [ 1.79289003e-03 7.88078124e-03 9.99967339e-01 -7.83934639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74589822699994 meters Centerline goodness [0,1] 0.5634558176561779 Centerline is valid? [False, False] Translation: X:138.12, Y:0.05, Z:-0.78 [[ 9.97619975e-01 -6.89365141e-02 -1.46392622e-03 1.38118983e+02] [ 6.89333917e-02 9.97619084e-01 -2.08587449e-03 4.98622437e-02] [ 1.60423365e-03 1.97999666e-03 9.99996753e-01 -7.84291924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77589822699997 meters Centerline goodness [0,1] 0.5617346294659765 Centerline is valid? [False, False] Translation: X:138.12, Y:0.04, Z:-0.78 [[ 9.97903480e-01 -6.47061531e-02 -1.32574968e-03 1.38117724e+02] [ 6.47100228e-02 9.97899232e-01 3.12008696e-03 4.43714964e-02] [ 1.12107577e-03 -3.19933493e-03 9.99994254e-01 -7.84278465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80589822699994 meters Centerline goodness [0,1] 0.5940461215932914 Centerline is valid? [False, False] Translation: X:138.12, Y:0.04, Z:-0.78 [[ 9.97912421e-01 -6.45714814e-02 -1.15039440e-03 1.38116776e+02] [ 6.45751141e-02 9.97906834e-01 3.46473596e-03 4.26600832e-02] [ 9.24263298e-04 -3.53178990e-03 9.99993336e-01 -7.83650217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.835898227 meters Centerline goodness [0,1] 0.6198816867013326 Centerline is valid? [False, False] Translation: X:138.12, Y:0.04, Z:-0.78 [[ 9.97922849e-01 -6.44123603e-02 -1.01796898e-03 1.38116103e+02] [ 6.44158760e-02 9.97915467e-01 3.91349838e-03 4.04317627e-02] [ 7.63769320e-04 -3.97094282e-03 9.99991824e-01 -7.83195391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86589822699995 meters Centerline goodness [0,1] 0.5915993605922935 Centerline is valid? [False, False] Translation: X:138.12, Y:0.04, Z:-0.78 [[ 9.97936920e-01 -6.41950779e-02 -9.46786806e-04 1.38115822e+02] [ 6.41987064e-02 9.97927004e-01 4.49677451e-03 3.75736219e-02] [ 6.56153331e-04 -4.54827979e-03 9.99989441e-01 -7.83043298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.895898227 meters Centerline goodness [0,1] 0.6112864617535535 Centerline is valid? [False, False] Translation: X:138.12, Y:0.03, Z:-0.78 [[ 9.97963148e-01 -6.37861519e-02 -9.39128582e-04 1.38115742e+02] [ 6.37903598e-02 9.97948260e-01 5.48271306e-03 3.27983667e-02] [ 5.87480567e-04 -5.53145293e-03 9.99984529e-01 -7.82824754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92589822699995 meters Centerline goodness [0,1] 0.6075994467032737 Centerline is valid? [False, False] Translation: X:138.12, Y:0.03, Z:-0.78 [[ 9.97973292e-01 -6.36254054e-02 -1.05676793e-03 1.38116115e+02] [ 6.36305086e-02 9.97956493e-01 5.83068489e-03 3.10977737e-02] [ 6.83628730e-04 -5.88611047e-03 9.99982443e-01 -7.82783464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.955898227 meters Centerline goodness [0,1] 0.6422501521223694 Centerline is valid? [False, False] Translation: X:138.12, Y:0.03, Z:-0.78 [[ 9.97986072e-01 -6.34232033e-02 -1.13858818e-03 1.38116558e+02] [ 6.34290394e-02 9.97967350e-01 6.15828932e-03 2.97258151e-02] [ 7.45695397e-04 -6.21810652e-03 9.99980389e-01 -7.83047789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98589822699995 meters Centerline goodness [0,1] 0.519563581640331 Centerline is valid? [False, False] Translation: X:138.12, Y:0.03, Z:-0.78 [[ 9.98263407e-01 -5.86766810e-02 -5.21711448e-03 1.38121245e+02] [ 5.86335733e-02 9.98247002e-01 -8.06390706e-03 3.01229446e-02] [ 5.68113219e-03 7.74400527e-03 9.99953876e-01 -7.83278531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.015898227 meters Centerline goodness [0,1] 0.5682137834036568 Centerline is valid? [False, False] Translation: X:138.12, Y:0.02, Z:-0.78 [[ 9.98512985e-01 -5.42431103e-02 -5.43167356e-03 1.38121545e+02] [ 5.42289904e-02 9.98524837e-01 -2.71405102e-03 2.43615873e-02] [ 5.57087952e-03 2.41546101e-03 9.99981565e-01 -7.83883510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04589822699995 meters Centerline goodness [0,1] 0.5826887816392337 Centerline is valid? [False, False] Translation: X:138.12, Y:0.02, Z:-0.78 [[ 9.98741942e-01 -4.98424534e-02 -5.50112761e-03 1.38121251e+02] [ 4.98568443e-02 9.98753219e-01 2.51052996e-03 1.92250400e-02] [ 5.36913793e-03 -2.78164043e-03 9.99981717e-01 -7.84124248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.075898227 meters Centerline goodness [0,1] 0.7013285533530156 Centerline is valid? [False, False] Translation: X:138.12, Y:0.02, Z:-0.78 [[ 9.99012237e-01 -4.44355921e-02 1.66761764e-04 1.38119038e+02] [ 4.44350852e-02 9.98963975e-01 -9.82346454e-03 2.02563047e-02] [ 2.69922468e-04 9.82117136e-03 9.99951735e-01 -7.84782868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10589822699995 meters Centerline goodness [0,1] 0.5726067439189895 Centerline is valid? [False, False] Translation: X:138.12, Y:0.02, Z:-0.78 [[ 9.99196436e-01 -4.00808388e-02 9.16326236e-05 1.38118501e+02] [ 4.00808356e-02 9.99185828e-01 -4.60518475e-03 1.50635138e-02] [ 9.30216484e-05 4.60515690e-03 9.99989392e-01 -7.84508768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.135898227 meters Centerline goodness [0,1] 0.7535731576399267 Centerline is valid? [False, False] Translation: X:138.12, Y:0.01, Z:-0.78 [[ 9.99361918e-01 -3.57172578e-02 1.84412365e-04 1.38117783e+02] [ 3.57171257e-02 9.99361711e-01 6.76116751e-04 9.49070370e-03] [-2.08443693e-04 -6.69098653e-04 9.99999754e-01 -7.84602164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16589822699996 meters Centerline goodness [0,1] 0.7915906086737584 Centerline is valid? [False, False] Translation: X:138.12, Y:0.01, Z:-0.78 [[ 9.99367609e-01 -3.55578743e-02 1.38617352e-04 1.38118133e+02] [ 3.55577224e-02 9.99367147e-01 9.76582269e-04 8.17696630e-03] [-1.73254817e-04 -9.71035770e-04 9.99999514e-01 -7.84949237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.195898227 meters Centerline goodness [0,1] 0.8183960775236212 Centerline is valid? [False, False] Translation: X:138.12, Y:0.01, Z:-0.79 [[ 9.99370632e-01 -3.54730805e-02 9.40822673e-06 1.38118793e+02] [ 3.54730474e-02 9.99369998e-01 1.12657808e-03 7.52956632e-03] [-4.93654945e-05 -1.12553531e-03 9.99999365e-01 -7.85353596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22589822699996 meters Centerline goodness [0,1] 0.7640633190061852 Centerline is valid? [False, False] Translation: X:138.12, Y:0.01, Z:-0.79 [[ 9.99373651e-01 -3.53870938e-02 -2.42354719e-04 1.38119767e+02] [ 3.53873809e-02 9.99372817e-01 1.30573966e-03 6.71416344e-03] [ 1.95996386e-04 -1.31349811e-03 9.99999118e-01 -7.85596477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.255898227 meters Centerline goodness [0,1] 0.7728545267013283 Centerline is valid? [False, False] Translation: X:138.12, Y:0.01, Z:-0.79 [[ 9.99374548e-01 -3.53621202e-02 -1.83569179e-04 1.38119332e+02] [ 3.53623343e-02 9.99373664e-01 1.33581365e-03 6.58650666e-03] [ 1.36217000e-04 -1.34146960e-03 9.99999091e-01 -7.85180667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28589822699996 meters Centerline goodness [0,1] 0.8044339207510005 Centerline is valid? [False, False] Translation: X:138.14, Y:0.01, Z:-0.78 [[ 9.99409739e-01 -3.42604621e-02 2.52871269e-03 1.38135913e+02] [ 3.42817373e-02 9.99372458e-01 -8.91360968e-03 1.02619678e-02] [-2.22174143e-03 8.99503699e-03 9.99957076e-01 -7.82747977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.315898227 meters Centerline goodness [0,1] 0.8371117946989171 Centerline is valid? [False, False] Translation: X:138.13, Y:0.01, Z:-0.78 [[ 9.99544850e-01 -3.00433338e-02 2.73691337e-03 1.38134730e+02] [ 3.00540682e-02 9.99540394e-01 -3.96919482e-03 6.46132109e-03] [-2.61640762e-03 4.04964363e-03 9.99988377e-01 -7.82603433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34589822699996 meters Centerline goodness [0,1] 0.9179545646482561 Centerline is valid? [False, False] Translation: X:138.13, Y:0.00, Z:-0.78 [[ 9.99658049e-01 -2.59792794e-02 2.97686703e-03 1.38133677e+02] [ 2.59764336e-02 9.99662065e-01 9.90670604e-04 2.08625646e-03] [-3.00159795e-03 -9.13003455e-04 9.99995078e-01 -7.82727179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.375898227 meters Centerline goodness [0,1] 0.7070698609482325 Centerline is valid? [False, False] Translation: X:138.13, Y:0.00, Z:-0.78 [[ 9.99659377e-01 -2.59258888e-02 2.99623573e-03 1.38133797e+02] [ 2.59220345e-02 9.99663099e-01 1.31814889e-03 3.42676991e-04] [-3.02940047e-03 -1.24003138e-03 9.99994643e-01 -7.83069861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40589822699997 meters Centerline goodness [0,1] 0.7200050438181704 Centerline is valid? [False, False] Translation: X:138.13, Y:-0.00, Z:-0.78 [[ 9.99657554e-01 -2.59872209e-02 3.07214584e-03 1.38134018e+02] [ 2.59806514e-02 9.99660114e-01 2.15932772e-03 -4.67451644e-03] [-3.12721659e-03 -2.07877192e-03 9.99992950e-01 -7.83853082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.435898227 meters Centerline goodness [0,1] 0.666232319623379 Centerline is valid? [False, False] Translation: X:138.13, Y:-0.01, Z:-0.78 [[ 9.99661070e-01 -2.58576881e-02 3.02088577e-03 1.38134327e+02] [ 2.58495787e-02 9.99662216e-01 2.69334892e-03 -7.44689429e-03] [-3.08950914e-03 -2.61434744e-03 9.99991810e-01 -7.84080729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46589822699997 meters Centerline goodness [0,1] 0.5577849453357349 Centerline is valid? [False, False] Translation: X:138.13, Y:-0.01, Z:-0.78 [[ 9.99665628e-01 -2.56854618e-02 2.98148938e-03 1.38134771e+02] [ 2.56755923e-02 9.99664872e-01 3.30264680e-03 -1.04892428e-02] [-3.06532021e-03 -3.22499099e-03 9.99990102e-01 -7.84633513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49589822699994 meters Centerline goodness [0,1] 0.5213756212618987 Centerline is valid? [False, False] Translation: X:138.14, Y:-0.02, Z:-0.79 [[ 9.99675422e-01 -2.53190275e-02 2.82786824e-03 1.38135841e+02] [ 2.53060475e-02 9.99669463e-01 4.53518001e-03 -1.67662279e-02] [-2.94175988e-03 -4.46214582e-03 9.99985718e-01 -7.85624734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.52589822699997 meters Centerline goodness [0,1] 0.6158242316484632 Centerline is valid? [False, False] Translation: X:138.14, Y:-0.02, Z:-0.79 [[ 9.99681655e-01 -2.50655466e-02 2.88213827e-03 1.38135733e+02] [ 2.50505277e-02 9.99673003e-01 5.13410190e-03 -1.95773003e-02] [-3.00988489e-03 -5.06026840e-03 9.99982667e-01 -7.85726049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55589822699994 meters Centerline goodness [0,1] 0.5024095624907932 Centerline is valid? [False, False] Translation: X:138.14, Y:-0.02, Z:-0.79 [[ 9.99720777e-01 -2.19001142e-02 8.87426588e-03 1.38139632e+02] [ 2.19692149e-02 9.99728489e-01 -7.76542679e-03 -1.86518058e-02] [-8.70179268e-03 7.95821916e-03 9.99930470e-01 -7.89388452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.585898227 meters Centerline goodness [0,1] 0.5894186365265799 Centerline is valid? [False, False] Translation: X:138.14, Y:-0.02, Z:-0.79 [[ 9.99803269e-01 -1.75079914e-02 9.32166701e-03 1.38137110e+02] [ 1.75328174e-02 9.99842938e-01 -2.58823198e-03 -2.34616182e-02] [-9.27488819e-03 2.75115788e-03 9.99953203e-01 -7.87988334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61589822699995 meters Centerline goodness [0,1] 0.7127677517287907 Centerline is valid? [False, False] Translation: X:138.14, Y:-0.03, Z:-0.79 [[ 9.99869589e-01 -1.31963687e-02 9.30918337e-03 1.38137123e+02] [ 1.31751817e-02 9.99910480e-01 2.33359658e-03 -2.68992790e-02] [-9.33914501e-03 -2.21064207e-03 9.99953946e-01 -7.88415118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.645898227 meters Centerline goodness [0,1] 0.7127677517287907 Centerline is valid? [False, False] Translation: X:138.14, Y:-0.03, Z:-0.79 [[ 9.99869589e-01 -1.31963687e-02 9.30918337e-03 1.38137123e+02] [ 1.31751817e-02 9.99910480e-01 2.33359658e-03 -2.68992790e-02] [-9.33914501e-03 -2.21064207e-03 9.99953946e-01 -7.88415118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67589822699995 meters Centerline goodness [0,1] 0.7281129116570831 Centerline is valid? [False, False] Translation: X:138.14, Y:-0.03, Z:-0.79 [[ 9.99872436e-01 -1.31950945e-02 9.00001279e-03 1.38138479e+02] [ 1.31770072e-02 9.99911045e-01 2.06605323e-03 -2.52945148e-02] [-9.02647396e-03 -1.94719644e-03 9.99957365e-01 -7.89020989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.705898227 meters Centerline goodness [0,1] 0.761402321696657 Centerline is valid? [False, False] Translation: X:138.12, Y:-0.02, Z:-0.79 [[ 9.99951285e-01 -9.30080754e-03 3.30505940e-03 1.38120346e+02] [ 9.31719426e-03 9.99944204e-01 -4.97775470e-03 -1.83132325e-02] [-3.25857785e-03 5.00830608e-03 9.99982149e-01 -7.86546930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73589822699995 meters Centerline goodness [0,1] 0.6934298908480269 Centerline is valid? [False, False] Translation: X:138.13, Y:-0.02, Z:-0.79 [[ 9.99966311e-01 -7.82769741e-03 2.47069898e-03 1.38125884e+02] [ 7.83670321e-03 9.99962607e-01 -3.65665319e-03 -1.74944782e-02] [-2.44198342e-03 3.67589213e-03 9.99990262e-01 -7.89952726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.765898227 meters Centerline goodness [0,1] 0.7907030478711115 Centerline is valid? [False, False] Translation: X:138.13, Y:-0.02, Z:-0.79 [[ 9.99990083e-01 -3.71102030e-03 2.46196102e-03 1.38125906e+02] [ 3.70919925e-03 9.99992844e-01 7.43828510e-04 -1.84376920e-02] [-2.46470376e-03 -7.34689229e-04 9.99996693e-01 -7.90124952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79589822699995 meters Centerline goodness [0,1] 0.8375495663606098 Centerline is valid? [False, False] Translation: X:138.13, Y:-0.01, Z:-0.79 [[ 9.99987892e-01 -4.24037340e-03 2.49685429e-03 1.38126027e+02] [ 4.24157240e-03 9.99990892e-01 -4.75105063e-04 -1.25831693e-02] [-2.49481692e-03 4.85689898e-04 9.99996770e-01 -7.90447802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.825898227 meters Centerline goodness [0,1] 0.6033643204957946 Centerline is valid? [False, False] Translation: X:138.13, Y:-0.01, Z:-0.79 [[ 9.99987027e-01 -4.42362672e-03 2.52550891e-03 1.38125933e+02] [ 4.42561937e-03 9.99989900e-01 -7.83967194e-04 -1.12370313e-02] [-2.52201542e-03 7.95133964e-04 9.99996504e-01 -7.90437102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85589822699995 meters Centerline goodness [0,1] 0.6185191424841006 Centerline is valid? [False, False] Translation: X:138.13, Y:-0.01, Z:-0.79 [[ 9.99986449e-01 -4.54059278e-03 2.54658472e-03 1.38125819e+02] [ 4.54296719e-03 9.99989251e-01 -9.27382004e-04 -1.06482427e-02] [-2.54234648e-03 9.38938488e-04 9.99996327e-01 -7.90369177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.885898227 meters Centerline goodness [0,1] 0.7039081521282848 Centerline is valid? [False, False] Translation: X:138.13, Y:-0.01, Z:-0.79 [[ 9.99985248e-01 -4.81247371e-03 2.51861465e-03 1.38125960e+02] [ 4.81596634e-03 9.99987447e-01 -1.38250722e-03 -8.63351362e-03] [-2.51192976e-03 1.39461639e-03 9.99995873e-01 -7.90401341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91589822699996 meters Centerline goodness [0,1] 0.744812576596374 Centerline is valid? [False, False] Translation: X:138.12, Y:-0.01, Z:-0.79 [[ 9.99990832e-01 -2.87413578e-03 3.17423955e-03 1.38120848e+02] [ 2.87236616e-03 9.99995717e-01 5.61914048e-04 -7.90783769e-03] [-3.17584097e-03 -5.52791318e-04 9.99994804e-01 -7.87029316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.945898227 meters Centerline goodness [0,1] 0.7051021477213201 Centerline is valid? [False, False] Translation: X:138.12, Y:-0.00, Z:-0.79 [[ 9.99990790e-01 -3.06628818e-03 3.00294900e-03 1.38121485e+02] [ 3.06648130e-03 9.99995297e-01 -5.97055702e-05 -4.67749910e-03] [-3.00275181e-03 6.89135072e-05 9.99995489e-01 -7.87112529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97589822699996 meters Centerline goodness [0,1] 0.7056521190185598 Centerline is valid? [False, False] Translation: X:138.12, Y:-0.00, Z:-0.78 [[ 9.99992476e-01 -1.47412598e-03 3.58823886e-03 1.38116817e+02] [ 1.46967025e-03 9.99998146e-01 1.24408003e-03 -3.03759180e-03] [-3.59006614e-03 -1.23879714e-03 9.99992788e-01 -7.83950276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.005898227 meters Centerline goodness [0,1] 0.7732914704343276 Centerline is valid? [False, False] Translation: X:138.12, Y:0.00, Z:-0.78 [[ 9.99992764e-01 -1.82614513e-03 3.33731867e-03 1.38117855e+02] [ 1.82620041e-03 9.99998332e-01 -1.35156542e-05 3.63814903e-03] [-3.33728842e-03 1.96101691e-05 9.99994431e-01 -7.84233689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03589822699996 meters Centerline goodness [0,1] 0.8217918291235803 Centerline is valid? [False, False] Translation: X:138.07, Y:0.01, Z:-0.78 [[ 9.99993428e-01 -1.82843143e-03 3.13072925e-03 1.38074870e+02] [ 1.83465685e-03 9.99996343e-01 -1.98677425e-03 1.01563685e-02] [-3.12708512e-03 1.99250500e-03 9.99993126e-01 -7.84377652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.065898227 meters Centerline goodness [0,1] 0.7461509418131476 Centerline is valid? [False, False] Translation: X:138.12, Y:0.01, Z:-0.78 [[ 9.99989778e-01 -1.57140700e-03 4.23963827e-03 1.38115567e+02] [ 1.57474634e-03 9.99998452e-01 -7.84423225e-04 8.10211058e-03] [-4.23839906e-03 7.91091562e-04 9.99990705e-01 -7.83308435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09589822699996 meters Centerline goodness [0,1] 0.8935502222971407 Centerline is valid? [False, False] Translation: X:138.12, Y:0.01, Z:-0.78 [[ 9.99989344e-01 -1.64629963e-03 4.31290274e-03 1.38115176e+02] [ 1.65050698e-03 9.99998165e-01 -9.72149994e-04 8.99841951e-03] [-4.31129438e-03 9.79258111e-04 9.99990227e-01 -7.83041985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.125898227 meters Centerline goodness [0,1] 0.9092770448548813 Centerline is valid? [False, False] Translation: X:138.12, Y:0.01, Z:-0.78 [[ 9.99989981e-01 -1.72795589e-03 4.12939145e-03 1.38116184e+02] [ 1.73300921e-03 9.99997754e-01 -1.22047941e-03 1.03636885e-02] [-4.12727324e-03 1.22762346e-03 9.99990729e-01 -7.83745554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15589822699997 meters Centerline goodness [0,1] 0.8962570247057576 Centerline is valid? [False, False] Translation: X:138.12, Y:0.01, Z:-0.78 [[ 9.99990335e-01 -1.77768115e-03 4.02117709e-03 1.38116844e+02] [ 1.78320019e-03 9.99997473e-01 -1.36932464e-03 1.11733782e-02] [-4.01873271e-03 1.37648197e-03 9.99990978e-01 -7.84282746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.185898227 meters Centerline goodness [0,1] 0.9112546752805168 Centerline is valid? [False, False] Translation: X:138.12, Y:0.01, Z:-0.78 [[ 9.99990522e-01 -1.68718308e-03 4.01361211e-03 1.38116783e+02] [ 1.69257149e-03 9.99997670e-01 -1.33951497e-03 1.13038253e-02] [-4.01134276e-03 1.34629560e-03 9.99991048e-01 -7.84122323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21589822699997 meters Centerline goodness [0,1] 0.9038247697375322 Centerline is valid? [False, False] Translation: X:138.16, Y:0.01, Z:-0.78 [[ 9.99988026e-01 -1.43214251e-03 4.67941641e-03 1.38158247e+02] [ 1.43245611e-03 9.99998972e-01 -6.36646333e-05 7.62172937e-03] [-4.67932042e-03 7.03669295e-05 9.99989049e-01 -7.83024558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24589822699994 meters Centerline goodness [0,1] 0.9167391996603333 Centerline is valid? [False, False] Translation: X:138.14, Y:0.01, Z:-0.78 [[ 9.99999581e-01 7.59216067e-04 5.11918238e-04 1.38136015e+02] [-7.54638827e-04 9.99960260e-01 -8.88303022e-03 1.14096563e-02] [-5.18642033e-04 8.88264018e-03 9.99960414e-01 -7.78502850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27589822699997 meters Centerline goodness [0,1] 0.9297115182143609 Centerline is valid? [False, False] Translation: X:138.14, Y:0.01, Z:-0.78 [[ 9.99986318e-01 5.20701922e-03 5.00565775e-04 1.38136272e+02] [-5.20505953e-03 9.99979082e-01 -3.83961935e-03 7.48993225e-03] [-5.20548276e-04 3.83696135e-03 9.99992503e-01 -7.78946176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30589822699994 meters Centerline goodness [0,1] 0.9001822485702914 Centerline is valid? [False, False] Translation: X:138.14, Y:0.01, Z:-0.78 [[ 9.99970091e-01 7.73212776e-03 -1.78533679e-04 1.38141715e+02] [-7.73233049e-03 9.99969427e-01 -1.16421908e-03 6.37912387e-03] [ 1.69526330e-04 1.16556474e-03 9.99999306e-01 -7.82640788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.335898227 meters Centerline goodness [0,1] 0.9972776194998417 Centerline is valid? [False, True] Translation: X:138.14, Y:0.01, Z:-0.78 [[ 9.99923571e-01 1.23620711e-02 -1.75965266e-04 1.38141666e+02] [-1.23613818e-02 9.99917503e-01 3.49042079e-03 5.16764559e-03] [ 2.19099580e-04 -3.48797885e-03 9.99993893e-01 -7.82374061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36589822699995 meters Centerline goodness [0,1] 0.9990508331575617 Centerline is valid? [True, True] Translation: X:138.17, Y:0.01, Z:-0.78 [[ 9.99874814e-01 1.58156567e-02 -4.71221376e-04 1.38172125e+02] [-1.58156432e-02 9.99874924e-01 3.23214941e-05 8.52346733e-03] [ 4.71673623e-04 -2.48647788e-05 9.99999888e-01 -7.82327350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.395898227 meters Centerline goodness [0,1] 0.9995557529986673 Centerline is valid? [True, True] Translation: X:138.20, Y:0.01, Z:-0.78 [[ 9.99821953e-01 1.88635729e-02 -4.78450780e-04 1.38202435e+02] [-1.88635593e-02 9.99822067e-01 3.28681380e-05 1.11373607e-02] [ 4.78985658e-04 -2.38370012e-05 9.99999885e-01 -7.81822186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42589822699995 meters Centerline goodness [0,1] 0.999519049809711 Centerline is valid? [True, True] Translation: X:138.23, Y:0.02, Z:-0.78 [[ 9.99734685e-01 2.30221634e-02 7.35237777e-04 1.38231977e+02] [-2.30221324e-02 9.99734954e-01 -5.05390999e-05 1.58344802e-02] [-7.36206425e-04 3.35989497e-05 9.99999728e-01 -7.80540303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.455898227 meters Centerline goodness [0,1] 0.9996442472690746 Centerline is valid? [True, True] Translation: X:138.26, Y:0.02, Z:-0.78 [[ 9.99713441e-01 2.38962635e-02 1.41545526e-03 1.38263099e+02] [-2.38961499e-02 9.99714442e-01 -9.71435237e-05 1.68323113e-02] [-1.41737243e-03 6.32917555e-05 9.99998994e-01 -7.79708950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48589822699995 meters Centerline goodness [0,1] 0.9997246346113111 Centerline is valid? [True, True] Translation: X:138.29, Y:0.02, Z:-0.78 [[ 9.99728337e-01 2.32697824e-02 1.33050016e-03 1.38293940e+02] [-2.32696814e-02 9.99729220e-01 -9.13461069e-05 1.59163682e-02] [-1.33226549e-03 6.03609768e-05 9.99999111e-01 -7.79803160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.515898227 meters Centerline goodness [0,1] 0.9987407127565798 Centerline is valid? [True, True] Translation: X:138.32, Y:0.01, Z:-0.78 [[ 9.99807981e-01 1.95415428e-02 1.45941332e-03 1.38323675e+02] [-1.95414174e-02 9.99809043e-01 -1.00155307e-04 1.19543907e-02] [-1.46109182e-03 7.16170705e-05 9.99998930e-01 -7.79076718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54589822699995 meters Centerline goodness [0,1] 0.9972466730632848 Centerline is valid? [True, True] Translation: X:138.35, Y:0.01, Z:-0.78 [[ 9.99844625e-01 1.75519015e-02 1.63018262e-03 1.38353918e+02] [-1.75517423e-02 9.99845950e-01 -1.11892881e-04 8.83435603e-03] [-1.63189543e-03 8.32629504e-05 9.99998665e-01 -7.78357626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.575898227 meters Centerline goodness [0,1] 0.9951601751555658 Centerline is valid? [True, True] Translation: X:138.39, Y:0.01, Z:-0.78 [[ 9.99866279e-01 1.62143025e-02 2.12636909e-03 1.38385485e+02] [-1.62140286e-02 9.99868533e-01 -1.45954481e-04 7.62693178e-03] [-2.12845609e-03 1.11457955e-04 9.99997729e-01 -7.77585092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60589822699995 meters Centerline goodness [0,1] 0.9989304364238827 Centerline is valid? [True, True] Translation: X:138.42, Y:0.02, Z:-0.78 [[ 9.99862860e-01 1.63293605e-02 2.75911941e-03 1.38416899e+02] [-1.63288994e-02 9.99866657e-01 -1.89546472e-04 1.78898734e-02] [-2.76184667e-03 1.44467095e-04 9.99996176e-01 -7.75989614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.635898227 meters Centerline goodness [0,1] 0.999036548329668 Centerline is valid? [True, True] Translation: X:138.45, Y:0.02, Z:-0.78 [[ 9.99848616e-01 1.71789950e-02 2.76157433e-03 1.38448463e+02] [-1.71785366e-02 9.99852420e-01 -1.89649816e-04 2.01407496e-02] [-2.76442477e-03 1.42181301e-04 9.99996169e-01 -7.76115904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66589822699996 meters Centerline goodness [0,1] 0.9986842105263158 Centerline is valid? [True, True] Translation: X:138.48, Y:0.02, Z:-0.78 [[ 9.99831799e-01 1.81641708e-02 2.53702575e-03 1.38478483e+02] [-1.81637868e-02 9.99835010e-01 -1.74311508e-04 1.97806002e-02] [-2.53977339e-03 1.28200194e-04 9.99996767e-01 -7.76824804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.695898227 meters Centerline goodness [0,1] 0.999831365935919 Centerline is valid? [True, True] Translation: X:138.51, Y:0.03, Z:-0.78 [[ 9.99770615e-01 2.11990155e-02 3.05265089e-03 1.38510406e+02] [-2.11984735e-02 9.99775265e-01 -2.09786701e-04 3.42681353e-02] [-3.05641212e-03 1.45027040e-04 9.99995319e-01 -7.75621884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72589822699996 meters Centerline goodness [0,1] 0.9998943743794495 Centerline is valid? [True, True] Translation: X:138.54, Y:0.04, Z:-0.77 [[ 9.99726180e-01 2.30192604e-02 4.20460500e-03 1.38541547e+02] [-2.30182480e-02 9.99735003e-01 -2.89017841e-04 3.83250699e-02] [-4.21014377e-03 1.92156062e-04 9.99991119e-01 -7.73899232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.755898227 meters Centerline goodness [0,1] 0.9999790536436187 Centerline is valid? [True, True] Translation: X:138.57, Y:0.04, Z:-0.77 [[ 9.99668994e-01 2.51595751e-02 5.37564871e-03 1.38571830e+02] [-2.51579506e-02 9.99683420e-01 -3.69610029e-04 3.91348766e-02] [-5.38324612e-03 2.34247381e-04 9.99985483e-01 -7.71311816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78589822699996 meters Centerline goodness [0,1] 0.999937106918239 Centerline is valid? [True, True] Translation: X:138.60, Y:0.04, Z:-0.77 [[ 9.99615826e-01 2.70698182e-02 5.95195061e-03 1.38602557e+02] [-2.70678605e-02 9.99633515e-01 -4.09234448e-04 4.43202743e-02] [-5.96084720e-03 2.47970662e-04 9.99982203e-01 -7.70597714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.815898227 meters Centerline goodness [0,1] 0.9999370805369128 Centerline is valid? [True, True] Translation: X:138.63, Y:0.05, Z:-0.77 [[ 9.99531599e-01 3.02325271e-02 4.75159430e-03 1.38632337e+02] [-3.02313150e-02 9.99542876e-01 -3.26712689e-04 4.97048314e-02] [-4.75929958e-03 1.82912713e-04 9.99988658e-01 -7.72495654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84589822699996 meters Centerline goodness [0,1] 0.9999583168337467 Centerline is valid? [True, True] Translation: X:138.66, Y:0.05, Z:-0.77 [[ 9.99483428e-01 3.18533247e-02 4.27122601e-03 1.38661686e+02] [-3.18523603e-02 9.99492542e-01 -2.93640094e-04 4.73171004e-02] [-4.27841195e-03 1.57439778e-04 9.99990835e-01 -7.73887069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.875898227 meters Centerline goodness [0,1] 0.9999582629019804 Centerline is valid? [True, True] Translation: X:138.69, Y:0.06, Z:-0.77 [[ 9.99310337e-01 3.66817774e-02 5.77046527e-03 1.38692797e+02] [-3.66800980e-02 9.99326980e-01 -3.96623193e-04 6.07567255e-02] [-5.78113047e-03 1.84688424e-04 9.99983272e-01 -7.70472086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90589822699997 meters Centerline goodness [0,1] 0.9998738859929376 Centerline is valid? [True, True] Translation: X:138.72, Y:0.07, Z:-0.77 [[ 9.99203410e-01 3.94250361e-02 6.18157325e-03 1.38722790e+02] [-3.94231616e-02 9.99222515e-01 -4.24855396e-04 6.69801369e-02] [-6.19351711e-03 1.80819799e-04 9.99980804e-01 -7.70521240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.935898227 meters Centerline goodness [0,1] 0.9999789593283818 Centerline is valid? [True, True] Translation: X:138.75, Y:0.07, Z:-0.77 [[ 9.99117607e-01 4.16764640e-02 5.20389584e-03 1.38752881e+02] [-4.16751666e-02 9.99131149e-01 -3.57561213e-04 7.10719673e-02] [-5.21427632e-03 1.40372477e-04 9.99986396e-01 -7.72010459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96589822699997 meters Centerline goodness [0,1] 0.9999583359373373 Centerline is valid? [True, True] Translation: X:138.78, Y:0.07, Z:-0.78 [[ 9.99067621e-01 4.30138643e-02 3.70081490e-03 1.38781570e+02] [-4.30132174e-02 9.99074471e-01 -2.54258253e-04 6.75187486e-02] [-3.70832632e-03 9.48372322e-05 9.99993120e-01 -7.76284707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.81, Y:0.07, Z:-0.78 [[ 9.99016578e-01 4.43360212e-02 4.41213437e-04 1.38811091e+02] [-4.43360121e-02 9.99016675e-01 -3.04658958e-05 6.93515020e-02] [-4.42130317e-04 1.08742907e-05 9.99999902e-01 -7.82166121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.02589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.84, Y:0.07, Z:-0.78 [[ 9.98947165e-01 4.58753825e-02 -1.00313646e-04 1.38839852e+02] [-4.58753821e-02 9.98947170e-01 6.61654958e-06 7.11026956e-02] [ 1.00511570e-04 -2.00765661e-06 9.99999995e-01 -7.82313651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.87, Y:0.07, Z:-0.78 [[ 9.98834669e-01 4.82628623e-02 7.46244989e-06 1.38867504e+02] [-4.82628623e-02 9.98834669e-01 -7.73156291e-07 7.04063883e-02] [-7.49106840e-06 4.12096116e-07 1.00000000e+00 -7.82251077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.90, Y:0.08, Z:-0.78 [[ 9.98477411e-01 5.51574260e-02 7.19118419e-04 1.38898764e+02] [-5.51574047e-02 9.98477670e-01 -4.94051791e-05 8.12369171e-02] [-7.20748746e-04 9.66524964e-06 9.99999740e-01 -7.79853868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.93, Y:0.09, Z:-0.78 [[ 9.98251777e-01 5.91008270e-02 6.94915612e-04 1.38927740e+02] [-5.91008080e-02 9.98252018e-01 -4.78299891e-05 8.66544865e-02] [-6.96527705e-04 6.67629741e-06 9.99999757e-01 -7.79715655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.96, Y:0.10, Z:-0.78 [[ 9.97745357e-01 6.71128184e-02 -2.68400248e-04 1.38957730e+02] [-6.71128160e-02 9.97745393e-01 1.80960795e-05 1.00332819e-01] [ 2.69009590e-04 -4.21828507e-08 9.99999964e-01 -7.82006688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.99, Y:0.11, Z:-0.78 [[ 9.97512176e-01 7.04937389e-02 -3.01086238e-04 1.38985645e+02] [-7.04937360e-02 9.97512222e-01 2.02485791e-05 1.05746524e-01] [ 3.01764601e-04 1.02648964e-06 9.99999954e-01 -7.83305540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.01, Y:0.11, Z:-0.78 [[ 9.97307883e-01 7.33269905e-02 -3.74084242e-04 1.39014481e+02] [-7.33269862e-02 9.97307953e-01 2.52782655e-05 1.09121948e-01] [ 3.74930768e-04 2.22025661e-06 9.99999930e-01 -7.83066197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.04, Y:0.11, Z:-0.78 [[ 9.97157706e-01 7.53425509e-02 9.32757407e-05 1.39042929e+02] [-7.53425506e-02 9.97157711e-01 -6.70186185e-06 1.12462087e-01] [-9.35155594e-05 -3.44819024e-07 9.99999996e-01 -7.82628337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.07, Y:0.12, Z:-0.78 [[ 9.97015625e-01 7.71928268e-02 1.05368280e-03 1.39072612e+02] [-7.71927937e-02 9.97016182e-01 -7.21198566e-05 1.17937912e-01] [-1.05610593e-03 -9.43209476e-06 9.99999442e-01 -7.79469677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.10, Y:0.12, Z:-0.78 [[ 9.96989410e-01 7.75335668e-02 8.13505485e-04 1.39100992e+02] [-7.75335470e-02 9.96989742e-01 -5.58884263e-05 1.19757367e-01] [-8.15389853e-04 -7.35379655e-06 9.99999668e-01 -7.79741457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.325898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.13, Y:0.12, Z:-0.78 [[ 9.96999754e-01 7.74022219e-02 6.22155376e-04 1.39128643e+02] [-7.74022103e-02 9.96999948e-01 -4.27287193e-05 1.20050648e-01] [-6.23596175e-04 -5.55567867e-06 9.99999806e-01 -7.79822747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.16, Y:0.12, Z:-0.78 [[ 9.97073821e-01 7.64356997e-02 1.17437324e-03 1.39156974e+02] [-7.64356584e-02 9.97074513e-01 -8.01071082e-05 1.19510129e-01] [-1.17706066e-03 -9.89129101e-06 9.99999307e-01 -7.80330248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.19, Y:0.12, Z:-0.78 [[ 9.97291996e-01 7.34555858e-02 3.59893985e-03 1.39185028e+02] [-7.34551807e-02 9.97298489e-01 -2.44793110e-04 1.17477397e-01] [-3.60719870e-03 -2.02305677e-05 9.99993494e-01 -7.76180594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.21, Y:0.11, Z:-0.77 [[ 9.97395673e-01 7.19495970e-02 5.01268601e-03 1.39213639e+02] [-7.19487942e-02 9.97408269e-01 -3.40528415e-04 1.14136524e-01] [-5.02419536e-03 -2.10151463e-05 9.99987378e-01 -7.74320794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.445898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.24, Y:0.11, Z:-0.77 [[ 9.97586586e-01 6.91815511e-02 5.90900712e-03 1.39240990e+02] [-6.91803889e-02 9.97604086e-01 -4.01095005e-04 1.09902459e-01] [-5.92259803e-03 -8.66041427e-06 9.99982461e-01 -7.73186653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.27, Y:0.11, Z:-0.77 [[ 9.97677429e-01 6.79350081e-02 4.95804374e-03 1.39269265e+02] [-6.79341758e-02 9.97689749e-01 -3.36282036e-04 1.07824513e-01] [-4.96943473e-03 -1.31961755e-06 9.99987652e-01 -7.74394750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.30, Y:0.11, Z:-0.78 [[ 9.97758771e-01 6.67942825e-02 3.99481645e-03 1.39297664e+02] [-6.67937339e-02 9.97766768e-01 -2.70751085e-04 1.06460760e-01] [-4.00397973e-03 3.31556279e-06 9.99991984e-01 -7.76042289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.33, Y:0.11, Z:-0.78 [[ 9.97822165e-01 6.58800676e-02 3.27771435e-03 1.39326391e+02] [-6.58796940e-02 9.97827549e-01 -2.21939847e-04 1.05368418e-01] [-3.28521509e-03 5.52168005e-06 9.99994604e-01 -7.77150182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.35, Y:0.10, Z:-0.78 [[ 9.97826701e-01 6.58113285e-02 3.27772080e-03 1.39353820e+02] [-6.58109548e-02 9.97832085e-01 -2.21844685e-04 1.03646378e-01] [-3.28521487e-03 5.65261483e-06 9.99994604e-01 -7.77305754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.38, Y:0.11, Z:-0.78 [[ 9.97881412e-01 6.49673718e-02 3.45382129e-03 1.39381616e+02] [-6.49669528e-02 9.97887389e-01 -2.33507285e-04 1.05340059e-01] [-3.46169507e-03 8.62833399e-06 9.99994008e-01 -7.76777437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.41, Y:0.11, Z:-0.77 [[ 9.97868540e-01 6.50833397e-02 4.74717934e-03 1.39409495e+02] [-6.50825517e-02 9.97879832e-01 -3.20462441e-04 1.06117624e-01] [-4.75797129e-03 1.08208429e-05 9.99988681e-01 -7.74517505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.44, Y:0.11, Z:-0.77 [[ 9.97898574e-01 6.44272622e-02 6.89659626e-03 1.39436504e+02] [-6.44255879e-02 9.97922406e-01 -4.64880333e-04 1.05863963e-01] [-6.91221890e-03 1.95861532e-05 9.99976110e-01 -7.71134545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.685898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.47, Y:0.10, Z:-0.77 [[ 9.98121797e-01 6.06277432e-02 8.78381936e-03 1.39465092e+02] [-6.06248866e-02 9.98160445e-01 -5.91361262e-04 1.01322098e-01] [-8.80351393e-03 5.77325132e-05 9.99961247e-01 -7.68187255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.49, Y:0.10, Z:-0.77 [[ 9.98280872e-01 5.80843920e-02 7.84250137e-03 1.39493492e+02] [-5.80820389e-02 9.98311674e-01 -5.27656048e-04 9.73579946e-02] [-7.85990925e-03 7.12404699e-05 9.99969108e-01 -7.69799894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.52, Y:0.09, Z:-0.77 [[ 9.98509169e-01 5.43163210e-02 5.40155470e-03 1.39520474e+02] [-5.43151505e-02 9.98523777e-01 -3.63261136e-04 9.16872080e-02] [-5.41331181e-03 6.93333186e-05 9.99985346e-01 -7.74659123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.55, Y:0.09, Z:-0.78 [[ 9.98585252e-01 5.30330828e-02 3.87130077e-03 1.39548703e+02] [-5.30324726e-02 9.98592754e-01 -2.60174407e-04 8.97409831e-02] [-3.87965075e-03 5.45016739e-05 9.99992473e-01 -7.76436475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.58, Y:0.09, Z:-0.78 [[ 9.98632587e-01 5.22196798e-02 2.46193687e-03 1.39576661e+02] [-5.22194306e-02 9.98635621e-01 -1.65432386e-04 8.68690806e-02] [-2.46721669e-03 3.66452296e-05 9.99996956e-01 -7.78488102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.835898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.60, Y:0.08, Z:-0.78 [[ 9.98673038e-01 5.14863494e-02 1.14868842e-03 1.39604513e+02] [-5.14862945e-02 9.98673698e-01 -7.73197986e-05 8.24451348e-02] [-1.15114583e-03 1.80754877e-05 9.99999337e-01 -7.80267217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86589822699995 meters Centerline goodness [0,1] 0.9997685574819054 Centerline is valid? [True, True] Translation: X:139.63, Y:0.08, Z:-0.78 [[ 9.98705964e-01 5.08468787e-02 9.96126116e-04 1.39632887e+02] [-5.08468371e-02 9.98706461e-01 -6.70011011e-05 8.22288762e-02] [-9.98244385e-04 1.62645369e-05 9.99999502e-01 -7.80334321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.895898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.66, Y:0.08, Z:-0.78 [[ 9.98708270e-01 5.07860301e-02 1.60303242e-03 1.39661807e+02] [-5.07859230e-02 9.98709557e-01 -1.07449824e-04 8.15625259e-02] [-1.60642075e-03 2.58995468e-05 9.99998709e-01 -7.79191980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92589822699995 meters Centerline goodness [0,1] 0.9998729217409722 Centerline is valid? [True, True] Translation: X:139.69, Y:0.08, Z:-0.78 [[ 9.98744018e-01 5.00425227e-02 2.47627059e-03 1.39689187e+02] [-5.00422653e-02 9.98747087e-01 -1.65861757e-04 7.82894741e-02] [-2.48146818e-03 4.17352481e-05 9.99996920e-01 -7.78450551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.955898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.72, Y:0.07, Z:-0.77 [[ 9.98843914e-01 4.78248627e-02 4.85980479e-03 1.39717760e+02] [-4.78238478e-02 9.98855732e-01 -3.24900599e-04 7.44464332e-02] [-4.86978220e-03 9.21104212e-05 9.99988138e-01 -7.74551198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.75, Y:0.07, Z:-0.77 [[ 9.98905132e-01 4.64175172e-02 5.82685240e-03 1.39745416e+02] [-4.64160361e-02 9.98922119e-01 -3.89230829e-04 7.19252136e-02] [-5.83863888e-03 1.18345281e-04 9.99982948e-01 -7.72511186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.015898227 meters Centerline goodness [0,1] 0.9999790189249297 Centerline is valid? [True, True] Translation: X:139.77, Y:0.07, Z:-0.77 [[ 9.98965080e-01 4.49725902e-02 6.79964620e-03 1.39773836e+02] [-4.49705428e-02 9.98988210e-01 -4.53772338e-04 7.09227833e-02] [-6.81317370e-03 1.47518939e-04 9.99976779e-01 -7.71290787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.80, Y:0.07, Z:-0.77 [[ 9.99099646e-01 4.18398176e-02 7.02330959e-03 1.39803627e+02] [-4.18375585e-02 9.99124316e-01 -4.68338015e-04 7.15993069e-02] [-7.03675457e-03 1.74078220e-04 9.99975227e-01 -7.71773698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.075898227 meters Centerline goodness [0,1] 0.9999790092359362 Centerline is valid? [True, True] Translation: X:139.83, Y:0.07, Z:-0.77 [[ 9.99185846e-01 3.98627579e-02 6.21341351e-03 1.39831578e+02] [-3.98609524e-02 9.99205151e-01 -4.14189966e-04 6.77830697e-02] [-6.22498554e-03 1.66180171e-04 9.99980611e-01 -7.73614133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10589822699995 meters Centerline goodness [0,1] 0.9999790501330317 Centerline is valid? [True, True] Translation: X:139.86, Y:0.06, Z:-0.78 [[ 9.99389305e-01 3.46854586e-02 4.23497669e-03 1.39861172e+02] [-3.46845741e-02 9.99398269e-01 -2.82145017e-04 6.48803371e-02] [-4.24221471e-03 1.35084350e-04 9.99990993e-01 -7.76879126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.135898227 meters Centerline goodness [0,1] 0.9998956006096924 Centerline is valid? [True, True] Translation: X:139.89, Y:0.06, Z:-0.78 [[ 9.99510358e-01 3.10926284e-02 3.50612284e-03 1.39890229e+02] [-3.10920001e-02 9.99516500e-01 -2.33559285e-04 5.83838046e-02] [-3.51168960e-03 1.24432553e-04 9.99993826e-01 -7.78725587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16589822699996 meters Centerline goodness [0,1] 0.9999161073825503 Centerline is valid? [True, True] Translation: X:139.92, Y:0.06, Z:-0.78 [[ 9.99638802e-01 2.67341090e-02 2.74827566e-03 1.39920367e+02] [-2.67337067e-02 9.99642574e-01 -1.83038007e-04 5.58843535e-02] [-2.75218672e-03 1.09500299e-04 9.99996207e-01 -7.80121003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.195898227 meters Centerline goodness [0,1] 0.999769111288359 Centerline is valid? [True, True] Translation: X:139.95, Y:0.04, Z:-0.78 [[ 9.99744493e-01 2.25050677e-02 2.11429678e-03 1.39948798e+02] [-2.25048201e-02 9.99746725e-01 -1.40789351e-04 4.47774552e-02] [-2.11692975e-03 9.31715095e-05 9.99997755e-01 -7.81372282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22589822699996 meters Centerline goodness [0,1] 0.999347285972965 Centerline is valid? [True, True] Translation: X:139.98, Y:0.04, Z:-0.78 [[ 9.99877883e-01 1.55091185e-02 1.91994827e-03 1.39978771e+02] [-1.55089014e-02 9.99879722e-01 -1.27869558e-04 3.63560165e-02] [-1.92170049e-03 9.80776540e-05 9.99998149e-01 -7.80549719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.255898227 meters Centerline goodness [0,1] 0.9993686735831983 Centerline is valid? [True, True] Translation: X:140.01, Y:0.03, Z:-0.78 [[ 9.99900612e-01 1.39550546e-02 2.00575597e-03 1.40008896e+02] [-1.39548146e-02 9.99902618e-01 -1.33606698e-04 3.38859073e-02] [-2.00742513e-03 1.05603467e-04 9.99997980e-01 -7.80055783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28589822699996 meters Centerline goodness [0,1] 0.9992393348405773 Centerline is valid? [True, True] Translation: X:140.04, Y:0.03, Z:-0.78 [[ 9.99904715e-01 1.36599823e-02 1.99140997e-03 1.40038550e+02] [-1.36597450e-02 9.99906693e-01 -1.32669900e-04 3.26285695e-02] [-1.99303643e-03 1.05455106e-04 9.99998008e-01 -7.79436287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.315898227 meters Centerline goodness [0,1] 0.9992433159576257 Centerline is valid? [True, True] Translation: X:140.07, Y:0.03, Z:-0.78 [[ 9.99868062e-01 1.62155599e-02 9.56479863e-04 1.40068200e+02] [-1.62155063e-02 9.99868518e-01 -6.37626992e-05 3.47103200e-02] [-9.57388051e-04 4.82444812e-05 9.99999541e-01 -7.81560978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34589822699996 meters Centerline goodness [0,1] 0.9997068431191892 Centerline is valid? [True, True] Translation: X:140.10, Y:0.04, Z:-0.78 [[ 9.99827139e-01 1.85918446e-02 -1.86845299e-04 1.40098891e+02] [-1.85918426e-02 9.99827157e-01 1.23652923e-05 4.30803572e-02] [ 1.87042898e-04 -8.88935646e-06 9.99999982e-01 -7.82669626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.375898227 meters Centerline goodness [0,1] 0.9997696769195334 Centerline is valid? [True, True] Translation: X:140.13, Y:0.04, Z:-0.78 [[ 9.99769257e-01 2.14660122e-02 -8.01438034e-04 1.40127729e+02] [-2.14659763e-02 9.99769578e-01 5.33425156e-05 4.46923291e-02] [ 8.02398416e-04 -3.61265574e-05 9.99999677e-01 -7.84359772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40589822699997 meters Centerline goodness [0,1] 0.999874116190756 Centerline is valid? [True, True] Translation: X:140.16, Y:0.06, Z:-0.78 [[ 9.99652724e-01 2.63519441e-02 8.52636271e-05 1.40158863e+02] [-2.63519437e-02 9.99652727e-01 -5.68361639e-06 5.88296949e-02] [-8.53837917e-05 3.43478030e-06 9.99999996e-01 -7.82230935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.435898227 meters Centerline goodness [0,1] 0.9999579177713251 Centerline is valid? [True, True] Translation: X:140.19, Y:0.06, Z:-0.78 [[ 9.99621072e-01 2.74901466e-02 1.41600002e-03 1.40187018e+02] [-2.74900405e-02 9.99622073e-01 -9.43978234e-05 5.54684085e-02] [-1.41805989e-03 5.54361554e-05 9.99998993e-01 -7.81678458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46589822699997 meters Centerline goodness [0,1] 0.999958179118834 Centerline is valid? [True, True] Translation: X:140.22, Y:0.06, Z:-0.78 [[ 9.99646271e-01 2.65595090e-02 1.38738007e-03 1.40216552e+02] [-2.65594063e-02 9.99647232e-01 -9.24277670e-05 6.04697346e-02] [-1.38934548e-03 5.55470819e-05 9.99999033e-01 -7.82450329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49589822699994 meters Centerline goodness [0,1] 0.9998510669985745 Centerline is valid? [True, True] Translation: X:140.25, Y:0.06, Z:-0.78 [[ 9.99692434e-01 2.47944199e-02 5.24213965e-04 1.40246061e+02] [-2.47944050e-02 9.99692571e-01 -3.50073490e-05 6.27389389e-02] [-5.24920794e-04 2.19990085e-05 9.99999862e-01 -7.83616520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.52589822699997 meters Centerline goodness [0,1] 0.9992490456621957 Centerline is valid? [True, True] Translation: X:140.27, Y:0.05, Z:-0.79 [[ 9.99737036e-01 2.29167130e-02 8.26646002e-04 1.40273405e+02] [-2.29166753e-02 9.99737377e-01 -5.50589045e-05 4.52730772e-02] [-8.27690674e-04 3.61004480e-05 9.99999657e-01 -7.85945828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55589822699994 meters Centerline goodness [0,1] 0.9997275432787023 Centerline is valid? [True, True] Translation: X:140.30, Y:0.05, Z:-0.78 [[ 9.99786004e-01 2.06362965e-02 1.44569039e-03 1.40303347e+02] [-2.06361791e-02 9.99787047e-01 -9.60363876e-05 5.03027236e-02] [-1.44736436e-03 6.61823104e-05 9.99998950e-01 -7.84226061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.585898227 meters Centerline goodness [0,1] 0.9997902024546312 Centerline is valid? [True, True] Translation: X:140.33, Y:0.05, Z:-0.78 [[ 9.99858490e-01 1.65610771e-02 2.95463476e-03 1.40334100e+02] [-1.65605699e-02 9.99862845e-01 -1.96020522e-04 5.10099338e-02] [-2.95747583e-03 1.47062347e-04 9.99995616e-01 -7.81526026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61589822699995 meters Centerline goodness [0,1] 0.9996434414195227 Centerline is valid? [True, True] Translation: X:140.36, Y:0.05, Z:-0.78 [[ 9.99879168e-01 1.53718963e-02 2.31389533e-03 1.40363294e+02] [-1.53715821e-02 9.99881838e-01 -1.53546438e-04 4.70841323e-02] [-2.31598222e-03 1.17959653e-04 9.99997311e-01 -7.83125809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.645898227 meters Centerline goodness [0,1] 0.999456885026738 Centerline is valid? [True, True] Translation: X:140.39, Y:0.05, Z:-0.79 [[ 9.99895018e-01 1.44864538e-02 -3.10079539e-04 1.40393049e+02] [-1.44864481e-02 9.99895066e-01 2.04322910e-05 4.86908331e-02] [ 3.10342992e-04 -1.59381948e-05 9.99999952e-01 -7.87553763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67589822699995 meters Centerline goodness [0,1] 0.9995961914477599 Centerline is valid? [True, True] Translation: X:140.42, Y:0.05, Z:-0.79 [[ 9.99894075e-01 1.45333216e-02 -7.88193163e-04 1.40422117e+02] [-1.45332852e-02 9.99894385e-01 5.19681714e-05 4.97836964e-02] [ 7.88865188e-04 -4.05076307e-05 9.99999688e-01 -7.88732315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.705898227 meters Centerline goodness [0,1] 0.9989861439675566 Centerline is valid? [True, True] Translation: X:140.45, Y:0.05, Z:-0.79 [[ 9.99887010e-01 1.50201467e-02 -6.01504438e-04 1.40449348e+02] [-1.50201256e-02 9.99887191e-01 3.95007905e-05 4.61626493e-02] [ 6.02029890e-04 -3.04616550e-05 9.99999818e-01 -7.89190072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73589822699995 meters Centerline goodness [0,1] 0.9971338250790306 Centerline is valid? [True, True] Translation: X:140.48, Y:0.04, Z:-0.79 [[ 9.99886000e-01 1.50954461e-02 -3.38618771e-04 1.40476505e+02] [-1.50954395e-02 9.99886057e-01 2.20835311e-05 4.15047784e-02] [ 3.38913549e-04 -1.69694144e-05 9.99999942e-01 -7.88754594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.765898227 meters Centerline goodness [0,1] 0.999216417120227 Centerline is valid? [True, True] Translation: X:140.51, Y:0.05, Z:-0.79 [[ 9.99905113e-01 1.37755097e-02 -4.92224913e-06 1.40506399e+02] [-1.37755097e-02 9.99905113e-01 1.30437369e-07 4.95796347e-02] [ 4.92357891e-06 -6.26185013e-08 1.00000000e+00 -7.86487947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79589822699995 meters Centerline goodness [0,1] 0.9966798914178325 Centerline is valid? [True, True] Translation: X:140.53, Y:0.04, Z:-0.79 [[ 9.99927123e-01 1.20678377e-02 -3.41450544e-04 1.40534404e+02] [-1.20678308e-02 9.99927181e-01 2.23397189e-05 4.00548436e-02] [ 3.41695272e-04 -1.82175234e-05 9.99999941e-01 -7.88286584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.825898227 meters Centerline goodness [0,1] 0.9961704366123093 Centerline is valid? [True, True] Translation: X:140.56, Y:0.04, Z:-0.79 [[ 9.99952674e-01 9.72334349e-03 -3.25727828e-04 1.40564905e+02] [-9.72333699e-03 9.99952727e-01 2.15225575e-05 3.75152000e-02] [ 3.25921701e-04 -1.83543775e-05 9.99999947e-01 -7.88701415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85589822699995 meters Centerline goodness [0,1] 0.9844153644179054 Centerline is valid? [True, True] Translation: X:140.59, Y:0.03, Z:-0.79 [[ 9.99990524e-01 4.30323004e-03 6.58140444e-04 1.40594680e+02] [-4.30320232e-03 9.99990740e-01 -4.35246071e-05 2.55458673e-02] [-6.58321646e-04 4.06920832e-05 9.99999782e-01 -7.87304722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.885898227 meters Centerline goodness [0,1] 0.9441019747152858 Centerline is valid? [True, False] Translation: X:140.63, Y:0.02, Z:-0.79 [[ 9.99995937e-01 1.90754060e-03 2.11816141e-03 1.40633698e+02] [-1.90948353e-03 9.99997758e-01 9.15629251e-04 2.08449778e-02] [-2.11641006e-03 -9.19670125e-04 9.99997338e-01 -7.86109086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91589822699996 meters Centerline goodness [0,1] 0.9189393621044669 Centerline is valid? [False, False] Translation: X:140.63, Y:0.02, Z:-0.78 [[ 9.99996239e-01 3.16835870e-04 2.72436173e-03 1.40628778e+02] [-3.15669940e-04 9.99999858e-01 -4.28383866e-04 1.99369715e-02] [-2.72449707e-03 4.27522256e-04 9.99996197e-01 -7.82615921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.945898227 meters Centerline goodness [0,1] 0.7665400675661498 Centerline is valid? [False, False] Translation: X:140.63, Y:0.01, Z:-0.78 [[ 9.99996729e-01 -2.29648956e-04 2.54730268e-03 1.40629820e+02] [ 2.28153117e-04 9.99999801e-01 5.87500067e-04 1.17047654e-02] [-2.54743710e-03 -5.86916971e-04 9.99996583e-01 -7.83806600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97589822699996 meters Centerline goodness [0,1] 0.6916451335055986 Centerline is valid? [False, False] Translation: X:140.63, Y:0.01, Z:-0.78 [[ 9.99996953e-01 -3.50098150e-05 2.46824776e-03 1.40630574e+02] [ 3.09503910e-05 9.99998647e-01 1.64467725e-03 6.00095102e-03] [-2.46830200e-03 -1.64459585e-03 9.99995601e-01 -7.84773566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.005898227 meters Centerline goodness [0,1] 0.630920012646222 Centerline is valid? [False, False] Translation: X:140.63, Y:0.00, Z:-0.79 [[ 9.99996678e-01 1.75973854e-04 2.57152309e-03 1.40630584e+02] [-1.82779442e-04 9.99996481e-01 2.64652500e-03 5.89999039e-04] [-2.57104832e-03 -2.64698623e-03 9.99993192e-01 -7.85405310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03589822699996 meters Centerline goodness [0,1] 0.5906257215423689 Centerline is valid? [False, False] Translation: X:140.63, Y:-0.00, Z:-0.78 [[ 9.99990064e-01 -3.60991516e-03 2.61550895e-03 1.40629945e+02] [ 3.61127482e-03 9.99993347e-01 -5.15309085e-04 -4.96724181e-03] [-2.61363132e-03 5.24749286e-04 9.99996447e-01 -7.84582860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.065898227 meters Centerline goodness [0,1] 0.5207165437302423 Centerline is valid? [False, False] Translation: X:140.63, Y:-0.01, Z:-0.78 [[ 9.99990959e-01 -3.26011461e-03 2.73000170e-03 1.40629487e+02] [ 3.25870359e-03 9.99994555e-01 5.21145463e-04 -1.01760941e-02] [-2.73168583e-03 -5.12244485e-04 9.99996138e-01 -7.84529540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09589822699996 meters Centerline goodness [0,1] 0.4698130490902278 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.02, Z:-0.78 [[ 9.99985218e-01 -4.32888530e-03 3.29014681e-03 1.40670599e+02] [ 4.31724243e-03 9.99984423e-01 3.53760927e-03 -1.97253849e-02] [-3.30540947e-03 -3.52335261e-03 9.99988330e-01 -7.84743635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.125898227 meters Centerline goodness [0,1] 0.45253923507384186 Centerline is valid? [False, False] Translation: X:140.65, Y:-0.02, Z:-0.78 [[ 9.99976215e-01 -6.66636349e-03 -1.76906924e-03 1.40649810e+02] [ 6.64923129e-03 9.99932580e-01 -9.51964125e-03 -2.11221972e-02] [ 1.83241135e-03 9.50765187e-03 9.99953122e-01 -7.79629376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15589822699997 meters Centerline goodness [0,1] 0.4509840871021775 Centerline is valid? [False, False] Translation: X:140.65, Y:-0.03, Z:-0.78 [[ 9.99995312e-01 -2.66270735e-03 -1.51182508e-03 1.40649241e+02] [ 2.65659325e-03 9.99988343e-01 -4.03188814e-03 -2.94248252e-02] [ 1.52254320e-03 4.02785294e-03 9.99990729e-01 -7.80447292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.185898227 meters Centerline goodness [0,1] 0.46646296800117193 Centerline is valid? [False, False] Translation: X:140.65, Y:-0.04, Z:-0.78 [[ 9.99997193e-01 -1.96921169e-03 -1.31760244e-03 1.40648301e+02] [ 1.96627610e-03 9.99995590e-01 -2.22557965e-03 -3.84319447e-02] [ 1.32197926e-03 2.22298263e-03 9.99996655e-01 -7.80104618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21589822699997 meters Centerline goodness [0,1] 0.45040018389651637 Centerline is valid? [False, False] Translation: X:140.65, Y:-0.04, Z:-0.78 [[ 9.99997975e-01 -1.58395333e-03 -1.24147335e-03 1.40648111e+02] [ 1.58222834e-03 9.99997783e-01 -1.38922209e-03 -4.23656276e-02] [ 1.24367106e-03 1.38725498e-03 9.99998264e-01 -7.80256647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24589822699994 meters Centerline goodness [0,1] 0.5661464686829596 Centerline is valid? [False, False] Translation: X:140.65, Y:-0.04, Z:-0.78 [[ 9.99998401e-01 -1.28141316e-03 -1.24749831e-03 1.40648033e+02] [ 1.28037689e-03 9.99998835e-01 -8.31123601e-04 -4.49053465e-02] [ 1.24856187e-03 8.29525004e-04 9.99998876e-01 -7.80150032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27589822699997 meters Centerline goodness [0,1] 0.6535756651415014 Centerline is valid? [False, False] Translation: X:140.65, Y:-0.05, Z:-0.78 [[ 9.99999039e-01 -8.15712233e-04 -1.12134715e-03 1.40647452e+02] [ 8.15655849e-04 9.99999666e-01 -5.07391159e-05 -4.83183497e-02] [ 1.12138817e-03 4.98244338e-05 9.99999370e-01 -7.79885749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30589822699994 meters Centerline goodness [0,1] 0.5158763143676489 Centerline is valid? [False, False] Translation: X:140.69, Y:-0.05, Z:-0.78 [[ 9.99999146e-01 -1.15963773e-03 -6.02045948e-04 1.40689666e+02] [ 1.16088598e-03 9.99997169e-01 2.07716544e-03 -5.45746463e-02] [ 5.99635484e-04 -2.07786258e-03 9.99997661e-01 -7.79688390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.335898227 meters Centerline goodness [0,1] 0.5143637127257454 Centerline is valid? [False, False] Translation: X:140.65, Y:-0.05, Z:-0.78 [[ 9.99998095e-01 -1.39006859e-03 -1.36995373e-03 1.40648086e+02] [ 1.39020044e-03 9.99999029e-01 9.52980293e-05 -5.28432673e-02] [ 1.36981993e-03 -9.72023581e-05 9.99999057e-01 -7.81122026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36589822699995 meters Centerline goodness [0,1] 0.4946360474374555 Centerline is valid? [False, False] Translation: X:140.65, Y:-0.06, Z:-0.78 [[ 9.99998387e-01 -1.08556979e-03 -1.43068736e-03 1.40648600e+02] [ 1.08683386e-03 9.99999019e-01 8.83059227e-04 -5.66190033e-02] [ 1.42972733e-03 -8.84612722e-04 9.99998587e-01 -7.81734215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.395898227 meters Centerline goodness [0,1] 0.47097805734963083 Centerline is valid? [False, False] Translation: X:140.65, Y:-0.06, Z:-0.78 [[ 9.99998776e-01 -6.92998338e-04 -1.40265234e-03 1.40648874e+02] [ 6.96081616e-04 9.99997340e-01 2.19888373e-03 -6.34436561e-02] [ 1.40112478e-03 -2.19985740e-03 9.99996599e-01 -7.82446118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42589822699995 meters Centerline goodness [0,1] 0.7469992538108944 Centerline is valid? [False, False] Translation: X:140.60, Y:-0.07, Z:-0.78 [[ 9.99998985e-01 -1.41169799e-03 -1.90879265e-04 1.40603659e+02] [ 1.41191156e-03 9.99998372e-01 1.12341956e-03 -6.63542265e-02] [ 1.89293025e-04 -1.12368792e-03 9.99999351e-01 -7.83273855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.455898227 meters Centerline goodness [0,1] 0.7469992538108944 Centerline is valid? [False, False] Translation: X:140.60, Y:-0.07, Z:-0.78 [[ 9.99998985e-01 -1.41169799e-03 -1.90879265e-04 1.40603659e+02] [ 1.41191156e-03 9.99998372e-01 1.12341956e-03 -6.63542265e-02] [ 1.89293025e-04 -1.12368792e-03 9.99999351e-01 -7.83273855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48589822699995 meters Centerline goodness [0,1] 0.4449461911795738 Centerline is valid? [False, False] Translation: X:140.60, Y:-0.07, Z:-0.78 [[ 9.99985069e-01 -5.44832787e-03 -4.20330612e-04 1.40604121e+02] [ 5.44696200e-03 9.99980093e-01 -3.18496798e-03 -6.56597032e-02] [ 4.37674994e-04 3.18263090e-03 9.99994840e-01 -7.82749292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.515898227 meters Centerline goodness [0,1] 0.521222268731687 Centerline is valid? [False, False] Translation: X:140.60, Y:-0.07, Z:-0.78 [[ 9.99986231e-01 -5.23771542e-03 -3.23488329e-04 1.40603763e+02] [ 5.23686089e-03 9.99982938e-01 -2.58826832e-03 -6.86724354e-02] [ 3.37039423e-04 2.58653862e-03 9.99996598e-01 -7.82715182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54589822699995 meters Centerline goodness [0,1] 0.44789263996645 Centerline is valid? [False, False] Translation: X:140.60, Y:-0.07, Z:-0.78 [[ 9.99987466e-01 -4.99397262e-03 -3.57901139e-04 1.40603898e+02] [ 4.99323805e-03 9.99985484e-01 -2.02475519e-03 -7.13558459e-02] [ 3.68007515e-04 2.02294273e-03 9.99997886e-01 -7.82811724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.575898227 meters Centerline goodness [0,1] 0.46667365771812086 Centerline is valid? [False, False] Translation: X:140.61, Y:-0.08, Z:-0.78 [[ 9.99989796e-01 -4.47916055e-03 -5.86705940e-04 1.40605342e+02] [ 4.47863186e-03 9.99989566e-01 -8.99359237e-04 -7.65126428e-02] [ 5.90728193e-04 8.96722421e-04 9.99999423e-01 -7.84010224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60589822699995 meters Centerline goodness [0,1] 0.46979273849772163 Centerline is valid? [False, False] Translation: X:140.61, Y:-0.08, Z:-0.78 [[ 9.99991077e-01 -4.16509207e-03 -7.05884926e-04 1.40606017e+02] [ 4.16491599e-03 9.99991295e-01 -2.50735088e-04 -7.95048674e-02] [ 7.06923116e-04 2.47792899e-04 9.99999719e-01 -7.84536554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.635898227 meters Centerline goodness [0,1] 0.47058947014862706 Centerline is valid? [False, False] Translation: X:140.61, Y:-0.09, Z:-0.79 [[ 9.99993508e-01 -3.50329912e-03 -8.43164698e-04 1.40606867e+02] [ 3.50427374e-03 9.99993190e-01 1.15721058e-03 -8.59992946e-02] [ 8.39104901e-04 -1.16015774e-03 9.99998975e-01 -7.85318376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66589822699996 meters Centerline goodness [0,1] 0.48794609958943047 Centerline is valid? [False, False] Translation: X:140.61, Y:-0.09, Z:-0.79 [[ 9.99994635e-01 -3.17732915e-03 -7.96806363e-04 1.40606759e+02] [ 3.17882998e-03 9.99993163e-01 1.88941827e-03 -8.94678829e-02] [ 7.90797612e-04 -1.89194105e-03 9.99997898e-01 -7.85425863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.695898227 meters Centerline goodness [0,1] 0.4417023419793503 Centerline is valid? [False, False] Translation: X:140.61, Y:-0.09, Z:-0.79 [[ 9.99995706e-01 -2.83363240e-03 -7.47038370e-04 1.40606601e+02] [ 2.83568381e-03 9.99992172e-01 2.75944967e-03 -9.37139688e-02] [ 7.39213257e-04 -2.76155618e-03 9.99995914e-01 -7.85535562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72589822699996 meters Centerline goodness [0,1] 0.43715743715743716 Centerline is valid? [False, False] Translation: X:140.61, Y:-0.10, Z:-0.79 [[ 9.99997231e-01 -2.28671482e-03 -5.54966894e-04 1.40605971e+02] [ 2.28918736e-03 9.99987271e-01 4.49632618e-03 -1.02752767e-01] [ 5.44678014e-04 -4.49758416e-03 9.99989737e-01 -7.85668715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.755898227 meters Centerline goodness [0,1] 0.4306895244513711 Centerline is valid? [False, False] Translation: X:140.61, Y:-0.11, Z:-0.79 [[ 9.99998021e-01 -1.90848575e-03 -5.61636946e-04 1.40606198e+02] [ 1.91152379e-03 9.99983271e-01 5.45936916e-03 -1.07483395e-01] [ 5.51208422e-04 -5.46043194e-03 9.99984940e-01 -7.86089918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78589822699996 meters Centerline goodness [0,1] 0.484682644524124 Centerline is valid? [False, False] Translation: X:140.61, Y:-0.11, Z:-0.79 [[ 9.99991588e-01 -3.81728145e-03 -1.50066178e-03 1.40612537e+02] [ 3.82283008e-03 9.99985803e-01 3.71214137e-03 -1.10424779e-01] [ 1.48647019e-03 -3.71784692e-03 9.99991984e-01 -7.89971923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.815898227 meters Centerline goodness [0,1] 0.42604814884656483 Centerline is valid? [False, False] Translation: X:140.61, Y:-0.12, Z:-0.79 [[ 9.99993588e-01 -3.17069412e-03 -1.66423318e-03 1.40613619e+02] [ 3.17931817e-03 9.99981399e-01 5.20518452e-03 -1.17638913e-01] [ 1.64769818e-03 -5.21044228e-03 9.99985068e-01 -7.90909703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84589822699996 meters Centerline goodness [0,1] 0.5323145495065266 Centerline is valid? [False, False] Translation: X:140.59, Y:-0.12, Z:-0.79 [[ 9.99988583e-01 -7.92621060e-04 -4.71231123e-03 1.40591773e+02] [ 7.75062540e-04 9.99992755e-01 -3.72675443e-03 -1.15921556e-01] [ 4.71523099e-03 3.72305954e-03 9.99981953e-01 -7.87803827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.875898227 meters Centerline goodness [0,1] 0.5394944209796382 Centerline is valid? [False, False] Translation: X:140.63, Y:-0.13, Z:-0.78 [[ 9.99996064e-01 2.34416418e-03 -1.54141400e-03 1.40627627e+02] [-2.34196490e-03 9.99996239e-01 1.42705137e-03 -1.25126385e-01] [ 1.54475345e-03 -1.42343581e-03 9.99997794e-01 -7.84997402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90589822699997 meters Centerline goodness [0,1] 0.655746042509907 Centerline is valid? [False, False] Translation: X:140.62, Y:-0.13, Z:-0.78 [[ 9.99988129e-01 4.82149471e-03 -7.03566139e-04 1.40621822e+02] [-4.81864148e-03 9.99980381e-01 4.00224016e-03 -1.26610664e-01] [ 7.22849116e-04 -3.99880242e-03 9.99991744e-01 -7.81349515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.935898227 meters Centerline goodness [0,1] 0.8441089806550797 Centerline is valid? [False, False] Translation: X:140.62, Y:-0.13, Z:-0.78 [[ 9.99987735e-01 4.88596650e-03 -8.10521600e-04 1.40622005e+02] [-4.88279294e-03 9.99980582e-01 3.87227787e-03 -1.25695063e-01] [ 8.29425681e-04 -3.86827277e-03 9.99992174e-01 -7.81099668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96589822699997 meters Centerline goodness [0,1] 0.6149192698452848 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.13, Z:-0.78 [[ 9.99982045e-01 5.92371058e-03 -9.05075467e-04 1.40665459e+02] [-5.91939272e-03 9.99971430e-01 4.70116010e-03 -1.28128418e-01] [ 9.32897921e-04 -4.69571819e-03 9.99988540e-01 -7.80537716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99589822699994 meters Centerline goodness [0,1] 0.8596910201407528 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.13, Z:-0.78 [[ 9.99982402e-01 5.86006673e-03 -9.24855443e-04 1.40665331e+02] [-5.85588565e-03 9.99972906e-01 4.46054173e-03 -1.26927323e-01] [ 9.50969457e-04 -4.45504738e-03 9.99989624e-01 -7.80220995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.02589822699997 meters Centerline goodness [0,1] 0.8236256132846899 Centerline is valid? [False, False] Translation: X:140.66, Y:-0.13, Z:-0.78 [[ 9.99983008e-01 5.76479314e-03 -8.65993208e-04 1.40664863e+02] [-5.76114810e-03 9.99974776e-01 4.15420949e-03 -1.25447434e-01] [ 8.89919522e-04 -4.14914979e-03 9.99990996e-01 -7.79709110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05589822699994 meters Centerline goodness [0,1] 0.8473919271930563 Centerline is valid? [False, False] Translation: X:140.66, Y:-0.12, Z:-0.78 [[ 9.99984255e-01 5.55234016e-03 -8.13010129e-04 1.40664342e+02] [-5.54929496e-03 9.99977753e-01 3.70112249e-03 -1.23339470e-01] [ 8.33541933e-04 -3.69655259e-03 9.99992820e-01 -7.79156012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.085898227 meters Centerline goodness [0,1] 0.6936760557450212 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.12, Z:-0.78 [[ 9.99998565e-01 1.28664168e-03 -1.10162569e-03 1.40665292e+02] [-1.28804527e-03 9.99998358e-01 -1.27435048e-03 -1.19165672e-01] [ 1.09998425e-03 1.27576759e-03 9.99998581e-01 -7.79225626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11589822699995 meters Centerline goodness [0,1] 0.5687633934198916 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.12, Z:-0.78 [[ 9.99998674e-01 1.11790205e-03 -1.18445397e-03 1.40665915e+02] [-1.11899623e-03 9.99998947e-01 -9.23525890e-04 -1.21637776e-01] [ 1.18342031e-03 9.24850065e-04 9.99998872e-01 -7.79922122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.145898227 meters Centerline goodness [0,1] 0.5477370056259971 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.12, Z:-0.78 [[ 9.99998580e-01 1.16605749e-03 -1.21675477e-03 1.40666249e+02] [-1.16663154e-03 9.99999208e-01 -4.71179768e-04 -1.24123702e-01] [ 1.21620438e-03 4.72598603e-04 9.99999149e-01 -7.80344040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17589822699995 meters Centerline goodness [0,1] 0.5827209741759396 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.13, Z:-0.78 [[ 9.99998439e-01 1.22421811e-03 -1.27446873e-03 1.40666489e+02] [-1.22418987e-03 9.99999250e-01 2.29387001e-05 -1.26904448e-01] [ 1.27449585e-03 -2.13784726e-05 9.99999188e-01 -7.80512641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.205898227 meters Centerline goodness [0,1] 0.5152222362390144 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.13, Z:-0.78 [[ 9.99998770e-01 1.01953658e-03 -1.19214121e-03 1.40666525e+02] [-1.01838496e-03 9.99999015e-01 9.66224148e-04 -1.33157609e-01] [ 1.19312514e-03 -9.65008901e-04 9.99998823e-01 -7.81202577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23589822699995 meters Centerline goodness [0,1] 0.43939203354297696 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.14, Z:-0.78 [[ 9.99998517e-01 1.18607476e-03 -1.24880628e-03 1.40666982e+02] [-1.18405815e-03 9.99997996e-01 1.61432756e-03 -1.36527609e-01] [ 1.25071849e-03 -1.61284651e-03 9.99997917e-01 -7.81714189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.265898227 meters Centerline goodness [0,1] 0.49465623159134897 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.14, Z:-0.78 [[ 9.99998273e-01 1.36251764e-03 -1.26424459e-03 1.40667102e+02] [-1.35971211e-03 9.99996617e-01 2.21735273e-03 -1.39614397e-01] [ 1.26726149e-03 -2.21562989e-03 9.99996743e-01 -7.81875205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29589822699995 meters Centerline goodness [0,1] 0.46452029943491047 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.14, Z:-0.78 [[ 9.99995410e-01 -2.58325028e-03 -1.58346162e-03 1.40667925e+02] [ 2.58030436e-03 9.99994942e-01 -1.85966244e-03 -1.40049166e-01] [ 1.58825759e-03 1.85556809e-03 9.99997017e-01 -7.81480607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.325898227 meters Centerline goodness [0,1] 0.4581950965049557 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.14, Z:-0.78 [[ 9.99995771e-01 -2.39778207e-03 -1.64606307e-03 1.40668187e+02] [ 2.39528733e-03 9.99995982e-01 -1.51588453e-03 -1.41607120e-01] [ 1.64969122e-03 1.51193532e-03 9.99997496e-01 -7.81559651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35589822699995 meters Centerline goodness [0,1] 0.41910884225121325 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.14, Z:-0.78 [[ 9.99996342e-01 -2.10078166e-03 -1.70352932e-03 1.40668332e+02] [ 2.09905665e-03 9.99997283e-01 -1.01376213e-03 -1.43794817e-01] [ 1.70565439e-03 1.01018262e-03 9.99998035e-01 -7.81568944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.385898227 meters Centerline goodness [0,1] 0.4857716352687812 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.15, Z:-0.78 [[ 9.99996692e-01 -1.89562759e-03 -1.73832046e-03 1.40668310e+02] [ 1.89461912e-03 9.99998036e-01 -5.81608353e-04 -1.45799102e-01] [ 1.73941956e-03 5.78312974e-04 9.99998320e-01 -7.81379143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41589822699996 meters Centerline goodness [0,1] 0.505022274522989 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.15, Z:-0.78 [[ 9.99997321e-01 -1.65979628e-03 -1.61370837e-03 1.40667757e+02] [ 1.65971893e-03 9.99998621e-01 -4.92709098e-05 -1.48331917e-01] [ 1.61378793e-03 4.65924755e-05 9.99998697e-01 -7.81195908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.445898227 meters Centerline goodness [0,1] 0.4381700167504188 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.15, Z:-0.78 [[ 9.99997798e-01 -1.40663236e-03 -1.55724255e-03 1.40667537e+02] [ 1.40743925e-03 9.99998876e-01 5.17180691e-04 -1.51010323e-01] [ 1.55651332e-03 -5.19371277e-04 9.99998654e-01 -7.81180749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47589822699996 meters Centerline goodness [0,1] 0.6093680861375081 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.15, Z:-0.78 [[ 9.99998264e-01 -1.09772232e-03 -1.50532782e-03 1.40667100e+02] [ 1.09947333e-03 9.99998719e-01 1.16287471e-03 -1.54041227e-01] [ 1.50404938e-03 -1.16452776e-03 9.99998191e-01 -7.80773596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.505898227 meters Centerline goodness [0,1] 0.5410524995295741 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.15, Z:-0.78 [[ 9.99998248e-01 -1.02673459e-03 -1.56501881e-03 1.40667297e+02] [ 1.02876575e-03 9.99998629e-01 1.29759799e-03 -1.54678824e-01] [ 1.56368437e-03 -1.29920575e-03 9.99997933e-01 -7.80795443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53589822699996 meters Centerline goodness [0,1] 0.5707824989482542 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.16, Z:-0.78 [[ 9.99998332e-01 -8.02429364e-04 -1.64068071e-03 1.40667693e+02] [ 8.05459185e-04 9.99997970e-01 1.84685957e-03 -1.57365427e-01] [ 1.63919541e-03 -1.84817799e-03 9.99996949e-01 -7.81098095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.565898227 meters Centerline goodness [0,1] 0.5616909854931689 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.16, Z:-0.78 [[ 9.99998373e-01 -6.31063604e-04 -1.69009943e-03 1.40668081e+02] [ 6.35063756e-04 9.99996996e-01 2.36732456e-03 -1.59980291e-01] [ 1.68860042e-03 -2.36839403e-03 9.99995770e-01 -7.81537424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59589822699996 meters Centerline goodness [0,1] 0.47661385471093887 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.16, Z:-0.78 [[ 9.99998471e-01 -4.82735087e-04 -1.68088706e-03 1.40668222e+02] [ 4.87697464e-04 9.99995521e-01 2.95307977e-03 -1.63069764e-01] [ 1.67945397e-03 -2.95389502e-03 9.99994227e-01 -7.81898792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.625898227 meters Centerline goodness [0,1] 0.4400317546535192 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.16, Z:-0.78 [[ 9.99988057e-01 -4.64863466e-03 -1.50840730e-03 1.40667247e+02] [ 4.64690787e-03 9.99988546e-01 -1.14626857e-03 -1.63937881e-01] [ 1.51371861e-03 1.13924545e-03 9.99998205e-01 -7.81160842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65589822699997 meters Centerline goodness [0,1] 0.45423150624355113 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.17, Z:-0.78 [[ 9.99988825e-01 -4.53305041e-03 -1.34206480e-03 1.40666485e+02] [ 4.53197698e-03 9.99989409e-01 -8.01799520e-04 -1.65665448e-01] [ 1.34568518e-03 7.95708353e-04 9.99998778e-01 -7.80815943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.685898227 meters Centerline goodness [0,1] 0.4536050222120258 Centerline is valid? [False, False] Translation: X:140.67, Y:-0.17, Z:-0.78 [[ 9.99989082e-01 -4.46242054e-03 -1.38690046e-03 1.40666662e+02] [ 4.46164441e-03 9.99989889e-01 -5.62203034e-04 -1.66917859e-01] [ 1.38939523e-03 5.56009039e-04 9.99998880e-01 -7.80891375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71589822699997 meters Centerline goodness [0,1] 0.4674060564933412 Centerline is valid? [False, False] Translation: X:140.63, Y:-0.17, Z:-0.78 [[ 9.99992749e-01 -2.72473109e-03 -2.66033360e-03 1.40625325e+02] [ 2.72818958e-03 9.99995437e-01 1.29725894e-03 -1.67689125e-01] [ 2.65678678e-03 -1.30450743e-03 9.99995620e-01 -7.82408159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74589822699994 meters Centerline goodness [0,1] 0.47474302496328924 Centerline is valid? [False, False] Translation: X:140.63, Y:-0.17, Z:-0.78 [[ 9.99992889e-01 -2.57314390e-03 -2.75687975e-03 1.40625678e+02] [ 2.57739154e-03 9.99995495e-01 1.53830006e-03 -1.68767884e-01] [ 2.75290907e-03 -1.54539468e-03 9.99995017e-01 -7.82488448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77589822699997 meters Centerline goodness [0,1] 0.4856447688564477 Centerline is valid? [False, False] Translation: X:140.63, Y:-0.17, Z:-0.78 [[ 9.99992152e-01 -2.19072777e-03 -3.30104028e-03 1.40627860e+02] [ 2.19618384e-03 9.99996227e-01 1.65011817e-03 -1.68352044e-01] [ 3.29741287e-03 -1.65735491e-03 9.99993190e-01 -7.83248424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80589822699994 meters Centerline goodness [0,1] 0.5312388507628701 Centerline is valid? [False, False] Translation: X:140.63, Y:-0.17, Z:-0.78 [[ 9.99990882e-01 -2.02960246e-03 -3.75724471e-03 1.40629650e+02] [ 2.03527516e-03 9.99996794e-01 1.50659560e-03 -1.67060786e-01] [ 3.75417488e-03 -1.51422889e-03 9.99991807e-01 -7.83796923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.835898227 meters Centerline goodness [0,1] 0.5860197825204554 Centerline is valid? [False, False] Translation: X:140.59, Y:-0.16, Z:-0.78 [[ 9.99989681e-01 1.66349010e-03 -4.22739737e-03 1.40586941e+02] [-1.65523294e-03 9.99996717e-01 1.95599687e-03 -1.60482478e-01] [ 4.23063727e-03 -1.94897935e-03 9.99989152e-01 -7.82667617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86589822699995 meters Centerline goodness [0,1] 0.7671840821134107 Centerline is valid? [False, False] Translation: X:140.62, Y:-0.16, Z:-0.78 [[ 9.99992817e-01 3.10215271e-03 -2.17761348e-03 1.40624896e+02] [-3.09608185e-03 9.99991327e-01 2.78570697e-03 -1.60805663e-01] [ 2.18623628e-03 -2.77894490e-03 9.99993749e-01 -7.79555669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.895898227 meters Centerline goodness [0,1] 0.8570856516607654 Centerline is valid? [False, False] Translation: X:140.62, Y:-0.16, Z:-0.78 [[ 9.99992359e-01 3.20496057e-03 -2.23843046e-03 1.40624672e+02] [-3.20013672e-03 9.99992557e-01 2.15528117e-03 -1.56937530e-01] [ 2.24532139e-03 -2.14810141e-03 9.99995172e-01 -7.78730029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92589822699995 meters Centerline goodness [0,1] 0.9372961445178556 Centerline is valid? [False, False] Translation: X:140.63, Y:-0.15, Z:-0.78 [[ 9.99967163e-01 7.65738348e-03 -2.65268112e-03 1.40626517e+02] [-7.64119540e-03 9.99952444e-01 6.05984398e-03 -1.54095450e-01] [ 2.69895752e-03 -6.03937534e-03 9.99978121e-01 -7.79461757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.955898227 meters Centerline goodness [0,1] 0.9466253947671135 Centerline is valid? [False, False] Translation: X:140.63, Y:-0.15, Z:-0.78 [[ 9.99985089e-01 4.50015250e-03 -3.09354131e-03 1.40628180e+02] [-4.49575508e-03 9.99988876e-01 1.42697079e-03 -1.47803907e-01] [ 3.09992849e-03 -1.41304171e-03 9.99994197e-01 -7.79738702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98589822699995 meters Centerline goodness [0,1] 0.9940185805794766 Centerline is valid? [False, True] Translation: X:140.58, Y:-0.14, Z:-0.78 [[ 9.99970153e-01 7.65539040e-03 -1.04303860e-03 1.40581065e+02] [-7.65390794e-03 9.99969703e-01 1.41794598e-03 -1.41064337e-01] [ 1.05386193e-03 -1.40992034e-03 9.99998451e-01 -7.77527330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.015898227 meters Centerline goodness [0,1] 0.993887938587342 Centerline is valid? [True, True] Translation: X:140.61, Y:-0.14, Z:-0.78 [[ 9.99951722e-01 9.81615044e-03 4.43102108e-04 1.40610563e+02] [-9.81613901e-03 9.99951820e-01 -2.79578865e-05 -1.40257347e-01] [-4.43355198e-04 2.36069848e-05 9.99999901e-01 -7.75467029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04589822699995 meters Centerline goodness [0,1] 0.9958280657395702 Centerline is valid? [True, True] Translation: X:140.64, Y:-0.14, Z:-0.77 [[ 9.99938233e-01 1.10701315e-02 9.91010880e-04 1.40641404e+02] [-1.10700751e-02 9.99938723e-01 -6.23975570e-05 -1.38842696e-01] [-9.91640903e-04 5.14231380e-05 9.99999507e-01 -7.74550304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.075898227 meters Centerline goodness [0,1] 0.9995572609208973 Centerline is valid? [True, True] Translation: X:140.67, Y:-0.13, Z:-0.77 [[ 9.99922261e-01 1.23769678e-02 1.51057576e-03 1.40672587e+02] [-1.23768382e-02 9.99923399e-01 -9.51112032e-05 -1.27557828e-01] [-1.51163724e-03 7.64076576e-05 9.99998855e-01 -7.72968775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10589822699995 meters Centerline goodness [0,1] 0.9994945772349163 Centerline is valid? [True, True] Translation: X:140.70, Y:-0.13, Z:-0.77 [[ 9.99911642e-01 1.31880875e-02 1.66833497e-03 1.40704114e+02] [-1.31879307e-02 9.99913030e-01 -1.04959559e-04 -1.26734621e-01] [-1.66957409e-03 8.29483993e-05 9.99998603e-01 -7.72439475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.135898227 meters Centerline goodness [0,1] 0.9996202611759245 Centerline is valid? [True, True] Translation: X:140.74, Y:-0.12, Z:-0.77 [[ 9.99862719e-01 1.62362297e-02 3.30576873e-03 1.40735957e+02] [-1.62356299e-02 9.99868172e-01 -2.08195100e-04 -1.17506743e-01] [-3.30871324e-03 1.54495281e-04 9.99994514e-01 -7.69910969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16589822699996 meters Centerline goodness [0,1] 0.9997030249034831 Centerline is valid? [True, True] Translation: X:140.77, Y:-0.11, Z:-0.77 [[ 9.99825190e-01 1.82452936e-02 4.08636895e-03 1.40767655e+02] [-1.82443937e-02 9.99833524e-01 -2.57401939e-04 -1.10810551e-01] [-4.09038504e-03 1.82803619e-04 9.99991618e-01 -7.68432397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.195898227 meters Centerline goodness [0,1] 0.9997872476224922 Centerline is valid? [True, True] Translation: X:140.80, Y:-0.10, Z:-0.77 [[ 9.99784235e-01 2.03315400e-02 4.25575526e-03 1.40799336e+02] [-2.03305823e-02 9.99793276e-01 -2.68175652e-04 -1.03984487e-01] [-4.26032792e-03 1.81595806e-04 9.99990908e-01 -7.68054181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22589822699996 meters Centerline goodness [0,1] 0.9998511714929625 Centerline is valid? [True, True] Translation: X:140.83, Y:-0.10, Z:-0.77 [[ 9.99746806e-01 2.21433785e-02 3.99939804e-03 1.40830615e+02] [-2.21425468e-02 9.99754792e-01 -2.52122933e-04 -9.83183441e-02] [-4.00400021e-03 1.63502239e-04 9.99991971e-01 -7.69100899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.255898227 meters Centerline goodness [0,1] 0.9997256920999325 Centerline is valid? [True, True] Translation: X:140.86, Y:-0.10, Z:-0.77 [[ 9.99768662e-01 2.12380258e-02 3.40135398e-03 1.40860824e+02] [-2.12374191e-02 9.99774438e-01 -2.14387323e-04 -9.63303576e-02] [-3.40513992e-03 1.42101747e-04 9.99994192e-01 -7.71634991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28589822699996 meters Centerline goodness [0,1] 0.9997052507473999 Centerline is valid? [True, True] Translation: X:140.89, Y:-0.10, Z:-0.77 [[ 9.99818860e-01 1.86674721e-02 3.71124547e-03 1.40890826e+02] [-1.86667312e-02 9.99825734e-01 -2.34180886e-04 -9.93651933e-02] [-3.71497029e-03 1.64861645e-04 9.99993086e-01 -7.71861187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.315898227 meters Centerline goodness [0,1] 0.9987383030175586 Centerline is valid? [True, True] Translation: X:140.92, Y:-0.11, Z:-0.77 [[ 9.99937299e-01 1.08421753e-02 2.80109251e-03 1.40920336e+02] [-1.08417226e-02 9.99941211e-01 -1.76739107e-04 -1.08622911e-01] [-2.80284407e-03 1.46359357e-04 9.99996061e-01 -7.74048808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34589822699996 meters Centerline goodness [0,1] 0.9974663930650363 Centerline is valid? [True, True] Translation: X:140.95, Y:-0.11, Z:-0.78 [[ 9.99975177e-01 7.01004423e-03 7.10526896e-04 1.40950932e+02] [-7.01001413e-03 9.99975429e-01 -4.48402255e-05 -1.14512668e-01] [-7.10823769e-04 3.98583088e-05 9.99999747e-01 -7.77403505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.375898227 meters Centerline goodness [0,1] 0.9974663930650363 Centerline is valid? [True, True] Translation: X:140.98, Y:-0.12, Z:-0.78 [[ 9.99975177e-01 7.01004421e-03 7.10527095e-04 1.40980919e+02] [-7.01001412e-03 9.99975429e-01 -4.48370743e-05 -1.16404991e-01] [-7.10823946e-04 3.98551563e-05 9.99999747e-01 -7.77565318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40589822699997 meters Centerline goodness [0,1] 0.9988751883528937 Centerline is valid? [True, True] Translation: X:141.01, Y:-0.11, Z:-0.78 [[ 9.99995076e-01 9.75328955e-04 -2.98259814e-03 1.41011921e+02] [-9.74771839e-04 9.99999507e-01 1.88236732e-04 -1.12865679e-01] [ 2.98278026e-03 -1.85328452e-04 9.99995534e-01 -7.81712557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.435898227 meters Centerline goodness [0,1] 0.9390960190311783 Centerline is valid? [True, False] Translation: X:141.01, Y:-0.11, Z:-0.78 [[ 9.99994859e-01 8.71859372e-04 -3.08579897e-03 1.41012356e+02] [-8.71638074e-04 9.99999617e-01 7.30591396e-05 -1.12454981e-01] [ 3.08586148e-03 -7.03690641e-05 9.99995236e-01 -7.81858499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46589822699997 meters Centerline goodness [0,1] 0.9577880339718868 Centerline is valid? [False, True] Translation: X:141.01, Y:-0.11, Z:-0.78 [[ 9.99995241e-01 6.66787464e-04 -3.01231738e-03 1.41012144e+02] [-6.68590675e-04 9.99999598e-01 -5.97645043e-04 -1.09023548e-01] [ 3.01191766e-03 5.99656206e-04 9.99995284e-01 -7.81832825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49589822699994 meters Centerline goodness [0,1] 0.9829832995951417 Centerline is valid? [True, True] Translation: X:141.04, Y:-0.11, Z:-0.78 [[ 9.99994755e-01 1.86530835e-03 -2.64780816e-03 1.41042487e+02] [-1.86487634e-03 9.99998247e-01 1.65619114e-04 -1.05685956e-01] [ 2.64811245e-03 -1.60680411e-04 9.99996481e-01 -7.81446747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.52589822699997 meters Centerline goodness [0,1] 0.9895059667862806 Centerline is valid? [True, True] Translation: X:141.07, Y:-0.10, Z:-0.78 [[ 9.99992355e-01 2.79906053e-03 -2.73027199e-03 1.41072124e+02] [-2.79860723e-03 9.99996069e-01 1.69833181e-04 -1.01870949e-01] [ 2.73073664e-03 -1.62190924e-04 9.99996258e-01 -7.80831878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55589822699994 meters Centerline goodness [0,1] 0.9983216486084555 Centerline is valid? [True, True] Translation: X:141.10, Y:-0.09, Z:-0.78 [[ 9.99988425e-01 3.67281654e-03 -3.10814555e-03 1.41102036e+02] [-3.67223277e-03 9.99993239e-01 1.93504433e-04 -9.20308796e-02] [ 3.10883524e-03 -1.82088360e-04 9.99995151e-01 -7.80894234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.585898227 meters Centerline goodness [0,1] 0.9581679581679582 Centerline is valid? [True, True] Translation: X:141.13, Y:-0.10, Z:-0.78 [[ 9.99987572e-01 3.67290214e-03 -3.37119391e-03 1.41130301e+02] [-3.67221488e-03 9.99993235e-01 2.10028076e-04 -1.04166315e-01] [ 3.37194251e-03 -1.97645718e-04 9.99994295e-01 -7.83165269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61589822699995 meters Centerline goodness [0,1] 0.9977956458757584 Centerline is valid? [True, True] Translation: X:141.16, Y:-0.09, Z:-0.78 [[ 9.99996020e-01 1.62509180e-03 -2.30637810e-03 1.41161846e+02] [-1.62476444e-03 9.99998670e-01 1.43807148e-04 -9.16414856e-02] [ 2.30660873e-03 -1.40059255e-04 9.99997330e-01 -7.80387532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.645898227 meters Centerline goodness [0,1] 0.9907384072580645 Centerline is valid? [True, True] Translation: X:141.19, Y:-0.10, Z:-0.78 [[ 9.99998210e-01 -7.79915240e-04 -1.72407507e-03 1.41190135e+02] [ 7.80101466e-04 9.99999690e-01 1.07344959e-04 -9.95306095e-02] [ 1.72399081e-03 -1.08689720e-04 9.99998508e-01 -7.79946618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67589822699995 meters Centerline goodness [0,1] 0.818725682968665 Centerline is valid? [True, False] Translation: X:141.19, Y:-0.10, Z:-0.78 [[ 9.99998229e-01 -8.53972633e-04 -1.67727033e-03 1.41189909e+02] [ 8.54679599e-04 9.99999546e-01 4.20826466e-04 -1.01501230e-01] [ 1.67691019e-03 -4.22259249e-04 9.99998505e-01 -7.79919746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.705898227 meters Centerline goodness [0,1] 0.577686125211506 Centerline is valid? [False, False] Translation: X:141.14, Y:-0.10, Z:-0.78 [[ 9.99996567e-01 -2.54740864e-03 -6.14453291e-04 1.41144478e+02] [ 2.54684081e-03 9.99996331e-01 -9.23134649e-04 -1.01487101e-01] [ 6.16802638e-04 9.21566564e-04 9.99999385e-01 -7.80269247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73589822699995 meters Centerline goodness [0,1] 0.893452443510247 Centerline is valid? [False, False] Translation: X:141.14, Y:-0.10, Z:-0.78 [[ 9.99996719e-01 -2.50592173e-03 -5.31962377e-04 1.41144163e+02] [ 2.50556781e-03 9.99996640e-01 -6.64930561e-04 -1.02905750e-01] [ 5.33626853e-04 6.63595512e-04 9.99999637e-01 -7.80214759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.765898227 meters Centerline goodness [0,1] 0.8041936091405613 Centerline is valid? [False, False] Translation: X:141.14, Y:-0.10, Z:-0.78 [[ 9.99996915e-01 -2.45424192e-03 -3.83969332e-04 1.41143534e+02] [ 2.45408840e-03 9.99996909e-01 -3.99799159e-04 -1.04300002e-01] [ 3.84949349e-04 3.98855631e-04 9.99999846e-01 -7.79997754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79589822699995 meters Centerline goodness [0,1] 0.8707607506521922 Centerline is valid? [False, False] Translation: X:141.14, Y:-0.10, Z:-0.78 [[ 9.99997025e-01 -2.39602873e-03 -4.57189118e-04 1.41144056e+02] [ 2.39590958e-03 9.99997096e-01 -2.60976818e-04 -1.04911940e-01] [ 4.57813098e-04 2.59880657e-04 9.99999861e-01 -7.80455489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.825898227 meters Centerline goodness [0,1] 0.6301421483450917 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.11, Z:-0.78 [[ 9.99997102e-01 -2.31103053e-03 -6.75252412e-04 1.41145090e+02] [ 2.31117004e-03 9.99997308e-01 2.05903550e-04 -1.07444109e-01] [ 6.74774744e-04 -2.07463576e-04 9.99999751e-01 -7.81075909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85589822699995 meters Centerline goodness [0,1] 0.6909102325289354 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.11, Z:-0.78 [[ 9.99997450e-01 -2.15775171e-03 -6.66519258e-04 1.41145395e+02] [ 2.15827908e-03 9.99997358e-01 7.91521447e-04 -1.10465843e-01] [ 6.64809590e-04 -7.92957963e-04 9.99999465e-01 -7.81671130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.885898227 meters Centerline goodness [0,1] 0.5355422195925957 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.11, Z:-0.78 [[ 9.99979290e-01 -6.39060255e-03 -7.60931233e-04 1.41145772e+02] [ 6.38785479e-03 9.99973259e-01 -3.56032127e-03 -1.09963375e-01] [ 7.83663484e-04 3.55538682e-03 9.99993373e-01 -7.81658707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91589822699996 meters Centerline goodness [0,1] 0.5404448938321538 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.12, Z:-0.78 [[ 9.99978819e-01 -6.48248471e-03 -5.82474656e-04 1.41145544e+02] [ 6.48109350e-03 9.99976214e-01 -2.35940367e-03 -1.17333577e-01] [ 5.97755600e-04 2.35557862e-03 9.99997047e-01 -7.82391770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.945898227 meters Centerline goodness [0,1] 0.462471410286002 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.12, Z:-0.78 [[ 9.99980164e-01 -6.27012967e-03 -5.96889881e-04 1.41145581e+02] [ 6.26913404e-03 9.99978978e-01 -1.65553635e-03 -1.20898608e-01] [ 6.07257761e-04 1.65176153e-03 9.99998451e-01 -7.82448786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97589822699996 meters Centerline goodness [0,1] 0.5157852782614167 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.13, Z:-0.78 [[ 9.99983256e-01 -5.74030030e-03 -7.32466438e-04 1.41146399e+02] [ 5.73998575e-03 9.99983433e-01 -4.30823247e-04 -1.26649549e-01] [ 7.34927359e-04 4.26611687e-04 9.99999639e-01 -7.83140312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.005898227 meters Centerline goodness [0,1] 0.655634158665993 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.13, Z:-0.78 [[ 9.99984154e-01 -5.56135612e-03 -8.73374409e-04 1.41146979e+02] [ 5.56118773e-03 9.99984517e-01 -1.95113696e-04 -1.27532068e-01] [ 8.74445984e-04 1.90253605e-04 9.99999600e-01 -7.83330897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03589822699996 meters Centerline goodness [0,1] 0.5158279732627065 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.13, Z:-0.78 [[ 9.99984525e-01 -5.47665849e-03 -9.78188251e-04 1.41147187e+02] [ 5.47642244e-03 9.99984975e-01 -2.43826438e-04 -1.26981773e-01] [ 9.79508908e-04 2.38465693e-04 9.99999492e-01 -7.83113071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.065898227 meters Centerline goodness [0,1] 0.8260165678482823 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.13, Z:-0.78 [[ 9.99999074e-01 -1.08210304e-03 -8.25052938e-04 1.41146190e+02] [ 1.08550892e-03 9.99990846e-01 4.13885635e-03 -1.27232014e-01] [ 8.20566716e-04 -4.13974812e-03 9.99991095e-01 -7.82396280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09589822699996 meters Centerline goodness [0,1] 0.7985705276434728 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.12, Z:-0.78 [[ 9.99998981e-01 -1.09252738e-03 -9.19210715e-04 1.41146291e+02] [ 1.09590093e-03 9.99992637e-01 3.67757893e-03 -1.24611961e-01] [ 9.15186091e-04 -3.67858255e-03 9.99992815e-01 -7.82043251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.125898227 meters Centerline goodness [0,1] 0.710792721188036 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.12, Z:-0.78 [[ 9.99998928e-01 -1.04974103e-03 -1.02045734e-03 1.41146522e+02] [ 1.05316947e-03 9.99993784e-01 3.36499380e-03 -1.22688507e-01] [ 1.01691863e-03 -3.36606491e-03 9.99993818e-01 -7.81879275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15589822699997 meters Centerline goodness [0,1] 0.94049020432187 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.12, Z:-0.78 [[ 9.99998749e-01 -1.07680417e-03 -1.15826737e-03 1.41147060e+02] [ 1.08013651e-03 9.99995269e-01 2.88023221e-03 -1.19911652e-01] [ 1.15516045e-03 -2.88147970e-03 9.99995181e-01 -7.82060785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.185898227 meters Centerline goodness [0,1] 0.7754262075881665 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.12, Z:-0.78 [[ 9.99998569e-01 -1.25700620e-03 -1.13220974e-03 1.41146773e+02] [ 1.26012969e-03 9.99995391e-01 2.76227985e-03 -1.19737343e-01] [ 1.12873232e-03 -2.76370263e-03 9.99995544e-01 -7.81791368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21589822699997 meters Centerline goodness [0,1] 0.6979774528874109 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.12, Z:-0.78 [[ 9.99998682e-01 -1.27992266e-03 -9.98816938e-04 1.41146277e+02] [ 1.28285950e-03 9.99994840e-01 2.94524464e-03 -1.20960108e-01] [ 9.95042099e-04 -2.94652210e-03 9.99995164e-01 -7.81691491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24589822699994 meters Centerline goodness [0,1] 0.7387998913928862 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.12, Z:-0.78 [[ 9.99998638e-01 -1.29974204e-03 -1.01688061e-03 1.41146477e+02] [ 1.30303845e-03 9.99993877e-01 3.24777304e-03 -1.22820443e-01] [ 1.01265311e-03 -3.24909365e-03 9.99994209e-01 -7.81936999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27589822699997 meters Centerline goodness [0,1] 0.8103863713222861 Centerline is valid? [False, False] Translation: X:141.10, Y:-0.12, Z:-0.78 [[ 9.99996085e-01 -2.37211419e-03 -1.48444273e-03 1.41104129e+02] [ 2.37460318e-03 9.99995774e-01 1.67721047e-03 -1.21079249e-01] [ 1.48045792e-03 -1.68072887e-03 9.99997492e-01 -7.83499874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30589822699994 meters Centerline goodness [0,1] 0.7773356438397193 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.12, Z:-0.79 [[ 9.99983315e-01 -5.21957758e-03 -2.47515408e-03 1.41063183e+02] [ 5.21872294e-03 9.99986321e-01 -3.51617020e-04 -1.23193008e-01] [ 2.47695551e-03 3.38694009e-04 9.99996875e-01 -7.85490169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.335898227 meters Centerline goodness [0,1] 0.49702840464457176 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.12, Z:-0.79 [[ 9.99901676e-01 -1.37450845e-02 -2.77672978e-03 1.41064293e+02] [ 1.37200695e-02 9.99866838e-01 -8.83545775e-03 -1.23641821e-01] [ 2.89780414e-03 8.79649209e-03 9.99957111e-01 -7.85306481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36589822699995 meters Centerline goodness [0,1] 0.45997094920320825 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.13, Z:-0.79 [[ 9.99945141e-01 -1.01770874e-02 -2.47827338e-03 1.41063265e+02] [ 1.01677002e-02 9.99941196e-01 -3.77136816e-03 -1.30803313e-01] [ 2.51650919e-03 3.74596292e-03 9.99989817e-01 -7.85608196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.395898227 meters Centerline goodness [0,1] 0.5230519617345863 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.14, Z:-0.79 [[ 9.99978101e-01 -6.32324415e-03 -1.95283595e-03 1.41061402e+02] [ 6.32576497e-03 9.99979163e-01 1.28738643e-03 -1.36681205e-01] [ 1.94465480e-03 -1.29971142e-03 9.99997265e-01 -7.85567367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42589822699995 meters Centerline goodness [0,1] 0.4097118754328164 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.14, Z:-0.79 [[ 9.99978847e-01 -6.23771083e-03 -1.84320918e-03 1.41060851e+02] [ 6.24061033e-03 9.99979292e-01 1.57153360e-03 -1.38171296e-01] [ 1.83336824e-03 -1.58300311e-03 9.99997066e-01 -7.85245961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.455898227 meters Centerline goodness [0,1] 0.5121011058451816 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.14, Z:-0.78 [[ 9.99980977e-01 -5.96772871e-03 -1.55942105e-03 1.41059339e+02] [ 5.97110589e-03 9.99979818e-01 2.17005532e-03 -1.41063481e-01] [ 1.54643928e-03 -2.17932551e-03 9.99996430e-01 -7.84306714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48589822699995 meters Centerline goodness [0,1] 0.5221604314122008 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.14, Z:-0.78 [[ 9.99982269e-01 -5.76555739e-03 -1.49005926e-03 1.41059056e+02] [ 5.76933815e-03 9.99980117e-01 2.54560029e-03 -1.42736907e-01] [ 1.47535283e-03 -2.55415181e-03 9.99995650e-01 -7.84200170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.515898227 meters Centerline goodness [0,1] 0.5257530563374364 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.15, Z:-0.78 [[ 9.99985131e-01 -5.26937778e-03 -1.40437569e-03 1.41058968e+02] [ 5.27423451e-03 9.99980045e-01 3.47730728e-03 -1.46885419e-01] [ 1.38602442e-03 -3.48466258e-03 9.99992968e-01 -7.84597278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54589822699995 meters Centerline goodness [0,1] 0.44384356795356317 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.15, Z:-0.78 [[ 9.99986429e-01 -5.02582186e-03 -1.37221560e-03 1.41058936e+02] [ 5.03127864e-03 9.99979333e-01 4.00255400e-03 -1.49420312e-01] [ 1.35207112e-03 -4.00940368e-03 9.99991048e-01 -7.84736880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.575898227 meters Centerline goodness [0,1] 0.5354631514871644 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.16, Z:-0.79 [[ 9.99989318e-01 -4.34454112e-03 -1.57747662e-03 1.41060243e+02] [ 4.35315195e-03 9.99975417e-01 5.49683238e-03 -1.56432014e-01] [ 1.55355663e-03 -5.50364066e-03 9.99983648e-01 -7.85864955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60589822699995 meters Centerline goodness [0,1] 0.5416789893954117 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.16, Z:-0.79 [[ 9.99963613e-01 -8.28479639e-03 -2.03347561e-03 1.41061958e+02] [ 8.28758746e-03 9.99964722e-01 1.36799524e-03 -1.56547028e-01] [ 2.02207031e-03 -1.38479807e-03 9.99996997e-01 -7.86220747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.635898227 meters Centerline goodness [0,1] 0.49037837385095384 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.16, Z:-0.79 [[ 9.99942314e-01 -1.03103133e-02 -3.01094552e-03 1.41068181e+02] [ 1.03088744e-02 9.99946741e-01 -4.93018914e-04 -1.60318007e-01] [ 3.01586834e-03 4.61951015e-04 9.99995346e-01 -7.89829091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66589822699996 meters Centerline goodness [0,1] 0.5041965286146171 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.17, Z:-0.79 [[ 9.99950519e-01 -9.43357823e-03 -3.15706688e-03 1.41069045e+02] [ 9.43896554e-03 9.99954014e-01 1.69590037e-03 -1.70905304e-01] [ 3.14092329e-03 -1.72561590e-03 9.99993578e-01 -7.90695655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.695898227 meters Centerline goodness [0,1] 0.4909464761545079 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.18, Z:-0.79 [[ 9.99954555e-01 -8.97301887e-03 -3.22060248e-03 1.41069354e+02] [ 8.98187743e-03 9.99955890e-01 2.74675016e-03 -1.75886060e-01] [ 3.19581377e-03 -2.77555239e-03 9.99991042e-01 -7.90942190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72589822699996 meters Centerline goodness [0,1] 0.45829743417319857 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.19, Z:-0.79 [[ 9.99962637e-01 -7.98554916e-03 -3.30981421e-03 1.41069474e+02] [ 8.00141977e-03 9.99956420e-01 4.80983339e-03 -1.85506431e-01] [ 3.27126081e-03 -4.83613690e-03 9.99982955e-01 -7.90855552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.755898227 meters Centerline goodness [0,1] 0.5488793212612384 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.19, Z:-0.79 [[ 9.99965746e-01 -7.55795888e-03 -3.37417441e-03 1.41069601e+02] [ 7.57683347e-03 9.99955522e-01 5.61654812e-03 -1.89179819e-01] [ 3.33157469e-03 -5.64192129e-03 9.99978534e-01 -7.90754621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78589822699996 meters Centerline goodness [0,1] 0.5624530192934102 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.19, Z:-0.79 [[ 9.99967976e-01 -7.19052403e-03 -3.51317416e-03 1.41070028e+02] [ 7.21231529e-03 9.99954584e-01 6.22993984e-03 -1.91897802e-01] [ 3.46821808e-03 -6.25507846e-03 9.99974422e-01 -7.90716159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.815898227 meters Centerline goodness [0,1] 0.5870247498683518 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.20, Z:-0.79 [[ 9.99972547e-01 -6.41721874e-03 -3.70458110e-03 1.41070592e+02] [ 6.44500019e-03 9.99950829e-01 7.53662902e-03 -1.97549078e-01] [ 3.65603474e-03 -7.56029815e-03 9.99964737e-01 -7.90729485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84589822699996 meters Centerline goodness [0,1] 0.6644451919438255 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.20, Z:-0.79 [[ 9.99974683e-01 -6.05893663e-03 -3.73129820e-03 1.41070609e+02] [ 6.08959237e-03 9.99947343e-01 8.26002420e-03 -2.00956305e-01] [ 3.68105476e-03 -8.28253716e-03 9.99958924e-01 -7.90651418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.875898227 meters Centerline goodness [0,1] 0.595190591200252 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.20, Z:-0.79 [[ 9.99997260e-01 -1.17712347e-03 2.02344604e-03 1.41072622e+02] [ 1.18439302e-03 9.99992836e-01 -3.59522016e-03 -2.04959134e-01] [-2.01919953e-03 3.59760687e-03 9.99991490e-01 -7.94309836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90589822699997 meters Centerline goodness [0,1] 0.8247537906746241 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.20, Z:-0.79 [[ 9.99997499e-01 -1.05985833e-03 1.96934609e-03 1.41072673e+02] [ 1.06689304e-03 9.99993042e-01 -3.57449497e-03 -2.04720248e-01] [-1.96554393e-03 3.57658712e-03 9.99991672e-01 -7.94106453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.935898227 meters Centerline goodness [0,1] 0.8085717279681441 Centerline is valid? [False, False] Translation: X:141.08, Y:-0.21, Z:-0.80 [[ 9.99998932e-01 8.72906146e-04 1.17226526e-03 1.41078260e+02] [-8.71033670e-04 9.99998346e-01 -1.59687649e-03 -2.05548956e-01] [-1.17365724e-03 1.59585370e-03 9.99998038e-01 -7.97549809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96589822699997 meters Centerline goodness [0,1] 0.884331263811428 Centerline is valid? [False, False] Translation: X:141.08, Y:-0.21, Z:-0.80 [[ 9.99986413e-01 5.09834851e-03 1.08680883e-03 1.41078574e+02] [-5.10115928e-03 9.99983611e-01 2.59936535e-03 -2.05123877e-01] [-1.07353855e-03 -2.60487402e-03 9.99996031e-01 -7.97500018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99589822699994 meters Centerline goodness [0,1] 0.8942800706060351 Centerline is valid? [False, False] Translation: X:141.08, Y:-0.20, Z:-0.80 [[ 9.99986921e-01 4.98971234e-03 1.12280535e-03 1.41078071e+02] [-4.99222740e-03 9.99985011e-01 2.24843384e-03 -2.03392170e-01] [-1.11156948e-03 -2.25400973e-03 9.99996842e-01 -7.96845525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.02589822699997 meters Centerline goodness [0,1] 0.7140607282348495 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.20, Z:-0.79 [[ 9.99991554e-01 3.69413468e-03 1.80148284e-03 1.41072707e+02] [-3.69500941e-03 9.99993057e-01 4.82475172e-04 -1.98863005e-01] [-1.79968800e-03 -4.89127593e-04 9.99998261e-01 -7.92659550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05589822699994 meters Centerline goodness [0,1] 0.7969251421020618 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.20, Z:-0.79 [[ 9.99991650e-01 3.53165512e-03 2.05598068e-03 1.41071432e+02] [-3.53232523e-03 9.99993709e-01 3.22389883e-04 -1.98373447e-01] [-2.05482918e-03 -3.29649584e-04 9.99997835e-01 -7.91935985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.085898227 meters Centerline goodness [0,1] 0.7086694599045296 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.20, Z:-0.79 [[ 9.99991441e-01 3.42107567e-03 2.32667361e-03 1.41070403e+02] [-3.42188573e-03 9.99994086e-01 3.44267905e-04 -1.98858434e-01] [-2.32548209e-03 -3.52226570e-04 9.99997234e-01 -7.91737518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11589822699995 meters Centerline goodness [0,1] 0.6741177450939544 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.20, Z:-0.79 [[ 9.99991683e-01 3.25594867e-03 2.45603169e-03 1.41069849e+02] [-3.25728834e-03 9.99994548e-01 5.41658734e-04 -2.00452556e-01] [-2.45425469e-03 -5.49654233e-04 9.99996837e-01 -7.91544737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.145898227 meters Centerline goodness [0,1] 0.7575370571978897 Centerline is valid? [False, False] Translation: X:141.07, Y:-0.20, Z:-0.79 [[ 9.99992324e-01 3.17241020e-03 2.29936875e-03 1.41070540e+02] [-3.17327434e-03 9.99994896e-01 3.72265037e-04 -1.99716632e-01] [-2.29817604e-03 -3.79558707e-04 9.99997287e-01 -7.91838272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17589822699995 meters Centerline goodness [0,1] 0.7839801185241828 Centerline is valid? [False, False] Translation: X:141.03, Y:-0.19, Z:-0.79 [[ 9.99994275e-01 3.34548619e-03 -5.07337032e-04 1.41034387e+02] [-3.34641441e-03 9.99992708e-01 -1.83992505e-03 -1.88974212e-01] [ 5.01177889e-04 1.84161228e-03 9.99998179e-01 -7.94769163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.205898227 meters Centerline goodness [0,1] 0.789249254295677 Centerline is valid? [False, False] Translation: X:141.04, Y:-0.19, Z:-0.80 [[ 9.99982398e-01 5.79029408e-03 -1.29463450e-03 1.41039905e+02] [-5.78945920e-03 9.99983031e-01 6.47699441e-04 -1.86877418e-01] [ 1.29836290e-03 -6.40192806e-04 9.99998952e-01 -7.98359055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23589822699995 meters Centerline goodness [0,1] 0.9243262575473882 Centerline is valid? [False, False] Translation: X:141.04, Y:-0.18, Z:-0.80 [[ 9.99983828e-01 5.50845407e-03 -1.41463972e-03 1.41040503e+02] [-5.50869007e-03 9.99984814e-01 -1.62984824e-04 -1.82895186e-01] [ 1.41372044e-03 1.70775000e-04 9.99998986e-01 -7.98656895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.265898227 meters Centerline goodness [0,1] 0.9243262575473882 Centerline is valid? [False, False] Translation: X:141.04, Y:-0.18, Z:-0.80 [[ 9.99983828e-01 5.50845407e-03 -1.41463972e-03 1.41040503e+02] [-5.50869007e-03 9.99984814e-01 -1.62984824e-04 -1.82895186e-01] [ 1.41372044e-03 1.70775000e-04 9.99998986e-01 -7.98656895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29589822699995 meters Centerline goodness [0,1] 0.7439442031406616 Centerline is valid? [False, False] Translation: X:141.05, Y:-0.18, Z:-0.80 [[ 9.99970936e-01 7.31477961e-03 -2.14966422e-03 1.41046486e+02] [-7.31135087e-03 9.99971994e-01 1.59856860e-03 -1.80502310e-01] [ 2.16129719e-03 -1.58280519e-03 9.99996412e-01 -8.02918395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.325898227 meters Centerline goodness [0,1] 0.7860376560186164 Centerline is valid? [False, False] Translation: X:141.05, Y:-0.18, Z:-0.80 [[ 9.99934515e-01 1.12787289e-02 -1.93780718e-03 1.41046289e+02] [-1.12666008e-02 9.99917558e-01 6.15956638e-03 -1.82854718e-01] [ 2.00711950e-03 -6.13733052e-03 9.99979152e-01 -8.03568386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35589822699995 meters Centerline goodness [0,1] 0.8361630594662744 Centerline is valid? [False, False] Translation: X:141.05, Y:-0.18, Z:-0.81 [[ 9.99951957e-01 9.36409453e-03 -2.89777054e-03 1.41052866e+02] [-9.35239082e-03 9.99948159e-01 4.02639984e-03 -1.79059149e-01] [ 2.93532391e-03 -3.99910532e-03 9.99987695e-01 -8.08011444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.385898227 meters Centerline goodness [0,1] 0.7495064476834544 Centerline is valid? [False, False] Translation: X:141.05, Y:-0.18, Z:-0.81 [[ 9.99982217e-01 4.91744645e-03 -3.37413919e-03 1.41054911e+02] [-4.92088063e-03 9.99987382e-01 -1.01024780e-03 -1.75103731e-01] [ 3.36912878e-03 1.02683357e-03 9.99993797e-01 -8.08934961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41589822699996 meters Centerline goodness [0,1] 0.7307490061628421 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.18, Z:-0.81 [[ 9.99981639e-01 4.90594665e-03 -3.55723729e-03 1.41055970e+02] [-4.90897912e-03 9.99987595e-01 -8.44250413e-04 -1.76139001e-01] [ 3.55305132e-03 8.61697315e-04 9.99993317e-01 -8.09728046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.445898227 meters Centerline goodness [0,1] 0.6551847412360945 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.18, Z:-0.81 [[ 9.99982186e-01 4.83037425e-03 -3.50639135e-03 1.41055811e+02] [-4.83304169e-03 9.99988038e-01 -7.52664089e-04 -1.76967704e-01] [ 3.50271375e-03 7.69597217e-04 9.99993569e-01 -8.09731289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47589822699996 meters Centerline goodness [0,1] 0.6378606881467148 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.18, Z:-0.81 [[ 9.99982444e-01 4.77587147e-03 -3.50749115e-03 1.41055762e+02] [-4.77893578e-03 9.99988206e-01 -8.65786564e-04 -1.76489467e-01] [ 3.50331490e-03 8.82533439e-04 9.99993474e-01 -8.09608758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.505898227 meters Centerline goodness [0,1] 0.6023149021828018 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.18, Z:-0.81 [[ 9.99982236e-01 4.71895143e-03 -3.64135981e-03 1.41056155e+02] [-4.72273236e-03 9.99988317e-01 -1.03043027e-03 -1.75700972e-01] [ 3.63645472e-03 1.04760914e-03 9.99992839e-01 -8.09507093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53589822699996 meters Centerline goodness [0,1] 0.7819607512489197 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.17, Z:-0.81 [[ 9.99981264e-01 4.82644996e-03 -3.76530525e-03 1.41056333e+02] [-4.83135926e-03 9.99987489e-01 -1.29582053e-03 -1.73872552e-01] [ 3.75900393e-03 1.31398779e-03 9.99992072e-01 -8.09066276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.565898227 meters Centerline goodness [0,1] 0.8805850615410554 Centerline is valid? [False, False] Translation: X:141.06, Y:-0.17, Z:-0.81 [[ 9.99981443e-01 4.81558444e-03 -3.73156815e-03 1.41055912e+02] [-4.82173887e-03 9.99987027e-01 -1.64205149e-03 -1.71954182e-01] [ 3.72361230e-03 1.66001367e-03 9.99991689e-01 -8.08479131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59589822699996 meters Centerline goodness [0,1] 0.9473640167364017 Centerline is valid? [False, False] Translation: X:141.05, Y:-0.17, Z:-0.81 [[ 9.99952808e-01 9.06624572e-03 -3.49069348e-03 1.41054328e+02] [-9.05801618e-03 9.99956176e-01 2.36620192e-03 -1.70379640e-01] [ 3.51199307e-03 -2.33447149e-03 9.99991108e-01 -8.07000116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.625898227 meters Centerline goodness [0,1] 0.9674465920651069 Centerline is valid? [False, True] Translation: X:141.05, Y:-0.17, Z:-0.80 [[ 9.99928392e-01 1.16829206e-02 -2.59249759e-03 1.41048626e+02] [-1.16699094e-02 9.99919511e-01 4.97844023e-03 -1.69249149e-01] [ 2.65045164e-03 -4.94782952e-03 9.99984247e-01 -8.03506527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65589822699997 meters Centerline goodness [0,1] 0.9755770037767519 Centerline is valid? [True, True] Translation: X:141.08, Y:-0.17, Z:-0.80 [[ 9.99908970e-01 1.32445266e-02 -2.57579661e-03 1.41079329e+02] [-1.32440666e-02 9.99912274e-01 1.95544811e-04 -1.66396020e-01] [ 2.57816054e-03 -1.61412988e-04 9.99996664e-01 -8.03302287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.685898227 meters Centerline goodness [0,1] 0.98541024449981 Centerline is valid? [True, True] Translation: X:141.11, Y:-0.17, Z:-0.80 [[ 9.99910210e-01 1.29897674e-02 -3.29202334e-03 1.41108983e+02] [-1.29890150e-02 9.99915608e-01 2.49825516e-04 -1.66299062e-01] [ 3.29499070e-03 -2.07042944e-04 9.99994550e-01 -8.03447197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71589822699997 meters Centerline goodness [0,1] 0.9691399521028529 Centerline is valid? [True, True] Translation: X:141.14, Y:-0.17, Z:-0.80 [[ 9.99924655e-01 1.18548100e-02 -3.18553740e-03 1.41138305e+02] [-1.18540997e-02 9.99929708e-01 2.41785626e-04 -1.70612145e-01] [ 3.18817981e-03 -2.04005731e-04 9.99994897e-01 -8.03795181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74589822699994 meters Centerline goodness [0,1] 0.9574738716584342 Centerline is valid? [True, True] Translation: X:141.17, Y:-0.17, Z:-0.80 [[ 9.99952527e-01 9.57036519e-03 -1.83088261e-03 1.41167957e+02] [-9.57012680e-03 9.99954196e-01 1.38922833e-04 -1.73144482e-01] [ 1.83212829e-03 -1.21394459e-04 9.99998314e-01 -8.01644072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77589822699997 meters Centerline goodness [0,1] 0.9029908375597437 Centerline is valid? [True, False] Translation: X:141.19, Y:-0.18, Z:-0.80 [[ 9.99964648e-01 7.91251102e-03 2.84523070e-03 1.41188260e+02] [-7.93823172e-03 9.99926672e-01 9.14522611e-03 -1.77905265e-01] [-2.77266036e-03 -9.16748891e-03 9.99954134e-01 -8.04903506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80589822699994 meters Centerline goodness [0,1] 0.9222106538044749 Centerline is valid? [False, False] Translation: X:141.15, Y:-0.17, Z:-0.80 [[ 9.99989736e-01 3.89969193e-03 2.30642449e-03 1.41145145e+02] [-3.90422469e-03 9.99990450e-01 1.96405050e-03 -1.69314194e-01] [-2.29874327e-03 -1.97303515e-03 9.99995411e-01 -8.03515136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.835898227 meters Centerline goodness [0,1] 0.9319040026852395 Centerline is valid? [False, False] Translation: X:141.19, Y:-0.17, Z:-0.80 [[ 9.99996483e-01 2.27670772e-03 1.36065443e-03 1.41189352e+02] [-2.27681776e-03 9.99997405e-01 7.93293531e-05 -1.69257171e-01] [-1.36047029e-03 -8.24270362e-05 9.99999071e-01 -8.02765912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86589822699995 meters Centerline goodness [0,1] 0.9038327966155206 Centerline is valid? [False, False] Translation: X:141.19, Y:-0.17, Z:-0.80 [[ 9.99996758e-01 2.17883195e-03 1.31766956e-03 1.41189612e+02] [-2.17861806e-03 9.99997613e-01 -1.63743074e-04 -1.68104373e-01] [-1.31802318e-03 1.60871844e-04 9.99999118e-01 -8.02957002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.895898227 meters Centerline goodness [0,1] 0.9789021418494293 Centerline is valid? [False, True] Translation: X:141.15, Y:-0.16, Z:-0.80 [[ 9.99996013e-01 2.60710814e-03 1.08454810e-03 1.41146718e+02] [-2.60521523e-03 9.99995087e-01 -1.74310528e-03 -1.61539373e-01] [-1.08908724e-03 1.74027285e-03 9.99997893e-01 -8.03229844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92589822699995 meters Centerline goodness [0,1] 0.9798343763828308 Centerline is valid? [True, True] Translation: X:141.18, Y:-0.16, Z:-0.80 [[ 9.99991547e-01 3.70388083e-03 1.78528574e-03 1.41177390e+02] [-3.70366603e-03 9.99993134e-01 -1.23604511e-04 -1.61658975e-01] [-1.78573129e-03 1.16991364e-04 9.99998399e-01 -8.02455293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.955898227 meters Centerline goodness [0,1] 0.9515027177936168 Centerline is valid? [True, True] Translation: X:141.21, Y:-0.17, Z:-0.80 [[ 9.99984303e-01 5.10424064e-03 2.31109840e-03 1.41206992e+02] [-5.10388377e-03 9.99986962e-01 -1.60287520e-04 -1.65832572e-01] [-2.31188641e-03 1.48489426e-04 9.99997317e-01 -8.01506714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98589822699995 meters Centerline goodness [0,1] 0.9878841051993901 Centerline is valid? [True, True] Translation: X:141.24, Y:-0.16, Z:-0.80 [[ 9.99957032e-01 8.99750470e-03 2.23160339e-03 1.41238900e+02] [-8.99718156e-03 9.99959513e-01 -1.54799851e-04 -1.55486940e-01] [-2.23290585e-03 1.34715059e-04 9.99997498e-01 -8.01883771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.015898227 meters Centerline goodness [0,1] 0.9943945002644103 Centerline is valid? [True, True] Translation: X:141.27, Y:-0.15, Z:-0.80 [[ 9.99936923e-01 1.10730873e-02 1.88047041e-03 1.41269563e+02] [-1.10728615e-02 9.99938685e-01 -1.30455098e-04 -1.51366978e-01] [-1.88179965e-03 1.09624681e-04 9.99998223e-01 -8.02929867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04589822699995 meters Centerline goodness [0,1] 0.9985100359719887 Centerline is valid? [True, True] Translation: X:141.30, Y:-0.14, Z:-0.80 [[ 9.99912444e-01 1.31964634e-02 9.79111421e-04 1.41301199e+02] [-1.31964032e-02 9.99912921e-01 -6.79148680e-05 -1.44735557e-01] [-9.79922397e-04 5.49881726e-05 9.99999518e-01 -8.03961576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.075898227 meters Centerline goodness [0,1] 0.9994111337777871 Centerline is valid? [True, True] Translation: X:141.33, Y:-0.13, Z:-0.81 [[ 9.99841283e-01 1.78019007e-02 -7.08448647e-04 1.41331387e+02] [-1.78018703e-02 9.99841533e-01 4.91178057e-05 -1.34869372e-01] [ 7.09210771e-04 -3.64982989e-05 9.99999748e-01 -8.06627261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10589822699995 meters Centerline goodness [0,1] 0.999685204616999 Centerline is valid? [True, True] Translation: X:141.36, Y:-0.13, Z:-0.81 [[ 9.99807413e-01 1.95932255e-02 -1.11463272e-03 1.41362036e+02] [-1.95931515e-02 9.99808033e-01 7.72951470e-05 -1.28764147e-01] [ 1.11593321e-03 -5.54410931e-05 9.99999376e-01 -8.06885319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.135898227 meters Centerline goodness [0,1] 0.9995574568520431 Centerline is valid? [True, True] Translation: X:141.39, Y:-0.12, Z:-0.81 [[ 9.99764792e-01 2.16380330e-02 -1.46854343e-03 1.41392853e+02] [-2.16379067e-02 9.99765868e-01 1.01834109e-04 -1.20299978e-01] [ 1.47040309e-03 -7.00339513e-05 9.99998917e-01 -8.06308659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16589822699996 meters Centerline goodness [0,1] 0.9998732305091907 Centerline is valid? [True, True] Translation: X:141.42, Y:-0.11, Z:-0.81 [[ 9.99742640e-01 2.26183743e-02 -1.75001636e-03 1.41422922e+02] [-2.26181966e-02 9.99744169e-01 1.21274669e-04 -1.14466264e-01] [ 1.75231169e-03 -8.16612441e-05 9.99998461e-01 -8.06397761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.195898227 meters Centerline goodness [0,1] 0.998219969844195 Centerline is valid? [True, True] Translation: X:141.45, Y:-0.13, Z:-0.81 [[ 9.99722744e-01 2.34725986e-02 -1.86345464e-03 1.41451199e+02] [-2.34723987e-02 9.99724477e-01 1.29098849e-04 -1.28518159e-01] [ 1.86597150e-03 -8.53233057e-05 9.99998255e-01 -8.08994424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22589822699996 meters Centerline goodness [0,1] 0.9999574893191915 Centerline is valid? [True, True] Translation: X:141.48, Y:-0.10, Z:-0.81 [[ 9.99653816e-01 2.62488881e-02 -1.80098483e-03 1.41483567e+02] [-2.62487058e-02 9.99655436e-01 1.24788814e-04 -9.97854038e-02] [ 1.80363984e-03 -7.74720926e-05 9.99998370e-01 -8.05250838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.255898227 meters Centerline goodness [0,1] 0.9998321513994377 Centerline is valid? [True, True] Translation: X:141.51, Y:-0.10, Z:-0.81 [[ 9.99613862e-01 2.77346689e-02 -1.70714240e-03 1.41511878e+02] [-2.77345075e-02 9.99615318e-01 1.18135585e-04 -1.01523468e-01] [ 1.70976214e-03 -7.07432151e-05 9.99998536e-01 -8.05607776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28589822699996 meters Centerline goodness [0,1] 0.9999156954075074 Centerline is valid? [True, True] Translation: X:141.54, Y:-0.09, Z:-0.80 [[ 9.99545762e-01 3.01178900e-02 -1.08755872e-03 1.41542683e+02] [-3.01178259e-02 9.99546353e-01 7.52884146e-05 -9.07757858e-02] [ 1.08933288e-03 -4.24993113e-05 9.99999406e-01 -8.03586977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.315898227 meters Centerline goodness [0,1] 0.9999579487395135 Centerline is valid? [True, True] Translation: X:141.57, Y:-0.09, Z:-0.80 [[ 9.99525711e-01 3.07915606e-02 -4.82033214e-04 1.41571485e+02] [-3.07915481e-02 9.99525827e-01 3.32429719e-05 -8.99861100e-02] [ 4.82828250e-04 -1.83846563e-05 9.99999883e-01 -8.03241301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34589822699996 meters Centerline goodness [0,1] 0.9998534491782686 Centerline is valid? [True, True] Translation: X:141.60, Y:-0.09, Z:-0.80 [[ 9.99509057e-01 3.13312139e-02 -8.02691116e-07 1.41600236e+02] [-3.13312139e-02 9.99509057e-01 -1.47713688e-08 -9.45628078e-02] [ 8.01834235e-07 3.99134042e-08 1.00000000e+00 -8.03302117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.375898227 meters Centerline goodness [0,1] 0.9998951320287758 Centerline is valid? [True, True] Translation: X:141.63, Y:-0.09, Z:-0.80 [[ 9.99498500e-01 3.16365552e-02 1.36985997e-03 1.41630048e+02] [-3.16364549e-02 9.99499438e-01 -9.48647830e-05 -9.28216818e-02] [-1.37217546e-03 5.14796953e-05 9.99999057e-01 -8.02004827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40589822699997 meters Centerline goodness [0,1] 0.9998949204547842 Centerline is valid? [True, True] Translation: X:141.66, Y:-0.09, Z:-0.80 [[ 9.99490791e-01 3.18497783e-02 1.93676807e-03 1.41660401e+02] [-3.18495783e-02 9.99492665e-01 -1.34049868e-04 -8.64057850e-02] [-1.94005494e-03 7.22963625e-05 9.99998115e-01 -8.00538991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.435898227 meters Centerline goodness [0,1] 0.9999162338750209 Centerline is valid? [True, True] Translation: X:141.69, Y:-0.08, Z:-0.80 [[ 9.99395641e-01 3.46717955e-02 2.49388463e-03 1.41689502e+02] [-3.46714728e-02 9.99398749e-01 -1.72540913e-04 -8.29796899e-02] [-2.49836748e-03 8.59699838e-05 9.99996875e-01 -7.99592587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.72, Y:-0.08, Z:-0.80 [[ 9.99315436e-01 3.68879329e-02 2.81761764e-03 1.41719098e+02] [-3.68875301e-02 9.99319404e-01 -1.94812386e-04 -8.07604828e-02] [-2.82288621e-03 9.07440688e-05 9.99996012e-01 -7.98888001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49589822699994 meters Centerline goodness [0,1] 0.9999157202755947 Centerline is valid? [True, True] Translation: X:141.75, Y:-0.08, Z:-0.80 [[ 9.99233513e-01 3.90361564e-02 2.92668111e-03 1.41748901e+02] [-3.90357312e-02 9.99237795e-01 -2.02283504e-04 -7.54282200e-02] [-2.93234675e-03 8.78833195e-05 9.99995697e-01 -7.99184301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.52589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.78, Y:-0.07, Z:-0.80 [[ 9.99086055e-01 4.26288090e-02 3.13674529e-03 1.41778364e+02] [-4.26283386e-02 9.99090976e-01 -2.16722262e-04 -7.17611506e-02] [-3.14313252e-03 8.28099502e-05 9.99995057e-01 -8.00311493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.81, Y:-0.07, Z:-0.80 [[ 9.99010661e-01 4.43304021e-02 3.53757360e-03 1.41807456e+02] [-4.43298147e-02 9.99016921e-01 -2.44322185e-04 -7.29696058e-02] [-3.54492679e-03 8.72604851e-05 9.99993713e-01 -8.00954667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.585898227 meters Centerline goodness [0,1] 0.9999787007454739 Centerline is valid? [True, True] Translation: X:141.84, Y:-0.07, Z:-0.80 [[ 9.98886080e-01 4.71178141e-02 2.55159806e-03 1.41836730e+02] [-4.71175176e-02 9.98889337e-01 -1.76218284e-04 -7.07808807e-02] [-2.55706711e-03 5.57970247e-05 9.99996729e-01 -8.02974245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.86, Y:-0.07, Z:-0.81 [[ 9.98828405e-01 4.83684054e-02 1.52122568e-03 1.41864855e+02] [-4.83683015e-02 9.98829563e-01 -1.05057502e-04 -7.36551143e-02] [-1.52452665e-03 3.13553148e-05 9.99998837e-01 -8.05108754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.645898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.89, Y:-0.07, Z:-0.81 [[ 9.98702840e-01 5.09128214e-02 -7.22845970e-04 1.41893095e+02] [-5.09127988e-02 9.98703101e-01 4.95922395e-05 -7.30564365e-02] [ 7.24433393e-04 -1.27257990e-05 9.99999738e-01 -8.09327317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.92, Y:-0.07, Z:-0.81 [[ 9.98647642e-01 5.19571876e-02 -1.82672001e-03 1.41922491e+02] [-5.19570447e-02 9.98649313e-01 1.25654525e-04 -7.25741905e-02] [ 1.83078134e-03 -3.05736223e-05 9.99998324e-01 -8.10482177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.705898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.95, Y:-0.08, Z:-0.81 [[ 9.98574675e-01 5.33031717e-02 -2.71846883e-03 1.41950904e+02] [-5.33028604e-02 9.98578375e-01 1.86888650e-04 -7.52105383e-02] [ 2.72456594e-03 -4.17201081e-05 9.99996287e-01 -8.12555959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.98, Y:-0.08, Z:-0.81 [[ 9.98408492e-01 5.63226664e-02 -2.87065981e-03 1.41978572e+02] [-5.63223324e-02 9.98412618e-01 1.97151875e-04 -7.74170929e-02] [ 2.87720709e-03 -3.51558504e-05 9.99995860e-01 -8.13376876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.765898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.01, Y:-0.08, Z:-0.81 [[ 9.98328279e-01 5.77453613e-02 -2.47394855e-03 1.42007117e+02] [-5.77451178e-02 9.98331344e-01 1.69805089e-04 -7.85983818e-02] [ 2.47962583e-03 -2.66627718e-05 9.99996925e-01 -8.12402555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.04, Y:-0.08, Z:-0.81 [[ 9.98118566e-01 6.12936319e-02 -1.55512572e-03 1.42036557e+02] [-6.12935401e-02 9.98119778e-01 1.06664948e-04 -7.88288144e-02] [ 1.55873962e-03 -1.11451038e-05 9.99998785e-01 -8.10415437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.825898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.06, Y:-0.08, Z:-0.81 [[ 9.97994743e-01 6.32906612e-02 -8.86274698e-04 1.42064379e+02] [-6.32906324e-02 9.97995136e-01 6.05960075e-05 -8.00264517e-02] [ 8.88333000e-04 -4.38161078e-06 9.99999605e-01 -8.09932965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.09, Y:-0.08, Z:-0.81 [[ 9.97859510e-01 6.53890144e-02 -8.21067662e-04 1.42093415e+02] [-6.53889904e-02 9.97859848e-01 5.61310435e-05 -8.11021008e-02] [ 8.22980806e-04 -2.32211018e-06 9.99999661e-01 -8.09486056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.885898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.12, Y:-0.08, Z:-0.81 [[ 9.97688360e-01 6.79441505e-02 -1.23603898e-03 1.42121792e+02] [-6.79440979e-02 9.97689126e-01 8.45244162e-05 -8.14502048e-02] [ 1.23892559e-03 -3.47472883e-07 9.99999233e-01 -8.08939103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.15, Y:-0.08, Z:-0.81 [[ 9.97289605e-01 7.35630346e-02 -1.38688293e-03 1.42150756e+02] [-7.35629739e-02 9.97290569e-01 9.48510838e-05 -7.88738848e-02] [ 1.39010281e-03 7.42923318e-06 9.99999034e-01 -8.08658477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.945898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.18, Y:-0.08, Z:-0.81 [[ 9.97088133e-01 7.62577476e-02 1.05698258e-04 1.42178602e+02] [-7.62577472e-02 9.97088138e-01 -7.45499233e-06 -7.72676640e-02] [-1.05958980e-04 -6.27026642e-07 9.99999994e-01 -8.07433563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.21, Y:-0.08, Z:-0.80 [[ 9.96812137e-01 7.97037832e-02 3.58741457e-03 1.42206601e+02] [-7.97034158e-02 9.96818592e-01 -2.45488938e-04 -7.57414200e-02] [-3.59556794e-03 -4.12228419e-05 9.99993535e-01 -8.01531839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.005898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.24, Y:-0.08, Z:-0.80 [[ 9.96767197e-01 8.02141551e-02 4.56553195e-03 1.42235502e+02] [-8.02135668e-02 9.96777651e-01 -3.12107319e-04 -8.14499494e-02] [-4.57585564e-03 -5.51192643e-05 9.99989529e-01 -8.00055704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.26, Y:-0.08, Z:-0.80 [[ 9.96713120e-01 8.08728400e-02 4.74770906e-03 1.42263042e+02] [-8.08722125e-02 9.96724425e-01 -3.24320588e-04 -7.95824790e-02] [-4.75838631e-03 -6.07031504e-05 9.99988677e-01 -7.98818818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.065898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.29, Y:-0.08, Z:-0.80 [[ 9.96540250e-01 8.30239223e-02 3.81562889e-03 1.42291232e+02] [-8.30235333e-02 9.96547553e-01 -2.60510043e-04 -8.23877896e-02] [-3.82408420e-03 -5.71782484e-05 9.99992687e-01 -8.00076343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.32, Y:-0.08, Z:-0.80 [[ 9.96399434e-01 8.46981688e-02 3.79327386e-03 1.42319256e+02] [-8.46977973e-02 9.96406652e-01 -2.58752544e-04 -7.81956216e-02] [-3.80155918e-03 -6.34610527e-05 9.99992772e-01 -8.00581305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.125898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.35, Y:-0.08, Z:-0.80 [[ 9.96254114e-01 8.63932847e-02 3.73373982e-03 1.42348170e+02] [-8.63929376e-02 9.96261108e-01 -2.54466757e-04 -7.78693673e-02] [-3.74176399e-03 -6.90551972e-05 9.99992997e-01 -8.01142410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.38, Y:-0.08, Z:-0.80 [[ 9.96057167e-01 8.86521974e-02 3.30273584e-03 1.42376504e+02] [-8.86519386e-02 9.96062640e-01 -2.24971343e-04 -8.06656458e-02] [-3.30967598e-03 -6.87096157e-05 9.99994521e-01 -8.02503829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.185898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.40, Y:-0.08, Z:-0.80 [[ 9.96063336e-01 8.85828545e-02 3.30274856e-03 1.42403940e+02] [-8.85825959e-02 9.96068809e-01 -2.24784391e-04 -8.23963700e-02] [-3.30967687e-03 -6.86665502e-05 9.99994521e-01 -8.02606843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.43, Y:-0.08, Z:-0.80 [[ 9.96029289e-01 8.89843676e-02 2.72727291e-03 1.42432713e+02] [-8.89841932e-02 9.96033021e-01 -1.85495220e-04 -8.46040474e-02] [-2.73296005e-03 -5.79255078e-05 9.99996264e-01 -8.03671109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.46, Y:-0.09, Z:-0.81 [[ 9.95953148e-01 8.98567631e-02 1.75776053e-03 1.42460908e+02] [-8.98566921e-02 9.95954698e-01 -1.19484950e-04 -8.58312776e-02] [-1.76138638e-03 -3.89451337e-05 9.99998448e-01 -8.05420443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27589822699997 meters Centerline goodness [0,1] 0.9999583116206358 Centerline is valid? [True, True] Translation: X:142.49, Y:-0.09, Z:-0.81 [[ 9.95895489e-01 9.04930682e-02 1.78330898e-03 1.42488808e+02] [-9.04929965e-02 9.95897085e-01 -1.21033878e-04 -8.87002031e-02] [-1.78694494e-03 -4.08398808e-05 9.99998403e-01 -8.05765644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30589822699994 meters Centerline goodness [0,1] 0.9999163809683084 Centerline is valid? [True, True] Translation: X:142.52, Y:-0.09, Z:-0.81 [[ 9.95847492e-01 9.10236407e-02 1.57147984e-03 1.42517530e+02] [-9.10235858e-02 9.95848731e-01 -1.06574840e-04 -9.38963947e-02] [-1.57465703e-03 -3.69094430e-05 9.99998760e-01 -8.06285625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.335898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.55, Y:-0.10, Z:-0.81 [[ 9.95639373e-01 9.32851561e-02 -3.43787659e-04 1.42546881e+02] [-9.32851537e-02 9.95639433e-01 2.31788631e-05 -9.98674136e-02] [ 3.44450793e-04 8.99249584e-06 9.99999941e-01 -8.09049991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36589822699995 meters Centerline goodness [0,1] 0.9999164001922796 Centerline is valid? [True, True] Translation: X:142.57, Y:-0.10, Z:-0.81 [[ 9.95530613e-01 9.44361694e-02 -7.80005581e-04 1.42574704e+02] [-9.44361572e-02 9.95530918e-01 5.25226685e-05 -1.00481292e-01] [ 7.81479712e-04 2.13728054e-05 9.99999694e-01 -8.10360127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.395898227 meters Centerline goodness [0,1] 0.9999789482548104 Centerline is valid? [True, True] Translation: X:142.60, Y:-0.10, Z:-0.81 [[ 9.95355308e-01 9.62694690e-02 1.24734554e-05 1.42603005e+02] [-9.62694690e-02 9.95355308e-01 -1.06488529e-06 -1.03016993e-01] [-1.25180360e-05 -1.40873703e-07 1.00000000e+00 -8.08958498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42589822699995 meters Centerline goodness [0,1] 0.9999154852204779 Centerline is valid? [True, True] Translation: X:142.63, Y:-0.10, Z:-0.81 [[ 9.95342455e-01 9.64019555e-02 2.44822250e-04 1.42631063e+02] [-9.64019543e-02 9.95342485e-01 -1.67477613e-05 -1.04643069e-01] [-2.45296504e-04 -6.93158552e-06 9.99999970e-01 -8.08995450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.455898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.66, Y:-0.11, Z:-0.81 [[ 9.95371974e-01 9.60967468e-02 2.21148177e-04 1.42659297e+02] [-9.60967458e-02 9.95371998e-01 -1.50954442e-05 -1.10527454e-01] [-2.21575326e-04 -6.22603815e-06 9.99999975e-01 -8.08942956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.69, Y:-0.12, Z:-0.81 [[ 9.95486755e-01 9.48968551e-02 8.40555808e-04 1.42687246e+02] [-9.48968409e-02 9.95487110e-01 -5.68411435e-05 -1.19614177e-01] [-8.42156518e-04 -2.31814853e-05 9.99999645e-01 -8.07073143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.515898227 meters Centerline goodness [0,1] 0.9998520647533709 Centerline is valid? [True, True] Translation: X:142.72, Y:-0.12, Z:-0.81 [[ 9.95488836e-01 9.48718059e-02 1.14832563e-03 1.42715342e+02] [-9.48717794e-02 9.95489497e-01 -7.75946595e-05 -1.22373182e-01] [-1.15050765e-03 -3.16990785e-05 9.99999338e-01 -8.05785987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54589822699995 meters Centerline goodness [0,1] 0.9999787901925851 Centerline is valid? [True, True] Translation: X:142.74, Y:-0.13, Z:-0.80 [[ 9.95417894e-01 9.56063808e-02 1.62366210e-03 1.42744397e+02] [-9.56063294e-02 9.95419217e-01 -1.09442821e-04 -1.26016876e-01] [-1.62668789e-03 -4.62910307e-05 9.99998676e-01 -8.04845583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.575898227 meters Centerline goodness [0,1] 0.9998950748116593 Centerline is valid? [True, True] Translation: X:142.77, Y:-0.13, Z:-0.80 [[ 9.95206284e-01 9.77816375e-02 1.79006185e-03 1.42773168e+02] [-9.77815787e-02 9.95207892e-01 -1.20530529e-04 -1.25158918e-01] [-1.79326935e-03 -5.50823331e-05 9.99998391e-01 -8.04925469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60589822699995 meters Centerline goodness [0,1] 0.9999150652935556 Centerline is valid? [True, True] Translation: X:142.80, Y:-0.13, Z:-0.81 [[ 9.95158425e-01 9.82727165e-02 1.47703851e-03 1.42801205e+02] [-9.82726769e-02 9.95159520e-01 -9.95274482e-05 -1.29713271e-01] [-1.47966977e-03 -4.61069496e-05 9.99998904e-01 -8.05421055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.635898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.83, Y:-0.13, Z:-0.81 [[ 9.95329424e-01 9.65364994e-02 2.05534932e-04 1.42828649e+02] [-9.65364985e-02 9.95329445e-01 -1.40705086e-05 -1.31179279e-01] [-2.05933288e-04 -5.83683149e-06 9.99999979e-01 -8.07124401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66589822699996 meters Centerline goodness [0,1] 0.9999582367558312 Centerline is valid? [True, True] Translation: X:142.86, Y:-0.14, Z:-0.81 [[ 9.95507526e-01 9.46805318e-02 6.02124034e-04 1.42857370e+02] [-9.46805246e-02 9.95507708e-01 -4.05515521e-05 -1.35149617e-01] [-6.03258559e-04 -1.66400441e-05 9.99999818e-01 -8.06399529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.695898227 meters Centerline goodness [0,1] 0.9999579416650894 Centerline is valid? [True, True] Translation: X:142.89, Y:-0.14, Z:-0.81 [[ 9.95737251e-01 9.22200751e-02 1.66863307e-03 1.42886486e+02] [-9.22200169e-02 9.95738648e-01 -1.11962960e-04 -1.40440484e-01] [-1.67184767e-03 -4.23956794e-05 9.99998602e-01 -8.05184002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.92, Y:-0.15, Z:-0.80 [[ 9.96044414e-01 8.88080233e-02 2.94280471e-03 1.42915476e+02] [-8.88078280e-02 9.96048759e-01 -1.97242210e-04 -1.46200393e-01] [-2.94869367e-03 -6.48820929e-05 9.99995650e-01 -8.03892170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.755898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.95, Y:-0.16, Z:-0.80 [[ 9.96812293e-01 7.95708531e-02 5.80792978e-03 1.42945090e+02] [-7.95699365e-02 9.96829210e-01 -3.89087142e-04 -1.60949867e-01] [-5.82047405e-03 -7.42897576e-05 9.99983058e-01 -7.99783792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.97, Y:-0.17, Z:-0.80 [[ 9.97165611e-01 7.49041053e-02 7.07955466e-03 1.42973512e+02] [-7.49026271e-02 9.97190740e-01 -4.74083697e-04 -1.68766669e-01] [-7.09517717e-03 -5.75372836e-05 9.99974827e-01 -7.97900972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.815898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.00, Y:-0.18, Z:-0.80 [[ 9.97688239e-01 6.75415545e-02 7.50441574e-03 1.43000988e+02] [-6.75396876e-02 9.97716462e-01 -5.02217348e-04 -1.82387160e-01] [-7.52119966e-03 -5.78955386e-06 9.99971715e-01 -7.97527298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.03, Y:-0.19, Z:-0.80 [[ 9.97876348e-01 6.48342439e-02 6.27013351e-03 1.43030402e+02] [-6.48328882e-02 9.97896047e-01 -4.19448357e-04 -1.90413277e-01] [-6.28413606e-03 1.20467302e-05 9.99980255e-01 -7.99898299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.06, Y:-0.20, Z:-0.81 [[ 9.98143388e-01 6.08161043e-02 3.34338798e-03 1.43059743e+02] [-6.08156964e-02 9.98148987e-01 -2.23623346e-04 -2.00209904e-01] [-3.35079923e-03 1.98776954e-05 9.99994386e-01 -8.05291203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.09, Y:-0.20, Z:-0.81 [[ 9.98226617e-01 5.94350340e-02 3.33145306e-03 1.43089324e+02] [-5.94346216e-02 9.98232175e-01 -2.22748298e-04 -2.03992709e-01] [-3.33880269e-03 2.43496275e-05 9.99994426e-01 -8.05705358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.935898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.12, Y:-0.21, Z:-0.80 [[ 9.98266391e-01 5.87006956e-02 4.29427274e-03 1.43117653e+02] [-5.87000041e-02 9.98275627e-01 -2.86992551e-04 -2.07786162e-01] [-4.30371447e-03 3.44211902e-05 9.99990738e-01 -8.04314876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.15, Y:-0.21, Z:-0.80 [[ 9.98313503e-01 5.77336004e-02 6.08114156e-03 1.43147542e+02] [-5.77321973e-02 9.98332023e-01 -4.06169695e-04 -2.11691015e-01] [-6.09444800e-03 5.44070261e-05 9.99981427e-01 -8.03348788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.18, Y:-0.22, Z:-0.80 [[ 9.98338533e-01 5.73393472e-02 5.68976776e-03 1.43176747e+02] [-5.73381131e-02 9.98354745e-01 -3.79919525e-04 -2.15811762e-01] [-5.70219098e-03 5.30477532e-05 9.99983741e-01 -8.04262292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.02589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.21, Y:-0.22, Z:-0.81 [[ 9.98368372e-01 5.68965080e-02 4.83532199e-03 1.43206501e+02] [-5.68956117e-02 9.98380081e-01 -3.22839066e-04 -2.19123500e-01] [-4.84585757e-03 4.72037106e-05 9.99988258e-01 -8.05972455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05589822699994 meters Centerline goodness [0,1] 0.9999788529859583 Centerline is valid? [True, True] Translation: X:143.24, Y:-0.22, Z:-0.81 [[ 9.98445435e-01 5.56394377e-02 3.31152305e-03 1.43236492e+02] [-5.56390102e-02 9.98450926e-01 -2.21137063e-04 -2.21477114e-01] [-3.31869720e-03 3.65434258e-05 9.99994492e-01 -8.09351303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.085898227 meters Centerline goodness [0,1] 0.999832091510127 Centerline is valid? [True, True] Translation: X:143.27, Y:-0.23, Z:-0.81 [[ 9.98527238e-01 5.41888256e-02 2.63190632e-03 1.43265633e+02] [-5.41885507e-02 9.98530706e-01 -1.75710509e-04 -2.25868695e-01] [-2.63756082e-03 3.28325404e-05 9.99996521e-01 -8.10395355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.29, Y:-0.23, Z:-0.81 [[ 9.98636881e-01 5.21538356e-02 2.08736394e-03 1.43294365e+02] [-5.21536585e-02 9.98639062e-01 -1.39230010e-04 -2.32237208e-01] [-2.09178454e-03 3.01765570e-05 9.99997812e-01 -8.11930406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.32, Y:-0.24, Z:-0.81 [[ 9.98922482e-01 4.64070194e-02 5.13387751e-04 1.43324267e+02] [-4.64070079e-02 9.98922614e-01 -3.42755426e-05 -2.43932378e-01] [-5.14425260e-04 1.04138206e-05 9.99999868e-01 -8.14898471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.35, Y:-0.25, Z:-0.82 [[ 9.99072624e-01 4.30547327e-02 4.27713255e-04 1.43354370e+02] [-4.30547244e-02 9.99072715e-01 -2.85556168e-05 -2.50355606e-01] [-4.28546098e-04 1.01140586e-05 9.99999908e-01 -8.15060329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.38, Y:-0.26, Z:-0.82 [[ 9.99203121e-01 3.99110826e-02 4.77734574e-04 1.43382711e+02] [-3.99110719e-02 9.99203235e-01 -3.18270380e-05 -2.59859853e-01] [-4.78624184e-04 1.27347768e-05 9.99999885e-01 -8.15001317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.41, Y:-0.27, Z:-0.81 [[ 9.99374507e-01 3.53528268e-02 8.78655057e-04 1.43412035e+02] [-3.53527888e-02 9.99374893e-01 -5.87144846e-05 -2.68881672e-01] [-8.80181526e-04 2.76148524e-05 9.99999612e-01 -8.13273388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.265898227 meters Centerline goodness [0,1] 0.9999788704122382 Centerline is valid? [True, True] Translation: X:143.44, Y:-0.27, Z:-0.81 [[ 9.99408008e-01 3.43920275e-02 9.06636509e-04 1.43442424e+02] [-3.43919867e-02 9.99408419e-01 -6.05383501e-05 -2.72383428e-01] [-9.08182197e-04 2.93214811e-05 9.99999587e-01 -8.12936459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29589822699995 meters Centerline goodness [0,1] 0.9999161161790919 Centerline is valid? [True, True] Translation: X:143.47, Y:-0.28, Z:-0.81 [[ 9.99434937e-01 3.35707959e-02 1.67567537e-03 1.43471652e+02] [-3.35706555e-02 9.99436340e-01 -1.11864203e-04 -2.83880900e-01] [-1.67848623e-03 5.55474725e-05 9.99998590e-01 -8.12410218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.325898227 meters Centerline goodness [0,1] 0.9999580976325162 Centerline is valid? [True, True] Translation: X:143.50, Y:-0.29, Z:-0.81 [[ 9.99455252e-01 3.29766384e-02 1.31950576e-03 1.43503059e+02] [-3.29765509e-02 9.99456122e-01 -8.80667915e-05 -2.87582010e-01] [-1.32169225e-03 4.45060686e-05 9.99999126e-01 -8.13441764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.53, Y:-0.29, Z:-0.81 [[ 9.99477364e-01 3.23255929e-02 2.36360502e-04 1.43534134e+02] [-3.23255901e-02 9.99477391e-01 -1.57075150e-05 -2.89633527e-01] [-2.36744733e-04 8.05881292e-06 9.99999972e-01 -8.14205038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.56, Y:-0.30, Z:-0.82 [[ 9.99479710e-01 3.22526471e-02 -2.74461692e-04 1.43563305e+02] [-3.22526433e-02 9.99479748e-01 1.82953233e-05 -2.96866847e-01] [ 2.74908975e-04 -9.43368940e-06 9.99999962e-01 -8.15934478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41589822699996 meters Centerline goodness [0,1] 0.9999374269981646 Centerline is valid? [True, True] Translation: X:143.59, Y:-0.30, Z:-0.81 [[ 9.99406550e-01 3.44455195e-02 2.32555643e-04 1.43593031e+02] [-3.44455169e-02 9.99406577e-01 -1.54992626e-05 -3.02518279e-01] [-2.32951520e-04 7.47956519e-06 9.99999973e-01 -8.14766316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.445898227 meters Centerline goodness [0,1] 0.9999580308053888 Centerline is valid? [True, True] Translation: X:143.62, Y:-0.30, Z:-0.81 [[ 9.99333491e-01 3.65023347e-02 3.92168534e-04 1.43624234e+02] [-3.65023273e-02 9.99333568e-01 -2.61703022e-05 -3.00843100e-01] [-3.92862457e-04 1.18377953e-05 9.99999923e-01 -8.13944309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47589822699996 meters Centerline goodness [0,1] 0.9999581257066287 Centerline is valid? [True, True] Translation: X:143.65, Y:-0.30, Z:-0.81 [[ 9.99126918e-01 4.17779851e-02 -4.64021644e-05 1.43654281e+02] [-4.17779850e-02 9.99126919e-01 3.10087830e-06 -2.99749887e-01] [ 4.64912000e-05 -1.15958205e-06 9.99999999e-01 -8.14944605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.68, Y:-0.30, Z:-0.82 [[ 9.99028957e-01 4.40571610e-02 -3.31883102e-04 1.43684599e+02] [-4.40571561e-02 9.99029012e-01 2.21384846e-05 -2.99858182e-01] [ 3.32536206e-04 -7.49516149e-06 9.99999945e-01 -8.15870191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.71, Y:-0.30, Z:-0.81 [[ 9.98936136e-01 4.60809180e-02 1.77325544e-03 1.43713959e+02] [-4.60807801e-02 9.98937710e-01 -1.18530409e-04 -3.02329686e-01] [-1.77683371e-03 3.66913149e-05 9.99998421e-01 -8.12835725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.74, Y:-0.30, Z:-0.81 [[ 9.98918886e-01 4.63881123e-02 3.03341708e-03 1.43744869e+02] [-4.63877106e-02 9.98923490e-01 -2.02692850e-04 -3.02901185e-01] [-3.03955411e-03 6.17604427e-05 9.99995379e-01 -8.10459050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.78, Y:-0.30, Z:-0.81 [[ 9.98900575e-01 4.67336535e-02 3.68883858e-03 1.43775823e+02] [-4.67330617e-02 9.98907383e-01 -2.46486922e-04 -3.04288764e-01] [-3.69632733e-03 7.38252070e-05 9.99993166e-01 -8.08876869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.81, Y:-0.31, Z:-0.81 [[ 9.98861299e-01 4.75801299e-02 3.49817025e-03 1.43805474e+02] [-4.75796027e-02 9.98867422e-01 -2.33828789e-04 -3.09847243e-01] [-3.50533390e-03 6.71209771e-05 9.99993854e-01 -8.09030711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.84, Y:-0.31, Z:-0.81 [[ 9.98828770e-01 4.82320853e-02 3.84112360e-03 1.43837235e+02] [-4.82314542e-02 9.98836153e-01 -2.56804216e-04 -3.11288614e-01] [-3.84903933e-03 7.12404622e-05 9.99992590e-01 -8.08034923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.685898227 meters Centerline goodness [0,1] 0.9999790991744174 Centerline is valid? [True, True] Translation: X:143.87, Y:-0.31, Z:-0.81 [[ 9.98792709e-01 4.89486908e-02 4.14137625e-03 1.43868640e+02] [-4.89479630e-02 9.98801292e-01 -2.76980900e-04 -3.11905922e-01] [-4.14996980e-03 7.39345716e-05 9.99991386e-01 -8.07298309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.90, Y:-0.31, Z:-0.81 [[ 9.98775087e-01 4.92553800e-02 4.71512122e-03 1.43899440e+02] [-4.92544391e-02 9.98786214e-01 -3.15542283e-04 -3.13677354e-01] [-4.72494023e-03 8.29151204e-05 9.99988834e-01 -8.06608296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.93, Y:-0.32, Z:-0.81 [[ 9.98793548e-01 4.88890041e-02 4.61658116e-03 1.43930754e+02] [-4.88880960e-02 9.98804214e-01 -3.09413419e-04 -3.17475591e-01] [-4.62618763e-03 8.33442641e-05 9.99989296e-01 -8.06502435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.96, Y:-0.32, Z:-0.81 [[ 9.98829482e-01 4.82097484e-02 3.93518433e-03 1.43962620e+02] [-4.82090814e-02 9.98837231e-01 -2.64225243e-04 -3.15032072e-01] [-3.94334686e-03 7.42043411e-05 9.99992222e-01 -8.08819331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.99, Y:-0.32, Z:-0.81 [[ 9.98852916e-01 4.78037714e-02 2.76625177e-03 1.43993749e+02] [-4.78034402e-02 9.98856745e-01 -1.85777235e-04 -3.16809401e-01] [-2.77197009e-03 5.33277818e-05 9.99996157e-01 -8.11350179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.835898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.02, Y:-0.32, Z:-0.81 [[ 9.98896308e-01 4.69290178e-02 1.95783262e-03 1.44023638e+02] [-4.69288503e-02 9.98898226e-01 -1.31453012e-04 -3.21522683e-01] [-1.96184449e-03 3.94290942e-05 9.99998075e-01 -8.13149157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.05, Y:-0.33, Z:-0.81 [[ 9.99088078e-01 4.25905354e-02 3.00973369e-03 1.44054478e+02] [-4.25901189e-02 9.99092609e-01 -2.02368516e-04 -3.30781559e-01] [-3.01562167e-03 7.39990560e-05 9.99995450e-01 -8.11645684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.895898227 meters Centerline goodness [0,1] 0.999979029924298 Centerline is valid? [True, True] Translation: X:144.09, Y:-0.34, Z:-0.81 [[ 9.99211599e-01 3.95250326e-02 3.73516790e-03 1.44085304e+02] [-3.95243694e-02 9.99218575e-01 -2.51253503e-04 -3.38908493e-01] [-3.74217995e-03 1.03425258e-04 9.99992993e-01 -8.10782005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92589822699995 meters Centerline goodness [0,1] 0.9999789389439987 Centerline is valid? [True, True] Translation: X:144.12, Y:-0.35, Z:-0.81 [[ 9.99322634e-01 3.65686393e-02 4.12406395e-03 1.44115819e+02] [-3.65678052e-02 9.99331136e-01 -2.77513283e-04 -3.46255566e-01] [-4.13145379e-03 1.26517338e-04 9.99991458e-01 -8.10006136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.955898227 meters Centerline goodness [0,1] 0.9999581388534232 Centerline is valid? [True, True] Translation: X:144.15, Y:-0.35, Z:-0.81 [[ 9.99424616e-01 3.37041347e-02 3.80363855e-03 1.44145374e+02] [-3.37034042e-02 9.99431846e-01 -2.55995283e-04 -3.54460887e-01] [-3.81010559e-03 1.27652420e-04 9.99992733e-01 -8.10865028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98589822699995 meters Centerline goodness [0,1] 0.999915955792747 Centerline is valid? [True, True] Translation: X:144.18, Y:-0.36, Z:-0.81 [[ 9.99523059e-01 3.08091022e-02 2.11023808e-03 1.44175826e+02] [-3.08088707e-02 9.99525284e-01 -1.42122333e-04 -3.61921858e-01] [-2.11361498e-03 7.70404968e-05 9.99997763e-01 -8.14323393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.015898227 meters Centerline goodness [0,1] 0.9999578112475214 Centerline is valid? [True, True] Translation: X:144.21, Y:-0.36, Z:-0.82 [[ 9.99535922e-01 3.04124429e-02 1.73885421e-03 1.44207102e+02] [-3.04122851e-02 9.99537433e-01 -1.17098818e-04 -3.62965918e-01] [-1.74161113e-03 6.41619455e-05 9.99998481e-01 -8.15254912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04589822699995 meters Centerline goodness [0,1] 0.9998118453787135 Centerline is valid? [True, True] Translation: X:144.24, Y:-0.37, Z:-0.81 [[ 9.99521055e-01 3.08753955e-02 2.09079645e-03 1.44238222e+02] [-3.08751687e-02 9.99523238e-01 -1.40655801e-04 -3.68687185e-01] [-2.09414244e-03 7.60347410e-05 9.99997804e-01 -8.14329601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.075898227 meters Centerline goodness [0,1] 0.9998118453787135 Centerline is valid? [True, True] Translation: X:144.27, Y:-0.37, Z:-0.81 [[ 9.99520361e-01 3.08978298e-02 2.09076101e-03 1.44269004e+02] [-3.08976019e-02 9.99522545e-01 -1.41180472e-04 -3.70810278e-01] [-2.09412494e-03 7.65132544e-05 9.99997804e-01 -8.14445208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10589822699995 meters Centerline goodness [0,1] 0.999664288711708 Centerline is valid? [True, True] Translation: X:144.30, Y:-0.37, Z:-0.82 [[ 9.99507610e-01 3.13454889e-02 1.41357896e-03 1.44300257e+02] [-3.13453854e-02 9.99508608e-01 -9.53021012e-05 -3.74537296e-01] [-1.41587163e-03 5.09459982e-05 9.99998996e-01 -8.15589858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.135898227 meters Centerline goodness [0,1] 0.9998725031874203 Centerline is valid? [True, True] Translation: X:144.33, Y:-0.37, Z:-0.82 [[ 9.99504172e-01 3.14863711e-02 1.36966911e-04 1.44331762e+02] [-3.14863701e-02 9.99504181e-01 -9.18171850e-06 -3.71366152e-01] [-1.37188100e-04 4.86457508e-06 9.99999991e-01 -8.17471189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16589822699996 meters Centerline goodness [0,1] 0.9998534553143383 Centerline is valid? [True, True] Translation: X:144.36, Y:-0.38, Z:-0.82 [[ 9.99516027e-01 3.10966975e-02 -8.41301107e-04 1.44361925e+02] [-3.10966606e-02 9.99516380e-01 5.69925808e-05 -3.76979308e-01] [ 8.42666519e-04 -3.08033430e-05 9.99999644e-01 -8.20482997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.195898227 meters Centerline goodness [0,1] 0.9998939689541098 Centerline is valid? [True, True] Translation: X:144.39, Y:-0.38, Z:-0.82 [[ 9.99544155e-01 3.01880906e-02 -4.00722274e-04 1.44393118e+02] [-3.01880821e-02 9.99544236e-01 2.72204376e-05 -3.80039750e-01] [ 4.01361372e-04 -1.51109924e-05 9.99999919e-01 -8.19542558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22589822699996 meters Centerline goodness [0,1] 0.9998098377281948 Centerline is valid? [True, True] Translation: X:144.42, Y:-0.38, Z:-0.82 [[ 9.99581764e-01 2.89132238e-02 5.68233086e-04 1.44423223e+02] [-2.89132067e-02 9.99581925e-01 -3.84411548e-05 -3.84449589e-01] [-5.69106980e-04 2.19956367e-05 9.99999838e-01 -8.18181042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.255898227 meters Centerline goodness [0,1] 0.9998494623655914 Centerline is valid? [True, True] Translation: X:144.45, Y:-0.38, Z:-0.82 [[ 9.99626386e-01 2.73305854e-02 3.55823603e-04 1.44454485e+02] [-2.73305786e-02 9.99626450e-01 -2.40571483e-05 -3.78504330e-01] [-3.56348181e-04 1.43232953e-05 9.99999936e-01 -8.16409634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28589822699996 meters Centerline goodness [0,1] 0.9995412078745413 Centerline is valid? [True, True] Translation: X:144.48, Y:-0.39, Z:-0.82 [[ 9.99612336e-01 2.78418961e-02 8.30620347e-05 1.44484634e+02] [-2.78418958e-02 9.99612339e-01 -5.58210463e-06 -3.85948648e-01] [-8.31852512e-05 3.26733614e-06 9.99999997e-01 -8.17134626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.315898227 meters Centerline goodness [0,1] 0.9997266725537194 Centerline is valid? [True, True] Translation: X:144.52, Y:-0.38, Z:-0.81 [[ 9.99554874e-01 2.97664647e-02 2.00268990e-03 1.44516177e+02] [-2.97662526e-02 9.99556878e-01 -1.35661976e-04 -3.78743003e-01] [-2.00584064e-03 7.59890159e-05 9.99997985e-01 -8.13223793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34589822699996 meters Centerline goodness [0,1] 0.9996651108273855 Centerline is valid? [True, True] Translation: X:144.55, Y:-0.38, Z:-0.81 [[ 9.99525039e-01 3.06033313e-02 3.62387229e-03 1.44546164e+02] [-3.06026419e-02 9.99531599e-01 -2.45556494e-04 -3.79575878e-01] [-3.62968972e-03 1.34539798e-04 9.99993404e-01 -8.10421107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.375898227 meters Centerline goodness [0,1] 0.9997893938755739 Centerline is valid? [True, True] Translation: X:144.58, Y:-0.38, Z:-0.81 [[ 9.99523341e-01 3.04982948e-02 4.78998331e-03 1.44577958e+02] [-3.04970887e-02 9.99534803e-01 -3.24652794e-04 -3.76969331e-01] [-4.79765638e-03 1.78417499e-04 9.99988475e-01 -8.08411786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40589822699997 meters Centerline goodness [0,1] 0.999786511816571 Centerline is valid? [True, True] Translation: X:144.61, Y:-0.37, Z:-0.81 [[ 9.99557525e-01 2.93924936e-02 4.56456308e-03 1.44610192e+02] [-2.93913861e-02 9.99567932e-01 -3.09527564e-04 -3.70633790e-01] [-4.57168866e-03 1.75231770e-04 9.99989534e-01 -8.09544596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.435898227 meters Centerline goodness [0,1] 0.9990768908003776 Centerline is valid? [True, True] Translation: X:144.64, Y:-0.39, Z:-0.81 [[ 9.99711966e-01 2.38583605e-02 2.60080590e-03 1.44638845e+02] [-2.38579818e-02 9.99715342e-01 -1.76548087e-04 -3.87119199e-01] [-2.60427771e-03 1.14447255e-04 9.99996602e-01 -8.14212544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46589822699997 meters Centerline goodness [0,1] 0.9990764645383372 Centerline is valid? [True, True] Translation: X:144.67, Y:-0.39, Z:-0.82 [[ 9.99802192e-01 1.98267341e-02 1.57371827e-03 1.44669392e+02] [-1.98265904e-02 9.99803428e-01 -1.06827647e-04 -3.88718864e-01] [-1.57552696e-03 7.56050486e-05 9.99998756e-01 -8.15444191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49589822699994 meters Centerline goodness [0,1] 0.9961422518287413 Centerline is valid? [True, True] Translation: X:144.70, Y:-0.40, Z:-0.81 [[ 9.99928294e-01 1.17993244e-02 2.04498150e-03 1.44699828e+02] [-1.17990651e-02 9.99930379e-01 -1.38822692e-04 -3.96492379e-01] [-2.04647714e-03 1.14683867e-04 9.99997899e-01 -8.14313744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.52589822699997 meters Centerline goodness [0,1] 0.9805432802060863 Centerline is valid? [True, True] Translation: X:144.73, Y:-0.40, Z:-0.81 [[ 9.99957233e-01 8.78150882e-03 2.90110078e-03 1.44728893e+02] [-8.78097421e-03 9.99961427e-01 -1.96964717e-04 -4.04262991e-01] [-2.90271853e-03 1.71481803e-04 9.99995772e-01 -8.12687099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55589822699994 meters Centerline goodness [0,1] 0.9686679135057894 Centerline is valid? [True, True] Translation: X:144.76, Y:-0.41, Z:-0.81 [[ 9.99978960e-01 5.81404428e-03 2.87694055e-03 1.44758667e+02] [-5.81350643e-03 9.99983082e-01 -1.95281373e-04 -4.09658840e-01] [-2.87802725e-03 1.78552152e-04 9.99995843e-01 -8.12574518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.585898227 meters Centerline goodness [0,1] 0.9643903776011469 Centerline is valid? [True, True] Translation: X:144.79, Y:-0.41, Z:-0.81 [[ 9.99984093e-01 5.25111811e-03 2.05906075e-03 1.44789764e+02] [-5.25084144e-03 9.99986204e-01 -1.39752884e-04 -4.12355326e-01] [-2.05976621e-03 1.28938860e-04 9.99997870e-01 -8.14280537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61589822699995 meters Centerline goodness [0,1] 0.9682947909859393 Centerline is valid? [True, True] Translation: X:144.82, Y:-0.42, Z:-0.82 [[ 9.99984817e-01 5.46553400e-03 7.02435608e-04 1.44821246e+02] [-5.46550188e-03 9.99985063e-01 -4.76362850e-05 -4.15659624e-01] [-7.02685473e-04 4.37963986e-05 9.99999752e-01 -8.16343923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.645898227 meters Centerline goodness [0,1] 0.9418910457107076 Centerline is valid? [True, False] Translation: X:144.82, Y:-0.42, Z:-0.82 [[ 9.99984623e-01 5.52584242e-03 4.66989632e-04 1.44822395e+02] [-5.52582951e-03 9.99984732e-01 -2.89334877e-05 -4.15559560e-01] [-4.67142384e-04 2.63525378e-05 9.99999891e-01 -8.16969274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67589822699995 meters Centerline goodness [0,1] 0.9900739750073139 Centerline is valid? [False, True] Translation: X:144.82, Y:-0.42, Z:-0.82 [[ 9.99983958e-01 5.66000979e-03 2.17518671e-04 1.44823326e+02] [-5.66000528e-03 9.99983982e-01 -2.13489564e-05 -4.15333670e-01] [-2.17636022e-04 2.01174571e-05 9.99999976e-01 -8.17128675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.705898227 meters Centerline goodness [0,1] 0.9966104549569464 Centerline is valid? [True, True] Translation: X:144.85, Y:-0.41, Z:-0.82 [[ 9.99975444e-01 6.96307612e-03 7.91764476e-04 1.44854059e+02] [-6.96303764e-03 9.99975756e-01 -5.13409011e-05 -4.12387619e-01] [-7.92102772e-04 4.58265546e-05 9.99999685e-01 -8.15393967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73589822699995 meters Centerline goodness [0,1] 0.9943909073656243 Centerline is valid? [True, True] Translation: X:144.88, Y:-0.42, Z:-0.81 [[ 9.99935578e-01 1.11611294e-02 2.06619047e-03 1.44883640e+02] [-1.11608763e-02 9.99937707e-01 -1.33981648e-04 -4.17209317e-01] [-2.06755714e-03 1.10912520e-04 9.99997856e-01 -8.13942285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.765898227 meters Centerline goodness [0,1] 0.9989054014229781 Centerline is valid? [True, True] Translation: X:144.92, Y:-0.41, Z:-0.81 [[ 9.99911312e-01 1.31606041e-02 2.04135166e-03 1.44915183e+02] [-1.31603613e-02 9.99913390e-01 -1.32327457e-04 -4.09894912e-01] [-2.04291637e-03 1.05450796e-04 9.99997908e-01 -8.13575417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79589822699995 meters Centerline goodness [0,1] 0.997919993276746 Centerline is valid? [True, True] Translation: X:144.95, Y:-0.42, Z:-0.82 [[ 9.99896057e-01 1.43430527e-02 1.46731930e-03 1.44945556e+02] [-1.43429286e-02 9.99897130e-01 -9.50690680e-05 -4.16266646e-01] [-1.46853194e-03 7.40135302e-05 9.99998919e-01 -8.15484251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.825898227 meters Centerline goodness [0,1] 0.9991602284178703 Centerline is valid? [True, True] Translation: X:144.98, Y:-0.41, Z:-0.82 [[ 9.99896763e-01 1.43320861e-02 1.02742430e-03 1.44976798e+02] [-1.43320252e-02 9.99897289e-01 -6.66052265e-05 -4.10925699e-01] [-1.02827337e-03 5.18732794e-05 9.99999470e-01 -8.16125482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85589822699995 meters Centerline goodness [0,1] 0.9968282641572845 Centerline is valid? [True, True] Translation: X:145.01, Y:-0.42, Z:-0.82 [[ 9.99903802e-01 1.38179797e-02 1.20409873e-03 1.45006897e+02] [-1.38178959e-02 9.99904525e-01 -7.79269225e-05 -4.20180245e-01] [-1.20506057e-03 6.12813152e-05 9.99999272e-01 -8.16205694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.885898227 meters Centerline goodness [0,1] 0.998962875164035 Centerline is valid? [True, True] Translation: X:145.04, Y:-0.42, Z:-0.82 [[ 9.99914174e-01 1.30500209e-02 1.15833980e-03 1.45038488e+02] [-1.30499427e-02 9.99914843e-01 -7.51195108e-05 -4.15859954e-01] [-1.15922147e-03 5.99967956e-05 9.99999326e-01 -8.15745102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91589822699996 meters Centerline goodness [0,1] 0.9949311639549436 Centerline is valid? [True, True] Translation: X:145.07, Y:-0.43, Z:-0.82 [[ 9.99927537e-01 1.19506705e-02 1.45003470e-03 1.45068635e+02] [-1.19505465e-02 9.99928585e-01 -9.41008590e-05 -4.26427364e-01] [-1.45105572e-03 7.67653329e-05 9.99998944e-01 -8.16044893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.945898227 meters Centerline goodness [0,1] 0.9455148946830052 Centerline is valid? [True, False] Translation: X:145.07, Y:-0.43, Z:-0.82 [[ 9.99970524e-01 7.49994758e-03 1.64348546e-03 1.45067387e+02] [-7.49217968e-03 9.99960969e-01 -4.68273288e-03 -4.25245399e-01] [-1.67854156e-03 4.67028157e-03 9.99987685e-01 -8.15259770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97589822699996 meters Centerline goodness [0,1] 0.9526791779891304 Centerline is valid? [False, True] Translation: X:145.03, Y:-0.42, Z:-0.82 [[ 9.99996235e-01 7.44098145e-04 2.64140739e-03 1.45025523e+02] [-7.59388834e-04 9.99982935e-01 5.79256621e-03 -4.23564788e-01] [-2.63705207e-03 -5.79455025e-03 9.99979734e-01 -8.16172229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.005898227 meters Centerline goodness [0,1] 0.8850061122117776 Centerline is valid? [True, False] Translation: X:145.03, Y:-0.42, Z:-0.82 [[ 9.99990705e-01 -3.56124764e-03 2.43068344e-03 1.45026470e+02] [ 3.55776882e-03 9.99992643e-01 1.43403698e-03 -4.23281883e-01] [-2.43577252e-03 -1.42537584e-03 9.99996018e-01 -8.16556887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03589822699996 meters Centerline goodness [0,1] 0.7240134340890008 Centerline is valid? [False, False] Translation: X:145.03, Y:-0.43, Z:-0.82 [[ 9.99991310e-01 -3.45163402e-03 2.33786901e-03 1.45027068e+02] [ 3.44731780e-03 9.99992351e-01 1.84774008e-03 -4.25451028e-01] [-2.34422885e-03 -1.83966464e-03 9.99995560e-01 -8.17068212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.065898227 meters Centerline goodness [0,1] 0.8363013986307699 Centerline is valid? [False, False] Translation: X:145.03, Y:-0.43, Z:-0.82 [[ 9.99992038e-01 -3.30931773e-03 2.22995847e-03 1.45027676e+02] [ 3.30397489e-03 9.99991673e-01 2.39537652e-03 -4.28298097e-01] [-2.23786696e-03 -2.38798972e-03 9.99994645e-01 -8.17538023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09589822699996 meters Centerline goodness [0,1] 0.7580439995829423 Centerline is valid? [False, False] Translation: X:145.03, Y:-0.43, Z:-0.82 [[ 9.99992374e-01 -3.26267949e-03 2.14626410e-03 1.45027962e+02] [ 3.25726438e-03 9.99991516e-01 2.52171354e-03 -4.28943063e-01] [-2.15447343e-03 -2.51470336e-03 9.99994517e-01 -8.17549814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.125898227 meters Centerline goodness [0,1] 0.8399983294004636 Centerline is valid? [False, False] Translation: X:145.03, Y:-0.43, Z:-0.82 [[ 9.99992662e-01 -3.21358568e-03 2.08538762e-03 1.45028016e+02] [ 3.20812798e-03 9.99991434e-01 2.61520208e-03 -4.29427657e-01] [-2.09377393e-03 -2.60849270e-03 9.99994406e-01 -8.17337776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15589822699997 meters Centerline goodness [0,1] 0.9372722322288778 Centerline is valid? [False, False] Translation: X:145.03, Y:-0.43, Z:-0.82 [[ 9.99992574e-01 -3.11823349e-03 2.26474125e-03 1.45027103e+02] [ 3.11216279e-03 9.99991568e-01 2.67912019e-03 -4.29577648e-01] [-2.27307627e-03 -2.67205205e-03 9.99993847e-01 -8.16804275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.185898227 meters Centerline goodness [0,1] 0.9573846929345543 Centerline is valid? [False, True] Translation: X:145.03, Y:-0.43, Z:-0.82 [[ 9.99992482e-01 -3.15709654e-03 2.25150344e-03 1.45027084e+02] [ 3.15136886e-03 9.99991801e-01 2.54296383e-03 -4.28922681e-01] [-2.25951336e-03 -2.53584939e-03 9.99994232e-01 -8.16699506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21589822699997 meters Centerline goodness [0,1] 0.9388505747126437 Centerline is valid? [True, False] Translation: X:145.03, Y:-0.43, Z:-0.82 [[ 9.99992635e-01 -3.18934596e-03 2.13481017e-03 1.45027652e+02] [ 3.18420612e-03 9.99992034e-01 2.40671690e-03 -4.28154839e-01] [-2.14246902e-03 -2.39990150e-03 9.99994825e-01 -8.16993673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24589822699994 meters Centerline goodness [0,1] 0.7591534391534391 Centerline is valid? [False, False] Translation: X:145.01, Y:-0.42, Z:-0.81 [[ 9.99995385e-01 -1.87710404e-03 -2.38902557e-03 1.45006922e+02] [ 1.85974715e-03 9.99972012e-01 -7.24686409e-03 -4.23685672e-01] [ 2.40256182e-03 7.24238766e-03 9.99970887e-01 -8.13596090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27589822699997 meters Centerline goodness [0,1] 0.9741657922350472 Centerline is valid? [False, True] Translation: X:145.01, Y:-0.43, Z:-0.81 [[ 9.99993760e-01 2.40033598e-03 -2.59202322e-03 1.45007884e+02] [-2.40620294e-03 9.99994545e-01 -2.26272599e-03 -4.27853222e-01] [ 2.58657778e-03 2.26894881e-03 9.99994081e-01 -8.14253802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30589822699994 meters Centerline goodness [0,1] 0.9756736764239671 Centerline is valid? [True, True] Translation: X:145.04, Y:-0.43, Z:-0.81 [[ 9.99993372e-01 2.98670452e-03 -2.08212345e-03 1.45037108e+02] [-2.98642732e-03 9.99995531e-01 1.36230088e-04 -4.30208019e-01] [ 2.08252103e-03 -1.30011075e-04 9.99997823e-01 -8.13621282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.335898227 meters Centerline goodness [0,1] 0.9537328032967719 Centerline is valid? [True, True] Translation: X:145.07, Y:-0.43, Z:-0.81 [[ 9.99984477e-01 5.53555217e-03 -6.34615925e-04 1.45066658e+02] [-5.53552695e-03 9.99984678e-01 4.14986782e-05 -4.33614724e-01] [ 6.34835919e-04 -3.79851005e-05 9.99999798e-01 -8.11108878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36589822699995 meters Centerline goodness [0,1] 0.9867165927537445 Centerline is valid? [True, True] Translation: X:145.10, Y:-0.43, Z:-0.81 [[ 9.99975200e-01 7.04201079e-03 9.85466268e-05 1.45097817e+02] [-7.04201019e-03 9.99975205e-01 -6.45314083e-06 -4.27168482e-01] [-9.85896264e-05 5.75901444e-06 9.99999995e-01 -8.09844758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.395898227 meters Centerline goodness [0,1] 0.9928512684253812 Centerline is valid? [True, True] Translation: X:145.13, Y:-0.42, Z:-0.81 [[ 9.99965588e-01 8.29223509e-03 2.50293782e-04 1.45128765e+02] [-8.29223125e-03 9.99965619e-01 -1.63776412e-05 -4.23854879e-01] [-2.50420984e-04 1.43015837e-05 9.99999969e-01 -8.09935545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42589822699995 meters Centerline goodness [0,1] 0.9956820288145589 Centerline is valid? [True, True] Translation: X:145.16, Y:-0.42, Z:-0.81 [[ 9.99959991e-01 8.81250219e-03 -1.53479540e-03 1.45159958e+02] [-8.81235833e-03 9.99961165e-01 1.00467493e-04 -4.20924190e-01] [ 1.53562116e-03 -8.69383065e-05 9.99998817e-01 -8.13093881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.455898227 meters Centerline goodness [0,1] 0.9867812846416096 Centerline is valid? [True, True] Translation: X:145.19, Y:-0.43, Z:-0.82 [[ 9.99962866e-01 8.26304123e-03 -2.44735182e-03 1.45188828e+02] [-8.26267386e-03 9.99965851e-01 1.60182126e-04 -4.26093333e-01] [ 2.44859183e-03 -1.39954508e-04 9.99996992e-01 -8.15460119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48589822699995 meters Centerline goodness [0,1] 0.9953198455339154 Centerline is valid? [True, True] Translation: X:145.22, Y:-0.42, Z:-0.82 [[ 9.99965028e-01 7.85159744e-03 -2.88014954e-03 1.45218975e+02] [-7.85108729e-03 9.99969162e-01 1.88390414e-04 -4.22084973e-01] [ 2.88153989e-03 -1.65771520e-04 9.99995835e-01 -8.16310222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.515898227 meters Centerline goodness [0,1] 0.9860759758315737 Centerline is valid? [True, True] Translation: X:145.25, Y:-0.42, Z:-0.81 [[ 9.99967213e-01 7.95491838e-03 -1.51414144e-03 1.45247831e+02] [-7.95477765e-03 9.99968355e-01 9.89444691e-05 -4.22659795e-01] [ 1.51488062e-03 -8.68965665e-05 9.99998849e-01 -8.14404252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54589822699995 meters Centerline goodness [0,1] 0.9813828120102802 Centerline is valid? [True, True] Translation: X:145.28, Y:-0.42, Z:-0.81 [[ 9.99965020e-01 8.36401276e-03 -3.49865035e-05 1.45277568e+02] [-8.36401269e-03 9.99965021e-01 2.26550360e-06 -4.22053661e-01] [ 3.50042284e-05 -1.97279679e-06 9.99999999e-01 -8.12713951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.575898227 meters Centerline goodness [0,1] 0.9777669964351257 Centerline is valid? [True, True] Translation: X:145.31, Y:-0.42, Z:-0.81 [[ 9.99965761e-01 8.27415043e-03 1.22319094e-04 1.45308636e+02] [-8.27414952e-03 9.99965769e-01 -7.99731154e-06 -4.19392918e-01] [-1.22381078e-04 6.98495125e-06 9.99999992e-01 -8.13695124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60589822699995 meters Centerline goodness [0,1] 0.9972486772486773 Centerline is valid? [True, True] Translation: X:145.34, Y:-0.41, Z:-0.82 [[ 9.99964161e-01 8.37080342e-03 -1.26725586e-03 1.45339301e+02] [-8.37070512e-03 9.99964962e-01 8.28541119e-05 -4.10435289e-01] [ 1.26790501e-03 -7.22433174e-05 9.99999194e-01 -8.15932470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.635898227 meters Centerline goodness [0,1] 0.9966040203336919 Centerline is valid? [True, True] Translation: X:145.37, Y:-0.41, Z:-0.82 [[ 9.99959097e-01 8.71412674e-03 -2.42257712e-03 1.45369002e+02] [-8.71376863e-03 9.99962022e-01 1.58339221e-04 -4.11508489e-01] [ 2.42386490e-03 -1.37222968e-04 9.99997053e-01 -8.18485356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66589822699996 meters Centerline goodness [0,1] 0.990305961518242 Centerline is valid? [True, True] Translation: X:145.40, Y:-0.41, Z:-0.82 [[ 9.99952464e-01 9.46467878e-03 -2.34297692e-03 1.45398137e+02] [-9.46434593e-03 9.99955200e-01 1.53109564e-04 -4.14679195e-01] [ 2.34432108e-03 -1.30927542e-04 9.99997244e-01 -8.19029723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.695898227 meters Centerline goodness [0,1] 0.9970076169749728 Centerline is valid? [True, True] Translation: X:145.43, Y:-0.41, Z:-0.82 [[ 9.99953764e-01 9.55542998e-03 -1.07902786e-03 1.45428230e+02] [-9.55535950e-03 9.99954344e-01 7.04533348e-05 -4.09096876e-01] [ 1.07965180e-03 -6.01395782e-05 9.99999415e-01 -8.16336224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72589822699996 meters Centerline goodness [0,1] 0.983045849918915 Centerline is valid? [True, True] Translation: X:145.46, Y:-0.42, Z:-0.82 [[ 9.99956783e-01 9.28701232e-03 -4.28491447e-04 1.45457615e+02] [-9.28700119e-03 9.99956874e-01 2.79682043e-05 -4.15970734e-01] [ 4.28732709e-04 -2.39875950e-05 9.99999908e-01 -8.15439611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.755898227 meters Centerline goodness [0,1] 0.9786305147058824 Centerline is valid? [True, True] Translation: X:145.49, Y:-0.41, Z:-0.82 [[ 9.99965674e-01 8.28550993e-03 -4.04623119e-05 1.45488489e+02] [-8.28550983e-03 9.99965675e-01 2.64315920e-06 -4.14507315e-01] [ 4.04828229e-05 -2.30781759e-06 9.99999999e-01 -8.15096155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78589822699996 meters Centerline goodness [0,1] 0.9944036889540977 Centerline is valid? [True, True] Translation: X:145.52, Y:-0.41, Z:-0.82 [[ 9.99966811e-01 8.14631536e-03 1.15967948e-04 1.45519758e+02] [-8.14631454e-03 9.99966818e-01 -7.57548774e-06 -4.09260298e-01] [-1.16025812e-04 6.63052495e-06 9.99999993e-01 -8.15308881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.815898227 meters Centerline goodness [0,1] 0.9947067719710972 Centerline is valid? [True, True] Translation: X:145.55, Y:-0.41, Z:-0.82 [[ 9.99964859e-01 8.36259519e-03 -5.89719602e-04 1.45549345e+02] [-8.36257394e-03 9.99965032e-01 3.84937273e-05 -4.07169911e-01] [ 5.90020888e-04 -3.35608008e-05 9.99999825e-01 -8.16808814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84589822699996 meters Centerline goodness [0,1] 0.9963203599739271 Centerline is valid? [True, True] Translation: X:145.58, Y:-0.41, Z:-0.82 [[ 9.99962528e-01 8.53198432e-03 -1.46562762e-03 1.45579586e+02] [-8.53185315e-03 9.99963598e-01 9.57241335e-05 -4.06111616e-01] [ 1.46639099e-03 -8.32160269e-05 9.99998921e-01 -8.18426048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.875898227 meters Centerline goodness [0,1] 0.9974160206718347 Centerline is valid? [True, True] Translation: X:145.61, Y:-0.41, Z:-0.82 [[ 9.99953645e-01 9.23258951e-03 -2.73275535e-03 1.45609610e+02] [-9.23213640e-03 9.99957367e-01 1.78377353e-04 -4.06194953e-01] [ 2.73428573e-03 -1.53139915e-04 9.99996250e-01 -8.21769172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90589822699997 meters Centerline goodness [0,1] 0.999069806773498 Centerline is valid? [True, True] Translation: X:145.64, Y:-0.40, Z:-0.82 [[ 9.99945819e-01 9.76454344e-03 -3.60728927e-03 1.45639575e+02] [-9.76375761e-03 9.99952306e-01 2.35391251e-04 -4.01659966e-01] [ 3.60941571e-03 -2.00157800e-04 9.99993466e-01 -8.22882890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.935898227 meters Centerline goodness [0,1] 0.9957064297800339 Centerline is valid? [True, True] Translation: X:145.67, Y:-0.41, Z:-0.83 [[ 9.99946493e-01 9.35978165e-03 -4.40522558e-03 1.45668354e+02] [-9.35860653e-03 9.99956166e-01 2.87295295e-04 -4.06693636e-01] [ 4.40772150e-03 -2.46053150e-04 9.99990256e-01 -8.25458500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96589822699997 meters Centerline goodness [0,1] 0.9920566721857774 Centerline is valid? [True, True] Translation: X:145.70, Y:-0.41, Z:-0.83 [[ 9.99956624e-01 8.12148926e-03 -4.55971142e-03 1.45697341e+02] [-8.12021810e-03 9.99966986e-01 2.97224452e-04 -4.09297441e-01] [ 4.56197479e-03 -2.60185709e-04 9.99989560e-01 -8.26120866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99589822699994 meters Centerline goodness [0,1] 0.9920566721857774 Centerline is valid? [True, True] Translation: X:145.73, Y:-0.41, Z:-0.83 [[ 9.99956981e-01 8.07749868e-03 -4.55972592e-03 1.45725661e+02] [-8.07622808e-03 9.99967343e-01 2.97001928e-04 -4.11057817e-01] [ 4.56197605e-03 -2.60163765e-04 9.99989560e-01 -8.26177634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.02589822699997 meters Centerline goodness [0,1] 0.9960821888640476 Centerline is valid? [True, True] Translation: X:145.76, Y:-0.41, Z:-0.83 [[ 9.99969702e-01 6.29320237e-03 -4.58152596e-03 1.45756065e+02] [-6.29190086e-03 9.99980161e-01 2.98435527e-04 -4.08865004e-01] [ 4.58331319e-03 -2.69599978e-04 9.99989460e-01 -8.25294292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05589822699994 meters Centerline goodness [0,1] 0.9882064088305038 Centerline is valid? [True, True] Translation: X:145.79, Y:-0.41, Z:-0.82 [[ 9.99991575e-01 3.20965928e-03 -2.55891500e-03 1.45785279e+02] [-3.20924316e-03 9.99994836e-01 1.66703868e-04 -4.14565821e-01] [ 2.55943685e-03 -1.58490283e-04 9.99996712e-01 -8.22332517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.085898227 meters Centerline goodness [0,1] 0.9755349110933624 Centerline is valid? [True, True] Translation: X:145.82, Y:-0.42, Z:-0.82 [[ 9.99997481e-01 1.84688288e-03 -1.27588115e-03 1.45815310e+02] [-1.84677837e-03 9.99998291e-01 8.30809532e-05 -4.16899026e-01] [ 1.27603241e-03 -8.07244742e-05 9.99999183e-01 -8.19937485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11589822699995 meters Centerline goodness [0,1] 0.9519534707295486 Centerline is valid? [True, True] Translation: X:145.85, Y:-0.42, Z:-0.82 [[ 9.99999594e-01 8.81644415e-04 -1.88288265e-04 1.45846020e+02] [-8.81642121e-04 9.99999611e-01 1.22639760e-05 -4.19450505e-01] [ 1.88299005e-04 -1.20979681e-05 9.99999982e-01 -8.17682961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.145898227 meters Centerline goodness [0,1] 0.9236555967633175 Centerline is valid? [True, False] Translation: X:145.85, Y:-0.42, Z:-0.82 [[ 9.99999805e-01 6.05924685e-04 -1.48171713e-04 1.45845679e+02] [-6.06004808e-04 9.99999670e-01 -5.41300303e-04 -4.16891663e-01] [ 1.47843676e-04 5.41389991e-04 9.99999843e-01 -8.17301088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17589822699995 meters Centerline goodness [0,1] 0.8781473032085225 Centerline is valid? [False, False] Translation: X:145.85, Y:-0.41, Z:-0.82 [[ 9.99999989e-01 6.37303924e-05 -1.32178481e-04 1.45845639e+02] [-6.39375915e-05 9.99998768e-01 -1.56815914e-03 -4.12149551e-01] [ 1.32078379e-04 1.56816757e-03 9.99998762e-01 -8.17228108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.205898227 meters Centerline goodness [0,1] 0.8295603914122973 Centerline is valid? [False, False] Translation: X:145.85, Y:-0.41, Z:-0.82 [[ 9.99999972e-01 -1.89710870e-04 -1.43290842e-04 1.45845587e+02] [ 1.89422270e-04 9.99997959e-01 -2.01142083e-03 -4.10151651e-01] [ 1.43672138e-04 2.01139363e-03 9.99997967e-01 -8.17044379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23589822699995 meters Centerline goodness [0,1] 0.8074758504829903 Centerline is valid? [False, False] Translation: X:145.85, Y:-0.41, Z:-0.82 [[ 9.99999909e-01 -4.16358967e-04 -9.39683888e-05 1.45845322e+02] [ 4.16131020e-04 9.99997002e-01 -2.41289693e-03 -4.08358301e-01] [ 9.49727383e-05 2.41285760e-03 9.99997085e-01 -8.16831264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.265898227 meters Centerline goodness [0,1] 0.8699782729093001 Centerline is valid? [False, False] Translation: X:145.80, Y:-0.40, Z:-0.82 [[ 9.99998701e-01 -1.61164502e-03 -3.63386337e-06 1.45801353e+02] [ 1.61160593e-03 9.99985871e-01 -5.06571270e-03 -4.01323700e-01] [ 1.17979427e-05 5.06570026e-03 9.99987169e-01 -8.17159589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29589822699995 meters Centerline goodness [0,1] 0.6421246494495836 Centerline is valid? [False, False] Translation: X:145.84, Y:-0.41, Z:-0.82 [[ 9.99999199e-01 -1.09013242e-03 6.43231311e-04 1.45843369e+02] [ 1.09114327e-03 9.99998167e-01 -1.57327386e-03 -4.05809112e-01] [-6.41515055e-04 1.57397446e-03 9.99998556e-01 -8.18106499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.325898227 meters Centerline goodness [0,1] 0.5824329107072221 Centerline is valid? [False, False] Translation: X:145.84, Y:-0.40, Z:-0.82 [[ 9.99998726e-01 -1.51823665e-03 4.93853852e-04 1.45844450e+02] [ 1.51928296e-03 9.99996588e-01 -2.12524456e-03 -4.03494654e-01] [-4.90625543e-04 2.12599215e-03 9.99997620e-01 -8.19021180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35589822699995 meters Centerline goodness [0,1] 0.7404780943562981 Centerline is valid? [False, False] Translation: X:145.80, Y:-0.40, Z:-0.82 [[ 9.99999582e-01 -7.10130127e-04 -5.76734532e-04 1.45802969e+02] [ 7.08440463e-04 9.99995472e-01 -2.92464881e-03 -3.98274404e-01] [ 5.78808802e-04 2.92423900e-03 9.99995557e-01 -8.20313066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.385898227 meters Centerline goodness [0,1] 0.6117814946171118 Centerline is valid? [False, False] Translation: X:145.80, Y:-0.40, Z:-0.82 [[ 9.99999269e-01 -9.42311285e-04 -7.57257998e-04 1.45803793e+02] [ 9.39675833e-04 9.99993527e-01 -3.47310835e-03 -3.95551431e-01] [ 7.60525845e-04 3.47239423e-03 9.99993682e-01 -8.20616471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41589822699996 meters Centerline goodness [0,1] 0.6227640232918604 Centerline is valid? [False, False] Translation: X:145.81, Y:-0.39, Z:-0.82 [[ 9.99998574e-01 4.85577887e-04 -1.61740150e-03 1.45810110e+02] [-4.89254014e-04 9.99997297e-01 -2.27324036e-03 -3.92897456e-01] [ 1.61629329e-03 2.27402844e-03 9.99996108e-01 -8.24801388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.445898227 meters Centerline goodness [0,1] 0.8618739050594171 Centerline is valid? [False, False] Translation: X:145.81, Y:-0.39, Z:-0.82 [[ 9.99995577e-01 2.82030557e-03 -9.44450294e-04 1.45805568e+02] [-2.82015069e-03 9.99996010e-01 1.65283806e-04 -3.92262699e-01] [ 9.44912676e-04 -1.62619583e-04 9.99999540e-01 -8.22276143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47589822699996 meters Centerline goodness [0,1] 0.5312298105579059 Centerline is valid? [False, False] Translation: X:145.85, Y:-0.39, Z:-0.82 [[ 9.99995120e-01 2.35889042e-03 -2.04808770e-03 1.45849365e+02] [-2.35813163e-03 9.99997150e-01 3.72822532e-04 -3.93043913e-01] [ 2.04896131e-03 -3.67991053e-04 9.99997833e-01 -8.21215572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.505898227 meters Centerline goodness [0,1] 0.7237110797667418 Centerline is valid? [False, False] Translation: X:145.84, Y:-0.39, Z:-0.82 [[ 9.99986192e-01 5.10859797e-03 -1.23210080e-03 1.45844908e+02] [-5.10439333e-03 9.99981220e-01 3.39191420e-03 -3.92667746e-01] [ 1.24940559e-03 -3.38557824e-03 9.99993488e-01 -8.19128245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53589822699996 meters Centerline goodness [0,1] 0.710390181582089 Centerline is valid? [False, False] Translation: X:145.85, Y:-0.39, Z:-0.82 [[ 9.99987447e-01 4.83385755e-03 -1.31881842e-03 1.45845166e+02] [-4.83057167e-03 9.99985249e-01 2.48345128e-03 -3.87995398e-01] [ 1.33080361e-03 -2.47704945e-03 9.99996047e-01 -8.18996300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.565898227 meters Centerline goodness [0,1] 0.9105246422893482 Centerline is valid? [False, False] Translation: X:145.84, Y:-0.39, Z:-0.82 [[ 9.99971320e-01 7.56128749e-03 -4.30705367e-04 1.45840353e+02] [-7.55887815e-03 9.99957147e-01 5.34494956e-03 -3.86731933e-01] [ 4.71101611e-04 -5.34154062e-03 9.99985623e-01 -8.16617048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59589822699996 meters Centerline goodness [0,1] 0.9371078452014991 Centerline is valid? [False, False] Translation: X:145.84, Y:-0.38, Z:-0.82 [[ 9.99973092e-01 7.32265447e-03 -4.41063002e-04 1.45840122e+02] [-7.32053338e-03 9.99962474e-01 4.63263799e-03 -3.83218794e-01] [ 4.74969657e-04 -4.62928452e-03 9.99989172e-01 -8.16089568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.625898227 meters Centerline goodness [0,1] 0.9597814982382253 Centerline is valid? [False, True] Translation: X:145.87, Y:-0.38, Z:-0.81 [[ 9.99957980e-01 8.38689902e-03 3.70102717e-03 1.45872741e+02] [-8.40932278e-03 9.99946124e-01 6.08540622e-03 -3.79837722e-01] [-3.64979009e-03 -6.11627364e-03 9.99974635e-01 -8.10895585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65589822699997 meters Centerline goodness [0,1] 0.9546989366833749 Centerline is valid? [True, True] Translation: X:145.90, Y:-0.38, Z:-0.81 [[ 9.99954680e-01 8.36032399e-03 4.55441725e-03 1.45904808e+02] [-8.35877954e-03 9.99965001e-01 -3.58039652e-04 -3.76249147e-01] [-4.55725118e-03 3.19954056e-04 9.99989564e-01 -8.08083189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.685898227 meters Centerline goodness [0,1] 0.9169989353485168 Centerline is valid? [True, False] Translation: X:145.90, Y:-0.37, Z:-0.81 [[ 9.99956493e-01 8.09007072e-03 4.64358060e-03 1.45904295e+02] [-8.08612991e-03 9.99966931e-01 -8.66805805e-04 -3.74020432e-01] [-4.65043956e-03 8.29219497e-04 9.99988843e-01 -8.07679630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71589822699997 meters Centerline goodness [0,1] 0.7513578124017027 Centerline is valid? [False, False] Translation: X:145.90, Y:-0.37, Z:-0.81 [[ 9.99957770e-01 7.91578181e-03 4.66879506e-03 1.45904128e+02] [-7.91120923e-03 9.99968209e-01 -9.97049233e-04 -3.73732184e-01] [-4.67653906e-03 9.60071313e-04 9.99988604e-01 -8.07563502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74589822699994 meters Centerline goodness [0,1] 0.6078923691754022 Centerline is valid? [False, False] Translation: X:145.91, Y:-0.37, Z:-0.81 [[ 9.99985170e-01 3.24850482e-03 4.37115214e-03 1.45905384e+02] [-3.22342577e-03 9.99978375e-01 -5.73226553e-03 -3.72194412e-01] [-4.38967891e-03 5.71809043e-03 9.99974017e-01 -8.08132984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77589822699997 meters Centerline goodness [0,1] 0.6147181606494787 Centerline is valid? [False, False] Translation: X:145.91, Y:-0.37, Z:-0.81 [[ 9.99985737e-01 3.10226760e-03 4.34769187e-03 1.45905770e+02] [-3.07814377e-03 9.99979892e-01 -5.54440388e-03 -3.73596347e-01] [-4.36480467e-03 5.53094198e-03 9.99975178e-01 -8.08689886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80589822699994 meters Centerline goodness [0,1] 0.5955680412587265 Centerline is valid? [False, False] Translation: X:145.91, Y:-0.37, Z:-0.81 [[ 9.99986489e-01 3.00374772e-03 4.24267691e-03 1.45906214e+02] [-2.98094335e-03 9.99981132e-01 -5.37113204e-03 -3.74812454e-01] [-4.25873039e-03 5.35841229e-03 9.99976575e-01 -8.08950956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.835898227 meters Centerline goodness [0,1] 0.5424758049212475 Centerline is valid? [False, False] Translation: X:145.89, Y:-0.38, Z:-0.81 [[ 9.99988738e-01 -1.08142126e-03 4.62112680e-03 1.45887891e+02] [ 1.07707114e-03 9.99998975e-01 9.43739960e-04 -3.75373976e-01] [-4.62214264e-03 -9.38752049e-04 9.99988877e-01 -8.13101084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86589822699995 meters Centerline goodness [0,1] 0.5045963102137868 Centerline is valid? [False, False] Translation: X:145.89, Y:-0.38, Z:-0.81 [[ 9.99988648e-01 -1.01926364e-03 4.65465909e-03 1.45887866e+02] [ 1.01376317e-03 9.99998785e-01 1.18392116e-03 -3.76691539e-01] [-4.65586016e-03 -1.17918900e-03 9.99988466e-01 -8.13254813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.895898227 meters Centerline goodness [0,1] 0.47667411184626407 Centerline is valid? [False, False] Translation: X:145.89, Y:-0.38, Z:-0.81 [[ 9.99989975e-01 -8.59591554e-04 4.39438619e-03 1.45889046e+02] [ 8.52691494e-04 9.99998401e-01 1.57183111e-03 -3.78571278e-01] [-4.39573030e-03 -1.56806830e-03 9.99989109e-01 -8.13881861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92589822699995 meters Centerline goodness [0,1] 0.6205207961160968 Centerline is valid? [False, False] Translation: X:145.89, Y:-0.38, Z:-0.81 [[ 9.99990995e-01 -7.63338669e-04 4.17452596e-03 1.45889980e+02] [ 7.56409172e-04 9.99998334e-01 1.66127523e-03 -3.78847951e-01] [-4.17578712e-03 -1.65810262e-03 9.99989907e-01 -8.14252833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.955898227 meters Centerline goodness [0,1] 0.5671893086393771 Centerline is valid? [False, False] Translation: X:145.89, Y:-0.38, Z:-0.81 [[ 9.99991784e-01 -7.18678395e-04 3.98934763e-03 1.45890536e+02] [ 7.12237208e-04 9.99998441e-01 1.61578248e-03 -3.78492959e-01] [-3.99050264e-03 -1.61292784e-03 9.99990737e-01 -8.14204025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98589822699995 meters Centerline goodness [0,1] 0.521267252195734 Centerline is valid? [False, False] Translation: X:145.90, Y:-0.38, Z:-0.82 [[ 9.99995128e-01 8.53394660e-04 3.00250860e-03 1.45895490e+02] [-8.62486869e-04 9.99995043e-01 3.02821361e-03 -3.80633228e-01] [-2.99990946e-03 -3.03078848e-03 9.99990907e-01 -8.16486108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.015898227 meters Centerline goodness [0,1] 0.7362058471677125 Centerline is valid? [False, False] Translation: X:145.90, Y:-0.38, Z:-0.82 [[ 9.99995793e-01 9.57651909e-04 2.73787945e-03 1.45896462e+02] [-9.65984807e-04 9.99994901e-01 3.04385841e-03 -3.80490432e-01] [-2.73495053e-03 -3.04649036e-03 9.99991619e-01 -8.16697785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04589822699995 meters Centerline goodness [0,1] 0.6749085217538442 Centerline is valid? [False, False] Translation: X:145.90, Y:-0.38, Z:-0.82 [[ 9.99996096e-01 1.03771829e-03 2.59454345e-03 1.45897081e+02] [-1.04562242e-03 9.99994811e-01 3.04694520e-03 -3.80308576e-01] [-2.59136812e-03 -3.04964621e-03 9.99991992e-01 -8.16991033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.075898227 meters Centerline goodness [0,1] 0.8984337120812868 Centerline is valid? [False, False] Translation: X:145.90, Y:-0.38, Z:-0.82 [[ 9.99996189e-01 1.43552151e-03 2.35834340e-03 1.45897667e+02] [-1.44275205e-03 9.99994256e-01 3.06710221e-03 -3.79407095e-01] [-2.35392696e-03 -3.07049303e-03 9.99992516e-01 -8.16686446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10589822699995 meters Centerline goodness [0,1] 0.9527451515979241 Centerline is valid? [False, True] Translation: X:145.90, Y:-0.38, Z:-0.82 [[ 9.99996336e-01 1.55127888e-03 2.21859838e-03 1.45898104e+02] [-1.55798949e-03 9.99994207e-01 3.02618213e-03 -3.78931968e-01] [-2.21389107e-03 -3.02962759e-03 9.99992960e-01 -8.16663123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.135898227 meters Centerline goodness [0,1] 0.9127484449284772 Centerline is valid? [True, False] Translation: X:145.90, Y:-0.38, Z:-0.82 [[ 9.99996475e-01 1.65645632e-03 2.07507908e-03 1.45898647e+02] [-1.66262748e-03 9.99994190e-01 2.97574869e-03 -3.78371913e-01] [-2.07013783e-03 -2.97918829e-03 9.99993419e-01 -8.16825467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16589822699996 meters Centerline goodness [0,1] 0.9906351098246211 Centerline is valid? [False, True] Translation: X:145.86, Y:-0.37, Z:-0.82 [[ 9.99998657e-01 1.54834115e-03 5.36824319e-04 1.45857895e+02] [-1.54833351e-03 9.99998801e-01 -1.46518909e-05 -3.73196791e-01] [-5.36846362e-04 1.38206882e-05 9.99999856e-01 -8.17072614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.195898227 meters Centerline goodness [0,1] 0.9883144550612752 Centerline is valid? [True, True] Translation: X:145.89, Y:-0.38, Z:-0.82 [[ 9.99995239e-01 3.07309354e-03 2.79532985e-04 1.45887459e+02] [-3.07308837e-03 9.99995278e-01 -1.89258128e-05 -3.77118927e-01] [-2.79589825e-04 1.80666931e-05 9.99999961e-01 -8.17928578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22589822699996 meters Centerline goodness [0,1] 0.9948501477416631 Centerline is valid? [True, True] Translation: X:145.92, Y:-0.38, Z:-0.82 [[ 9.99990936e-01 4.21760072e-03 5.83508570e-04 1.45918089e+02] [-4.21757838e-03 9.99991105e-01 -3.95065147e-05 -3.78577435e-01] [-5.83670003e-04 3.70451635e-05 9.99999829e-01 -8.16729893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.255898227 meters Centerline goodness [0,1] 0.99145693835142 Centerline is valid? [True, True] Translation: X:145.95, Y:-0.39, Z:-0.82 [[ 9.99990431e-01 4.22461562e-03 1.13576310e-03 1.45947705e+02] [-4.22453099e-03 9.99991074e-01 -7.68969711e-05 -3.85194290e-01] [-1.13607782e-03 7.20981689e-05 9.99999352e-01 -8.16486028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28589822699996 meters Centerline goodness [0,1] 0.9913487923919646 Centerline is valid? [True, True] Translation: X:145.98, Y:-0.39, Z:-0.81 [[ 9.99982565e-01 5.01312302e-03 3.12063699e-03 1.45977692e+02] [-5.01248862e-03 9.99987415e-01 -2.11081678e-04 -3.92719047e-01] [-3.12165590e-03 1.95435840e-04 9.99995109e-01 -8.13331057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.315898227 meters Centerline goodness [0,1] 0.9880727394901516 Centerline is valid? [True, True] Translation: X:146.01, Y:-0.40, Z:-0.81 [[ 9.99974871e-01 5.92050730e-03 3.89930982e-03 1.46008046e+02] [-5.91952188e-03 9.99982445e-01 -2.64209611e-04 -3.98340156e-01] [-3.90080562e-03 2.41120922e-04 9.99992363e-01 -8.11782271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34589822699996 meters Centerline goodness [0,1] 0.9929902619207522 Centerline is valid? [True, True] Translation: X:146.04, Y:-0.40, Z:-0.81 [[ 9.99964590e-01 7.39239984e-03 4.02136468e-03 1.46039483e+02] [-7.39136323e-03 9.99972646e-01 -2.72574884e-04 -4.00045723e-01] [-4.02326966e-03 2.42841865e-04 9.99991877e-01 -8.11446139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.375898227 meters Centerline goodness [0,1] 0.9218393212527496 Centerline is valid? [True, False] Translation: X:146.04, Y:-0.40, Z:-0.81 [[ 9.99965204e-01 7.44758830e-03 3.75832492e-03 1.46040378e+02] [-7.44654891e-03 9.99972232e-01 -2.90474857e-04 -3.99823266e-01] [-3.76038389e-03 2.62478199e-04 9.99992895e-01 -8.11478250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40589822699997 meters Centerline goodness [0,1] 0.9984972908906197 Centerline is valid? [False, True] Translation: X:146.04, Y:-0.40, Z:-0.81 [[ 9.99922372e-01 1.18962981e-02 3.70523236e-03 1.46041088e+02] [-1.19131802e-02 9.99918601e-01 4.56804606e-03 -4.02657357e-01] [-3.65058792e-03 -4.61183255e-03 9.99982702e-01 -8.12209520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.435898227 meters Centerline goodness [0,1] 0.9983729186036683 Centerline is valid? [True, True] Translation: X:146.07, Y:-0.40, Z:-0.81 [[ 9.99908955e-01 1.30366948e-02 3.48228079e-03 1.46071406e+02] [-1.30359563e-02 9.99915001e-01 -2.34671200e-04 -4.03091272e-01] [-3.48504413e-03 1.89254974e-04 9.99993909e-01 -8.11915772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46589822699997 meters Centerline goodness [0,1] 0.9981119013153754 Centerline is valid? [True, True] Translation: X:146.10, Y:-0.40, Z:-0.81 [[ 9.99895652e-01 1.38040380e-02 4.25838203e-03 1.46101445e+02] [-1.38029403e-02 9.99904694e-01 -2.87041142e-04 -4.04472948e-01] [-4.26193851e-03 2.28232997e-04 9.99990892e-01 -8.10612605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49589822699994 meters Centerline goodness [0,1] 0.999095669730173 Centerline is valid? [True, True] Translation: X:146.13, Y:-0.40, Z:-0.81 [[ 9.99882157e-01 1.39128143e-02 6.48888189e-03 1.46133256e+02] [-1.39102673e-02 9.99903152e-01 -4.37491437e-04 -4.01324268e-01] [-6.49434019e-03 3.47177800e-04 9.99978851e-01 -8.08199787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.52589822699997 meters Centerline goodness [0,1] 0.9979531978645735 Centerline is valid? [True, True] Translation: X:146.16, Y:-0.41, Z:-0.81 [[ 9.99886766e-01 1.34796909e-02 6.68978616e-03 1.46164198e+02] [-1.34769735e-02 9.99909080e-01 -4.51113302e-04 -4.05393783e-01] [-6.69525879e-03 3.60904150e-04 9.99977521e-01 -8.07817382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55589822699994 meters Centerline goodness [0,1] 0.9945247847529883 Centerline is valid? [True, True] Translation: X:146.19, Y:-0.41, Z:-0.81 [[ 9.99914953e-01 1.15411687e-02 6.07356991e-03 1.46194592e+02] [-1.15388896e-02 9.99933341e-01 -4.10157282e-04 -4.07222374e-01] [-6.07789874e-03 3.40040146e-04 9.99981472e-01 -8.08824346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.585898227 meters Centerline goodness [0,1] 0.9986236395206031 Centerline is valid? [True, True] Translation: X:146.23, Y:-0.40, Z:-0.81 [[ 9.99931589e-01 1.03658381e-02 5.41919649e-03 1.46226779e+02] [-1.03640081e-02 9.99946225e-01 -3.65669611e-04 -4.01391181e-01] [-5.42269554e-03 3.09479999e-04 9.99985249e-01 -8.09081069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61589822699995 meters Centerline goodness [0,1] 0.9991503642813144 Centerline is valid? [True, True] Translation: X:146.26, Y:-0.40, Z:-0.81 [[ 9.99942380e-01 9.15296361e-03 5.60899227e-03 1.46258431e+02] [-9.15097757e-03 9.99958057e-01 -3.79643758e-04 -3.98747470e-01] [-5.61223188e-03 3.28294120e-04 9.99984197e-01 -8.08725294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.645898227 meters Centerline goodness [0,1] 0.907661096354548 Centerline is valid? [True, False] Translation: X:146.30, Y:-0.40, Z:-0.81 [[ 9.99959164e-01 6.75396169e-03 6.00452917e-03 1.46300434e+02] [-6.74264515e-03 9.99975458e-01 -1.90291683e-03 -3.98498910e-01] [-6.01723403e-03 1.86235272e-03 9.99980162e-01 -8.07682354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67589822699995 meters Centerline goodness [0,1] 0.9755382636384724 Centerline is valid? [False, True] Translation: X:146.30, Y:-0.40, Z:-0.81 [[ 9.99961073e-01 6.18013315e-03 6.29746427e-03 1.46299353e+02] [-6.16405498e-03 9.99977701e-01 -2.56933635e-03 -3.96179346e-01] [-6.31320268e-03 2.53041842e-03 9.99976870e-01 -8.07362193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.705898227 meters Centerline goodness [0,1] 0.980238479431673 Centerline is valid? [True, True] Translation: X:146.33, Y:-0.40, Z:-0.81 [[ 9.99967876e-01 4.73863763e-03 6.46465646e-03 1.46330787e+02] [-4.73578839e-03 9.99988682e-01 -4.55978026e-04 -3.96232754e-01] [-6.46674401e-03 4.25348133e-04 9.99979000e-01 -8.07338009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73589822699995 meters Centerline goodness [0,1] 0.9739333994137124 Centerline is valid? [True, True] Translation: X:146.36, Y:-0.40, Z:-0.81 [[ 9.99977427e-01 3.24657434e-03 5.88255896e-03 1.46361722e+02] [-3.24418865e-03 9.99994651e-01 -4.15049651e-04 -3.97530576e-01] [-5.88387499e-03 3.95956151e-04 9.99982611e-01 -8.08033337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.765898227 meters Centerline goodness [0,1] 0.9297648319778072 Centerline is valid? [True, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99986619e-01 1.64495250e-03 4.90476420e-03 1.46367443e+02] [-1.63444976e-03 9.99996365e-01 -2.14457298e-03 -3.93813691e-01] [-4.90827409e-03 2.13652769e-03 9.99985672e-01 -8.11421327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79589822699995 meters Centerline goodness [0,1] 0.9227100840336134 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99987895e-01 1.52490412e-03 4.67801853e-03 1.46368601e+02] [-1.51428117e-03 9.99996269e-01 -2.27352507e-03 -3.93330346e-01] [-4.68146798e-03 2.26641371e-03 9.99986474e-01 -8.12117272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.825898227 meters Centerline goodness [0,1] 0.7208367531620262 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99988498e-01 1.45642049e-03 4.56981640e-03 1.46369224e+02] [-1.44596664e-03 9.99996332e-01 -2.29005734e-03 -3.93345302e-01] [-4.57313492e-03 2.28342320e-03 9.99986936e-01 -8.12614497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85589822699995 meters Centerline goodness [0,1] 0.8457385349047288 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.40, Z:-0.81 [[ 9.99988609e-01 1.33362406e-03 4.58286604e-03 1.46369355e+02] [-1.32430854e-03 9.99997052e-01 -2.03511658e-03 -3.95187146e-01] [-4.58556661e-03 2.02902427e-03 9.99987428e-01 -8.12981002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.885898227 meters Centerline goodness [0,1] 0.8457385349047288 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.40, Z:-0.81 [[ 9.99988609e-01 1.33362406e-03 4.58286604e-03 1.46369355e+02] [-1.32430854e-03 9.99997052e-01 -2.03511658e-03 -3.95187146e-01] [-4.58556661e-03 2.02902427e-03 9.99987428e-01 -8.12981002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91589822699996 meters Centerline goodness [0,1] 0.8159131931326868 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.40, Z:-0.81 [[ 9.99988524e-01 1.40079039e-03 4.58145871e-03 1.46369526e+02] [-1.39274246e-03 9.99997482e-01 -1.75935003e-03 -3.96671197e-01] [-4.58391166e-03 1.75294905e-03 9.99987957e-01 -8.13286222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.945898227 meters Centerline goodness [0,1] 0.80116481260344 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.40, Z:-0.81 [[ 9.99988929e-01 1.46045828e-03 4.47312127e-03 1.46370169e+02] [-1.45361585e-03 9.99997769e-01 -1.53254748e-03 -3.97866435e-01] [-4.47534951e-03 1.52602831e-03 9.99988821e-01 -8.13761117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97589822699996 meters Centerline goodness [0,1] 0.77667467644703 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.40, Z:-0.81 [[ 9.99989940e-01 1.60525931e-03 4.18832372e-03 1.46371576e+02] [-1.59979327e-03 9.99997865e-01 -1.30809049e-03 -3.98783030e-01] [-4.19041460e-03 1.30137688e-03 9.99990373e-01 -8.14585206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.005898227 meters Centerline goodness [0,1] 0.6991343352407302 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.40, Z:-0.81 [[ 9.99990373e-01 1.67693508e-03 4.05477635e-03 1.46371947e+02] [-1.67193662e-03 9.99997839e-01 -1.23580728e-03 -3.99036897e-01] [-4.05683995e-03 1.22901605e-03 9.99991016e-01 -8.14475188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03589822699996 meters Centerline goodness [0,1] 0.8363044619422573 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.40, Z:-0.81 [[ 9.99990490e-01 1.68887079e-03 4.02090493e-03 1.46371653e+02] [-1.68295905e-03 9.99997499e-01 -1.47318165e-03 -3.97614721e-01] [-4.02338289e-03 1.46640062e-03 9.99990831e-01 -8.13814446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.065898227 meters Centerline goodness [0,1] 0.8343329279033679 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.40, Z:-0.81 [[ 9.99990939e-01 1.55912415e-03 3.96107469e-03 1.46371600e+02] [-1.55141375e-03 9.99996898e-01 -1.94887032e-03 -3.95147380e-01] [-3.96410093e-03 1.94270739e-03 9.99990256e-01 -8.13383175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09589822699996 meters Centerline goodness [0,1] 0.8042947882051066 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99990864e-01 1.39137122e-03 4.04184270e-03 1.46371009e+02] [-1.38150260e-03 9.99996061e-01 -2.44337949e-03 -3.92633841e-01] [-4.04522642e-03 2.43777335e-03 9.99988847e-01 -8.12827060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.125898227 meters Centerline goodness [0,1] 0.8527989233292678 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99991021e-01 1.24461084e-03 4.05074654e-03 1.46370854e+02] [-1.23348868e-03 9.99995466e-01 -2.74704913e-03 -3.91172015e-01] [-4.05414719e-03 2.74202791e-03 9.99988023e-01 -8.12632569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15589822699997 meters Centerline goodness [0,1] 0.7976530893224036 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99990834e-01 1.14325227e-03 4.12608641e-03 1.46370917e+02] [-1.13200290e-03 9.99995639e-01 -2.72770739e-03 -3.91560681e-01] [-4.12918687e-03 2.72301165e-03 9.99987767e-01 -8.13153552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.185898227 meters Centerline goodness [0,1] 0.7079541125174618 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99991226e-01 1.04232425e-03 4.05739842e-03 1.46371133e+02] [-1.03071663e-03 9.99995374e-01 -2.86189315e-03 -3.91017398e-01] [-4.06036267e-03 2.85768601e-03 9.99987673e-01 -8.13128353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21589822699997 meters Centerline goodness [0,1] 0.6113803738906024 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99991415e-01 9.44351561e-04 4.03473075e-03 1.46371296e+02] [-9.32033827e-04 9.99994903e-01 -3.05371612e-03 -3.90058732e-01] [-4.03759397e-03 3.04992939e-03 9.99987198e-01 -8.13234039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24589822699994 meters Centerline goodness [0,1] 0.8353398466225443 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99991349e-01 8.54653983e-04 4.07070375e-03 1.46371033e+02] [-8.41454605e-04 9.99994387e-01 -3.24313944e-03 -3.89174943e-01] [-4.07345266e-03 3.23968608e-03 9.99986456e-01 -8.12975110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27589822699997 meters Centerline goodness [0,1] 0.7382347382347383 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99991432e-01 6.92601784e-04 4.08126766e-03 1.46370831e+02] [-6.77501454e-04 9.99992925e-01 -3.70013330e-03 -3.86821171e-01] [-4.08380150e-03 3.69733653e-03 9.99984826e-01 -8.12612005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30589822699994 meters Centerline goodness [0,1] 0.6808371208117535 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99991846e-01 6.16551702e-04 3.99093976e-03 1.46371288e+02] [-6.01145566e-04 9.99992368e-01 -3.86032695e-03 -3.86039261e-01] [-3.99328939e-03 3.85789633e-03 9.99984585e-01 -8.12877675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.335898227 meters Centerline goodness [0,1] 0.8173999408309032 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99992410e-01 6.08024970e-04 3.84841776e-03 1.46372073e+02] [-5.93181146e-04 9.99992385e-01 -3.85709065e-03 -3.86019186e-01] [-3.85073367e-03 3.85477857e-03 9.99985156e-01 -8.13417272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36589822699995 meters Centerline goodness [0,1] 0.8167642986473533 Centerline is valid? [False, False] Translation: X:146.37, Y:-0.39, Z:-0.81 [[ 9.99981147e-01 4.71023453e-03 3.93948818e-03 1.46372210e+02] [-4.71441057e-03 9.99988334e-01 1.05143320e-03 -3.90103544e-01] [-3.93448972e-03 -1.06998574e-03 9.99991687e-01 -8.14177922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.395898227 meters Centerline goodness [0,1] 0.6511549909864587 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.39, Z:-0.81 [[ 9.99981780e-01 3.67663941e-03 4.78759326e-03 1.46413290e+02] [-3.68228330e-03 9.99992535e-01 1.17057722e-03 -3.92696179e-01] [-4.78325373e-03 -1.18818517e-03 9.99987854e-01 -8.12789195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42589822699995 meters Centerline goodness [0,1] 0.8949562142135399 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.39, Z:-0.81 [[ 9.99981742e-01 3.75495348e-03 4.73447038e-03 1.46413298e+02] [-3.75999794e-03 9.99992373e-01 1.05702493e-03 -3.91835274e-01] [-4.73046519e-03 -1.07480723e-03 9.99988234e-01 -8.12494839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.455898227 meters Centerline goodness [0,1] 0.6413554343264792 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.39, Z:-0.81 [[ 9.99982433e-01 3.74027822e-03 4.59828445e-03 1.46414043e+02] [-3.74439792e-03 9.99992596e-01 8.87638799e-04 -3.90877699e-01] [-4.59493039e-03 -9.04841012e-04 9.99989034e-01 -8.12964411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48589822699995 meters Centerline goodness [0,1] 0.8845096434342798 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.39, Z:-0.81 [[ 9.99983553e-01 3.67912082e-03 4.39982031e-03 1.46415006e+02] [-3.68204929e-03 9.99993005e-01 6.57672121e-04 -3.89693706e-01] [-4.39736988e-03 -6.73861659e-04 9.99990104e-01 -8.13491385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.515898227 meters Centerline goodness [0,1] 0.9371623482553336 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.39, Z:-0.81 [[ 9.99957849e-01 8.02872410e-03 4.45409905e-03 1.46415314e+02] [-8.05255435e-03 9.99953221e-01 5.35830035e-03 -3.91897262e-01] [-4.41087038e-03 -5.39394137e-03 9.99975725e-01 -8.14198891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54589822699995 meters Centerline goodness [0,1] 0.8873753598397931 Centerline is valid? [False, False] Translation: X:146.46, Y:-0.39, Z:-0.81 [[ 9.99973014e-01 6.25122248e-03 3.85928719e-03 1.46458782e+02] [-6.26502474e-03 9.99973985e-01 3.57470588e-03 -3.91784298e-01] [-3.83684051e-03 -3.59878794e-03 9.99986164e-01 -8.13241999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.575898227 meters Centerline goodness [0,1] 0.9734835648932565 Centerline is valid? [False, True] Translation: X:146.42, Y:-0.38, Z:-0.81 [[ 9.99985346e-01 5.04336131e-03 1.96773084e-03 1.46418953e+02] [-5.04053374e-03 9.99986261e-01 -1.43929660e-03 -3.83826413e-01] [-1.97496270e-03 1.42935709e-03 9.99997028e-01 -8.12759908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60589822699995 meters Centerline goodness [0,1] 0.9243088655862727 Centerline is valid? [True, False] Translation: X:146.42, Y:-0.38, Z:-0.81 [[ 9.99986050e-01 4.92937827e-03 1.89788995e-03 1.46419270e+02] [-4.92608631e-03 9.99986361e-01 -1.73531942e-03 -3.82334692e-01] [-1.90641811e-03 1.72594604e-03 9.99996693e-01 -8.12900049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.635898227 meters Centerline goodness [0,1] 0.900436092443171 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.38, Z:-0.81 [[ 9.99986741e-01 4.77876822e-03 1.91856825e-03 1.46419299e+02] [-4.77497159e-03 9.99986642e-01 -1.97861390e-03 -3.81312796e-01] [-1.92799796e-03 1.96942656e-03 9.99996202e-01 -8.13061607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66589822699996 meters Centerline goodness [0,1] 0.8920589832490915 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.38, Z:-0.81 [[ 9.99987035e-01 4.73036203e-03 1.88511792e-03 1.46419408e+02] [-4.72677744e-03 9.99987021e-01 -1.90146514e-03 -3.81865249e-01] [-1.89408807e-03 1.89252996e-03 9.99996415e-01 -8.13097243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.695898227 meters Centerline goodness [0,1] 0.9023196963306621 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.38, Z:-0.81 [[ 9.99986900e-01 4.75836007e-03 1.88642221e-03 1.46419374e+02] [-4.75499084e-03 9.99987099e-01 -1.78652040e-03 -3.82483229e-01] [-1.89489878e-03 1.77752708e-03 9.99996625e-01 -8.13041970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72589822699996 meters Centerline goodness [0,1] 0.9405864853378666 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.38, Z:-0.81 [[ 9.99986655e-01 4.61589583e-03 2.32000256e-03 1.46417557e+02] [-4.61199685e-03 9.99987948e-01 -1.68314395e-03 -3.83663863e-01] [-2.32774381e-03 1.67242164e-03 9.99995892e-01 -8.12331003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.755898227 meters Centerline goodness [0,1] 0.8728618247172005 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.38, Z:-0.81 [[ 9.99986522e-01 4.54764202e-03 2.50503886e-03 1.46416586e+02] [-4.54370758e-03 9.99988438e-01 -1.57407095e-03 -3.84561430e-01] [-2.51216821e-03 1.56266757e-03 9.99995624e-01 -8.11735789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78589822699996 meters Centerline goodness [0,1] 0.6819146031546006 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.39, Z:-0.81 [[ 9.99986560e-01 4.42372504e-03 2.70362922e-03 1.46415777e+02] [-4.41960310e-03 9.99989065e-01 -1.52867403e-03 -3.85272280e-01] [-2.71036209e-03 1.51670452e-03 9.99995177e-01 -8.11490401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.815898227 meters Centerline goodness [0,1] 0.5643705662594971 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.39, Z:-0.81 [[ 9.99987756e-01 3.96021346e-03 2.96711904e-03 1.46414730e+02] [-3.95545329e-03 9.99990884e-01 -1.60846108e-03 -3.86093847e-01] [-2.97346184e-03 1.59670508e-03 9.99994305e-01 -8.11132068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84589822699996 meters Centerline goodness [0,1] 0.5461776126257776 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.39, Z:-0.81 [[ 9.99988167e-01 3.82306741e-03 3.00842164e-03 1.46414413e+02] [-3.81855540e-03 9.99991578e-01 -1.50410812e-03 -3.87118452e-01] [-3.01414661e-03 1.49260249e-03 9.99994344e-01 -8.10899168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.875898227 meters Centerline goodness [0,1] 0.4580125297951779 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.39, Z:-0.81 [[ 9.99991710e-01 1.52330095e-03 3.77613766e-03 1.46408562e+02] [-1.50925325e-03 9.99991941e-01 -3.72018536e-03 -3.86436169e-01] [-3.78177419e-03 3.71445538e-03 9.99985950e-01 -8.06837533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90589822699997 meters Centerline goodness [0,1] 0.6483667597528984 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.39, Z:-0.81 [[ 9.99991496e-01 1.52293684e-03 3.83251530e-03 1.46408274e+02] [-1.50963827e-03 9.99992839e-01 -3.47043788e-03 -3.87887497e-01] [-3.83777311e-03 3.46462266e-03 9.99986634e-01 -8.06700185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.935898227 meters Centerline goodness [0,1] 0.5986191845214361 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.39, Z:-0.81 [[ 9.99991952e-01 1.49628738e-03 3.72252953e-03 1.46408886e+02] [-1.48419147e-03 9.99993617e-01 -3.25002310e-03 -3.89253249e-01] [-3.72736874e-03 3.24447199e-03 9.99987790e-01 -8.07207145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96589822699997 meters Centerline goodness [0,1] 0.4746015413368052 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.39, Z:-0.81 [[ 9.99992585e-01 1.58441119e-03 3.51003344e-03 1.46409991e+02] [-1.57449167e-03 9.99994764e-01 -2.82700771e-03 -3.91388991e-01] [-3.51449421e-03 2.82146023e-03 9.99989844e-01 -8.07987099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99589822699994 meters Centerline goodness [0,1] 0.43445614329460125 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.40, Z:-0.81 [[ 9.99994397e-01 1.27740509e-03 3.09438238e-03 1.46412233e+02] [-1.27171336e-03 9.99997497e-01 -1.84064383e-03 -3.98204377e-01] [-3.09672589e-03 1.83669835e-03 9.99993518e-01 -8.09832036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.02589822699997 meters Centerline goodness [0,1] 0.39933681714201763 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.40, Z:-0.81 [[ 9.99994754e-01 1.37529156e-03 2.93269621e-03 1.46413167e+02] [-1.37254430e-03 9.99998618e-01 -9.38574604e-04 -4.03241750e-01] [-2.93398297e-03 9.34544425e-04 9.99995259e-01 -8.10698930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05589822699994 meters Centerline goodness [0,1] 0.40063496068289817 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.41, Z:-0.81 [[ 9.99994531e-01 1.48166384e-03 2.95679545e-03 1.46413326e+02] [-1.48141728e-03 9.99998899e-01 -8.55772439e-05 -4.08043704e-01] [-2.95691899e-03 8.11965281e-05 9.99995625e-01 -8.11220436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.085898227 meters Centerline goodness [0,1] 0.36898620024327844 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.41, Z:-0.81 [[ 9.99994356e-01 1.62577274e-03 2.94019089e-03 1.46413411e+02] [-1.62777384e-03 9.99998445e-01 6.78336168e-04 -4.12263629e-01] [-2.93908350e-03 -6.83118305e-04 9.99995448e-01 -8.11365479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11589822699995 meters Centerline goodness [0,1] 0.37772912105098533 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.42, Z:-0.81 [[ 9.99993377e-01 2.21273932e-03 2.88945574e-03 1.46413432e+02] [-2.21825231e-03 9.99995723e-01 1.90616001e-03 -4.18112488e-01] [-2.88522555e-03 -1.91255693e-03 9.99994009e-01 -8.11244213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.145898227 meters Centerline goodness [0,1] 0.37518615626638696 Centerline is valid? [False, False] Translation: X:146.41, Y:-0.42, Z:-0.81 [[ 9.99993198e-01 2.50976236e-03 2.70292574e-03 1.46414137e+02] [-2.51610561e-03 9.99994083e-01 2.34597283e-03 -4.20044533e-01] [-2.69702191e-03 -2.35275772e-03 9.99993595e-01 -8.11473296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17589822699995 meters Centerline goodness [0,1] 0.43888027490256887 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.42, Z:-0.81 [[ 9.99991810e-01 3.42919066e-03 2.14976877e-03 1.46416342e+02] [-3.43598385e-03 9.99989091e-01 3.16427395e-03 -4.22411721e-01] [-2.13889441e-03 -3.17163460e-03 9.99992683e-01 -8.12167454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.205898227 meters Centerline goodness [0,1] 0.48309148397093615 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.42, Z:-0.81 [[ 9.99991343e-01 3.69770394e-03 1.90811104e-03 1.46417287e+02] [-3.70427793e-03 9.99987176e-01 3.45332841e-03 -4.23460463e-01] [-1.89531719e-03 -3.46036669e-03 9.99992217e-01 -8.12489696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23589822699995 meters Centerline goodness [0,1] 0.4700140936914954 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.43, Z:-0.81 [[ 9.99990500e-01 3.94948838e-03 1.84448991e-03 1.46417437e+02] [-3.95659135e-03 9.99984710e-01 3.86327326e-03 -4.25307281e-01] [-1.82920375e-03 -3.87053445e-03 9.99990836e-01 -8.12446656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.265898227 meters Centerline goodness [0,1] 0.5294315647746877 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.42, Z:-0.81 [[ 9.99998703e-01 4.06528642e-04 1.55821744e-03 1.46417809e+02] [-4.06037330e-04 9.99999868e-01 -3.15607314e-04 -4.24031927e-01] [-1.55834554e-03 3.14974210e-04 9.99998736e-01 -8.11548528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29589822699995 meters Centerline goodness [0,1] 0.44137552973918914 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.43, Z:-0.81 [[ 9.99997876e-01 1.05973163e-03 1.76795861e-03 1.46416353e+02] [-1.06124768e-03 9.99999070e-01 8.56795541e-04 -4.29355376e-01] [-1.76704900e-03 -8.58669963e-04 9.99998070e-01 -8.10408507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.325898227 meters Centerline goodness [0,1] 0.5658025395618094 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.43, Z:-0.81 [[ 9.99997580e-01 1.34781870e-03 1.73885304e-03 1.46416393e+02] [-1.35018989e-03 9.99998159e-01 1.36319501e-03 -4.31640629e-01] [-1.73701250e-03 -1.36553949e-03 9.99997559e-01 -8.10375878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35589822699995 meters Centerline goodness [0,1] 0.8194182573141537 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.44, Z:-0.81 [[ 9.99996739e-01 2.06246594e-03 1.50587022e-03 1.46417459e+02] [-2.06601734e-03 9.99995079e-01 2.36063320e-03 -4.35678325e-01] [-1.50099408e-03 -2.36373665e-03 9.99996080e-01 -8.11054764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.385898227 meters Centerline goodness [0,1] 0.8358092424562144 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.44, Z:-0.81 [[ 9.99996400e-01 2.28463064e-03 1.40740926e-03 1.46417831e+02] [-2.28835355e-03 9.99993872e-01 2.64931887e-03 -4.36826409e-01] [-1.40134792e-03 -2.65252998e-03 9.99995500e-01 -8.11151960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41589822699996 meters Centerline goodness [0,1] 0.8944371533804665 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.44, Z:-0.81 [[ 9.99996179e-01 2.40535808e-03 1.36221508e-03 1.46417732e+02] [-2.40902369e-03 9.99993465e-01 2.69570073e-03 -4.36898406e-01] [-1.35572205e-03 -2.69897204e-03 9.99995439e-01 -8.10755257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.445898227 meters Centerline goodness [0,1] 0.7605072843517451 Centerline is valid? [False, False] Translation: X:146.42, Y:-0.44, Z:-0.81 [[ 9.99996084e-01 2.52919857e-03 1.19837830e-03 1.46417803e+02] [-2.53238818e-03 9.99993235e-01 2.66760430e-03 -4.36431484e-01] [-1.19162330e-03 -2.67062861e-03 9.99995724e-01 -8.10022290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47589822699996 meters Centerline goodness [0,1] 0.9740675929244587 Centerline is valid? [False, True] Translation: X:146.42, Y:-0.43, Z:-0.81 [[ 9.99995133e-01 2.92050324e-03 1.09733403e-03 1.46417687e+02] [-2.92328758e-03 9.99992490e-01 2.54438910e-03 -4.34769919e-01] [-1.08989489e-03 -2.54758454e-03 9.99996161e-01 -8.09238129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.505898227 meters Centerline goodness [0,1] 0.9439460470197701 Centerline is valid? [True, False] Translation: X:146.42, Y:-0.43, Z:-0.81 [[ 9.99995213e-01 2.91608183e-03 1.03461885e-03 1.46417709e+02] [-2.91843909e-03 9.99993132e-01 2.28424306e-03 -4.33277368e-01] [-1.02795070e-03 -2.28725160e-03 9.99996856e-01 -8.08937505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53589822699996 meters Centerline goodness [0,1] 0.9882930513595166 Centerline is valid? [False, True] Translation: X:146.42, Y:-0.43, Z:-0.81 [[ 9.99995430e-01 2.83461696e-03 1.05069934e-03 1.46417492e+02] [-2.83664083e-03 9.99994115e-01 1.92975715e-03 -4.31453875e-01] [-1.04522304e-03 -1.93272879e-03 9.99997586e-01 -8.08656516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.565898227 meters Centerline goodness [0,1] 0.9628845226362474 Centerline is valid? [True, True] Translation: X:146.45, Y:-0.44, Z:-0.81 [[ 9.99989648e-01 4.31074809e-03 1.45676422e-03 1.46447279e+02] [-4.31061643e-03 9.99990705e-01 -9.35078588e-05 -4.35370206e-01] [-1.45715377e-03 8.72273390e-05 9.99998935e-01 -8.07302386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59589822699996 meters Centerline goodness [0,1] 0.9881929750317393 Centerline is valid? [True, True] Translation: X:146.48, Y:-0.43, Z:-0.81 [[ 9.99991617e-01 4.05232976e-03 5.87638151e-04 1.46478527e+02] [-4.05230829e-03 9.99991789e-01 -3.77197521e-05 -4.31397751e-01] [-5.87786179e-04 3.53381450e-05 9.99999827e-01 -8.08652600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.625898227 meters Centerline goodness [0,1] 0.9788683088282095 Centerline is valid? [True, True] Translation: X:146.51, Y:-0.43, Z:-0.81 [[ 9.99994431e-01 3.25177119e-03 -7.50377619e-04 1.46508208e+02] [-3.25173579e-03 9.99994712e-01 4.83821475e-05 -4.34977841e-01] [ 7.50530978e-04 -4.59418484e-05 9.99999717e-01 -8.10775684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65589822699997 meters Centerline goodness [0,1] 0.9728627248915798 Centerline is valid? [True, True] Translation: X:146.54, Y:-0.44, Z:-0.81 [[ 9.99996955e-01 2.14604708e-03 -1.21835936e-03 1.46538199e+02] [-2.14595332e-03 9.99997694e-01 7.82650658e-05 -4.37171934e-01] [ 1.21852451e-03 -7.56502852e-05 9.99999255e-01 -8.12145678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.685898227 meters Centerline goodness [0,1] 0.8823492580301797 Centerline is valid? [True, False] Translation: X:146.62, Y:-0.44, Z:-0.81 [[ 9.99995972e-01 -8.62569592e-04 -2.70409468e-03 1.46615483e+02] [ 8.62962242e-04 9.99999617e-01 1.44042349e-04 -4.40969797e-01] [ 2.70396940e-03 -1.46375301e-04 9.99996334e-01 -8.08754017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71589822699997 meters Centerline goodness [0,1] 0.8522300295072919 Centerline is valid? [False, False] Translation: X:146.57, Y:-0.44, Z:-0.81 [[ 9.99994256e-01 -9.96365783e-04 -3.23963852e-03 1.46572607e+02] [ 9.93837138e-04 9.99999200e-01 -7.82049490e-04 -4.38893933e-01] [ 3.24041514e-03 7.78825325e-04 9.99994447e-01 -8.09816653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74589822699994 meters Centerline goodness [0,1] 0.7976364777243254 Centerline is valid? [False, False] Translation: X:146.62, Y:-0.44, Z:-0.81 [[ 9.99994031e-01 -1.86433185e-03 -2.90882289e-03 1.46615339e+02] [ 1.86775490e-03 9.99997566e-01 1.17450964e-03 -4.42929407e-01] [ 2.90662613e-03 -1.17993560e-03 9.99995080e-01 -8.10312925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77589822699997 meters Centerline goodness [0,1] 0.6970323065364388 Centerline is valid? [False, False] Translation: X:146.62, Y:-0.44, Z:-0.81 [[ 9.99993817e-01 -1.93695375e-03 -2.93504719e-03 1.46615627e+02] [ 1.94028917e-03 9.99997475e-01 1.13398764e-03 -4.42840439e-01] [ 2.93284329e-03 -1.13967547e-03 9.99995050e-01 -8.10631158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80589822699994 meters Centerline goodness [0,1] 0.6970323065364388 Centerline is valid? [False, False] Translation: X:146.62, Y:-0.44, Z:-0.81 [[ 9.99993817e-01 -1.93695375e-03 -2.93504719e-03 1.46615627e+02] [ 1.94028917e-03 9.99997475e-01 1.13398764e-03 -4.42840439e-01] [ 2.93284329e-03 -1.13967547e-03 9.99995050e-01 -8.10631158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.835898227 meters Centerline goodness [0,1] 0.7474032404188526 Centerline is valid? [False, False] Translation: X:146.62, Y:-0.44, Z:-0.81 [[ 9.99993537e-01 -2.07939768e-03 -2.93301221e-03 1.46615663e+02] [ 2.08224701e-03 9.99997363e-01 9.68751283e-04 -4.42305953e-01] [ 2.93099006e-03 -9.74852278e-04 9.99995229e-01 -8.10654906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86589822699995 meters Centerline goodness [0,1] 0.6115231032515687 Centerline is valid? [False, False] Translation: X:146.62, Y:-0.44, Z:-0.81 [[ 9.99993328e-01 -2.16831523e-03 -2.93968359e-03 1.46615614e+02] [ 2.17094531e-03 9.99997246e-01 8.91782997e-04 -4.42042655e-01] [ 2.93774183e-03 -8.98158940e-04 9.99995281e-01 -8.10562804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.895898227 meters Centerline goodness [0,1] 0.8468925836612091 Centerline is valid? [False, False] Translation: X:146.61, Y:-0.44, Z:-0.81 [[ 9.99993516e-01 -2.35128548e-03 -2.72746320e-03 1.46614757e+02] [ 2.35353363e-03 9.99996893e-01 8.21350392e-04 -4.42146110e-01] [ 2.72552350e-03 -8.27764243e-04 9.99995943e-01 -8.10266885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92589822699995 meters Centerline goodness [0,1] 0.7174781365623949 Centerline is valid? [False, False] Translation: X:146.61, Y:-0.44, Z:-0.81 [[ 9.99993588e-01 -2.37782024e-03 -2.67760619e-03 1.46614379e+02] [ 2.38029704e-03 9.99996742e-01 9.22199455e-04 -4.42819060e-01] [ 2.67540464e-03 -9.28567040e-04 9.99995990e-01 -8.09928844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.955898227 meters Centerline goodness [0,1] 0.5099166245578575 Centerline is valid? [False, False] Translation: X:146.61, Y:-0.44, Z:-0.81 [[ 9.99993653e-01 -2.39440973e-03 -2.63820067e-03 1.46614112e+02] [ 2.39701989e-03 9.99996640e-01 9.86656377e-04 -4.43267384e-01] [ 2.63582935e-03 -9.92973934e-04 9.99996033e-01 -8.09698919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98589822699995 meters Centerline goodness [0,1] 0.5618057742782152 Centerline is valid? [False, False] Translation: X:146.61, Y:-0.44, Z:-0.81 [[ 9.99993428e-01 -2.44288658e-03 -2.67895397e-03 1.46614156e+02] [ 2.44532470e-03 9.99996599e-01 9.07203621e-04 -4.42904575e-01] [ 2.67672866e-03 -9.13748571e-04 9.99996000e-01 -8.09538940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.015898227 meters Centerline goodness [0,1] 0.5027203482045701 Centerline is valid? [False, False] Translation: X:146.61, Y:-0.44, Z:-0.81 [[ 9.99992312e-01 -2.67681146e-03 -2.86551254e-03 1.46614823e+02] [ 2.67770062e-03 9.99996368e-01 3.06507343e-04 -4.39836746e-01] [ 2.86468167e-03 -3.14177971e-04 9.99995847e-01 -8.09518946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04589822699995 meters Centerline goodness [0,1] 0.5289130066135324 Centerline is valid? [False, False] Translation: X:146.57, Y:-0.43, Z:-0.81 [[ 9.99994401e-01 -2.20443374e-03 -2.51761059e-03 1.46570688e+02] [ 2.20122865e-03 9.99996764e-01 -1.27512930e-03 -4.34501787e-01] [ 2.52041338e-03 1.26958032e-03 9.99996018e-01 -8.09869675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.075898227 meters Centerline goodness [0,1] 0.5320768241519618 Centerline is valid? [False, False] Translation: X:146.57, Y:-0.43, Z:-0.81 [[ 9.99994258e-01 -2.32287963e-03 -2.46744782e-03 1.46570239e+02] [ 2.31908848e-03 9.99996128e-01 -1.53821374e-03 -4.33240044e-01] [ 2.47101135e-03 1.53248268e-03 9.99995773e-01 -8.09335815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10589822699995 meters Centerline goodness [0,1] 0.6863393006525013 Centerline is valid? [False, False] Translation: X:146.57, Y:-0.43, Z:-0.81 [[ 9.99974903e-01 -6.51033468e-03 -2.79452826e-03 1.46570851e+02] [ 6.49172675e-03 9.99957036e-01 -6.61691085e-03 -4.28170624e-01] [ 2.83748650e-03 6.59860347e-03 9.99974203e-01 -8.08393586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.135898227 meters Centerline goodness [0,1] 0.5120201384518566 Centerline is valid? [False, False] Translation: X:146.57, Y:-0.43, Z:-0.81 [[ 9.99993653e-01 -2.35628262e-03 -2.67234474e-03 1.46570696e+02] [ 2.35159199e-03 9.99995691e-01 -1.75703521e-03 -4.31837900e-01] [ 2.67647330e-03 1.75073980e-03 9.99994886e-01 -8.08950579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16589822699996 meters Centerline goodness [0,1] 0.6491323893954035 Centerline is valid? [False, False] Translation: X:146.57, Y:-0.43, Z:-0.81 [[ 9.99993077e-01 -2.36247354e-03 -2.87500178e-03 1.46571680e+02] [ 2.35721747e-03 9.99995547e-01 -1.83021421e-03 -4.31353693e-01] [ 2.87931281e-03 1.82342454e-03 9.99994192e-01 -8.09445401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.195898227 meters Centerline goodness [0,1] 0.49805406762638094 Centerline is valid? [False, False] Translation: X:146.58, Y:-0.43, Z:-0.81 [[ 9.99992427e-01 -9.98422158e-04 -3.76158466e-03 1.46577755e+02] [ 9.96421145e-04 9.99999361e-01 -5.33796736e-04 -4.31210355e-01] [ 3.76211521e-03 5.30044571e-04 9.99992783e-01 -8.13195209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22589822699996 meters Centerline goodness [0,1] 0.6314372336591261 Centerline is valid? [False, False] Translation: X:146.54, Y:-0.43, Z:-0.81 [[ 9.99991439e-01 -3.06455515e-04 -4.12642412e-03 1.46535018e+02] [ 2.97034191e-04 9.99997348e-01 -2.28358857e-03 -4.25807892e-01] [ 4.12711300e-03 2.28234333e-03 9.99988879e-01 -8.13693833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.255898227 meters Centerline goodness [0,1] 0.629451939998324 Centerline is valid? [False, False] Translation: X:146.56, Y:-0.43, Z:-0.82 [[ 9.99999763e-01 4.99979707e-04 4.73442505e-04 1.46556783e+02] [-5.04399239e-04 9.99955868e-01 9.38123993e-03 -4.30781007e-01] [-4.68731181e-04 -9.38147651e-03 9.99955883e-01 -8.18600236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28589822699996 meters Centerline goodness [0,1] 0.6884384227168974 Centerline is valid? [False, False] Translation: X:146.56, Y:-0.42, Z:-0.82 [[ 9.99995893e-01 -2.84646218e-03 3.34565266e-04 1.46556429e+02] [ 2.84487217e-03 9.99985093e-01 4.66057087e-03 -4.24122916e-01] [-3.47826418e-04 -4.65959993e-03 9.99989084e-01 -8.17079413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.315898227 meters Centerline goodness [0,1] 0.9270002111040743 Centerline is valid? [False, False] Translation: X:146.56, Y:-0.42, Z:-0.82 [[ 9.99995752e-01 -2.90122953e-03 2.80835174e-04 1.46556492e+02] [ 2.89996024e-03 9.99986030e-01 4.41926435e-03 -4.22823549e-01] [-2.93652551e-04 -4.41843117e-03 9.99990196e-01 -8.16896801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34589822699996 meters Centerline goodness [0,1] 0.8506309880555438 Centerline is valid? [False, False] Translation: X:146.56, Y:-0.42, Z:-0.82 [[ 9.99995626e-01 -2.95166843e-03 1.86601458e-04 1.46557021e+02] [ 2.95085878e-03 9.99986827e-01 4.19973614e-03 -4.21714354e-01] [-1.98995229e-04 -4.19916714e-03 9.99991164e-01 -8.17293445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.375898227 meters Centerline goodness [0,1] 0.9069426751592357 Centerline is valid? [False, False] Translation: X:146.56, Y:-0.42, Z:-0.82 [[ 9.99995412e-01 -3.02638493e-03 -1.31070350e-04 1.46558662e+02] [ 3.02684307e-03 9.99988762e-01 3.64887278e-03 -4.18553121e-01] [ 1.20025983e-04 -3.64925277e-03 9.99993334e-01 -8.18404685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40589822699997 meters Centerline goodness [0,1] 0.7651244804567782 Centerline is valid? [False, False] Translation: X:146.56, Y:-0.42, Z:-0.82 [[ 9.99994992e-01 -3.15755773e-03 -2.14735951e-04 1.46559143e+02] [ 3.15824387e-03 9.99989654e-01 3.27374015e-03 -4.16702601e-01] [ 2.04396706e-04 -3.27440194e-03 9.99994618e-01 -8.18752546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.435898227 meters Centerline goodness [0,1] 0.5616512992455993 Centerline is valid? [False, False] Translation: X:146.56, Y:-0.42, Z:-0.82 [[ 9.99994701e-01 -3.25055117e-03 -1.80813448e-04 1.46558828e+02] [ 3.25107914e-03 9.99990213e-01 3.00058860e-03 -4.15350517e-01] [ 1.71058112e-04 -3.00116054e-03 9.99995482e-01 -8.18398636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46589822699997 meters Centerline goodness [0,1] 0.9503651779717932 Centerline is valid? [False, True] Translation: X:146.56, Y:-0.41, Z:-0.82 [[ 9.99994508e-01 -3.31202653e-03 -1.22732572e-04 1.46558158e+02] [ 3.31236419e-03 9.99990420e-01 2.86150593e-03 -4.14704353e-01] [ 1.13254012e-04 -2.86189675e-03 9.99995898e-01 -8.17605055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49589822699994 meters Centerline goodness [0,1] 0.920223962280037 Centerline is valid? [True, False] Translation: X:146.56, Y:-0.41, Z:-0.82 [[ 9.99994488e-01 -3.31657426e-03 -1.56222915e-04 1.46558312e+02] [ 3.31701058e-03 9.99990349e-01 2.88084644e-03 -4.14894709e-01] [ 1.46666866e-04 -2.88134875e-03 9.99995838e-01 -8.17690279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.52589822699997 meters Centerline goodness [0,1] 0.8708246563931695 Centerline is valid? [False, False] Translation: X:146.56, Y:-0.41, Z:-0.82 [[ 9.99994318e-01 -3.35940829e-03 -2.78513270e-04 1.46558956e+02] [ 3.36018601e-03 9.99990320e-01 2.84063363e-03 -4.14772096e-01] [ 2.68967726e-04 -2.84155335e-03 9.99995927e-01 -8.18084699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55589822699994 meters Centerline goodness [0,1] 0.9868112668854135 Centerline is valid? [False, True] Translation: X:146.52, Y:-0.41, Z:-0.82 [[ 9.99994909e-01 -3.06364205e-03 -8.92008468e-04 1.46515880e+02] [ 3.06419758e-03 9.99995112e-01 6.22082363e-04 -4.09778927e-01] [ 8.90098270e-04 -6.24812487e-04 9.99999409e-01 -8.17915622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.585898227 meters Centerline goodness [0,1] 0.7498517326103533 Centerline is valid? [True, False] Translation: X:146.52, Y:-0.41, Z:-0.82 [[ 9.99999278e-01 8.12512480e-04 -8.84819061e-04 1.46515899e+02] [-8.08765710e-04 9.99990741e-01 4.22666086e-03 -4.06699848e-01] [ 8.88245083e-04 -4.22594220e-03 9.99990676e-01 -8.17952743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61589822699995 meters Centerline goodness [0,1] 0.9451789065300357 Centerline is valid? [False, False] Translation: X:146.52, Y:-0.40, Z:-0.82 [[ 9.99999392e-01 4.41662806e-04 -1.01016584e-03 1.46516135e+02] [-4.38455585e-04 9.99994870e-01 3.17296590e-03 -4.01410177e-01] [ 1.01156204e-03 -3.17252106e-03 9.99994456e-01 -8.17626165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.645898227 meters Centerline goodness [0,1] 0.830224972819269 Centerline is valid? [False, False] Translation: X:146.52, Y:-0.40, Z:-0.82 [[ 9.99999358e-01 5.45923807e-05 -1.13191272e-03 1.46516414e+02] [-5.21336865e-05 9.99997640e-01 2.17207452e-03 -3.96527254e-01] [ 1.13202863e-03 -2.17201412e-03 9.99997000e-01 -8.17408019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67589822699995 meters Centerline goodness [0,1] 0.7703612599278731 Centerline is valid? [False, False] Translation: X:146.52, Y:-0.39, Z:-0.82 [[ 9.99999317e-01 -2.66931823e-04 -1.13796448e-03 1.46516351e+02] [ 2.68659614e-04 9.99998811e-01 1.51843496e-03 -3.93532674e-01] [ 1.13755780e-03 -1.51873965e-03 9.99998200e-01 -8.17259818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.705898227 meters Centerline goodness [0,1] 0.6472384241224654 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.39, Z:-0.82 [[ 9.99991857e-01 -3.91519733e-03 -9.78368433e-04 1.46472638e+02] [ 3.91029935e-03 9.99980059e-01 -4.95902735e-03 -3.85551654e-01] [ 9.97764494e-04 4.95516126e-03 9.99987225e-01 -8.17002493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73589822699995 meters Centerline goodness [0,1] 0.6756751063740152 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.39, Z:-0.82 [[ 9.99991025e-01 -4.08309350e-03 -1.13058828e-03 1.46473443e+02] [ 4.07787315e-03 9.99981189e-01 -4.58180715e-03 -3.88069790e-01] [ 1.14927496e-03 4.57715563e-03 9.99988864e-01 -8.17642339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.765898227 meters Centerline goodness [0,1] 0.5105016270126357 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.39, Z:-0.82 [[ 9.99958504e-01 -9.00424070e-03 -1.38363832e-03 1.46475002e+02] [ 8.99197873e-03 9.99922361e-01 -8.62654253e-03 -3.91174090e-01] [ 1.46120636e-03 8.61374291e-03 9.99961833e-01 -8.18850887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79589822699995 meters Centerline goodness [0,1] 0.5575981956679008 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.40, Z:-0.82 [[ 9.99956881e-01 -9.19174610e-03 -1.32180755e-03 1.46475055e+02] [ 9.18096063e-03 9.99926279e-01 -7.94647980e-03 -3.95646412e-01] [ 1.39475213e-03 7.93400170e-03 9.99967553e-01 -8.19335056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.825898227 meters Centerline goodness [0,1] 0.46453316434305025 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.40, Z:-0.82 [[ 9.99956045e-01 -9.30596986e-03 -1.14316495e-03 1.46474474e+02] [ 9.29745816e-03 9.99930581e-01 -7.23811117e-03 -4.00113651e-01] [ 1.21044323e-03 7.22716449e-03 9.99973151e-01 -8.19429439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85589822699995 meters Centerline goodness [0,1] 0.46425576519916145 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.41, Z:-0.82 [[ 9.99954718e-01 -9.50041296e-03 -5.52335989e-04 1.46472270e+02] [ 9.49673343e-03 9.99934926e-01 -6.32102714e-03 -4.06319852e-01] [ 6.12352415e-04 6.31549552e-03 9.99979870e-01 -8.18972249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.885898227 meters Centerline goodness [0,1] 0.5013210870659286 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.41, Z:-0.82 [[ 9.99986266e-01 -5.23629089e-03 -2.22339884e-04 1.46471215e+02] [ 5.23606446e-03 9.99985785e-01 -1.00705582e-03 -4.12392159e-01] [ 2.27609961e-04 1.00587780e-03 9.99999468e-01 -8.19288431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91589822699996 meters Centerline goodness [0,1] 0.4 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.41, Z:-0.82 [[ 9.99987412e-01 -5.01397031e-03 -1.87040070e-04 1.46470950e+02] [ 5.01384591e-03 9.99987213e-01 -6.59698299e-04 -4.13868525e-01] [ 1.90345386e-04 6.58752205e-04 9.99999765e-01 -8.19096608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.945898227 meters Centerline goodness [0,1] 0.4608478593753278 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.41, Z:-0.82 [[ 9.99988638e-01 -4.76040098e-03 -2.51485272e-04 1.46471071e+02] [ 4.76031128e-03 9.99988606e-01 -3.56064099e-04 -4.14947237e-01] [ 2.53177415e-04 3.54862905e-04 9.99999905e-01 -8.18950277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97589822699996 meters Centerline goodness [0,1] 0.5043310066436801 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.42, Z:-0.82 [[ 9.99991427e-01 -4.10661315e-03 -5.31046345e-04 1.46472014e+02] [ 4.10668457e-03 9.99991559e-01 1.33470879e-04 -4.16040443e-01] [ 5.30493749e-04 -1.35650575e-04 9.99999850e-01 -8.19088711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.005898227 meters Centerline goodness [0,1] 0.6233634811207387 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.42, Z:-0.82 [[ 9.99992030e-01 -3.94783199e-03 -5.96165132e-04 1.46472238e+02] [ 3.94799152e-03 9.99992171e-01 2.66643484e-04 -4.16355087e-01] [ 5.95107801e-04 -2.68995013e-04 9.99999787e-01 -8.19153455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03589822699996 meters Centerline goodness [0,1] 0.6242275459239821 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.42, Z:-0.82 [[ 9.99992643e-01 -3.76906372e-03 -7.12872840e-04 1.46472667e+02] [ 3.76944920e-03 9.99992750e-01 5.40175925e-04 -4.17427812e-01] [ 7.10831714e-04 -5.42859089e-04 9.99999600e-01 -8.19258396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.065898227 meters Centerline goodness [0,1] 0.6206860001695922 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.42, Z:-0.82 [[ 9.99993956e-01 -3.37209153e-03 -8.47129654e-04 1.46473475e+02] [ 3.37334391e-03 9.99993213e-01 1.48132673e-03 -4.21908023e-01] [ 8.42128736e-04 -1.48417544e-03 9.99998544e-01 -8.19981024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09589822699996 meters Centerline goodness [0,1] 0.752023860247124 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.42, Z:-0.82 [[ 9.99994475e-01 -3.19447678e-03 -9.19746646e-04 1.46473944e+02] [ 3.19628644e-03 9.99992946e-01 1.97286875e-03 -4.24288859e-01] [ 9.13437874e-04 -1.97579762e-03 9.99997631e-01 -8.20439946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.125898227 meters Centerline goodness [0,1] 0.4436185756940474 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.43, Z:-0.82 [[ 9.99984198e-01 -5.29971255e-03 -1.87522044e-03 1.46480008e+02] [ 5.29953203e-03 9.99985952e-01 -1.01222231e-04 -4.25022299e-01] [ 1.87573054e-03 9.12828405e-05 9.99998237e-01 -8.23868673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15589822699997 meters Centerline goodness [0,1] 0.5137703401589371 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.43, Z:-0.82 [[ 9.99986097e-01 -4.92993579e-03 -1.87108391e-03 1.46479833e+02] [ 4.93171002e-03 9.99987393e-01 9.44807036e-04 -4.30351456e-01] [ 1.86640248e-03 -9.54021544e-04 9.99997803e-01 -8.23704470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.185898227 meters Centerline goodness [0,1] 0.5033269166387679 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.43, Z:-0.82 [[ 9.99987111e-01 -4.73756994e-03 -1.82569316e-03 1.46479766e+02] [ 4.74018859e-03 9.99987739e-01 1.43268361e-03 -4.32771638e-01] [ 1.81888333e-03 -1.44131927e-03 9.99997307e-01 -8.23852542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21589822699997 meters Centerline goodness [0,1] 0.5058965509940505 Centerline is valid? [False, False] Translation: X:146.46, Y:-0.43, Z:-0.82 [[ 9.99977341e-01 -3.60645754e-03 -5.68423199e-03 1.46459733e+02] [ 3.55589826e-03 9.99954251e-01 -8.87980380e-03 -4.30191746e-01] [ 5.71599658e-03 8.85939005e-03 9.99944418e-01 -8.20933746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24589822699994 meters Centerline goodness [0,1] 0.5148510691929589 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.44, Z:-0.82 [[ 9.99991431e-01 -3.61240128e-03 -2.02224097e-03 1.46481161e+02] [ 3.61770631e-03 9.99990008e-01 2.62586275e-03 -4.37859391e-01] [ 2.01273510e-03 -2.63315612e-03 9.99994508e-01 -8.24657697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27589822699997 meters Centerline goodness [0,1] 0.49704303330257527 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.44, Z:-0.83 [[ 9.99992123e-01 -3.13441556e-03 -2.43506318e-03 1.46483111e+02] [ 3.14285396e-03 9.99989043e-01 3.46930998e-03 -4.41601639e-01] [ 2.42416224e-03 -3.47693570e-03 9.99991017e-01 -8.25694648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30589822699994 meters Centerline goodness [0,1] 0.5314215727679703 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.44, Z:-0.83 [[ 9.99992728e-01 -2.86568185e-03 -2.51623296e-03 1.46483781e+02] [ 2.87583745e-03 9.99987697e-01 4.04173539e-03 -4.44264668e-01] [ 2.50461967e-03 -4.04894228e-03 9.99988666e-01 -8.26391125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.335898227 meters Centerline goodness [0,1] 0.5592190980540495 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.45, Z:-0.83 [[ 9.99993171e-01 -2.65257846e-03 -2.57329680e-03 1.46484034e+02] [ 2.66419604e-03 9.99986228e-01 4.52179470e-03 -4.46607863e-01] [ 2.56126694e-03 -4.52861959e-03 9.99986466e-01 -8.26520102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36589822699995 meters Centerline goodness [0,1] 0.5523621716875052 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.45, Z:-0.83 [[ 9.99994669e-01 -2.30604116e-03 -2.31187312e-03 1.46482430e+02] [ 2.31807898e-03 9.99983700e-01 5.21786902e-03 -4.50058543e-01] [ 2.29980281e-03 -5.22320031e-03 9.99983714e-01 -8.25354502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.395898227 meters Centerline goodness [0,1] 0.598261016376836 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.45, Z:-0.82 [[ 9.99995291e-01 -2.20435874e-03 -2.13507483e-03 1.46481400e+02] [ 2.21591927e-03 9.99982816e-01 5.42743282e-03 -4.51134453e-01] [ 2.12307413e-03 -5.43213842e-03 9.99982992e-01 -8.24570422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42589822699995 meters Centerline goodness [0,1] 0.5828771576585079 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.45, Z:-0.82 [[ 9.99978774e-01 -6.08339008e-03 -2.33311777e-03 1.46481772e+02] [ 6.08534142e-03 9.99981140e-01 8.30179020e-04 -4.48196048e-01] [ 2.32802347e-03 -8.44359217e-04 9.99996934e-01 -8.23980224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.455898227 meters Centerline goodness [0,1] 0.8191587802313354 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.45, Z:-0.82 [[ 9.99979393e-01 -5.87835399e-03 -2.58053160e-03 1.46483062e+02] [ 5.88114977e-03 9.99982126e-01 1.07716529e-03 -4.49023789e-01] [ 2.57415352e-03 -1.09231959e-03 9.99996090e-01 -8.24823961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48589822699995 meters Centerline goodness [0,1] 0.6264004203888597 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.45, Z:-0.83 [[ 9.99978860e-01 -5.88476058e-03 -2.76585387e-03 1.46483948e+02] [ 5.88743179e-03 9.99982209e-01 9.58630929e-04 -4.48286433e-01] [ 2.76016335e-03 -9.74894439e-04 9.99995716e-01 -8.25277265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.515898227 meters Centerline goodness [0,1] 0.6608328560215533 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.45, Z:-0.83 [[ 9.99978473e-01 -5.91088066e-03 -2.84866021e-03 1.46484370e+02] [ 5.91317825e-03 9.99982198e-01 7.98802862e-04 -4.47343449e-01] [ 2.84388787e-03 -8.15630302e-04 9.99995624e-01 -8.25521312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54589822699995 meters Centerline goodness [0,1] 0.865808901975846 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.45, Z:-0.83 [[ 9.99977827e-01 -5.96858434e-03 -2.95327590e-03 1.46484626e+02] [ 5.97045518e-03 9.99981981e-01 6.25069183e-04 -4.46461790e-01] [ 2.94949190e-03 -6.42687725e-04 9.99995444e-01 -8.25414154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.575898227 meters Centerline goodness [0,1] 0.792974258592747 Centerline is valid? [False, False] Translation: X:146.51, Y:-0.44, Z:-0.83 [[ 9.99984286e-01 -5.59281912e-03 3.84550720e-04 1.46506815e+02] [ 5.59611958e-03 9.99942050e-01 -9.19677296e-03 -4.43617406e-01] [-3.33092548e-04 9.19878043e-03 9.99957635e-01 -8.28572916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60589822699995 meters Centerline goodness [0,1] 0.7309135109080621 Centerline is valid? [False, False] Translation: X:146.51, Y:-0.45, Z:-0.83 [[ 9.99998264e-01 -1.80598618e-03 4.57736438e-04 1.46506930e+02] [ 1.80807425e-03 9.99987771e-01 -4.60312186e-03 -4.46562480e-01] [-4.49417666e-04 4.60394149e-03 9.99989301e-01 -8.29367158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.635898227 meters Centerline goodness [0,1] 0.5631246987825577 Centerline is valid? [False, False] Translation: X:146.51, Y:-0.45, Z:-0.83 [[ 9.99998037e-01 -1.94514779e-03 3.77596783e-04 1.46507552e+02] [ 1.94693629e-03 9.99986607e-01 -4.79538799e-03 -4.45632243e-01] [-3.68263987e-04 4.79611373e-03 9.99988431e-01 -8.29934082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66589822699996 meters Centerline goodness [0,1] 0.6399528579846788 Centerline is valid? [False, False] Translation: X:146.51, Y:-0.45, Z:-0.83 [[ 9.99997512e-01 -2.20935990e-03 3.06954977e-04 1.46507922e+02] [ 2.21082407e-03 9.99985773e-01 -4.85448489e-03 -4.45960889e-01] [-2.96225306e-04 4.85515144e-03 9.99988170e-01 -8.30184966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.695898227 meters Centerline goodness [0,1] 0.6399528579846788 Centerline is valid? [False, False] Translation: X:146.51, Y:-0.45, Z:-0.83 [[ 9.99997512e-01 -2.20935990e-03 3.06954977e-04 1.46507922e+02] [ 2.21082407e-03 9.99985773e-01 -4.85448489e-03 -4.45960889e-01] [-2.96225306e-04 4.85515144e-03 9.99988170e-01 -8.30184966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72589822699996 meters Centerline goodness [0,1] 0.5760003346650212 Centerline is valid? [False, False] Translation: X:146.51, Y:-0.45, Z:-0.83 [[ 9.99997344e-01 -2.28441137e-03 3.06953436e-04 1.46507730e+02] [ 2.28584408e-03 9.99986100e-01 -4.75119214e-03 -4.46779855e-01] [-2.96095492e-04 4.75188116e-03 9.99988666e-01 -8.29896590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.755898227 meters Centerline goodness [0,1] 0.5650239416924445 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.45, Z:-0.83 [[ 9.99990718e-01 -4.03308619e-03 -1.51587931e-03 1.46485068e+02] [ 4.03931061e-03 9.99983331e-01 4.12576423e-03 -4.46680505e-01] [ 1.49921448e-03 -4.13184904e-03 9.99990340e-01 -8.28180445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78589822699996 meters Centerline goodness [0,1] 0.47279958137100997 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.44, Z:-0.83 [[ 9.99962021e-01 -8.48267072e-03 -2.00011964e-03 1.46486827e+02] [ 8.48033668e-03 9.99963354e-01 -1.17256178e-03 -4.40968800e-01] [ 2.00999280e-03 1.15555556e-03 9.99997312e-01 -8.28273796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.815898227 meters Centerline goodness [0,1] 0.4760820525794278 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.44, Z:-0.83 [[ 9.99961404e-01 -8.52424088e-03 -2.12794411e-03 1.46487586e+02] [ 8.52162039e-03 9.99962925e-01 -1.23751030e-03 -4.40637261e-01] [ 2.13841405e-03 1.21932901e-03 9.99996970e-01 -8.28836723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84589822699996 meters Centerline goodness [0,1] 0.4775481111903065 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.44, Z:-0.83 [[ 9.99960677e-01 -8.61584785e-03 -2.10035316e-03 1.46487760e+02] [ 8.61312217e-03 9.99962057e-01 -1.30333163e-03 -4.40452195e-01] [ 2.11150278e-03 1.28518978e-03 9.99996945e-01 -8.29271571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.875898227 meters Centerline goodness [0,1] 0.46670031333459505 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.44, Z:-0.83 [[ 9.99960604e-01 -8.65722762e-03 -1.96057255e-03 1.46487182e+02] [ 8.65462729e-03 9.99961662e-01 -1.33093210e-03 -4.40329187e-01] [ 1.97201957e-03 1.31391164e-03 9.99997192e-01 -8.29092089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90589822699997 meters Centerline goodness [0,1] 0.4075328061911171 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.44, Z:-0.83 [[ 9.99986705e-01 -4.93249429e-03 -1.50360725e-03 1.46485554e+02] [ 4.93740414e-03 9.99982434e-01 3.27934554e-03 -4.43941244e-01] [ 1.48740548e-03 -3.28672586e-03 9.99993493e-01 -8.28964255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.935898227 meters Centerline goodness [0,1] 0.44820553791812967 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.44, Z:-0.83 [[ 9.99986756e-01 -4.95456399e-03 -1.39312665e-03 1.46485044e+02] [ 4.95926751e-03 9.99981945e-01 3.39329460e-03 -4.44654470e-01] [ 1.37628920e-03 -3.40015854e-03 9.99993272e-01 -8.28733764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96589822699997 meters Centerline goodness [0,1] 0.42113865431762465 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.45, Z:-0.83 [[ 9.99987043e-01 -4.86535224e-03 -1.49769118e-03 1.46485498e+02] [ 4.87137968e-03 9.99979944e-01 4.04749760e-03 -4.48354954e-01] [ 1.47796864e-03 -4.05474098e-03 9.99990687e-01 -8.29008543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99589822699994 meters Centerline goodness [0,1] 0.4388282836742813 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.45, Z:-0.83 [[ 9.99987749e-01 -4.70185451e-03 -1.54716731e-03 1.46485766e+02] [ 4.70875380e-03 9.99978850e-01 4.48629431e-03 -4.50577452e-01] [ 1.52604068e-03 -4.49352458e-03 9.99988740e-01 -8.29182727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.02589822699997 meters Centerline goodness [0,1] 0.4879196471903948 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.45, Z:-0.83 [[ 9.99988427e-01 -4.54327457e-03 -1.58237742e-03 1.46485979e+02] [ 4.55094459e-03 9.99977748e-01 4.87775423e-03 -4.52510947e-01] [ 1.56018123e-03 -4.88489909e-03 9.99986852e-01 -8.29374355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05589822699994 meters Centerline goodness [0,1] 0.4818003831498284 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.46, Z:-0.83 [[ 9.99990016e-01 -4.13523216e-03 -1.69370311e-03 1.46486383e+02] [ 4.14453950e-03 9.99976126e-01 5.52912202e-03 -4.55295538e-01] [ 1.67079847e-03 -5.53608644e-03 9.99983280e-01 -8.29487576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.085898227 meters Centerline goodness [0,1] 0.5183738608206292 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.46, Z:-0.83 [[ 9.99990646e-01 -3.93011386e-03 -1.80637120e-03 1.46486538e+02] [ 3.94048526e-03 9.99975565e-01 5.77432190e-03 -4.56220795e-01] [ 1.78363332e-03 -5.78138587e-03 9.99981697e-01 -8.29154906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11589822699995 meters Centerline goodness [0,1] 0.43356657963446477 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.46, Z:-0.83 [[ 9.99991403e-01 -3.73868816e-03 -1.79321684e-03 1.46486285e+02] [ 3.74938924e-03 9.99974960e-01 6.00176116e-03 -4.57124868e-01] [ 1.77073323e-03 -6.00843303e-03 9.99980381e-01 -8.28849957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.145898227 meters Centerline goodness [0,1] 0.5106481287016424 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.46, Z:-0.83 [[ 9.99992103e-01 -3.57007969e-03 -1.74602331e-03 1.46485778e+02] [ 3.58090170e-03 9.99974152e-01 6.23474406e-03 -4.58099275e-01] [ 1.72371964e-03 -6.24094716e-03 9.99979039e-01 -8.28288951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17589822699995 meters Centerline goodness [0,1] 0.6002809754461009 Centerline is valid? [False, False] Translation: X:146.48, Y:-0.46, Z:-0.83 [[ 9.99993294e-01 -3.22500988e-03 -1.73518522e-03 1.46484943e+02] [ 3.23686381e-03 9.99971144e-01 6.87262889e-03 -4.61139823e-01] [ 1.71297086e-03 -6.87819936e-03 9.99974878e-01 -8.27038475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.205898227 meters Centerline goodness [0,1] 0.6490123955520593 Centerline is valid? [False, False] Translation: X:146.46, Y:-0.46, Z:-0.82 [[ 9.99976582e-01 -3.17690339e-03 -6.06150603e-03 1.46463937e+02] [ 3.15097203e-03 9.99985864e-01 -4.28280465e-03 -4.57667880e-01] [ 6.07502640e-03 4.26360472e-03 9.99972457e-01 -8.22844920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23589822699995 meters Centerline goodness [0,1] 0.5433722476725285 Centerline is valid? [False, False] Translation: X:146.46, Y:-0.46, Z:-0.82 [[ 9.99976461e-01 -2.93876382e-03 -6.20002397e-03 1.46464587e+02] [ 2.91603100e-03 9.99989005e-01 -3.67242835e-03 -4.60548014e-01] [ 6.21074820e-03 3.65426245e-03 9.99974036e-01 -8.23253169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.265898227 meters Centerline goodness [0,1] 0.5118615449556775 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.47, Z:-0.82 [[ 9.99976625e-01 -2.45126297e-03 -6.38292460e-03 1.46466128e+02] [ 2.43583898e-03 9.99994098e-01 -2.42310019e-03 -4.66576146e-01] [ 6.38882658e-03 2.40749577e-03 9.99976693e-01 -8.24987049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29589822699995 meters Centerline goodness [0,1] 0.5290757937934973 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.47, Z:-0.83 [[ 9.99976777e-01 -2.19856962e-03 -6.45067497e-03 1.46466783e+02] [ 2.18697133e-03 9.99995980e-01 -1.80449922e-03 -4.69512510e-01] [ 6.45461636e-03 1.79034987e-03 9.99977566e-01 -8.25782058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.325898227 meters Centerline goodness [0,1] 0.51304274831588 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.47, Z:-0.83 [[ 9.99977098e-01 -1.97915814e-03 -6.47195010e-03 1.46467057e+02] [ 1.97084539e-03 9.99997225e-01 -1.29055287e-03 -4.71992353e-01] [ 6.47448635e-03 1.27776810e-03 9.99978224e-01 -8.26169479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35589822699995 meters Centerline goodness [0,1] 0.4735823250920568 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.47, Z:-0.83 [[ 9.99977718e-01 -1.77801182e-03 -6.43447539e-03 1.46466692e+02] [ 1.77263668e-03 9.99998075e-01 -8.40972936e-04 -4.74182606e-01] [ 6.43595826e-03 8.29548210e-04 9.99978945e-01 -8.25813987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.385898227 meters Centerline goodness [0,1] 0.480031093090191 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.48, Z:-0.83 [[ 9.99977549e-01 -1.36627803e-03 -6.56015670e-03 1.46466924e+02] [ 1.36607106e-03 9.99999066e-01 -3.60302430e-05 -4.77852322e-01] [ 6.56019980e-03 2.70677938e-05 9.99978481e-01 -8.25570170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41589822699996 meters Centerline goodness [0,1] 0.5950667820142215 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.48, Z:-0.83 [[ 9.99976220e-01 -1.20462513e-03 -6.79023993e-03 1.46467672e+02] [ 1.20607244e-03 9.99999251e-01 2.09054575e-04 -4.78833488e-01] [ 6.78998301e-03 -2.17239125e-04 9.99976924e-01 -8.25593396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.445898227 meters Centerline goodness [0,1] 0.7841426324069218 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.48, Z:-0.83 [[ 9.99975177e-01 -1.05466123e-03 -6.96662439e-03 1.46468505e+02] [ 1.05700965e-03 9.99999386e-01 3.33423192e-04 -4.79130599e-01] [ 6.96626847e-03 -3.40778704e-04 9.99975677e-01 -8.26003219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47589822699996 meters Centerline goodness [0,1] 0.7990658156148286 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.48, Z:-0.83 [[ 9.99973232e-01 -6.91944197e-04 -7.28405076e-03 1.46469605e+02] [ 6.95043499e-04 9.99999669e-01 4.22968711e-04 -4.78624937e-01] [ 7.28375568e-03 -4.28020120e-04 9.99973381e-01 -8.26129126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.505898227 meters Centerline goodness [0,1] 0.5794590291018039 Centerline is valid? [False, False] Translation: X:146.47, Y:-0.48, Z:-0.83 [[ 9.99971980e-01 -5.60273081e-04 -7.46493811e-03 1.46470153e+02] [ 5.63103994e-04 9.99999770e-01 3.77131419e-04 -4.77952633e-01] [ 7.46472510e-03 -3.81324389e-04 9.99972066e-01 -8.26071171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53589822699996 meters Centerline goodness [0,1] 0.6146282774643212 Centerline is valid? [False, False] Translation: X:146.49, Y:-0.48, Z:-0.83 [[ 9.99984344e-01 1.69112949e-03 -5.33408630e-03 1.46491653e+02] [-1.73435506e-03 9.99965614e-01 -8.10946263e-03 -4.77495342e-01] [ 5.32018873e-03 8.11858686e-03 9.99952891e-01 -8.27094902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.565898227 meters Centerline goodness [0,1] 0.9721297661681062 Centerline is valid? [False, True] Translation: X:146.45, Y:-0.48, Z:-0.83 [[ 9.99972294e-01 6.59377292e-03 -3.45436915e-03 1.46445872e+02] [-6.61173075e-03 9.99964553e-01 -5.21321603e-03 -4.75965195e-01] [ 3.41987194e-03 5.23591095e-03 9.99980445e-01 -8.27420401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59589822699996 meters Centerline goodness [0,1] 0.9901261079180614 Centerline is valid? [True, True] Translation: X:146.48, Y:-0.48, Z:-0.83 [[ 9.99938202e-01 1.07467705e-02 -2.84580467e-03 1.46476025e+02] [-1.07462198e-02 9.99942236e-01 2.08737578e-04 -4.76239541e-01] [ 2.84788354e-03 -1.78143036e-04 9.99995929e-01 -8.26772233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.625898227 meters Centerline goodness [0,1] 0.9522906727223484 Centerline is valid? [True, True] Translation: X:146.50, Y:-0.49, Z:-0.83 [[ 9.99884413e-01 1.50237196e-02 -2.33436348e-03 1.46504194e+02] [-1.50233610e-02 9.99887128e-01 1.71074560e-04 -4.85305291e-01] [ 2.33667018e-03 -1.35984801e-04 9.99997261e-01 -8.26892134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65589822699997 meters Centerline goodness [0,1] 0.9988449260752689 Centerline is valid? [True, True] Translation: X:146.54, Y:-0.47, Z:-0.82 [[ 9.99766549e-01 2.16044429e-02 -3.08938135e-04 1.46535841e+02] [-2.16044370e-02 9.99766597e-01 2.26468098e-05 -4.69511774e-01] [ 3.09355300e-04 -1.59670884e-05 9.99999952e-01 -8.22009765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.685898227 meters Centerline goodness [0,1] 0.9998522614550136 Centerline is valid? [True, True] Translation: X:146.57, Y:-0.46, Z:-0.82 [[ 9.99731403e-01 2.31756955e-02 -9.90104278e-05 1.46566802e+02] [-2.31756949e-02 9.99731407e-01 7.26029457e-06 -4.64827359e-01] [ 9.91520967e-05 -4.96370901e-06 9.99999995e-01 -8.20981920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71589822699997 meters Centerline goodness [0,1] 0.9994519392917369 Centerline is valid? [True, True] Translation: X:146.60, Y:-0.47, Z:-0.82 [[ 9.99721466e-01 2.36003301e-02 1.22162118e-04 1.46596077e+02] [-2.36003292e-02 9.99721473e-01 -8.95797530e-06 -4.74911053e-01] [-1.22339504e-04 6.07241399e-06 9.99999992e-01 -8.21747470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74589822699994 meters Centerline goodness [0,1] 0.9993443593756609 Centerline is valid? [True, True] Translation: X:146.63, Y:-0.48, Z:-0.82 [[ 9.99740738e-01 2.27256698e-02 1.41427472e-03 1.46626276e+02] [-2.27255458e-02 9.99741736e-01 -1.03706764e-04 -4.78437865e-01] [-1.41626627e-03 7.15397121e-05 9.99998995e-01 -8.20259148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77589822699997 meters Centerline goodness [0,1] 0.9980124691409682 Centerline is valid? [True, True] Translation: X:146.66, Y:-0.49, Z:-0.82 [[ 9.99738356e-01 2.27351329e-02 2.51641148e-03 1.46656162e+02] [-2.27347403e-02 9.99741515e-01 -1.84511939e-04 -4.89632318e-01] [-2.51995593e-03 1.27253701e-04 9.99996817e-01 -8.19069918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80589822699994 meters Centerline goodness [0,1] 0.9988689441384078 Centerline is valid? [True, True] Translation: X:146.69, Y:-0.49, Z:-0.82 [[ 9.99714334e-01 2.37539511e-02 2.64586196e-03 1.46687309e+02] [-2.37535206e-02 9.99717826e-01 -1.94025857e-04 -4.91708339e-01] [-2.64972425e-03 1.31121894e-04 9.99996481e-01 -8.18282507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.835898227 meters Centerline goodness [0,1] 0.9998947124597275 Centerline is valid? [True, True] Translation: X:146.72, Y:-0.49, Z:-0.82 [[ 9.99647451e-01 2.64849846e-02 1.87577346e-03 1.46718344e+02] [-2.64847730e-02 9.99649207e-01 -1.37592599e-04 -4.89292819e-01] [-1.87875959e-03 8.78646568e-05 9.99998231e-01 -8.18967780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86589822699995 meters Centerline goodness [0,1] 0.9999373407410501 Centerline is valid? [True, True] Translation: X:146.75, Y:-0.48, Z:-0.82 [[ 9.99342676e-01 3.62520644e-02 -5.52054506e-05 1.46747872e+02] [-3.62520642e-02 9.99342678e-01 4.06364024e-06 -4.84183129e-01] [ 5.53164782e-05 -2.05965757e-06 9.99999998e-01 -8.21156954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.895898227 meters Centerline goodness [0,1] 0.9999790637300059 Centerline is valid? [True, True] Translation: X:146.78, Y:-0.48, Z:-0.82 [[ 9.99116686e-01 4.20200904e-02 -3.98779508e-04 1.46779204e+02] [-4.20200820e-02 9.99116766e-01 2.92996022e-05 -4.79329956e-01] [ 3.99658464e-04 -1.25169739e-05 9.99999920e-01 -8.21128152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.81, Y:-0.47, Z:-0.82 [[ 9.98888727e-01 4.71281248e-02 -5.01443866e-04 1.46810148e+02] [-4.71281123e-02 9.98888853e-01 3.67500935e-05 -4.71281897e-01] [ 5.02618651e-04 -1.30771513e-05 9.99999874e-01 -8.20681126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.955898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.84, Y:-0.47, Z:-0.82 [[ 9.98438306e-01 5.58642246e-02 3.70670725e-04 1.46840408e+02] [-5.58642183e-02 9.98438375e-01 -2.72445191e-05 -4.65125812e-01] [-3.71613870e-04 6.49474116e-06 9.99999931e-01 -8.19848173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.87, Y:-0.46, Z:-0.82 [[ 9.98220396e-01 5.96284491e-02 6.99297101e-04 1.46870012e+02] [-5.96284277e-02 9.98220641e-01 -5.14029674e-05 -4.61793417e-01] [-7.01117879e-04 9.61350390e-06 9.99999754e-01 -8.19205568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.015898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.90, Y:-0.46, Z:-0.82 [[ 9.98013881e-01 6.29911044e-02 6.42787923e-04 1.46899721e+02] [-6.29910871e-02 9.98014088e-01 -4.72377786e-05 -4.58858403e-01] [-6.44486963e-04 6.65404876e-06 9.99999792e-01 -8.19341475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.93, Y:-0.45, Z:-0.82 [[ 9.97631790e-01 6.87721898e-02 -1.09398668e-03 1.46928057e+02] [-6.87721435e-02 9.97632390e-01 7.99068742e-05 -4.50946354e-01] [ 1.09689192e-03 -4.48182902e-06 9.99999398e-01 -8.22065894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.075898227 meters Centerline goodness [0,1] 0.9999578610256626 Centerline is valid? [True, True] Translation: X:146.96, Y:-0.45, Z:-0.82 [[ 9.97459403e-01 7.12007047e-02 -2.28011628e-03 1.46957017e+02] [-7.12005096e-02 9.97462009e-01 1.66712293e-04 -4.46824684e-01] [ 2.28619940e-03 -3.94330349e-06 9.99997387e-01 -8.24258592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.99, Y:-0.44, Z:-0.83 [[ 9.97282937e-01 7.35882142e-02 -3.39376809e-03 1.46986132e+02] [-7.35877962e-02 9.97288712e-01 2.48058171e-04 -4.42446377e-01] [ 3.40282077e-03 2.35573300e-06 9.99994210e-01 -8.25231476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.135898227 meters Centerline goodness [0,1] 0.9998292859886475 Centerline is valid? [True, True] Translation: X:147.01, Y:-0.44, Z:-0.83 [[ 9.97130060e-01 7.56263756e-02 -3.50638957e-03 1.47014945e+02] [-7.56259425e-02 9.97136225e-01 2.56123416e-04 -4.38750596e-01] [ 3.51571775e-03 9.78565915e-06 9.99993820e-01 -8.25390910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.04, Y:-0.43, Z:-0.82 [[ 9.96898400e-01 7.86744159e-02 -1.97915366e-03 1.47043385e+02] [-7.86742845e-02 9.96900364e-01 1.44259493e-04 -4.32181750e-01] [ 1.98436853e-03 1.18964405e-05 9.99998031e-01 -8.24246815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.195898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.07, Y:-0.43, Z:-0.82 [[ 9.96879773e-01 7.89224866e-02 -1.39962166e-03 1.47071854e+02] [-7.89224214e-02 9.96880756e-01 1.01847387e-04 -4.31518514e-01] [ 1.40329395e-03 8.93193068e-06 9.99999015e-01 -8.23880795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.10, Y:-0.43, Z:-0.83 [[ 9.97002524e-01 7.73373484e-02 -2.21379325e-03 1.47100182e+02] [-7.73371810e-02 9.97004982e-01 1.61224100e-04 -4.32728614e-01] [ 2.21963154e-03 1.04676945e-05 9.99997537e-01 -8.25364736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.255898227 meters Centerline goodness [0,1] 0.9997674025205109 Centerline is valid? [True, True] Translation: X:147.13, Y:-0.44, Z:-0.83 [[ 9.97182484e-01 7.49583937e-02 -2.88662091e-03 1.47128194e+02] [-7.49580997e-02 9.97186662e-01 2.10065429e-04 -4.36906237e-01] [ 2.89424604e-03 6.90205144e-06 9.99995812e-01 -8.26563251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.16, Y:-0.44, Z:-0.83 [[ 9.97349534e-01 7.26778587e-02 -3.44046712e-03 1.47155712e+02] [-7.26774280e-02 9.97355468e-01 2.50212287e-04 -4.42374863e-01] [ 3.44955359e-03 4.95193400e-07 9.99994050e-01 -8.27376048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.315898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.18, Y:-0.45, Z:-0.83 [[ 9.97615672e-01 6.89591426e-02 -2.75835913e-03 1.47184297e+02] [-6.89588519e-02 9.97619485e-01 2.00479830e-04 -4.49993094e-01] [ 2.76561773e-03 -9.78854112e-06 9.99996176e-01 -8.27151842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.21, Y:-0.45, Z:-0.83 [[ 9.97639519e-01 6.86438432e-02 -1.84719233e-03 1.47212509e+02] [-6.86437125e-02 9.97641229e-01 1.34114073e-04 -4.53228313e-01] [ 1.85204133e-03 -6.99936057e-06 9.99998285e-01 -8.25637944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.375898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.24, Y:-0.45, Z:-0.82 [[ 9.97592823e-01 6.93422025e-02 -4.67780286e-04 1.47240468e+02] [-6.93421943e-02 9.97592932e-01 3.37568052e-05 -4.54807639e-01] [ 4.68995079e-04 -1.23863514e-06 9.99999890e-01 -8.23362211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.27, Y:-0.45, Z:-0.82 [[ 9.97201326e-01 7.47562002e-02 1.01313020e-03 1.47270102e+02] [-7.47561639e-02 9.97201840e-01 -7.37066087e-05 -4.48451707e-01] [-1.01580532e-03 -2.23739924e-06 9.99999484e-01 -8.19191951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.435898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.30, Y:-0.44, Z:-0.82 [[ 9.96904942e-01 7.86143758e-02 5.63105867e-04 1.47298830e+02] [-7.86143652e-02 9.96905101e-01 -4.10486437e-05 -4.44339842e-01] [-5.64590124e-04 -3.34661445e-06 9.99999841e-01 -8.19695998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.33, Y:-0.44, Z:-0.82 [[ 9.96584439e-01 8.25791701e-02 -3.70153286e-04 1.47328262e+02] [-8.25791659e-02 9.96584508e-01 2.67127463e-05 -4.40593774e-01] [ 3.71094947e-04 3.94544232e-06 9.99999931e-01 -8.21857184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.36, Y:-0.44, Z:-0.82 [[ 9.96285759e-01 8.60941000e-02 -1.57900502e-03 1.47356297e+02] [-8.60940271e-02 9.96287010e-01 1.14181299e-04 -4.37701067e-01] [ 1.58297253e-03 2.21856986e-05 9.99998747e-01 -8.23882995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.52589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.39, Y:-0.44, Z:-0.83 [[ 9.95854773e-01 9.08985667e-02 -3.27424521e-03 1.47385728e+02] [-9.08982788e-02 9.95860154e-01 2.36954354e-04 -4.35285622e-01] [ 3.28222915e-03 6.16511293e-05 9.99994612e-01 -8.27090552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.41, Y:-0.44, Z:-0.83 [[ 9.95751405e-01 9.20247857e-02 -3.25237185e-03 1.47413102e+02] [-9.20245087e-02 9.95756715e-01 2.35022281e-04 -4.35489978e-01] [ 3.26019899e-03 6.52741559e-05 9.99994683e-01 -8.27186672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.585898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.44, Y:-0.44, Z:-0.83 [[ 9.95647076e-01 9.31656893e-02 -2.65595585e-03 1.47441173e+02] [-9.31655095e-02 9.95650617e-01 1.91616781e-04 -4.35738611e-01] [ 2.66225619e-03 5.66607924e-05 9.99996455e-01 -8.26371262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.47, Y:-0.44, Z:-0.83 [[ 9.95653406e-01 9.30980131e-02 -2.65596548e-03 1.47468605e+02] [-9.30978334e-02 9.95656947e-01 1.91483325e-04 -4.37580278e-01] [ 2.66225719e-03 5.66136062e-05 9.99996455e-01 -8.26471147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.645898227 meters Centerline goodness [0,1] 0.9999579628812241 Centerline is valid? [True, True] Translation: X:147.50, Y:-0.44, Z:-0.83 [[ 9.95522003e-01 9.45101220e-02 -1.94387237e-03 1.47496912e+02] [-9.45100287e-02 9.95523900e-01 1.40010332e-04 -4.36464814e-01] [ 1.94840380e-03 4.43320680e-05 9.99998101e-01 -8.25543432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67589822699995 meters Centerline goodness [0,1] 0.9999788418001396 Centerline is valid? [True, True] Translation: X:147.53, Y:-0.43, Z:-0.82 [[ 9.95025556e-01 9.96117076e-02 -1.28491779e-03 1.47527359e+02] [-9.96116710e-02 9.95026385e-01 9.26282924e-05 -4.33112920e-01] [ 1.28775397e-03 3.58252902e-05 9.99999170e-01 -8.23319869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.705898227 meters Centerline goodness [0,1] 0.9999789915966386 Centerline is valid? [True, True] Translation: X:147.56, Y:-0.43, Z:-0.82 [[ 9.94743854e-01 1.02377180e-01 -1.89157355e-03 1.47555914e+02] [-1.02377106e-01 9.94745651e-01 1.36173741e-04 -4.30335862e-01] [ 1.89557565e-03 5.81958339e-05 9.99998202e-01 -8.24512854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73589822699995 meters Centerline goodness [0,1] 0.9999360763674331 Centerline is valid? [True, True] Translation: X:147.59, Y:-0.43, Z:-0.83 [[ 9.94579780e-01 1.03943979e-01 -2.59063617e-03 1.47585684e+02] [-1.03943845e-01 9.94583150e-01 1.86582728e-04 -4.30217694e-01] [ 2.59599724e-03 8.37092752e-05 9.99996627e-01 -8.26299383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.765898227 meters Centerline goodness [0,1] 0.9998328772274332 Centerline is valid? [True, True] Translation: X:147.61, Y:-0.43, Z:-0.82 [[ 9.94689107e-01 1.02920380e-01 -9.88074057e-04 1.47613087e+02] [-1.02920360e-01 9.94689597e-01 7.09365096e-05 -4.34510555e-01] [ 9.90127798e-04 3.11331645e-05 9.99999509e-01 -8.24534800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79589822699995 meters Centerline goodness [0,1] 0.9999364743250397 Centerline is valid? [True, True] Translation: X:147.64, Y:-0.45, Z:-0.82 [[ 9.94890994e-01 1.00952064e-01 7.68693044e-04 1.47641763e+02] [-1.00952051e-01 9.94891291e-01 -5.54387475e-05 -4.45459491e-01] [-7.70362671e-04 -2.24456287e-05 9.99999703e-01 -8.21935281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.825898227 meters Centerline goodness [0,1] 0.999937280481686 Centerline is valid? [True, True] Translation: X:147.67, Y:-0.45, Z:-0.82 [[ 9.95188363e-01 9.79687258e-02 1.50033004e-03 1.47669954e+02] [-9.79686742e-02 9.95189493e-01 -1.08040369e-04 -4.53920535e-01] [-1.50369727e-03 -3.94648276e-05 9.99998869e-01 -8.20831570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.70, Y:-0.47, Z:-0.83 [[ 9.95792409e-01 9.16364784e-02 -4.83353585e-04 1.47698227e+02] [-9.16364723e-02 9.95792526e-01 3.46225531e-05 -4.74480849e-01] [ 4.84492576e-04 9.81594186e-06 9.99999883e-01 -8.25017858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.885898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.73, Y:-0.49, Z:-0.83 [[ 9.96010545e-01 8.92216447e-02 -1.57891148e-03 1.47725988e+02] [-8.92215772e-02 9.96011796e-01 1.13272325e-04 -4.88321235e-01] [ 1.58272080e-03 2.80525420e-05 9.99998747e-01 -8.26244729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.75, Y:-0.50, Z:-0.83 [[ 9.96118222e-01 8.80086656e-02 -1.72147481e-03 1.47753921e+02] [-8.80085836e-02 9.96119709e-01 1.23432823e-04 -4.96877623e-01] [ 1.72565814e-03 2.85508751e-05 9.99998511e-01 -8.26747588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.945898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.78, Y:-0.50, Z:-0.83 [[ 9.96135057e-01 8.78289785e-02 -1.00968630e-03 1.47782017e+02] [-8.78289503e-02 9.96135568e-01 7.22779225e-05 -5.03833455e-01] [ 1.01213253e-03 1.66811156e-05 9.99999488e-01 -8.25397427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.81, Y:-0.51, Z:-0.82 [[ 9.95982806e-01 8.95385240e-02 1.05065074e-03 1.47810245e+02] [-8.95384941e-02 9.95983359e-01 -7.55097796e-05 -5.13409871e-01] [-1.05319168e-03 -1.88672426e-05 9.99999445e-01 -8.22431018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.005898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.84, Y:-0.52, Z:-0.82 [[ 9.95872058e-01 9.07624804e-02 1.00798318e-03 1.47837887e+02] [-9.07624536e-02 9.95872568e-01 -7.24325051e-05 -5.18344188e-01] [-1.01039695e-03 -1.93535184e-05 9.99999489e-01 -8.22858134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03589822699996 meters Centerline goodness [0,1] 0.9998950439765738 Centerline is valid? [True, True] Translation: X:147.87, Y:-0.52, Z:-0.82 [[ 9.95720471e-01 9.24135220e-02 6.96079798e-04 1.47866052e+02] [-9.24135096e-02 9.95720714e-01 -5.00458102e-05 -5.23141652e-01] [-6.97725983e-04 -1.44955394e-05 9.99999756e-01 -8.23209900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.065898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.90, Y:-0.53, Z:-0.82 [[ 9.95163517e-01 9.82301338e-02 6.44189696e-04 1.47896134e+02] [-9.82301244e-02 9.95163725e-01 -4.61520836e-05 -5.26356748e-01] [-6.45607743e-04 -1.73499642e-05 9.99999791e-01 -8.23036206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09589822699996 meters Centerline goodness [0,1] 0.9999789571145996 Centerline is valid? [True, True] Translation: X:147.93, Y:-0.53, Z:-0.82 [[ 9.94828646e-01 1.01563550e-01 8.99914988e-04 1.47925364e+02] [-1.01563533e-01 9.94829053e-01 -6.45090783e-05 -5.27548549e-01] [-9.01813346e-04 -2.72230663e-05 9.99999593e-01 -8.22741044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.125898227 meters Centerline goodness [0,1] 0.9999573096544216 Centerline is valid? [True, True] Translation: X:147.96, Y:-0.53, Z:-0.82 [[ 9.94229599e-01 1.07269087e-01 9.20008899e-04 1.47956055e+02] [-1.07269072e-01 9.94230025e-01 -6.58236519e-05 -5.31492171e-01] [-9.21761314e-04 -3.32446780e-05 9.99999575e-01 -8.23007760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15589822699997 meters Centerline goodness [0,1] 0.9998315541237656 Centerline is valid? [True, True] Translation: X:147.98, Y:-0.53, Z:-0.82 [[ 9.94031515e-01 1.09091410e-01 6.41665316e-04 1.47984226e+02] [-1.09091403e-01 9.94031722e-01 -4.60475011e-05 -5.30500320e-01] [-6.42859066e-04 -2.42275024e-05 9.99999793e-01 -8.24088219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.185898227 meters Centerline goodness [0,1] 0.9998313801534441 Centerline is valid? [True, True] Translation: X:148.01, Y:-0.54, Z:-0.82 [[ 9.93934670e-01 1.09970485e-01 6.03562725e-04 1.48012827e+02] [-1.09970479e-01 9.93934853e-01 -4.32925497e-05 -5.36895217e-01] [-6.04662931e-04 -2.33441158e-05 9.99999817e-01 -8.24770977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21589822699997 meters Centerline goodness [0,1] 0.9997272574689493 Centerline is valid? [True, True] Translation: X:148.04, Y:-0.54, Z:-0.83 [[ 9.93890787e-01 1.10367159e-01 4.39844057e-04 1.48040494e+02] [-1.10367155e-01 9.93890884e-01 -3.16101517e-05 -5.36838847e-01] [-4.40645721e-04 -1.71272988e-05 9.99999903e-01 -8.25482943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24589822699994 meters Centerline goodness [0,1] 0.9998739839959675 Centerline is valid? [True, True] Translation: X:148.07, Y:-0.55, Z:-0.82 [[ 9.93855565e-01 1.10682410e-01 7.20817849e-04 1.48068148e+02] [-1.10682401e-01 9.93855826e-01 -5.15933908e-05 -5.48120957e-01] [-7.22099500e-04 -2.85054719e-05 9.99999739e-01 -8.24727405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27589822699997 meters Centerline goodness [0,1] 0.9998516068854405 Centerline is valid? [True, True] Translation: X:148.10, Y:-0.55, Z:-0.83 [[ 9.93813215e-01 1.11063446e-01 4.51983601e-04 1.48096798e+02] [-1.11063442e-01 9.93813318e-01 -3.23935098e-05 -5.51739820e-01] [-4.52785057e-04 -1.80057565e-05 9.99999897e-01 -8.25222657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30589822699994 meters Centerline goodness [0,1] 0.9998939397153342 Centerline is valid? [True, True] Translation: X:148.12, Y:-0.55, Z:-0.83 [[ 9.93678048e-01 1.12267114e-01 -1.76638193e-04 1.48124955e+02] [-1.12267114e-01 9.93678064e-01 1.23724606e-05 -5.54820802e-01] [ 1.76910518e-04 7.53641756e-06 9.99999984e-01 -8.26785188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.335898227 meters Centerline goodness [0,1] 0.9997680450414356 Centerline is valid? [True, True] Translation: X:148.15, Y:-0.56, Z:-0.83 [[ 9.93573225e-01 1.13190623e-01 -3.59447010e-04 1.48152412e+02] [-1.13190621e-01 9.93573290e-01 2.53447804e-05 -5.55105677e-01] [ 3.60005740e-04 1.55041353e-05 9.99999935e-01 -8.27314606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36589822699995 meters Centerline goodness [0,1] 0.9996228865936184 Centerline is valid? [True, True] Translation: X:148.18, Y:-0.56, Z:-0.83 [[ 9.93419984e-01 1.14526487e-01 -6.46809931e-04 1.48182303e+02] [-1.14526481e-01 9.93420195e-01 4.59354780e-05 -5.55557920e-01] [ 6.47814876e-04 2.84436435e-05 9.99999790e-01 -8.28403829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.395898227 meters Centerline goodness [0,1] 0.9997662856414397 Centerline is valid? [True, True] Translation: X:148.21, Y:-0.56, Z:-0.83 [[ 9.93330619e-01 1.15291128e-01 -1.49551045e-03 1.48210562e+02] [-1.15291099e-01 9.93331743e-01 1.06103161e-04 -5.58388659e-01] [ 1.49777075e-03 6.70235242e-05 9.99998876e-01 -8.29737793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42589822699995 meters Centerline goodness [0,1] 0.9988010096760622 Centerline is valid? [True, True] Translation: X:148.24, Y:-0.55, Z:-0.83 [[ 9.93320065e-01 1.15374667e-01 -1.98346391e-03 1.48239063e+02] [-1.15374616e-01 9.93322042e-01 1.40574268e-04 -5.53233327e-01] [ 1.98643713e-03 8.92061453e-05 9.99998023e-01 -8.31764022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.455898227 meters Centerline goodness [0,1] 0.9994300791556728 Centerline is valid? [True, True] Translation: X:148.27, Y:-0.57, Z:-0.83 [[ 9.93445365e-01 1.14281931e-01 -2.43854629e-03 1.48267296e+02] [-1.14281850e-01 9.93448352e-01 1.72891594e-04 -5.66844386e-01] [ 2.44232818e-03 1.06923229e-04 9.99997012e-01 -8.32840251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48589822699995 meters Centerline goodness [0,1] 0.9996836577598751 Centerline is valid? [True, True] Translation: X:148.30, Y:-0.57, Z:-0.83 [[ 9.93573932e-01 1.13154160e-01 -2.64165006e-03 1.48295736e+02] [-1.13154062e-01 9.93577437e-01 1.87182917e-04 -5.74172065e-01] [ 2.64586442e-03 1.12933367e-04 9.99996493e-01 -8.33642112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.515898227 meters Centerline goodness [0,1] 0.9994944388270981 Centerline is valid? [True, True] Translation: X:148.32, Y:-0.58, Z:-0.84 [[ 9.93653907e-01 1.12435355e-01 -3.19438264e-03 1.48322782e+02] [-1.12435208e-01 9.93659033e-01 2.26160608e-04 -5.81699599e-01] [ 3.19955561e-03 1.34435703e-04 9.99994872e-01 -8.35227099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54589822699995 meters Centerline goodness [0,1] 0.9993488352553196 Centerline is valid? [True, True] Translation: X:148.35, Y:-0.58, Z:-0.83 [[ 9.93543253e-01 1.13416233e-01 -2.92607792e-03 1.48350812e+02] [-1.13416115e-01 9.93547554e-01 2.06982919e-04 -5.82879307e-01] [ 2.93067278e-03 1.26217906e-04 9.99995698e-01 -8.34629112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.575898227 meters Centerline goodness [0,1] 0.9995994518815221 Centerline is valid? [True, True] Translation: X:148.38, Y:-0.58, Z:-0.83 [[ 9.93337887e-01 1.15219150e-01 -2.09532628e-03 1.48380386e+02] [-1.15219093e-01 9.93340092e-01 1.48236148e-04 -5.84914690e-01] [ 2.09845124e-03 9.41730110e-05 9.99997794e-01 -8.33473410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60589822699995 meters Centerline goodness [0,1] 0.9985231444364742 Centerline is valid? [True, True] Translation: X:148.41, Y:-0.59, Z:-0.83 [[ 9.92699886e-01 1.20599454e-01 -1.64533424e-03 1.48410728e+02] [-1.20599426e-01 9.92701247e-01 1.16469228e-04 -5.86147477e-01] [ 1.64737147e-03 8.28073749e-05 9.99998640e-01 -8.31084517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.635898227 meters Centerline goodness [0,1] 0.9930983692793267 Centerline is valid? [True, True] Translation: X:148.44, Y:-0.58, Z:-0.83 [[ 9.92324437e-01 1.23647872e-01 -1.84817694e-03 1.48440352e+02] [-1.23647842e-01 9.92326153e-01 1.30728959e-04 -5.79303471e-01] [ 1.85015867e-03 9.87975503e-05 9.99998284e-01 -8.31521741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66589822699996 meters Centerline goodness [0,1] 0.9929848286354224 Centerline is valid? [True, True] Translation: X:148.47, Y:-0.58, Z:-0.83 [[ 9.91920185e-01 1.26844709e-01 -2.18329753e-03 1.48470400e+02] [-1.26844676e-01 9.91922580e-01 1.54500790e-04 -5.81994729e-01] [ 2.18525973e-03 1.23687215e-04 9.99997605e-01 -8.31417904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.695898227 meters Centerline goodness [0,1] 0.9334261779662805 Centerline is valid? [True, False] Translation: X:148.47, Y:-0.58, Z:-0.83 [[ 9.91869900e-01 1.27238431e-01 -2.11759112e-03 1.48470525e+02] [-1.27238586e-01 9.91872138e-01 6.17386643e-05 -5.80491996e-01] [ 2.10823516e-03 2.08202577e-04 9.99997756e-01 -8.31772520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72589822699996 meters Centerline goodness [0,1] 0.9524230001051193 Centerline is valid? [False, True] Translation: X:148.47, Y:-0.58, Z:-0.83 [[ 9.92339927e-01 1.23515169e-01 -2.33947687e-03 1.48469942e+02] [-1.23525200e-01 9.92329905e-01 -4.78374107e-03 -5.75680265e-01] [ 1.73066828e-03 5.03608160e-03 9.99985821e-01 -8.31920231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.755898227 meters Centerline goodness [0,1] 0.8666581978319783 Centerline is valid? [True, False] Translation: X:148.47, Y:-0.57, Z:-0.83 [[ 9.92342096e-01 1.23499388e-01 -2.25078463e-03 1.48469769e+02] [-1.23509196e-01 9.92331228e-01 -4.92055474e-03 -5.74957280e-01] [ 1.62583838e-03 5.16086621e-03 9.99985361e-01 -8.32071424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78589822699996 meters Centerline goodness [0,1] 0.8016262560299973 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.57, Z:-0.83 [[ 9.92814241e-01 1.19636536e-01 -2.64225085e-03 1.48469854e+02] [-1.19656820e-01 9.92767600e-01 -9.73336964e-03 -5.70670243e-01] [ 1.45867440e-03 9.97959133e-03 9.99949139e-01 -8.32460031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.815898227 meters Centerline goodness [0,1] 0.797908890397014 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.57, Z:-0.83 [[ 9.92805775e-01 1.19705271e-01 -2.70948648e-03 1.48470511e+02] [-1.19726116e-01 9.92759933e-01 -9.66296270e-03 -5.70959933e-01] [ 1.53316205e-03 9.91784146e-03 9.99949642e-01 -8.33207823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84589822699996 meters Centerline goodness [0,1] 0.8518659638873013 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.57, Z:-0.83 [[ 9.92801348e-01 1.19741924e-01 -2.71198995e-03 1.48470559e+02] [-1.19762637e-01 9.92756492e-01 -9.56339717e-03 -5.71502989e-01] [ 1.54720606e-03 9.81934867e-03 9.99950592e-01 -8.33341269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.875898227 meters Centerline goodness [0,1] 0.7316882842982179 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.57, Z:-0.83 [[ 9.92796324e-01 1.19785307e-01 -2.63419644e-03 1.48469996e+02] [-1.19804981e-01 9.92753151e-01 -9.37801378e-03 -5.72497155e-01] [ 1.49175855e-03 9.62604746e-03 9.99952556e-01 -8.32940749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90589822699997 meters Centerline goodness [0,1] 0.7350798129975151 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.57, Z:-0.83 [[ 9.92794141e-01 1.19807549e-01 -2.43818031e-03 1.48468907e+02] [-1.19825090e-01 9.92752492e-01 -9.18893596e-03 -5.73529751e-01] [ 1.31960568e-03 9.41487696e-03 9.99954808e-01 -8.32271603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.935898227 meters Centerline goodness [0,1] 0.9027655377900877 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.57, Z:-0.83 [[ 9.92784248e-01 1.19895199e-01 -2.13972503e-03 1.48467465e+02] [-1.19909748e-01 9.92743896e-01 -9.01161747e-03 -5.74376821e-01] [ 1.04374930e-03 9.20316576e-03 9.99957105e-01 -8.31536570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96589822699997 meters Centerline goodness [0,1] 0.7671419871054456 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.57, Z:-0.83 [[ 9.92789774e-01 1.19847819e-01 -2.22822373e-03 1.48467949e+02] [-1.19863453e-01 9.92747279e-01 -9.25163259e-03 -5.73127647e-01] [ 1.10327506e-03 9.45200882e-03 9.99954720e-01 -8.31779961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99589822699994 meters Centerline goodness [0,1] 0.8069148488166428 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.57, Z:-0.83 [[ 9.92785078e-01 1.19882005e-01 -2.46850268e-03 1.48469599e+02] [-1.19900854e-01 9.92735741e-01 -9.97662715e-03 -5.68844068e-01] [ 1.25455278e-03 1.02006221e-02 9.99947185e-01 -8.32954528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.02589822699997 meters Centerline goodness [0,1] 0.806284274492367 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.57, Z:-0.83 [[ 9.92801565e-01 1.19743237e-01 -2.57098041e-03 1.48470367e+02] [-1.19763738e-01 9.92747666e-01 -1.04267924e-02 -5.66570340e-01] [ 1.30379692e-03 1.06596460e-02 9.99942334e-01 -8.33558456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05589822699994 meters Centerline goodness [0,1] 0.807050171182214 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.57, Z:-0.83 [[ 9.92812409e-01 1.19652705e-01 -2.59836056e-03 1.48470528e+02] [-1.19673847e-01 9.92755729e-01 -1.06879715e-02 -5.65261751e-01] [ 1.30069263e-03 1.09221065e-02 9.99939506e-01 -8.33637044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.085898227 meters Centerline goodness [0,1] 0.8252931854199683 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.56, Z:-0.83 [[ 9.92820636e-01 1.19585794e-01 -2.53413617e-03 1.48470051e+02] [-1.19606363e-01 9.92762759e-01 -1.07898844e-02 -5.64833518e-01] [ 1.22547912e-03 1.10155187e-02 9.99938576e-01 -8.33208287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11589822699995 meters Centerline goodness [0,1] 0.8783309146739016 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.57, Z:-0.84 [[ 9.93436700e-01 1.14295056e-01 4.49045318e-03 1.48470428e+02] [-1.14297730e-01 9.93446482e-01 3.42617970e-04 -5.65080492e-01] [-4.42186537e-03 -8.53617868e-04 9.99989859e-01 -8.35470496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.145898227 meters Centerline goodness [0,1] 0.8395751112603913 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.56, Z:-0.84 [[ 9.93940590e-01 1.09843415e-01 4.06548125e-03 1.48470368e+02] [-1.09823511e-01 9.93939355e-01 -4.83275422e-03 -5.60420204e-01] [-4.57168804e-03 4.35698515e-03 9.99980058e-01 -8.35443344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17589822699995 meters Centerline goodness [0,1] 0.8587759887774544 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.56, Z:-0.84 [[ 9.94425097e-01 1.05381197e-01 3.67821659e-03 1.48470366e+02] [-1.05339851e-01 9.94385547e-01 -1.00448598e-02 -5.55486692e-01] [-4.71610477e-03 9.60139792e-03 9.99942784e-01 -8.35540952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.205898227 meters Centerline goodness [0,1] 0.9336293428168599 Centerline is valid? [False, False] Translation: X:148.47, Y:-0.55, Z:-0.84 [[ 9.94446464e-01 1.05181485e-01 3.61745219e-03 1.48470544e+02] [-1.05139837e-01 9.94404760e-01 -1.02365601e-02 -5.54927479e-01] [-4.67390827e-03 9.79937270e-03 9.99941062e-01 -8.35539671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23589822699995 meters Centerline goodness [0,1] 0.9515687952737825 Centerline is valid? [False, True] Translation: X:148.47, Y:-0.55, Z:-0.84 [[ 9.95086684e-01 9.85154605e-02 9.85881900e-03 1.48472866e+02] [-9.85163081e-02 9.95135356e-01 -4.00810946e-04 -5.53842557e-01] [-9.85034543e-03 -5.72412816e-04 9.99951320e-01 -8.39475525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.265898227 meters Centerline goodness [0,1] 0.9298952626828705 Centerline is valid? [True, False] Translation: X:148.47, Y:-0.55, Z:-0.84 [[ 9.95514817e-01 9.41235634e-02 9.53957870e-03 1.48472580e+02] [-9.40728714e-02 9.95549389e-01 -5.63112873e-03 -5.48719265e-01] [-1.00271436e-02 4.70845653e-03 9.99938642e-01 -8.39192107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29589822699995 meters Centerline goodness [0,1] 0.9858962214503737 Centerline is valid? [False, True] Translation: X:148.47, Y:-0.55, Z:-0.84 [[ 9.95552476e-01 9.37465788e-02 9.31911718e-03 1.48473398e+02] [-9.36911212e-02 9.95581881e-01 -6.22028595e-03 -5.46272038e-01] [-9.86107474e-03 5.31950255e-03 9.99937229e-01 -8.39311066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.325898227 meters Centerline goodness [0,1] 0.9901331706393453 Centerline is valid? [True, True] Translation: X:148.50, Y:-0.55, Z:-0.84 [[ 9.95541763e-01 9.39165477e-02 8.73390348e-03 1.48502255e+02] [-9.39171464e-02 9.95579958e-01 -3.42473328e-04 -5.48171637e-01] [-8.72746317e-03 -4.79316791e-04 9.99961800e-01 -8.41464800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35589822699995 meters Centerline goodness [0,1] 0.9807615983957554 Centerline is valid? [True, True] Translation: X:148.53, Y:-0.54, Z:-0.84 [[ 9.95424484e-01 9.52355255e-02 7.76474978e-03 1.48530887e+02] [-9.52360410e-02 9.95454672e-01 -3.04169474e-04 -5.42427275e-01] [-7.75842418e-03 -4.36706286e-04 9.99969808e-01 -8.43717847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.385898227 meters Centerline goodness [0,1] 0.8654990433338239 Centerline is valid? [True, False] Translation: X:148.53, Y:-0.53, Z:-0.84 [[ 9.95434514e-01 9.51405996e-02 7.64167969e-03 1.48532085e+02] [-9.51282586e-02 9.95463088e-01 -1.96334165e-03 -5.32556301e-01] [-7.79380357e-03 1.22743836e-03 9.99968875e-01 -8.44529852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41589822699996 meters Centerline goodness [0,1] 0.9282669410554167 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.53, Z:-0.84 [[ 9.95466721e-01 9.48105267e-02 7.54794471e-03 1.48532789e+02] [-9.47887247e-02 9.95492280e-01 -3.19642975e-03 -5.26276066e-01] [-7.81697588e-03 2.46647939e-03 9.99966405e-01 -8.44990051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.445898227 meters Centerline goodness [0,1] 0.8799991580365412 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.52, Z:-0.85 [[ 9.95490383e-01 9.45683405e-02 7.46498298e-03 1.48533347e+02] [-9.45385929e-02 9.95512156e-01 -4.24280502e-03 -5.20824224e-01] [-7.83271633e-03 3.51794260e-03 9.99963136e-01 -8.45279520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47589822699996 meters Centerline goodness [0,1] 0.8194074042964239 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.52, Z:-0.85 [[ 9.95513555e-01 9.43274687e-02 7.42230356e-03 1.48533600e+02] [-9.42903653e-02 9.95531157e-01 -5.20017299e-03 -5.15874055e-01] [-7.87965361e-03 4.47699098e-03 9.99958933e-01 -8.45252083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.505898227 meters Centerline goodness [0,1] 0.8194074042964239 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.52, Z:-0.85 [[ 9.95513555e-01 9.43274687e-02 7.42230356e-03 1.48533600e+02] [-9.42903653e-02 9.95531157e-01 -5.20017299e-03 -5.15874055e-01] [-7.87965361e-03 4.47699098e-03 9.99958933e-01 -8.45252083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53589822699996 meters Centerline goodness [0,1] 0.7854644136790553 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.51, Z:-0.84 [[ 9.95133738e-01 9.82175691e-02 7.88369293e-03 1.48533073e+02] [-9.82071380e-02 9.95164542e-01 -1.70045195e-03 -5.12165754e-01] [-8.01258592e-03 9.17942186e-04 9.99967477e-01 -8.44473146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.565898227 meters Centerline goodness [0,1] 0.7654556908861823 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.51, Z:-0.84 [[ 9.95159819e-01 9.79543794e-02 7.86605981e-03 1.48532891e+02] [-9.79380116e-02 9.95189524e-01 -2.44065325e-03 -5.08543556e-01] [-8.06729299e-03 1.65845379e-03 9.99966084e-01 -8.43952309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59589822699996 meters Centerline goodness [0,1] 0.7355713715857319 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.50, Z:-0.84 [[ 9.95205635e-01 9.74941526e-02 7.78686100e-03 1.48532852e+02] [-9.74681433e-02 9.95231939e-01 -3.65347981e-03 -5.02569731e-01] [-8.10592569e-03 2.87699281e-03 9.99963008e-01 -8.43263483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.625898227 meters Centerline goodness [0,1] 0.659136757165672 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.50, Z:-0.84 [[ 9.95236238e-01 9.71910254e-02 7.66387853e-03 1.48533387e+02] [-9.71598108e-02 9.95259304e-01 -4.34606774e-03 -4.99311590e-01] [-8.04994519e-03 3.58074312e-03 9.99961188e-01 -8.43386620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65589822699997 meters Centerline goodness [0,1] 0.6485561675847105 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.50, Z:-0.84 [[ 9.95264472e-01 9.69070727e-02 7.59280393e-03 1.48533749e+02] [-9.68706504e-02 9.95284284e-01 -5.02709961e-03 -4.96070819e-01] [-8.04415993e-03 4.26777378e-03 9.99958538e-01 -8.43495947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.685898227 meters Centerline goodness [0,1] 0.7387072886914208 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.49, Z:-0.84 [[ 9.95086069e-01 9.86707237e-02 8.23427206e-03 1.48529265e+02] [-9.86476709e-02 9.95117402e-01 -3.16131294e-03 -4.94786349e-01] [-8.50599645e-03 2.33348671e-03 9.99961101e-01 -8.39882175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71589822699997 meters Centerline goodness [0,1] 0.7435924614699709 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.49, Z:-0.84 [[ 9.95127899e-01 9.82741878e-02 7.91510985e-03 1.48530492e+02] [-9.82432724e-02 9.95153544e-01 -4.20524435e-03 -4.89680026e-01] [-8.29001659e-03 3.40714968e-03 9.99959833e-01 -8.40061213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74589822699994 meters Centerline goodness [0,1] 0.6549347565716207 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.49, Z:-0.84 [[ 9.95149891e-01 9.80604589e-02 7.80009715e-03 1.48531026e+02] [-9.80258599e-02 9.95172761e-01 -4.70173108e-03 -4.87365352e-01] [-8.22349813e-03 3.91431594e-03 9.99958525e-01 -8.40280057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77589822699997 meters Centerline goodness [0,1] 0.7396237619562682 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.49, Z:-0.84 [[ 9.95170316e-01 9.78548816e-02 7.77585343e-03 1.48531088e+02] [-9.78162569e-02 9.95190895e-01 -5.20224013e-03 -4.85001428e-01] [-8.24752312e-03 4.41651008e-03 9.99956235e-01 -8.40172575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80589822699994 meters Centerline goodness [0,1] 0.6815325317357241 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.48, Z:-0.84 [[ 9.95212503e-01 9.74456079e-02 7.51184021e-03 1.48532041e+02] [-9.74013111e-02 9.95226776e-01 -6.05385245e-03 -4.80986867e-01] [-8.06590585e-03 5.29320656e-03 9.99953460e-01 -8.40230141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.835898227 meters Centerline goodness [0,1] 0.7059208167225632 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.48, Z:-0.84 [[ 9.95228153e-01 9.72961671e-02 7.37418737e-03 1.48532746e+02] [-9.72510506e-02 9.95240265e-01 -6.24877729e-03 -4.80239887e-01] [-7.94707027e-03 5.50181161e-03 9.99953286e-01 -8.40673980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86589822699995 meters Centerline goodness [0,1] 0.7978815987773555 Centerline is valid? [False, False] Translation: X:148.53, Y:-0.48, Z:-0.84 [[ 9.95251597e-01 9.70698542e-02 7.19048198e-03 1.48533509e+02] [-9.70267863e-02 9.95262986e-01 -6.11488116e-03 -4.81628838e-01] [-7.74999118e-03 5.38817588e-03 9.99955452e-01 -8.41186129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.895898227 meters Centerline goodness [0,1] 0.778874505949518 Centerline is valid? [False, False] Translation: X:148.55, Y:-0.48, Z:-0.84 [[ 9.95482585e-01 9.44554505e-02 9.62246193e-03 1.48554553e+02] [-9.44808397e-02 9.95524209e-01 2.21802216e-03 -4.84519535e-01] [-9.36988952e-03 -3.11714072e-03 9.99951243e-01 -8.42778116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92589822699995 meters Centerline goodness [0,1] 0.8929205785333671 Centerline is valid? [False, False] Translation: X:148.55, Y:-0.49, Z:-0.84 [[ 9.95480715e-01 9.44683923e-02 9.68863885e-03 1.48554207e+02] [-9.44967758e-02 9.95521994e-01 2.51383977e-03 -4.86333400e-01] [-9.40777467e-03 -3.41802414e-03 9.99949904e-01 -8.42623683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.955898227 meters Centerline goodness [0,1] 0.9584906465305774 Centerline is valid? [False, True] Translation: X:148.55, Y:-0.48, Z:-0.84 [[ 9.95877631e-01 9.02173907e-02 9.41095051e-03 1.48553922e+02] [-9.02008730e-02 9.95921237e-01 -2.16595337e-03 -4.84145771e-01] [-9.56797214e-03 1.30814856e-03 9.99953370e-01 -8.42702234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98589822699995 meters Centerline goodness [0,1] 0.9469322878033273 Centerline is valid? [True, False] Translation: X:148.55, Y:-0.49, Z:-0.84 [[ 9.95874446e-01 9.02750304e-02 9.19272545e-03 1.48554813e+02] [-9.02667527e-02 9.95916759e-01 -1.31227312e-03 -4.88933065e-01] [-9.27365484e-03 4.77061790e-04 9.99956885e-01 -8.43338907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.015898227 meters Centerline goodness [0,1] 0.9621525724423418 Centerline is valid? [False, True] Translation: X:148.56, Y:-0.49, Z:-0.84 [[ 9.96237503e-01 8.62118772e-02 8.85150174e-03 1.48555066e+02] [-8.61611393e-02 9.96263372e-01 -5.96250785e-03 -4.86459423e-01] [-9.33246597e-03 5.17741846e-03 9.99943048e-01 -8.43834561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04589822699995 meters Centerline goodness [0,1] 0.9775867880013481 Centerline is valid? [True, True] Translation: X:148.58, Y:-0.49, Z:-0.85 [[ 9.96200674e-01 8.67009153e-02 8.19562153e-03 1.48583178e+02] [-8.67020830e-02 9.96234261e-01 -2.13376387e-04 -4.92358272e-01] [-8.18325888e-03 -4.98011758e-04 9.99966393e-01 -8.45692047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.075898227 meters Centerline goodness [0,1] 0.9160198498536709 Centerline is valid? [True, False] Translation: X:148.58, Y:-0.49, Z:-0.85 [[ 9.96173536e-01 8.70072862e-02 8.24737404e-03 1.48583179e+02] [-8.70078954e-02 9.96207581e-01 -2.85587193e-04 -4.91155306e-01] [-8.24094471e-03 -4.33092254e-04 9.99965949e-01 -8.45824303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10589822699995 meters Centerline goodness [0,1] 0.8499061518020963 Centerline is valid? [False, False] Translation: X:148.58, Y:-0.49, Z:-0.85 [[ 9.96472284e-01 8.35266796e-02 8.14128153e-03 1.48582635e+02] [-8.34875373e-02 9.96496100e-01 -5.03526547e-03 -4.85977454e-01] [-8.53333430e-03 4.33780694e-03 9.99954182e-01 -8.45795249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.135898227 meters Centerline goodness [0,1] 0.7455772272008434 Centerline is valid? [False, False] Translation: X:148.58, Y:-0.48, Z:-0.85 [[ 9.96470544e-01 8.35306350e-02 8.31186364e-03 1.48581811e+02] [-8.34879944e-02 9.96494412e-01 -5.35183664e-03 -4.84174966e-01] [-8.72976798e-03 4.63900675e-03 9.99951134e-01 -8.45257399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16589822699996 meters Centerline goodness [0,1] 0.7467146071195778 Centerline is valid? [False, False] Translation: X:148.58, Y:-0.48, Z:-0.84 [[ 9.96469387e-01 8.35389633e-02 8.36674385e-03 1.48581276e+02] [-8.34941147e-02 9.96492681e-01 -5.57399499e-03 -4.82867731e-01] [-8.80304478e-03 4.85574150e-03 9.99949463e-01 -8.44621792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.195898227 meters Centerline goodness [0,1] 0.7138459605478076 Centerline is valid? [False, False] Translation: X:148.58, Y:-0.48, Z:-0.84 [[ 9.96462787e-01 8.35991340e-02 8.54973274e-03 1.48580343e+02] [-8.35530085e-02 9.96487500e-01 -5.61751512e-03 -4.82448977e-01] [-8.98932121e-03 4.88328888e-03 9.99947671e-01 -8.44043172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22589822699996 meters Centerline goodness [0,1] 0.7056622227892242 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.49, Z:-0.85 [[ 9.96800225e-01 7.94559776e-02 8.72120992e-03 1.48539336e+02] [-7.95318994e-02 9.96794061e-01 8.73372308e-03 -4.85893227e-01] [-7.99930374e-03 -9.39939152e-03 9.99923828e-01 -8.45261626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.255898227 meters Centerline goodness [0,1] 0.7156195333740806 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.48, Z:-0.85 [[ 9.97120532e-01 7.53729665e-02 8.34023965e-03 1.48539649e+02] [-7.54093671e-02 9.97144069e-01 4.13918468e-03 -4.83737448e-01] [-8.00443787e-03 -4.75619823e-03 9.99956653e-01 -8.45454770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28589822699996 meters Centerline goodness [0,1] 0.6793921888735401 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.48, Z:-0.85 [[ 9.97412553e-01 7.14512436e-02 7.93214403e-03 1.48540446e+02] [-7.14536136e-02 9.97443924e-01 1.54295803e-05 -4.83947149e-01] [-7.91076640e-03 -5.82170012e-04 9.99968540e-01 -8.46263641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.315898227 meters Centerline goodness [0,1] 0.672839376717069 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.48, Z:-0.85 [[ 9.97686503e-01 6.75305496e-02 7.82733218e-03 1.48540094e+02] [-6.74963379e-02 9.97709120e-01 -4.55581604e-03 -4.81587663e-01] [-8.11705747e-03 4.01695992e-03 9.99958988e-01 -8.46559052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34589822699996 meters Centerline goodness [0,1] 0.7176030906189637 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.48, Z:-0.85 [[ 9.97675451e-01 6.76810195e-02 7.93565078e-03 1.48539567e+02] [-6.76487137e-02 9.97700059e-01 -4.27138660e-03 -4.82897419e-01] [-8.20649105e-03 3.72462099e-03 9.99959390e-01 -8.46324613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.375898227 meters Centerline goodness [0,1] 0.7058736655555087 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.48, Z:-0.85 [[ 9.97652280e-01 6.80103536e-02 8.03247299e-03 1.48539246e+02] [-6.79810510e-02 9.97679119e-01 -3.86669874e-03 -4.84424339e-01] [-8.27680613e-03 3.31156486e-03 9.99960263e-01 -8.46294989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40589822699997 meters Centerline goodness [0,1] 0.6788246783576068 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.48, Z:-0.85 [[ 9.97649481e-01 6.80589698e-02 7.96801682e-03 1.48539807e+02] [-6.80291954e-02 9.97675510e-01 -3.95028987e-03 -4.83878568e-01] [-8.21834790e-03 3.39894686e-03 9.99960452e-01 -8.46850447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.435898227 meters Centerline goodness [0,1] 0.6414814500921668 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.48, Z:-0.85 [[ 9.97637646e-01 6.82522233e-02 7.79496221e-03 1.48541021e+02] [-6.82192204e-02 9.97660545e-01 -4.42438440e-03 -4.80766127e-01] [-8.07870032e-03 3.88216619e-03 9.99959831e-01 -8.47919804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46589822699997 meters Centerline goodness [0,1] 0.6116759249554554 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.48, Z:-0.85 [[ 9.97638682e-01 6.82446776e-02 7.72810547e-03 1.48541351e+02] [-6.82089322e-02 9.97659519e-01 -4.79847096e-03 -4.78596775e-01] [-8.03748809e-03 4.26001443e-03 9.99958625e-01 -8.48061362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49589822699994 meters Centerline goodness [0,1] 0.588501346348031 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.48, Z:-0.85 [[ 9.97644433e-01 6.81496359e-02 7.82378086e-03 1.48541055e+02] [-6.81098956e-02 9.97664072e-01 -5.23851058e-03 -4.76320553e-01] [-8.16250766e-03 4.69329402e-03 9.99955672e-01 -8.48049366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.52589822699997 meters Centerline goodness [0,1] 0.5595668629100083 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.47, Z:-0.85 [[ 9.97647839e-01 6.80840442e-02 7.95944744e-03 1.48540443e+02] [-6.80404498e-02 9.97666703e-01 -5.62554768e-03 -4.74247173e-01] [-8.32388572e-03 5.07075110e-03 9.99952499e-01 -8.47662005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55589822699994 meters Centerline goodness [0,1] 0.5809357805871729 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.47, Z:-0.85 [[ 9.97661870e-01 6.78540967e-02 8.16180446e-03 1.48539564e+02] [-6.78025278e-02 9.97677992e-01 -6.43757707e-03 -4.70053641e-01] [-8.57966866e-03 5.86913420e-03 9.99945970e-01 -8.47152766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.585898227 meters Centerline goodness [0,1] 0.5426509461670792 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.47, Z:-0.85 [[ 9.97677705e-01 6.76275247e-02 8.10651344e-03 1.48539713e+02] [-6.75725864e-02 9.97690709e-01 -6.86980298e-03 -4.68088417e-01] [-8.55238092e-03 6.30607119e-03 9.99943544e-01 -8.47068089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61589822699995 meters Centerline goodness [0,1] 0.6137656427758817 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.47, Z:-0.85 [[ 9.97693762e-01 6.74040948e-02 7.99033619e-03 1.48540136e+02] [-6.73471503e-02 9.97703669e-01 -7.19381618e-03 -4.66806163e-01] [-8.45688040e-03 6.63909916e-03 9.99942200e-01 -8.47153955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.645898227 meters Centerline goodness [0,1] 0.6102701223235152 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.47, Z:-0.84 [[ 9.98170204e-01 6.04332298e-02 2.01686503e-03 1.48541763e+02] [-6.04418486e-02 9.98161451e-01 4.52782897e-03 -4.68632582e-01] [-1.73952559e-03 -4.64144701e-03 9.99987715e-01 -8.44225541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67589822699995 meters Centerline goodness [0,1] 0.779738129312002 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.47, Z:-0.84 [[ 9.98177737e-01 6.03159419e-02 1.78669563e-03 1.48542613e+02] [-6.03238472e-02 9.98167499e-01 4.76208617e-03 -4.70341922e-01] [-1.49619179e-03 -4.86118875e-03 9.99987065e-01 -8.44525083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.705898227 meters Centerline goodness [0,1] 0.7464726165041355 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.47, Z:-0.84 [[ 9.98438745e-01 5.58403196e-02 1.38970027e-03 1.48543082e+02] [-5.58406374e-02 9.98439676e-01 1.90925485e-04 -4.69124870e-01] [-1.37687055e-03 -2.68229151e-04 9.99999016e-01 -8.44481703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73589822699995 meters Centerline goodness [0,1] 0.646074834922964 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.47, Z:-0.84 [[ 9.98443387e-01 5.57576368e-02 1.37473182e-03 1.48542796e+02] [-5.57579663e-02 9.98444294e-01 2.02527236e-04 -4.69355473e-01] [-1.36130070e-03 -2.78864230e-04 9.99999035e-01 -8.43944315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.765898227 meters Centerline goodness [0,1] 0.6905249382611816 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.47, Z:-0.84 [[ 9.98447878e-01 5.56728042e-02 1.54068973e-03 1.48542022e+02] [-5.56729208e-02 9.98449060e-01 3.28881564e-05 -4.68592592e-01] [-1.53646924e-03 -1.18611807e-04 9.99998813e-01 -8.43515101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79589822699995 meters Centerline goodness [0,1] 0.7414108302338775 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.47, Z:-0.84 [[ 9.98464808e-01 5.53699405e-02 1.48192871e-03 1.48541951e+02] [-5.53692086e-02 9.98465808e-01 -5.30511686e-04 -4.66044045e-01] [-1.50902955e-03 4.47644029e-04 9.99998761e-01 -8.43061018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.825898227 meters Centerline goodness [0,1] 0.7420839314362915 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.46, Z:-0.84 [[ 9.98697841e-01 5.09972150e-02 1.38099936e-03 1.48541635e+02] [-5.09883220e-02 9.98682113e-01 -5.85042425e-03 -4.60346602e-01] [-1.67753470e-03 5.77239122e-03 9.99981933e-01 -8.43100067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85589822699995 meters Centerline goodness [0,1] 0.7670230607966457 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.46, Z:-0.84 [[ 9.98708591e-01 5.07889098e-02 1.27976699e-03 1.48541850e+02] [-5.07801529e-02 9.98691007e-01 -6.13592287e-03 -4.59100576e-01] [-1.58972861e-03 6.06301212e-03 9.99980356e-01 -8.42896643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.885898227 meters Centerline goodness [0,1] 0.7824430676490288 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.46, Z:-0.85 [[ 9.98993922e-01 4.46423361e-02 4.26671705e-03 1.48543763e+02] [-4.46674108e-02 9.98984049e-01 5.97422203e-03 -4.59644488e-01] [-3.99567905e-03 -6.15879470e-03 9.99973052e-01 -8.46230379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91589822699996 meters Centerline goodness [0,1] 0.9404666300350818 Centerline is valid? [False, False] Translation: X:148.54, Y:-0.46, Z:-0.85 [[ 9.99186740e-01 4.01345839e-02 3.88259054e-03 1.48544562e+02] [-4.01400151e-02 9.99193178e-01 1.33117086e-03 -4.58332358e-01] [-3.82603199e-03 -1.48593552e-03 9.99991577e-01 -8.46538245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.945898227 meters Centerline goodness [0,1] 0.9634041120393948 Centerline is valid? [False, True] Translation: X:148.55, Y:-0.46, Z:-0.85 [[ 9.99194696e-01 3.99669083e-02 3.55050993e-03 1.48545544e+02] [-3.99734131e-02 9.99199158e-01 1.78037777e-03 -4.61363624e-01] [-3.47651034e-03 -1.92087002e-03 9.99992112e-01 -8.46491805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97589822699996 meters Centerline goodness [0,1] 0.9889984585172202 Centerline is valid? [True, True] Translation: X:148.58, Y:-0.47, Z:-0.85 [[ 9.99353337e-01 3.57574458e-02 3.78319384e-03 1.48575194e+02] [-3.57579584e-02 9.99360477e-01 6.79177016e-05 -4.66678218e-01] [-3.77834584e-03 -2.03153070e-04 9.99992841e-01 -8.45853319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.005898227 meters Centerline goodness [0,1] 0.996133641521328 Centerline is valid? [True, True] Translation: X:148.60, Y:-0.48, Z:-0.84 [[ 9.99600537e-01 2.78400512e-02 4.86806285e-03 1.48604552e+02] [-2.78408073e-02 9.99612366e-01 8.75991997e-05 -4.75793758e-01] [-4.86373705e-03 -2.23095007e-04 9.99988147e-01 -8.42103459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03589822699996 meters Centerline goodness [0,1] 0.997789566755084 Centerline is valid? [True, True] Translation: X:148.64, Y:-0.48, Z:-0.84 [[ 9.99667614e-01 2.52716085e-02 5.09980814e-03 1.48635864e+02] [-2.52724051e-02 9.99680598e-01 9.18061665e-05 -4.82278552e-01] [-5.09585915e-03 -2.20660069e-04 9.99986992e-01 -8.42750559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.065898227 meters Centerline goodness [0,1] 0.9987144362486828 Centerline is valid? [True, True] Translation: X:148.67, Y:-0.49, Z:-0.84 [[ 9.99729562e-01 2.28434052e-02 4.35685144e-03 1.48666395e+02] [-2.28439632e-02 9.99739040e-01 7.83464458e-05 -4.93040463e-01] [-4.35392477e-03 -1.77853012e-04 9.99990506e-01 -8.44603088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09589822699996 meters Centerline goodness [0,1] 0.9985530344335863 Centerline is valid? [True, True] Translation: X:148.70, Y:-0.49, Z:-0.85 [[ 9.99721676e-01 2.32900415e-02 3.76102412e-03 1.48695628e+02] [-2.32904602e-02 9.99728738e-01 6.75744711e-05 -4.94169817e-01] [-3.75843009e-03 -1.55151646e-04 9.99992925e-01 -8.45794899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.125898227 meters Centerline goodness [0,1] 0.9986144932404064 Centerline is valid? [True, True] Translation: X:148.73, Y:-0.49, Z:-0.85 [[ 9.99693612e-01 2.44984765e-02 3.53642812e-03 1.48726038e+02] [-2.44988546e-02 9.99699856e-01 6.36326544e-05 -4.94758192e-01] [-3.53380778e-03 -1.50251596e-04 9.99993745e-01 -8.46748731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15589822699997 meters Centerline goodness [0,1] 0.9983083819673517 Centerline is valid? [True, True] Translation: X:148.76, Y:-0.50, Z:-0.85 [[ 9.99603298e-01 2.76851832e-02 5.17471363e-03 1.48756124e+02] [-2.76860352e-02 9.99616664e-01 9.30679150e-05 -5.02027469e-01] [-5.17015337e-03 -2.36298298e-04 9.99986607e-01 -8.45083848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.185898227 meters Centerline goodness [0,1] 0.9971796005135652 Centerline is valid? [True, True] Translation: X:148.79, Y:-0.50, Z:-0.84 [[ 9.99567826e-01 2.87225747e-02 6.25904843e-03 1.48785564e+02] [-2.87238420e-02 9.99587379e-01 1.12663447e-04 -5.02640659e-01] [-6.25322983e-03 -2.92398675e-04 9.99980406e-01 -8.42377859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21589822699997 meters Centerline goodness [0,1] 0.9973912860538994 Centerline is valid? [True, True] Translation: X:148.82, Y:-0.51, Z:-0.84 [[ 9.99532112e-01 2.97920656e-02 6.92749438e-03 1.48816502e+02] [-2.97936445e-02 9.99556063e-01 1.24808152e-04 -5.06714147e-01] [-6.92070071e-03 -3.31145061e-04 9.99975997e-01 -8.42873409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24589822699994 meters Centerline goodness [0,1] 0.9951827831418264 Centerline is valid? [True, True] Translation: X:148.85, Y:-0.51, Z:-0.84 [[ 9.99450758e-01 3.24151659e-02 6.88759194e-03 1.48846928e+02] [-3.24167890e-02 9.99474430e-01 1.24112590e-04 -5.10769491e-01] [-6.87994890e-03 -3.47318036e-04 9.99976273e-01 -8.42943392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27589822699997 meters Centerline goodness [0,1] 0.9858274629486402 Centerline is valid? [True, True] Translation: X:148.88, Y:-0.51, Z:-0.84 [[ 9.99386988e-01 3.43719696e-02 6.64952134e-03 1.48877376e+02] [-3.43735251e-02 9.99409049e-01 1.19750123e-04 -5.07428670e-01] [-6.64147574e-03 -3.48244203e-04 9.99977885e-01 -8.44352734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30589822699994 meters Centerline goodness [0,1] 0.9906671420481953 Centerline is valid? [True, True] Translation: X:148.91, Y:-0.51, Z:-0.85 [[ 9.99305442e-01 3.67269035e-02 6.30617696e-03 1.48908211e+02] [-3.67283488e-02 9.99325280e-01 1.13501495e-04 -5.12656866e-01] [-6.29775350e-03 -3.45038129e-04 9.99980109e-01 -8.45077654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.335898227 meters Centerline goodness [0,1] 0.9783223775182419 Centerline is valid? [True, True] Translation: X:148.94, Y:-0.51, Z:-0.85 [[ 9.99215610e-01 3.91129978e-02 6.19182063e-03 1.48938770e+02] [-3.91144363e-02 9.99234731e-01 1.11354094e-04 -5.11038387e-01] [-6.18272683e-03 -3.53456323e-04 9.99980824e-01 -8.45838367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36589822699995 meters Centerline goodness [0,1] 0.9446977372509288 Centerline is valid? [True, False] Translation: X:148.94, Y:-0.51, Z:-0.85 [[ 9.99185758e-01 3.98551372e-02 6.27614493e-03 1.48938734e+02] [-3.98606234e-02 9.99204967e-01 7.51447292e-04 -5.12889533e-01] [-6.24120615e-03 -1.00100648e-03 9.99980022e-01 -8.46168436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.395898227 meters Centerline goodness [0,1] 0.7639494056432168 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.51, Z:-0.85 [[ 9.99310891e-01 3.65707463e-02 6.35002423e-03 1.48938218e+02] [-3.65487306e-02 9.99325569e-01 -3.54917962e-03 -5.09905650e-01] [-6.47553773e-03 3.31464853e-03 9.99973540e-01 -8.46428494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42589822699995 meters Centerline goodness [0,1] 0.7639494056432168 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.51, Z:-0.85 [[ 9.99310891e-01 3.65707463e-02 6.35002423e-03 1.48938218e+02] [-3.65487306e-02 9.99325569e-01 -3.54917962e-03 -5.09905650e-01] [-6.47553773e-03 3.31464853e-03 9.99973540e-01 -8.46428494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.455898227 meters Centerline goodness [0,1] 0.6275059054706608 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.51, Z:-0.85 [[ 9.99205209e-01 3.94662510e-02 5.60040009e-03 1.48944260e+02] [-3.94641345e-02 9.99220868e-01 -4.87977885e-04 -5.13249040e-01] [-5.61529530e-03 2.66575102e-04 9.99984199e-01 -8.50342329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48589822699995 meters Centerline goodness [0,1] 0.7611579456345786 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.51, Z:-0.85 [[ 9.99198978e-01 3.96166403e-02 5.65017792e-03 1.48944150e+02] [-3.96151774e-02 9.99214942e-01 -3.70642044e-04 -5.13600383e-01] [-5.66042580e-03 1.46512351e-04 9.99983969e-01 -8.50422585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.515898227 meters Centerline goodness [0,1] 0.7403842085219821 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.51, Z:-0.85 [[ 9.99194430e-01 3.97147312e-02 5.76469753e-03 1.48943675e+02] [-3.97134368e-02 9.99211053e-01 -3.38886301e-04 -5.13571432e-01] [-5.77360827e-03 1.09677353e-04 9.99983327e-01 -8.50256821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54589822699995 meters Centerline goodness [0,1] 0.5851032386099734 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.51, Z:-0.85 [[ 9.99182874e-01 3.99541851e-02 6.10299652e-03 1.48942392e+02] [-3.99524770e-02 9.99201500e-01 -4.01583498e-04 -5.12631976e-01] [-6.11416822e-03 1.57425526e-04 9.99981296e-01 -8.49879453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.575898227 meters Centerline goodness [0,1] 0.7127110396479499 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.51, Z:-0.85 [[ 9.99183266e-01 3.99332235e-02 6.17571459e-03 1.48942084e+02] [-3.99302409e-02 9.99202286e-01 -6.05554905e-04 -5.11531567e-01] [-6.19496990e-03 3.58462557e-04 9.99980747e-01 -8.49740461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60589822699995 meters Centerline goodness [0,1] 0.6723173347915703 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.51, Z:-0.85 [[ 9.99186260e-01 3.98681259e-02 6.11144086e-03 1.48942364e+02] [-3.98635335e-02 9.99204753e-01 -8.71476414e-04 -5.10184157e-01] [-6.14132489e-03 6.27143632e-04 9.99980945e-01 -8.49831962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.635898227 meters Centerline goodness [0,1] 0.6239212400502723 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.51, Z:-0.85 [[ 9.99194876e-01 3.96917625e-02 5.84494580e-03 1.48944071e+02] [-3.96837203e-02 9.99211187e-01 -1.48556406e-03 -5.07194881e-01] [-5.89929988e-03 1.25241880e-03 9.99981815e-01 -8.51269754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66589822699996 meters Centerline goodness [0,1] 0.6010611313097151 Centerline is valid? [False, False] Translation: X:148.95, Y:-0.51, Z:-0.85 [[ 9.99201405e-01 3.95459189e-02 5.71602171e-03 1.48945110e+02] [-3.95360873e-02 9.99216480e-01 -1.82292156e-03 -5.05656272e-01] [-5.78363220e-03 1.59547665e-03 9.99982002e-01 -8.52336397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.695898227 meters Centerline goodness [0,1] 0.6176084933592758 Centerline is valid? [False, False] Translation: X:148.95, Y:-0.50, Z:-0.85 [[ 9.99206724e-01 3.94253859e-02 5.61796968e-03 1.48945767e+02] [-3.94141924e-02 9.99220774e-01 -2.08946246e-03 -5.04464681e-01] [-5.69596987e-03 1.86637721e-03 9.99982036e-01 -8.52949940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72589822699996 meters Centerline goodness [0,1] 0.5503125460400311 Centerline is valid? [False, False] Translation: X:148.95, Y:-0.50, Z:-0.85 [[ 9.99211193e-01 3.93208543e-02 5.55536293e-03 1.48946057e+02] [-3.93085838e-02 9.99224470e-01 -2.30099556e-03 -5.03502797e-01] [-5.64153168e-03 2.08080707e-03 9.99981922e-01 -8.53119145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.755898227 meters Centerline goodness [0,1] 0.6089978436996253 Centerline is valid? [False, False] Translation: X:148.95, Y:-0.50, Z:-0.85 [[ 9.99217388e-01 3.91717758e-02 5.49392463e-03 1.48945943e+02] [-3.91578466e-02 9.99229601e-01 -2.62048317e-03 -5.02004789e-01] [-5.59234110e-03 2.40330209e-03 9.99981475e-01 -8.52588476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78589822699996 meters Centerline goodness [0,1] 0.602422470502245 Centerline is valid? [False, False] Translation: X:148.95, Y:-0.50, Z:-0.85 [[ 9.99219924e-01 3.91015017e-02 5.53315634e-03 1.48945466e+02] [-3.90872874e-02 9.99232275e-01 -2.65419475e-03 -5.02012722e-01] [-5.63269140e-03 2.43584821e-03 9.99981170e-01 -8.52043740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.815898227 meters Centerline goodness [0,1] 0.6824960671211326 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.50, Z:-0.85 [[ 9.99293529e-01 3.70662241e-02 6.20787500e-03 1.48939467e+02] [-3.70378224e-02 9.99303142e-01 -4.62927480e-03 -5.00705290e-01] [-6.37513873e-03 4.39607818e-03 9.99970016e-01 -8.47613509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84589822699996 meters Centerline goodness [0,1] 0.6808702584759987 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.50, Z:-0.84 [[ 9.99474689e-01 3.22599174e-02 3.10545524e-03 1.48937080e+02] [-3.22893857e-02 9.99428939e-01 9.95946775e-03 -5.04853727e-01] [-2.78239022e-03 -1.00545092e-02 9.99945581e-01 -8.44397103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.875898227 meters Centerline goodness [0,1] 0.7688355434272801 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.51, Z:-0.84 [[ 9.99477611e-01 3.21847536e-02 2.94063696e-03 1.48937649e+02] [-3.22130699e-02 9.99429474e-01 1.01511243e-02 -5.06170967e-01] [-2.61224782e-03 -1.02405484e-02 9.99944152e-01 -8.44504620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90589822699997 meters Centerline goodness [0,1] 0.9106310259710121 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.51, Z:-0.84 [[ 9.99611509e-01 2.77434551e-02 2.67062431e-03 1.48938154e+02] [-2.77583168e-02 9.99598420e-01 5.69869797e-03 -5.05733681e-01] [-2.51145027e-03 -5.77061611e-03 9.99980196e-01 -8.44629031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.935898227 meters Centerline goodness [0,1] 0.83603824156343 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.50, Z:-0.84 [[ 9.99723884e-01 2.33468730e-02 2.66054600e-03 1.48937595e+02] [-2.33494237e-02 9.99726931e-01 9.31726403e-04 -5.03339844e-01] [-2.63806659e-03 -9.93591355e-04 9.99996027e-01 -8.44220540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96589822699997 meters Centerline goodness [0,1] 0.7973106211584049 Centerline is valid? [False, False] Translation: X:148.94, Y:-0.50, Z:-0.84 [[ 9.99725543e-01 2.32830624e-02 2.59581721e-03 1.48937464e+02] [-2.32861518e-02 9.99728160e-01 1.16635220e-03 -5.04858411e-01] [-2.56795531e-03 -1.22647868e-03 9.99995951e-01 -8.43683645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99589822699994 meters Centerline goodness [0,1] 0.9857284817218851 Centerline is valid? [False, True] Translation: X:148.94, Y:-0.50, Z:-0.84 [[ 9.99820110e-01 1.87911258e-02 2.57718674e-03 1.48936952e+02] [-1.87817810e-02 9.99817113e-01 -3.60347703e-03 -5.02638497e-01] [-2.64442880e-03 3.55442464e-03 9.99990186e-01 -8.43204090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.02589822699997 meters Centerline goodness [0,1] 0.9831218300818655 Centerline is valid? [True, True] Translation: X:148.97, Y:-0.50, Z:-0.84 [[ 9.99854465e-01 1.69086063e-02 2.26901545e-03 1.48966365e+02] [-1.69088661e-02 9.99857030e-01 9.53833153e-05 -5.02740967e-01] [-2.26707825e-03 -1.33735912e-04 9.99997421e-01 -8.44318796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05589822699994 meters Centerline goodness [0,1] 0.9941884067260646 Centerline is valid? [True, True] Translation: X:149.00, Y:-0.51, Z:-0.84 [[ 9.99888757e-01 1.47857289e-02 1.96361438e-03 1.48997778e+02] [-1.47859191e-02 9.99890679e-01 8.23878951e-05 -5.08228399e-01] [-1.96218155e-03 -1.11412573e-04 9.99998069e-01 -8.44995544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.085898227 meters Centerline goodness [0,1] 0.9962902851843265 Centerline is valid? [True, True] Translation: X:149.03, Y:-0.51, Z:-0.84 [[ 9.99942410e-01 1.05762051e-02 1.82226190e-03 1.49027616e+02] [-1.05763618e-02 9.99944066e-01 7.63723259e-05 -5.13765385e-01] [-1.82135224e-03 -9.56408287e-05 9.99998337e-01 -8.44999682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11589822699995 meters Centerline goodness [0,1] 0.9936861535879848 Centerline is valid? [True, True] Translation: X:149.06, Y:-0.51, Z:-0.85 [[ 9.99960464e-01 8.85869785e-03 7.71171236e-04 1.49057531e+02] [-8.85872545e-03 9.99960760e-01 3.23893986e-05 -5.09389859e-01] [-7.70854048e-04 -3.92197123e-05 9.99999702e-01 -8.48416858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.145898227 meters Centerline goodness [0,1] 0.9967252598664751 Centerline is valid? [True, True] Translation: X:149.09, Y:-0.52, Z:-0.85 [[ 9.99980324e-01 6.26214215e-03 -3.69103083e-04 1.49089061e+02] [-6.26214827e-03 9.99980392e-01 -1.54217813e-05 -5.17804047e-01] [ 3.68999273e-04 1.77328561e-05 9.99999932e-01 -8.50948617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17589822699995 meters Centerline goodness [0,1] 0.998563825293571 Centerline is valid? [True, True] Translation: X:149.12, Y:-0.53, Z:-0.85 [[ 9.99983234e-01 5.78480024e-03 -2.58677076e-04 1.49119974e+02] [-5.78480324e-03 9.99983268e-01 -1.08434808e-05 -5.26076770e-01] [ 2.58610020e-04 1.23396950e-05 9.99999966e-01 -8.49765809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.205898227 meters Centerline goodness [0,1] 0.998684852470144 Centerline is valid? [True, True] Translation: X:149.15, Y:-0.53, Z:-0.85 [[ 9.99982503e-01 5.91249870e-03 1.90583661e-04 1.49150690e+02] [-5.91250033e-03 9.99982521e-01 7.98907390e-06 -5.27443998e-01] [-1.90533095e-04 -9.11576007e-06 9.99999982e-01 -8.48547678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23589822699995 meters Centerline goodness [0,1] 0.9982829524738204 Centerline is valid? [True, True] Translation: X:149.18, Y:-0.53, Z:-0.85 [[ 9.99976637e-01 6.73802724e-03 1.15124027e-03 1.49180902e+02] [-6.73808726e-03 9.99977298e-01 4.82588253e-05 -5.27205061e-01] [-1.15088897e-03 -5.60148552e-05 9.99999336e-01 -8.47146246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.265898227 meters Centerline goodness [0,1] 0.9970618077280798 Centerline is valid? [True, True] Translation: X:149.21, Y:-0.52, Z:-0.84 [[ 9.99950589e-01 9.70010010e-03 2.17453774e-03 1.49211012e+02] [-9.70032120e-03 9.99952947e-01 9.11527733e-05 -5.24194412e-01] [-2.17355123e-03 -1.12241984e-04 9.99997632e-01 -8.44934029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29589822699995 meters Centerline goodness [0,1] 0.9968372566916431 Centerline is valid? [True, True] Translation: X:149.24, Y:-0.52, Z:-0.85 [[ 9.99940256e-01 1.07731035e-02 1.85031837e-03 1.49242269e+02] [-1.07732655e-02 9.99941964e-01 7.76281985e-05 -5.23021530e-01] [-1.84937468e-03 -9.75575317e-05 9.99998285e-01 -8.45308443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.325898227 meters Centerline goodness [0,1] 0.9934681704576481 Centerline is valid? [True, True] Translation: X:149.27, Y:-0.52, Z:-0.85 [[ 9.99916514e-01 1.29210793e-02 1.07333460e-04 1.49271888e+02] [-1.29210799e-02 9.99916519e-01 4.49691958e-06 -5.18661047e-01] [-1.07266394e-04 -5.88340835e-06 9.99999994e-01 -8.48258666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35589822699995 meters Centerline goodness [0,1] 0.99571361880915 Centerline is valid? [True, True] Translation: X:149.30, Y:-0.52, Z:-0.85 [[ 9.99903033e-01 1.39244571e-02 -1.86615802e-04 1.49302433e+02] [-1.39244588e-02 9.99903050e-01 -7.81858943e-06 -5.20676415e-01] [ 1.86488840e-04 1.04163553e-05 9.99999983e-01 -8.47874428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.385898227 meters Centerline goodness [0,1] 0.9850645799150154 Centerline is valid? [True, True] Translation: X:149.33, Y:-0.51, Z:-0.85 [[ 9.99883238e-01 1.52611211e-02 7.79760319e-04 1.49331971e+02] [-1.52611511e-02 9.99883541e-01 3.26252591e-05 -5.14039051e-01] [-7.79171611e-04 -4.45214898e-05 9.99999695e-01 -8.46971863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41589822699996 meters Centerline goodness [0,1] 0.9844084891783988 Centerline is valid? [True, True] Translation: X:149.36, Y:-0.52, Z:-0.84 [[ 9.99851810e-01 1.70205463e-02 2.58059621e-03 1.49362393e+02] [-1.70208818e-02 9.99855128e-01 1.08124669e-04 -5.16769587e-01] [-2.57838201e-03 -1.52032669e-04 9.99996664e-01 -8.44570764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.445898227 meters Centerline goodness [0,1] 0.9241195818406553 Centerline is valid? [True, False] Translation: X:149.36, Y:-0.52, Z:-0.84 [[ 9.99849416e-01 1.71763552e-02 2.47345125e-03 1.49362927e+02] [-1.71775178e-02 9.99852354e-01 4.49555480e-04 -5.18416260e-01] [-2.46536433e-03 -4.91975537e-04 9.99996840e-01 -8.44869322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47589822699996 meters Centerline goodness [0,1] 0.9830565411828928 Centerline is valid? [False, True] Translation: X:149.36, Y:-0.52, Z:-0.85 [[ 9.99844602e-01 1.75034088e-02 2.09810298e-03 1.49364856e+02] [-1.75059285e-02 9.99846053e-01 1.18867901e-03 -5.22033330e-01] [-2.07697405e-03 -1.22522353e-03 9.99997092e-01 -8.46022456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.505898227 meters Centerline goodness [0,1] 0.9795542148483325 Centerline is valid? [True, True] Translation: X:149.40, Y:-0.52, Z:-0.85 [[ 9.99838393e-01 1.79180984e-02 1.45909533e-03 1.49395542e+02] [-1.79182088e-02 9.99839454e-01 6.26337588e-05 -5.21179818e-01] [-1.45773881e-03 -8.87680116e-05 9.99998934e-01 -8.47423696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53589822699996 meters Centerline goodness [0,1] 0.9276035210823756 Centerline is valid? [True, False] Translation: X:149.40, Y:-0.52, Z:-0.85 [[ 9.99836045e-01 1.80544966e-02 1.38492594e-03 1.49395716e+02] [-1.80550193e-02 9.99836928e-01 3.65896477e-04 -5.22677566e-01] [-1.37809402e-03 -3.90841351e-04 9.99998974e-01 -8.47301064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.565898227 meters Centerline goodness [0,1] 0.9676209237991449 Centerline is valid? [False, True] Translation: X:149.39, Y:-0.52, Z:-0.85 [[ 9.99898147e-01 1.41803081e-02 1.61695924e-03 1.49394861e+02] [-1.41734118e-02 9.99890733e-01 -4.19947479e-03 -5.20065279e-01] [-1.67633240e-03 4.17612923e-03 9.99989875e-01 -8.47502782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59589822699996 meters Centerline goodness [0,1] 0.8283655558115666 Centerline is valid? [True, False] Translation: X:149.39, Y:-0.52, Z:-0.85 [[ 9.99896018e-01 1.43169025e-02 1.72609168e-03 1.49394191e+02] [-1.43099083e-02 9.99889613e-01 -3.99847243e-03 -5.20891615e-01] [-1.78314688e-03 3.97335645e-03 9.99990516e-01 -8.47003408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.625898227 meters Centerline goodness [0,1] 0.7358906988964793 Centerline is valid? [False, False] Translation: X:149.39, Y:-0.52, Z:-0.85 [[ 9.99888208e-01 1.47786769e-02 2.27201994e-03 1.49391661e+02] [-1.47703226e-02 9.99884248e-01 -3.65084713e-03 -5.21603364e-01] [-2.32571164e-03 3.61688053e-03 9.99990755e-01 -8.45651819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65589822699997 meters Centerline goodness [0,1] 0.6938762692347953 Centerline is valid? [False, False] Translation: X:149.39, Y:-0.52, Z:-0.85 [[ 9.99887780e-01 1.48108642e-02 2.25061915e-03 1.49391623e+02] [-1.48021465e-02 9.99883061e-01 -3.84194156e-03 -5.20388386e-01] [-2.30725844e-03 3.80819642e-03 9.99990087e-01 -8.45482777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.685898227 meters Centerline goodness [0,1] 0.7424318447900986 Centerline is valid? [False, False] Translation: X:149.39, Y:-0.52, Z:-0.85 [[ 9.99887932e-01 1.48431988e-02 1.95017096e-03 1.49393443e+02] [-1.48346137e-02 9.99880519e-01 -4.34534130e-03 -5.17446417e-01] [-2.01443672e-03 4.31592429e-03 9.99988657e-01 -8.46934463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71589822699997 meters Centerline goodness [0,1] 0.8008317056266145 Centerline is valid? [False, False] Translation: X:149.39, Y:-0.52, Z:-0.85 [[ 9.99888830e-01 1.47967790e-02 1.83911399e-03 1.49394386e+02] [-1.47884364e-02 9.99880654e-01 -4.46990304e-03 -5.16895271e-01] [-1.90503467e-03 4.44220850e-03 9.99988319e-01 -8.47901215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74589822699994 meters Centerline goodness [0,1] 0.8686246174770487 Centerline is valid? [False, False] Translation: X:149.38, Y:-0.52, Z:-0.85 [[ 9.99911649e-01 1.30814850e-02 -2.35966474e-03 1.49375165e+02] [-1.30692029e-02 9.99901345e-01 5.14744382e-03 -5.21392126e-01] [ 2.42676815e-03 -5.11615010e-03 9.99983968e-01 -8.45677053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77589822699997 meters Centerline goodness [0,1] 0.9534168036760676 Centerline is valid? [False, True] Translation: X:149.39, Y:-0.52, Z:-0.84 [[ 9.99941806e-01 8.11832443e-03 -7.10478464e-03 1.49392563e+02] [-8.06767704e-03 9.99942047e-01 7.12849260e-03 -5.24461194e-01] [ 7.16224431e-03 -7.07075866e-03 9.99949352e-01 -8.39416840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80589822699994 meters Centerline goodness [0,1] 0.7452763295099061 Centerline is valid? [True, False] Translation: X:149.41, Y:-0.53, Z:-0.84 [[ 9.99978774e-01 3.50742230e-03 -5.49091854e-03 1.49412350e+02] [-3.43368076e-03 9.99904561e-01 1.33820376e-02 -5.26140091e-01] [ 5.53733095e-03 -1.33628995e-02 9.99895380e-01 -8.38668569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.835898227 meters Centerline goodness [0,1] 0.9652518558906178 Centerline is valid? [False, True] Translation: X:149.41, Y:-0.53, Z:-0.84 [[ 9.99984802e-01 -7.88308444e-04 -5.45656768e-03 1.49412032e+02] [ 8.37712565e-04 9.99958627e-01 9.05770935e-03 -5.26043187e-01] [ 5.44920166e-03 -9.06214273e-03 9.99944090e-01 -8.38381817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86589822699995 meters Centerline goodness [0,1] 0.9843979982337356 Centerline is valid? [True, True] Translation: X:149.44, Y:-0.53, Z:-0.84 [[ 9.99977329e-01 -3.80557914e-03 -5.55513026e-03 1.49441723e+02] [ 3.80380018e-03 9.99992711e-01 -3.30766735e-04 -5.26373662e-01] [ 5.55634853e-03 3.09628631e-04 9.99984515e-01 -8.38094405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.895898227 meters Centerline goodness [0,1] 0.9911027174483266 Centerline is valid? [True, True] Translation: X:149.47, Y:-0.53, Z:-0.84 [[ 9.99981967e-01 -3.13642196e-03 -5.12147392e-03 1.49470642e+02] [ 3.13489705e-03 9.99995039e-01 -3.05750138e-04 -5.27712944e-01] [ 5.12240747e-03 2.89689331e-04 9.99986838e-01 -8.37206043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92589822699995 meters Centerline goodness [0,1] 0.7959584027675237 Centerline is valid? [True, False] Translation: X:149.47, Y:-0.52, Z:-0.84 [[ 9.99982237e-01 -3.22054589e-03 -5.01528432e-03 1.49470366e+02] [ 3.21597690e-03 9.99994407e-01 -9.18810443e-04 -5.24279639e-01] [ 5.01821534e-03 9.02665084e-04 9.99987001e-01 -8.37393683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.955898227 meters Centerline goodness [0,1] 0.9183539478143002 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.52, Z:-0.84 [[ 9.99987814e-01 9.87917325e-04 -4.83698411e-03 1.49469724e+02] [-9.74061842e-04 9.99995419e-01 2.86600636e-03 -5.21408112e-01] [ 4.83979333e-03 -2.86125991e-03 9.99984195e-01 -8.37361524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98589822699995 meters Centerline goodness [0,1] 0.9046799651604954 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.52, Z:-0.84 [[ 9.99987896e-01 9.11459816e-04 -4.83489924e-03 1.49469735e+02] [-8.99613571e-04 9.99996590e-01 2.45176264e-03 -5.19215351e-01] [ 4.83711743e-03 -2.44738343e-03 9.99985306e-01 -8.37441024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.015898227 meters Centerline goodness [0,1] 0.888933601609658 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.52, Z:-0.84 [[ 9.99987722e-01 8.36474097e-04 -4.88429992e-03 1.49470063e+02] [-8.26064667e-04 9.99997384e-01 2.13283056e-03 -5.17563162e-01] [ 4.88607120e-03 -2.12876962e-03 9.99985797e-01 -8.37754824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04589822699995 meters Centerline goodness [0,1] 0.9422577762648398 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.52, Z:-0.84 [[ 9.99987512e-01 6.55449052e-04 -4.95446515e-03 1.49470471e+02] [-6.47033742e-04 9.99998346e-01 1.69994244e-03 -5.15518821e-01] [ 4.95557118e-03 -1.69671550e-03 9.99986282e-01 -8.38113234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.075898227 meters Centerline goodness [0,1] 0.8770820643155706 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.51, Z:-0.84 [[ 9.99993191e-01 -3.45755203e-05 -3.68995874e-03 1.49511252e+02] [ 3.08358210e-05 9.99999486e-01 -1.01353206e-03 -5.07345132e-01] [ 3.68999188e-03 1.01341138e-03 9.99992678e-01 -8.37422048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10589822699995 meters Centerline goodness [0,1] 0.9102143067660309 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.51, Z:-0.84 [[ 9.99993430e-01 -2.10557211e-04 -3.61889506e-03 1.49510766e+02] [ 2.05687782e-04 9.99999073e-01 -1.34587622e-03 -5.05763197e-01] [ 3.61917509e-03 1.34512302e-03 9.99992546e-01 -8.37027221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.135898227 meters Centerline goodness [0,1] 0.8230125876488975 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.50, Z:-0.84 [[ 9.99993946e-01 -3.42446267e-04 -3.46285608e-03 1.49509919e+02] [ 3.36833286e-04 9.99998629e-01 -1.62136405e-03 -5.04384211e-01] [ 3.46340657e-03 1.62018783e-03 9.99992690e-01 -8.36450992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16589822699996 meters Centerline goodness [0,1] 0.8210405108342929 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.50, Z:-0.84 [[ 9.99991527e-01 1.17192468e-03 -3.94628543e-03 1.49513746e+02] [-1.17314687e-03 9.99999265e-01 -3.07407608e-04 -5.02667903e-01] [ 3.94592227e-03 3.12034576e-04 9.99992166e-01 -8.38726411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.195898227 meters Centerline goodness [0,1] 0.8585328708012523 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.50, Z:-0.84 [[ 9.99986519e-01 1.36555431e-03 -5.00978359e-03 1.49472324e+02] [-1.36459296e-03 9.99999050e-01 1.95308551e-04 -5.03408410e-01] [ 5.01004553e-03 -1.88469602e-04 9.99987432e-01 -8.40384266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22589822699996 meters Centerline goodness [0,1] 0.788719409989943 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.50, Z:-0.84 [[ 9.99986167e-01 1.24524769e-03 -5.11036905e-03 1.49472886e+02] [-1.24637589e-03 9.99999200e-01 -2.17588470e-04 -5.01287374e-01] [ 5.11009401e-03 2.23954901e-04 9.99986918e-01 -8.40786285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.255898227 meters Centerline goodness [0,1] 0.8857460500716225 Centerline is valid? [False, False] Translation: X:149.43, Y:-0.50, Z:-0.84 [[ 9.99988333e-01 1.44607780e-03 -4.60892982e-03 1.49427448e+02] [-1.45015888e-03 9.99998559e-01 -8.82254263e-04 -4.99385708e-01] [ 4.60764737e-03 8.88927650e-04 9.99988990e-01 -8.41026357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28589822699996 meters Centerline goodness [0,1] 0.7878108136705111 Centerline is valid? [False, False] Translation: X:149.45, Y:-0.50, Z:-0.84 [[ 9.99985453e-01 1.45743414e-03 -5.19330294e-03 1.49447159e+02] [-1.40868997e-03 9.99955040e-01 9.37729628e-03 -4.97850997e-01] [ 5.20673624e-03 -9.36984411e-03 9.99942546e-01 -8.38339349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.315898227 meters Centerline goodness [0,1] 0.7878108136705111 Centerline is valid? [False, False] Translation: X:149.45, Y:-0.49, Z:-0.84 [[ 9.99986296e-01 -2.42971516e-03 -4.63716912e-03 1.49445509e+02] [ 2.45228073e-03 9.99985150e-01 4.86677193e-03 -4.94850678e-01] [ 4.62527539e-03 -4.87807688e-03 9.99977405e-01 -8.38411623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34589822699996 meters Centerline goodness [0,1] 0.660510557831705 Centerline is valid? [False, False] Translation: X:149.46, Y:-0.49, Z:-0.84 [[ 9.99995700e-01 1.82414432e-03 -2.29623246e-03 1.49464722e+02] [-1.83022494e-03 9.99994817e-01 -2.64877704e-03 -4.86226021e-01] [ 2.29138881e-03 2.65296827e-03 9.99993856e-01 -8.38660179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.375898227 meters Centerline goodness [0,1] 0.7468513589974644 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.48, Z:-0.84 [[ 9.99996121e-01 1.50633292e-03 -2.34292746e-03 1.49465137e+02] [-1.51446652e-03 9.99992820e-01 -3.47366098e-03 -4.82158988e-01] [ 2.33767814e-03 3.47719579e-03 9.99991222e-01 -8.39159522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40589822699997 meters Centerline goodness [0,1] 0.7308523358996413 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.48, Z:-0.84 [[ 9.99996251e-01 1.13489443e-03 -2.49186983e-03 1.49465866e+02] [-1.14574610e-03 9.99989849e-01 -4.35773100e-03 -4.77866190e-01] [ 2.48689897e-03 4.36056972e-03 9.99987400e-01 -8.39641648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.435898227 meters Centerline goodness [0,1] 0.7298176811715131 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.47, Z:-0.84 [[ 9.99989648e-01 2.85043913e-03 -3.54654442e-03 1.49472648e+02] [-2.86097792e-03 9.99991497e-01 -2.97005093e-03 -4.72509413e-01] [ 3.53804831e-03 2.98016677e-03 9.99989300e-01 -8.43636117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46589822699997 meters Centerline goodness [0,1] 0.7267661107852175 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.47, Z:-0.84 [[ 9.99989902e-01 2.60557654e-03 -3.66145290e-03 1.49473276e+02] [-2.61831838e-03 9.99990519e-01 -3.47952281e-03 -4.70152341e-01] [ 3.65235202e-03 3.48907453e-03 9.99987243e-01 -8.44074071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49589822699994 meters Centerline goodness [0,1] 0.7551822730521801 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.47, Z:-0.84 [[ 9.99990226e-01 2.39064210e-03 -3.71923706e-03 1.49473618e+02] [-2.40532663e-03 9.99989311e-01 -3.94881506e-03 -4.67969698e-01] [ 3.70975710e-03 3.95772245e-03 9.99985287e-01 -8.44336647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.52589822699997 meters Centerline goodness [0,1] 0.7403258871018873 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.47, Z:-0.84 [[ 9.99990559e-01 2.19563456e-03 -3.74974119e-03 1.49473467e+02] [-2.21223336e-03 9.99987748e-01 -4.42825692e-03 -4.65606083e-01] [ 3.73997241e-03 4.43651042e-03 9.99983165e-01 -8.43971256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55589822699994 meters Centerline goodness [0,1] 0.694587710249879 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.46, Z:-0.84 [[ 9.99991817e-01 1.90936499e-03 -3.56647758e-03 1.49471976e+02] [-1.92863293e-03 9.99983523e-01 -5.40690871e-03 -4.60451765e-01] [ 3.55609506e-03 5.41374290e-03 9.99979023e-01 -8.42508087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.585898227 meters Centerline goodness [0,1] 0.7084279108869274 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.46, Z:-0.84 [[ 9.99992097e-01 1.77134974e-03 -3.55922723e-03 1.49471631e+02] [-1.79203433e-03 9.99981477e-01 -5.81677929e-03 -4.58326285e-01] [ 3.54885775e-03 5.82311158e-03 9.99976748e-01 -8.42003383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61589822699995 meters Centerline goodness [0,1] 0.6982408944746853 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.46, Z:-0.84 [[ 9.99992230e-01 1.63050565e-03 -3.58904927e-03 1.49471661e+02] [-1.65255260e-03 9.99979733e-01 -6.14846784e-03 -4.56719734e-01] [ 3.57895142e-03 6.15435115e-03 9.99974657e-01 -8.41927835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.645898227 meters Centerline goodness [0,1] 0.7110456738299605 Centerline is valid? [False, False] Translation: X:149.48, Y:-0.46, Z:-0.84 [[ 9.99979998e-01 4.43822779e-03 -4.50616177e-03 1.49476109e+02] [-4.45055721e-03 9.99986370e-01 -2.72979373e-03 -4.57926771e-01] [ 4.49398491e-03 2.74979406e-03 9.99986121e-01 -8.43675202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67589822699995 meters Centerline goodness [0,1] 0.6790638493147827 Centerline is valid? [False, False] Translation: X:149.48, Y:-0.46, Z:-0.84 [[ 9.99980734e-01 4.36407512e-03 -4.41440156e-03 1.49475318e+02] [-4.37515890e-03 9.99987293e-01 -2.50428874e-03 -4.59410659e-01] [ 4.40341656e-03 2.52355420e-03 9.99987121e-01 -8.42885244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.705898227 meters Centerline goodness [0,1] 0.8176235928068674 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.46, Z:-0.84 [[ 9.99980158e-01 4.49950276e-03 -4.40896694e-03 1.49474805e+02] [-4.50805999e-03 9.99987971e-01 -1.93285743e-03 -4.62425315e-01] [ 4.40021700e-03 1.95269497e-03 9.99988412e-01 -8.42108400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73589822699995 meters Centerline goodness [0,1] 0.7535983041865395 Centerline is valid? [False, False] Translation: X:149.43, Y:-0.47, Z:-0.84 [[ 9.99992703e-01 2.79029444e-03 -2.60937453e-03 1.49429097e+02] [-2.79552548e-03 9.99994086e-01 -2.00321857e-03 -4.68414426e-01] [ 2.60376953e-03 2.01049853e-03 9.99994589e-01 -8.42554451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.765898227 meters Centerline goodness [0,1] 0.7292405735528412 Centerline is valid? [False, False] Translation: X:149.43, Y:-0.48, Z:-0.84 [[ 9.99992505e-01 3.00007042e-03 -2.44734554e-03 1.49428255e+02] [-3.00172299e-03 9.99995269e-01 -6.71859403e-04 -4.75809204e-01] [ 2.44531834e-03 6.79200621e-04 9.99996780e-01 -8.41721203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79589822699995 meters Centerline goodness [0,1] 0.739344330932842 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.48, Z:-0.84 [[ 9.99992967e-01 3.36352935e-03 -1.65932712e-03 1.49469470e+02] [-3.36416519e-03 9.99994269e-01 -3.80548562e-04 -4.75026707e-01] [ 1.65803762e-03 3.86128136e-04 9.99998551e-01 -8.40473314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.825898227 meters Centerline goodness [0,1] 0.7671198176137803 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.47, Z:-0.84 [[ 9.99993116e-01 3.33800864e-03 -1.62027653e-03 1.49469636e+02] [-3.33884954e-03 9.99994293e-01 -5.16554870e-04 -4.74321567e-01] [ 1.61854301e-03 5.21961173e-04 9.99998554e-01 -8.40955867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85589822699995 meters Centerline goodness [0,1] 0.7079821726548803 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.47, Z:-0.84 [[ 9.99991705e-01 3.73712614e-03 -1.61987932e-03 1.49470215e+02] [-3.73850146e-03 9.99992653e-01 -8.46827243e-04 -4.71428919e-01] [ 1.61670272e-03 8.52876140e-04 9.99998329e-01 -8.42004293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.885898227 meters Centerline goodness [0,1] 0.7355866089416606 Centerline is valid? [False, False] Translation: X:149.43, Y:-0.47, Z:-0.84 [[ 9.99991502e-01 3.45915762e-03 -2.24298469e-03 1.49428127e+02] [-3.46285109e-03 9.99992651e-01 -1.64488708e-03 -4.72846364e-01] [ 2.23727828e-03 1.65264023e-03 9.99996132e-01 -8.43671741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91589822699996 meters Centerline goodness [0,1] 0.6521308016877637 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.47, Z:-0.84 [[ 9.99989172e-01 4.22848989e-03 -1.94333122e-03 1.49470383e+02] [-4.23136720e-03 9.99989954e-01 -1.47888598e-03 -4.71090534e-01] [ 1.93705825e-03 1.48709292e-03 9.99997018e-01 -8.42894093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.945898227 meters Centerline goodness [0,1] 0.6523661441475745 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.48, Z:-0.84 [[ 9.99987487e-01 4.47182055e-03 -2.24234053e-03 1.49471488e+02] [-4.47252219e-03 9.99989951e-01 -3.07988176e-04 -4.77401264e-01] [ 2.24094073e-03 3.18013240e-04 9.99997439e-01 -8.43089299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97589822699996 meters Centerline goodness [0,1] 0.6924051167306962 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.48, Z:-0.84 [[ 9.99997601e-01 3.66451139e-04 -2.15960174e-03 1.49471364e+02] [-3.75866841e-04 9.99990420e-01 -4.36113312e-03 -4.78344650e-01] [ 2.15798291e-03 4.36193438e-03 9.99988158e-01 -8.43394517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.005898227 meters Centerline goodness [0,1] 0.7066689092591035 Centerline is valid? [False, False] Translation: X:149.47, Y:-0.48, Z:-0.84 [[ 9.99996995e-01 5.99264851e-04 -2.37699753e-03 1.49471850e+02] [-6.07136919e-04 9.99994330e-01 -3.31243162e-03 -4.83848633e-01] [ 2.37499903e-03 3.31386483e-03 9.99991689e-01 -8.43006929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03589822699996 meters Centerline goodness [0,1] 0.9587470373454615 Centerline is valid? [False, True] Translation: X:149.43, Y:-0.50, Z:-0.84 [[ 9.99994191e-01 -8.91839408e-05 -3.40745714e-03 1.49431265e+02] [ 8.88394496e-05 9.99999991e-01 -1.01250418e-04 -4.96458479e-01] [ 3.40746614e-03 1.00947113e-04 9.99994189e-01 -8.43410443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.065898227 meters Centerline goodness [0,1] 0.9602368325772581 Centerline is valid? [True, True] Translation: X:149.46, Y:-0.49, Z:-0.85 [[ 9.99986249e-01 -5.54102610e-04 -5.21482259e-03 1.49459462e+02] [ 5.52328844e-04 9.99999789e-01 -3.41573338e-04 -4.94832335e-01] [ 5.21501076e-03 3.38688344e-04 9.99986344e-01 -8.45384757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09589822699996 meters Centerline goodness [0,1] 0.7342895600235552 Centerline is valid? [True, False] Translation: X:149.50, Y:-0.49, Z:-0.85 [[ 9.99974147e-01 9.04250887e-05 -7.19005952e-03 1.49504692e+02] [-9.41863733e-05 9.99999859e-01 -5.22785983e-04 -4.93525419e-01] [ 7.19001123e-03 5.23449673e-04 9.99974015e-01 -8.45032631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.125898227 meters Centerline goodness [0,1] 0.6470723546633208 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.50, Z:-0.85 [[ 9.99966619e-01 1.77318000e-03 -7.97595810e-03 1.49509614e+02] [-1.76401010e-03 9.99997775e-01 1.15658015e-03 -4.96704992e-01] [ 7.97799118e-03 -1.14247187e-03 9.99967523e-01 -8.47834435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15589822699997 meters Centerline goodness [0,1] 0.6189714670482283 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.50, Z:-0.85 [[ 9.99967018e-01 1.93117391e-03 -7.88881220e-03 1.49509277e+02] [-1.92055898e-03 9.99997241e-01 1.35292176e-03 -4.97478285e-01] [ 7.89140316e-03 -1.33772621e-03 9.99967968e-01 -8.47728370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.185898227 meters Centerline goodness [0,1] 0.8328131966116807 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.50, Z:-0.85 [[ 9.99967531e-01 2.12494626e-03 -7.77312257e-03 1.49508717e+02] [-2.11223327e-03 9.99996419e-01 1.64335076e-03 -4.98684118e-01] [ 7.77658676e-03 -1.62687875e-03 9.99968438e-01 -8.47417850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21589822699997 meters Centerline goodness [0,1] 0.592393261998093 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.50, Z:-0.85 [[ 9.99967976e-01 2.29248785e-03 -7.66750180e-03 1.49508226e+02] [-2.27746661e-03 9.99995472e-01 1.96723666e-03 -5.00173293e-01] [ 7.67197694e-03 -1.94971118e-03 9.99968669e-01 -8.47134421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24589822699994 meters Centerline goodness [0,1] 0.7151641501884727 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.50, Z:-0.85 [[ 9.99967931e-01 2.50682866e-03 -7.60616248e-03 1.49507790e+02] [-2.48921872e-03 9.99994202e-01 2.32380349e-03 -5.01753635e-01] [ 7.61194375e-03 -2.30479557e-03 9.99968373e-01 -8.46702689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27589822699997 meters Centerline goodness [0,1] 0.7455008524700584 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.50, Z:-0.85 [[ 9.99967932e-01 2.51889168e-03 -7.60195924e-03 1.49507925e+02] [-2.50193637e-03 9.99994363e-01 2.23907320e-03 -5.01237299e-01] [ 7.60755638e-03 -2.21998178e-03 9.99968598e-01 -8.46954609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30589822699994 meters Centerline goodness [0,1] 0.6847222222222222 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.50, Z:-0.85 [[ 9.99968346e-01 2.44089321e-03 -7.57292733e-03 1.49508044e+02] [-2.42631647e-03 9.99995187e-01 1.93343936e-03 -4.99681082e-01] [ 7.57761020e-03 -1.91500384e-03 9.99969456e-01 -8.47336770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.335898227 meters Centerline goodness [0,1] 0.6999724219860413 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.50, Z:-0.85 [[ 9.99969291e-01 2.37687351e-03 -7.46770738e-03 1.49508031e+02] [-2.36598584e-03 9.99996126e-01 1.46646382e-03 -4.97107299e-01] [ 7.47116404e-03 -1.44875030e-03 9.99971041e-01 -8.47940801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36589822699995 meters Centerline goodness [0,1] 0.6541942512360681 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.49, Z:-0.85 [[ 9.99978041e-01 2.25894013e-03 -6.23011706e-03 1.49548341e+02] [-2.26256611e-03 9.99997275e-01 -5.75021553e-04 -4.91810722e-01] [ 6.22880114e-03 5.89104978e-04 9.99980427e-01 -8.46853021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.395898227 meters Centerline goodness [0,1] 0.6680233661612434 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.49, Z:-0.85 [[ 9.99977616e-01 2.18591019e-03 -6.32378084e-03 1.49548737e+02] [-2.18933650e-03 9.99997460e-01 -5.34940897e-04 -4.92260030e-01] [ 6.32259545e-03 5.48773807e-04 9.99979862e-01 -8.47006877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42589822699995 meters Centerline goodness [0,1] 0.6925779534475187 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.49, Z:-0.85 [[ 9.99976146e-01 2.15126024e-03 -6.56350827e-03 1.49549519e+02] [-2.15283937e-03 9.99997655e-01 -2.33536030e-04 -4.94138588e-01] [ 6.56299049e-03 2.47660638e-04 9.99978433e-01 -8.47059694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.455898227 meters Centerline goodness [0,1] 0.7421396874802835 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.50, Z:-0.85 [[ 9.99975510e-01 2.17781610e-03 -6.65101607e-03 1.49549685e+02] [-2.17615360e-03 9.99997599e-01 2.57188242e-04 -4.96963349e-01] [ 6.65156021e-03 -2.42708311e-04 9.99977849e-01 -8.46814720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48589822699995 meters Centerline goodness [0,1] 0.7678167657650113 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.50, Z:-0.85 [[ 9.99974136e-01 2.22019971e-03 -6.84090348e-03 1.49550065e+02] [-2.21476574e-03 9.99997226e-01 8.01809575e-04 -5.00071744e-01] [ 6.84266468e-03 -7.86637839e-04 9.99976279e-01 -8.46378383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.515898227 meters Centerline goodness [0,1] 0.8812365113621937 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.50, Z:-0.85 [[ 9.99973043e-01 2.29301655e-03 -6.97530398e-03 1.49550720e+02] [-2.28278107e-03 9.99996307e-01 1.47499613e-03 -5.03899558e-01] [ 6.97866041e-03 -1.45903328e-03 9.99974584e-01 -8.46642445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54589822699995 meters Centerline goodness [0,1] 0.7223576381592771 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.50, Z:-0.85 [[ 9.99972617e-01 2.31523829e-03 -7.02879487e-03 1.49551091e+02] [-2.30408599e-03 9.99996075e-01 1.59434238e-03 -5.04571541e-01] [ 7.03245857e-03 -1.57810378e-03 9.99974027e-01 -8.46927539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.575898227 meters Centerline goodness [0,1] 0.6993857313570515 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.50, Z:-0.85 [[ 9.99972885e-01 2.41589034e-03 -6.95645414e-03 1.49550735e+02] [-2.40407857e-03 9.99995655e-01 1.70582049e-03 -5.04970173e-01] [ 6.96054500e-03 -1.68905037e-03 9.99974349e-01 -8.46727426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60589822699995 meters Centerline goodness [0,1] 0.7700651671221358 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.51, Z:-0.85 [[ 9.99972687e-01 2.51279408e-03 -6.95069145e-03 1.49550484e+02] [-2.50018322e-03 9.99995214e-01 1.82242630e-03 -5.05402917e-01] [ 6.95523756e-03 -1.80499852e-03 9.99974183e-01 -8.46345660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.635898227 meters Centerline goodness [0,1] 0.7497225778915919 Centerline is valid? [False, False] Translation: X:149.51, Y:-0.51, Z:-0.85 [[ 9.99971084e-01 1.49391624e-03 -7.45654744e-03 1.49507683e+02] [-1.48807420e-03 9.99998582e-01 7.88964827e-04 -5.07554374e-01] [ 7.45771551e-03 -7.77846117e-04 9.99971888e-01 -8.47514605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66589822699996 meters Centerline goodness [0,1] 0.7212976970919482 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.50, Z:-0.85 [[ 9.99972278e-01 1.90122976e-03 -7.19918994e-03 1.49549651e+02] [-1.90629018e-03 9.99997941e-01 -6.96118913e-04 -5.04016298e-01] [ 7.19785163e-03 7.09823361e-04 9.99973843e-01 -8.46634097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.695898227 meters Centerline goodness [0,1] 0.6669328234330021 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.50, Z:-0.85 [[ 9.99971638e-01 1.94259180e-03 -7.27662892e-03 1.49550487e+02] [-1.94923490e-03 9.99997690e-01 -9.05955629e-04 -5.02707730e-01] [ 7.27485221e-03 9.20113793e-04 9.99973115e-01 -8.47629926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72589822699996 meters Centerline goodness [0,1] 0.6542274420660479 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.50, Z:-0.85 [[ 9.99972016e-01 2.00366672e-03 -7.20785390e-03 1.49550145e+02] [-2.00959457e-03 9.99997648e-01 -8.15267523e-04 -5.03095228e-01] [ 7.20620342e-03 8.29729572e-04 9.99973691e-01 -8.47468328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.755898227 meters Centerline goodness [0,1] 0.658123770869074 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.50, Z:-0.85 [[ 9.99971629e-01 2.10852066e-03 -7.23153915e-03 1.49550023e+02] [-2.11187920e-03 9.99997666e-01 -4.56824493e-04 -5.04989435e-01] [ 7.23055905e-03 4.72083670e-04 9.99973748e-01 -8.47125654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78589822699996 meters Centerline goodness [0,1] 0.6865236627455914 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.51, Z:-0.85 [[ 9.99970190e-01 2.34035059e-03 -7.35808797e-03 1.49550053e+02] [-2.33604555e-03 9.99997095e-01 5.93616740e-04 -5.10628012e-01] [ 7.35945587e-03 -5.76410216e-04 9.99972753e-01 -8.46399930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.815898227 meters Centerline goodness [0,1] 0.6936860610425095 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.51, Z:-0.85 [[ 9.99968387e-01 2.52605926e-03 -7.53945628e-03 1.49550722e+02] [-2.51695298e-03 9.99996092e-01 1.21706031e-03 -5.13869841e-01] [ 7.54250118e-03 -1.19804538e-03 9.99970837e-01 -8.46499994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84589822699996 meters Centerline goodness [0,1] 0.6789611477641637 Centerline is valid? [False, False] Translation: X:149.57, Y:-0.52, Z:-0.85 [[ 9.99975736e-01 8.77124100e-04 -6.91073592e-03 1.49573065e+02] [-8.05833767e-04 9.99946506e-01 1.03119213e-02 -5.16911512e-01] [ 6.91941108e-03 -1.03061022e-02 9.99922950e-01 -8.46913953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.875898227 meters Centerline goodness [0,1] 0.6453478554542385 Centerline is valid? [False, False] Translation: X:149.57, Y:-0.52, Z:-0.85 [[ 9.99974480e-01 -2.79522393e-03 -6.57457905e-03 1.49572250e+02] [ 2.83514531e-03 9.99977555e-01 6.07061828e-03 -5.15459344e-01] [ 6.55746274e-03 -6.08910325e-03 9.99959960e-01 -8.47282940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90589822699997 meters Centerline goodness [0,1] 0.6047480216576426 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.51, Z:-0.85 [[ 9.99997369e-01 -2.03089429e-04 -2.28479179e-03 1.49592980e+02] [ 1.97614734e-04 9.99997110e-01 -2.39611695e-03 -5.10633433e-01] [ 2.28527181e-03 2.39565914e-03 9.99994519e-01 -8.50787887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93589822699994 meters Centerline goodness [0,1] 0.5523076281088299 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.51, Z:-0.85 [[ 9.99997690e-01 2.34007063e-05 -2.14931787e-03 1.49592682e+02] [-2.94224393e-05 9.99996075e-01 -2.80170605e-03 -5.07759691e-01] [ 2.14924387e-03 2.80176281e-03 9.99993765e-01 -8.51089693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96589822699997 meters Centerline goodness [0,1] 0.437038287812909 Centerline is valid? [False, False] Translation: X:149.56, Y:-0.51, Z:-0.85 [[ 9.99965296e-01 6.88368927e-03 -4.69280157e-03 1.49555308e+02] [-6.86732498e-03 9.99970314e-01 3.49434485e-03 -5.06831972e-01] [ 4.71671625e-03 -3.46199659e-03 9.99982883e-01 -8.54396042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99589822699994 meters Centerline goodness [0,1] 0.40699083622137644 Centerline is valid? [False, False] Translation: X:149.56, Y:-0.50, Z:-0.86 [[ 9.99966675e-01 6.81272912e-03 -4.49845131e-03 1.49555080e+02] [-6.80176104e-03 9.99973869e-01 2.44900382e-03 -5.00957709e-01] [ 4.51501816e-03 -2.41832482e-03 9.99986883e-01 -8.55226342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.02589822699997 meters Centerline goodness [0,1] 0.38412318794973466 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.49, Z:-0.85 [[ 9.99969135e-01 7.44854200e-03 -2.49984683e-03 1.49593117e+02] [-7.44959250e-03 9.99972167e-01 -4.11176605e-04 -4.90785604e-01] [ 2.49671459e-03 4.29786754e-04 9.99996791e-01 -8.54589197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05589822699994 meters Centerline goodness [0,1] 0.3753457379934624 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.49, Z:-0.85 [[ 9.99971006e-01 7.27912119e-03 -2.23659644e-03 1.49591984e+02] [-7.28183917e-03 9.99972756e-01 -1.20950029e-03 -4.86529880e-01] [ 2.22773141e-03 1.22575176e-03 9.99996767e-01 -8.54245679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.085898227 meters Centerline goodness [0,1] 0.3734985459602984 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.48, Z:-0.85 [[ 9.99974738e-01 6.82380350e-03 -1.98994807e-03 1.49590678e+02] [-6.82855772e-03 9.99973824e-01 -2.39219059e-03 -4.80715950e-01] [ 1.97357215e-03 2.40571863e-03 9.99995159e-01 -8.53548585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11589822699995 meters Centerline goodness [0,1] 0.3759457124191271 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.48, Z:-0.85 [[ 9.99976253e-01 6.53301227e-03 -2.19401310e-03 1.49591335e+02] [-6.53910518e-03 9.99974751e-01 -2.78146878e-03 -4.79235223e-01] [ 2.17578634e-03 2.79574961e-03 9.99993725e-01 -8.53608636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.145898227 meters Centerline goodness [0,1] 0.3939702112332888 Centerline is valid? [False, False] Translation: X:149.57, Y:-0.48, Z:-0.86 [[ 9.99995559e-01 -3.10188395e-04 2.96400403e-03 1.49572517e+02] [ 3.17554785e-04 9.99996862e-01 -2.48513596e-03 -4.76897720e-01] [-2.96322387e-03 2.48606616e-03 9.99992519e-01 -8.59298682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17589822699995 meters Centerline goodness [0,1] 0.4154225188991135 Centerline is valid? [False, False] Translation: X:149.57, Y:-0.48, Z:-0.86 [[ 9.99996301e-01 -6.14852693e-04 2.64939981e-03 1.49573153e+02] [ 6.21026186e-04 9.99997093e-01 -2.32995559e-03 -4.78586802e-01] [-2.64795953e-03 2.33159232e-03 9.99993776e-01 -8.58695615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.205898227 meters Centerline goodness [0,1] 0.4573508129735252 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.48, Z:-0.85 [[ 9.99986027e-01 -5.06869082e-03 -1.50133681e-03 1.49549419e+02] [ 5.07480747e-03 9.99978723e-01 4.09873920e-03 -4.83303877e-01] [ 1.48052962e-03 -4.10630093e-03 9.99990473e-01 -8.53129323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23589822699995 meters Centerline goodness [0,1] 0.4573508129735252 Centerline is valid? [False, False] Translation: X:149.55, Y:-0.48, Z:-0.85 [[ 9.99986027e-01 -5.06869082e-03 -1.50133681e-03 1.49549419e+02] [ 5.07480747e-03 9.99978723e-01 4.09873920e-03 -4.83303877e-01] [ 1.48052962e-03 -4.10630093e-03 9.99990473e-01 -8.53129323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.265898227 meters Centerline goodness [0,1] 0.5101191720677399 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.48, Z:-0.85 [[ 9.99976753e-01 -6.81831551e-03 -6.84234018e-05 1.49589144e+02] [ 6.81847456e-03 9.99973154e-01 2.68313978e-03 -4.81221786e-01] [ 5.01270714e-05 -2.68354394e-03 9.99996398e-01 -8.51206557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29589822699995 meters Centerline goodness [0,1] 0.591507897908693 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.48, Z:-0.85 [[ 9.99936405e-01 -1.12756851e-02 2.09605991e-04 1.49588199e+02] [ 1.12760493e-02 9.99934756e-01 -1.82625528e-03 -4.80384448e-01] [-1.89000036e-04 1.82850267e-03 9.99998310e-01 -8.50947564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.325898227 meters Centerline goodness [0,1] 0.8031860662701784 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.48, Z:-0.85 [[ 9.99936888e-01 -1.12338903e-02 1.43709001e-04 1.49588368e+02] [ 1.12341061e-02 9.99935614e-01 -1.60082748e-03 -4.81530732e-01] [-1.25716228e-04 1.60234089e-03 9.99998708e-01 -8.50871520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35589822699995 meters Centerline goodness [0,1] 0.8288108957569408 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.48, Z:-0.85 [[ 9.99936344e-01 -1.12830666e-02 -1.09565196e-05 1.49588987e+02] [ 1.12830377e-02 9.99935233e-01 -1.49121305e-03 -4.82371588e-01] [ 2.77812661e-05 1.49099450e-03 9.99998888e-01 -8.51029400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.385898227 meters Centerline goodness [0,1] 0.8191187296245662 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.49, Z:-0.85 [[ 9.99973348e-01 -7.29676036e-03 -2.46821445e-04 1.49589649e+02] [ 7.29754172e-03 9.99967832e-01 3.32867668e-03 -4.86205360e-01] [ 2.22524949e-04 -3.33038915e-03 9.99994429e-01 -8.50907006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41589822699996 meters Centerline goodness [0,1] 0.8063320203062794 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.48, Z:-0.85 [[ 9.99971822e-01 -7.50100776e-03 -3.00889691e-04 1.49590138e+02] [ 7.50182313e-03 9.99967921e-01 2.80700049e-03 -4.83683187e-01] [ 2.79824706e-04 -2.80917862e-03 9.99996015e-01 -8.51500553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.445898227 meters Centerline goodness [0,1] 0.8542856536232192 Centerline is valid? [False, False] Translation: X:149.59, Y:-0.48, Z:-0.85 [[ 9.99970936e-01 -7.61913014e-03 -2.74319423e-04 1.49590064e+02] [ 7.61980036e-03 9.99967765e-01 2.53120117e-03 -4.82386352e-01] [ 2.55025029e-04 -2.53321786e-03 9.99996759e-01 -8.51545082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47589822699996 meters Centerline goodness [0,1] 0.7813818731498394 Centerline is valid? [False, False] Translation: X:149.61, Y:-0.48, Z:-0.85 [[ 9.99966439e-01 -6.85935827e-03 4.47988347e-03 1.49609937e+02] [ 6.89283060e-03 9.99948122e-01 -7.49949218e-03 -4.76705866e-01] [-4.42820936e-03 7.53011957e-03 9.99961843e-01 -8.54585132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.505898227 meters Centerline goodness [0,1] 0.8454822206249207 Centerline is valid? [False, False] Translation: X:149.61, Y:-0.48, Z:-0.85 [[ 9.99966299e-01 -6.87709579e-03 4.48395213e-03 1.49609553e+02] [ 6.91007796e-03 9.99948877e-01 -7.38207468e-03 -4.77446559e-01] [-4.43295566e-03 7.41281036e-03 9.99962699e-01 -8.53995145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53589822699996 meters Centerline goodness [0,1] 0.9045989395187697 Centerline is valid? [False, False] Translation: X:149.61, Y:-0.48, Z:-0.85 [[ 9.99985984e-01 -3.27328129e-03 4.16136671e-03 1.49610205e+02] [ 3.28399462e-03 9.99991305e-01 -2.57025155e-03 -4.82313609e-01] [-4.15291737e-03 2.58388143e-03 9.99988038e-01 -8.53426829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.565898227 meters Centerline goodness [0,1] 0.984518951663792 Centerline is valid? [False, True] Translation: X:149.61, Y:-0.49, Z:-0.85 [[ 9.99981120e-01 -4.82265613e-03 3.80822021e-03 1.49611315e+02] [ 4.83328236e-03 9.99984438e-01 -2.78608351e-03 -4.86384751e-01] [-3.79472462e-03 2.80443711e-03 9.99988868e-01 -8.53298068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59589822699996 meters Centerline goodness [0,1] 0.9919818170339036 Centerline is valid? [True, True] Translation: X:149.64, Y:-0.49, Z:-0.85 [[ 9.99944061e-01 -1.01243600e-02 3.06130003e-03 1.49641631e+02] [ 1.01238524e-02 9.99948736e-01 1.81242469e-04 -4.88204321e-01] [-3.06297806e-03 -1.50240180e-04 9.99995298e-01 -8.54018367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.625898227 meters Centerline goodness [0,1] 0.9998304474069051 Centerline is valid? [True, True] Translation: X:149.67, Y:-0.50, Z:-0.86 [[ 9.99877012e-01 -1.54737685e-02 2.55390188e-03 1.49673603e+02] [ 1.54734327e-02 9.99880268e-01 1.51194046e-04 -5.03181994e-01] [-2.55593564e-03 -1.11657822e-04 9.99996727e-01 -8.55571224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65589822699997 meters Centerline goodness [0,1] 0.998163989150845 Centerline is valid? [True, True] Translation: X:149.70, Y:-0.49, Z:-0.86 [[ 9.99706389e-01 -2.41672905e-02 1.75425749e-03 1.49703007e+02] [ 2.41671455e-02 9.99707926e-01 1.03841026e-04 -4.93520964e-01] [-1.75625468e-03 -6.14151408e-05 9.99998456e-01 -8.57398152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68589822699994 meters Centerline goodness [0,1] 0.9994751207222339 Centerline is valid? [True, True] Translation: X:149.73, Y:-0.50, Z:-0.86 [[ 9.99629576e-01 -2.71894050e-02 1.20253601e-03 1.49733417e+02] [ 2.71893390e-02 9.99630299e-01 7.11718334e-05 -4.97796098e-01] [-1.20402655e-03 -3.84493103e-05 9.99999274e-01 -8.58566014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71589822699997 meters Centerline goodness [0,1] 0.9997281870073389 Centerline is valid? [True, True] Translation: X:149.76, Y:-0.50, Z:-0.86 [[ 9.99576183e-01 -2.91054285e-02 5.72486597e-04 1.49763633e+02] [ 2.91054139e-02 9.99576347e-01 3.38793646e-05 -5.00917502e-01] [-5.73230135e-04 -1.72025467e-05 9.99999836e-01 -8.60043857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74589822699994 meters Centerline goodness [0,1] 0.999726131288447 Centerline is valid? [True, True] Translation: X:149.79, Y:-0.50, Z:-0.86 [[ 9.99540918e-01 -3.02972321e-02 1.73386428e-04 1.49792942e+02] [ 3.02972308e-02 9.99540933e-01 1.00504458e-05 -5.01985575e-01] [-1.73611333e-04 -4.79270317e-06 9.99999985e-01 -8.61405976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77589822699997 meters Centerline goodness [0,1] 0.9997892296343134 Centerline is valid? [True, True] Translation: X:149.82, Y:-0.50, Z:-0.86 [[ 9.99509106e-01 -3.13269156e-02 4.13267628e-04 1.49822390e+02] [ 3.13269082e-02 9.99509192e-01 2.44254548e-05 -5.04080948e-01] [-4.13829967e-04 -1.14670675e-05 9.99999914e-01 -8.60531688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80589822699994 meters Centerline goodness [0,1] 0.9997905627578696 Centerline is valid? [True, True] Translation: X:149.85, Y:-0.50, Z:-0.86 [[ 9.99506901e-01 -3.13916590e-02 7.20716815e-04 1.49850880e+02] [ 3.13916363e-02 9.99507160e-01 4.26997164e-05 -5.02038256e-01] [-7.21702032e-04 -2.00541811e-05 9.99999739e-01 -8.59677330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.835898227 meters Centerline goodness [0,1] 0.9998313908150146 Centerline is valid? [True, True] Translation: X:149.88, Y:-0.50, Z:-0.86 [[ 9.99510026e-01 -3.12920888e-02 7.16470617e-04 1.49879951e+02] [ 3.12920663e-02 9.99510282e-01 4.25499940e-05 -4.99041129e-01] [-7.17451227e-04 -2.01092996e-05 9.99999742e-01 -8.60349719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86589822699995 meters Centerline goodness [0,1] 0.9999786880354631 Centerline is valid? [True, True] Translation: X:149.91, Y:-0.51, Z:-0.86 [[ 9.99545526e-01 -3.01219280e-02 -1.18806710e-03 1.49909840e+02] [ 3.01218644e-02 9.99546231e-01 -7.14221051e-05 -5.09470702e-01] [ 1.18967937e-03 3.56028495e-05 9.99999292e-01 -8.63208260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.895898227 meters Centerline goodness [0,1] 0.99983280387895 Centerline is valid? [True, True] Translation: X:149.94, Y:-0.50, Z:-0.86 [[ 9.99565518e-01 -2.94172710e-02 -1.84366141e-03 1.49938659e+02] [ 2.94171163e-02 9.99567217e-01 -1.10980681e-04 -5.04464287e-01] [ 1.84612825e-03 5.66972602e-05 9.99998294e-01 -8.64570691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92589822699995 meters Centerline goodness [0,1] 0.9998948718487837 Centerline is valid? [True, True] Translation: X:149.97, Y:-0.50, Z:-0.86 [[ 9.99579264e-01 -2.89654718e-02 -1.51548447e-03 1.49966971e+02] [ 2.89653669e-02 9.99580412e-01 -9.11383471e-05 -4.96941746e-01] [ 1.51748846e-03 4.72034381e-05 9.99998847e-01 -8.64582824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.955898227 meters Centerline goodness [0,1] 0.9999580607280658 Centerline is valid? [True, True] Translation: X:150.00, Y:-0.50, Z:-0.86 [[ 9.99577195e-01 -2.90740591e-02 -3.59620587e-04 1.49996258e+02] [ 2.90740531e-02 9.99577260e-01 -2.19362400e-05 -4.96055905e-01] [ 3.60106336e-04 1.14713372e-05 9.99999935e-01 -8.62725671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98589822699995 meters Centerline goodness [0,1] 0.9992259090338508 Centerline is valid? [True, True] Translation: X:150.02, Y:-0.47, Z:-0.86 [[ 9.99548699e-01 -3.00357248e-02 5.03270437e-04 1.50024079e+02] [ 3.00357134e-02 9.99548826e-01 3.02965959e-05 -4.72635757e-01] [-5.03953355e-04 -1.51668364e-05 9.99999873e-01 -8.62145018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.015898227 meters Centerline goodness [0,1] 0.9999790211257263 Centerline is valid? [True, True] Translation: X:150.06, Y:-0.49, Z:-0.86 [[ 9.99509017e-01 -3.13232153e-02 7.61872922e-04 1.50055505e+02] [ 3.13231894e-02 9.99509307e-01 4.59115646e-05 -4.91199116e-01] [-7.62937175e-04 -2.20247330e-05 9.99999709e-01 -8.62011172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04589822699995 meters Centerline goodness [0,1] 0.9996846022834794 Centerline is valid? [True, True] Translation: X:150.08, Y:-0.49, Z:-0.86 [[ 9.99438207e-01 -3.34721444e-02 1.69868506e-03 1.50084263e+02] [ 3.34720187e-02 9.99439650e-01 1.02409555e-04 -4.87789375e-01] [-1.70116107e-03 -4.54936039e-05 9.99998552e-01 -8.62203726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.075898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.11, Y:-0.49, Z:-0.86 [[ 9.99354381e-01 -3.58990222e-02 1.44241818e-03 1.50114221e+02] [ 3.58989340e-02 9.99355422e-01 8.70037644e-05 -4.90009305e-01] [-1.44461177e-03 -3.51663182e-05 9.99998956e-01 -8.61381922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.14, Y:-0.49, Z:-0.86 [[ 9.99141782e-01 -4.13296721e-02 2.74902052e-03 1.50143337e+02] [ 4.13293719e-02 9.99145563e-01 1.65913949e-04 -4.92039619e-01] [-2.75352882e-03 -5.21562669e-05 9.99996208e-01 -8.58590002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.135898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.17, Y:-0.50, Z:-0.86 [[ 9.99048503e-01 -4.34812179e-02 3.38698606e-03 1.50172875e+02] [ 4.34807737e-02 9.99054243e-01 2.04729572e-04 -4.95216819e-01] [-3.39268468e-03 -5.72659983e-05 9.99994243e-01 -8.56990175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.20, Y:-0.50, Z:-0.86 [[ 9.98979425e-01 -4.49599860e-02 4.32524534e-03 1.50201990e+02] [ 4.49592720e-02 9.98988786e-01 2.62220419e-04 -4.96083632e-01] [-4.33266102e-03 -6.74929216e-05 9.99990612e-01 -8.55047376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.195898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.23, Y:-0.49, Z:-0.85 [[ 9.98930390e-01 -4.59520422e-02 5.14636944e-03 1.50230002e+02] [ 4.59510421e-02 9.98943644e-01 3.12462369e-04 -4.91970028e-01] [-5.15529132e-03 -7.56471176e-05 9.99986709e-01 -8.52641917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.26, Y:-0.49, Z:-0.85 [[ 9.98948483e-01 -4.55918861e-02 4.82777982e-03 1.50259726e+02] [ 4.55910012e-02 9.98960147e-01 2.93248684e-04 -4.90262937e-01] [-4.83612940e-03 -7.28370124e-05 9.99988303e-01 -8.53849416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.255898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.29, Y:-0.49, Z:-0.85 [[ 9.98963046e-01 -4.53476999e-02 4.05198309e-03 1.50287770e+02] [ 4.53470740e-02 9.98971262e-01 2.46239967e-04 -4.85407785e-01] [-4.05898107e-03 -6.22390508e-05 9.99991760e-01 -8.54960409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.32, Y:-0.49, Z:-0.86 [[ 9.98885640e-01 -4.71171792e-02 2.72949728e-03 1.50317194e+02] [ 4.71169013e-02 9.98889368e-01 1.66073254e-04 -4.85611843e-01] [-2.73429072e-03 -3.72827345e-05 9.99996261e-01 -8.58713314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.315898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.35, Y:-0.49, Z:-0.86 [[ 9.98756310e-01 -4.97879770e-02 2.64412413e-03 1.50346119e+02] [ 4.97877245e-02 9.98759809e-01 1.61274921e-04 -4.86547052e-01] [-2.64887447e-03 -2.94294216e-05 9.99996491e-01 -8.58753864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.37, Y:-0.49, Z:-0.86 [[ 9.98557866e-01 -5.36180878e-02 2.69969536e-03 1.50373870e+02] [ 5.36178377e-02 9.98561516e-01 1.64985021e-04 -4.89897418e-01] [-2.70465807e-03 -1.99952630e-05 9.99996342e-01 -8.58923319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.375898227 meters Centerline goodness [0,1] 0.9998946259220232 Centerline is valid? [True, True] Translation: X:150.40, Y:-0.50, Z:-0.86 [[ 9.97911524e-01 -6.45158668e-02 3.20832220e-03 1.50404216e+02] [ 6.45155690e-02 9.97916681e-01 1.96321307e-04 -5.04995220e-01] [-3.21430409e-03 1.10754377e-05 9.99994834e-01 -8.59140662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.43, Y:-0.52, Z:-0.86 [[ 9.97526774e-01 -7.02400027e-02 2.58392421e-03 1.50432691e+02] [ 7.02398283e-02 9.97530121e-01 1.58286126e-04 -5.16590186e-01] [-2.58866024e-03 2.35997436e-05 9.99996649e-01 -8.59810482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.46, Y:-0.53, Z:-0.86 [[ 9.96728198e-01 -8.07595155e-02 3.28636285e-03 1.50463957e+02] [ 8.07592901e-02 9.96733614e-01 2.01459044e-04 -5.32095592e-01] [-3.29189805e-03 6.46044211e-05 9.99994580e-01 -8.59316808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46589822699997 meters Centerline goodness [0,1] 0.9999789380568251 Centerline is valid? [True, True] Translation: X:150.49, Y:-0.54, Z:-0.86 [[ 9.96431265e-01 -8.43154047e-02 3.95559244e-03 1.50492665e+02] [ 8.43151056e-02 9.96439112e-01 2.42614036e-04 -5.39257487e-01] [-3.96196312e-03 9.17679833e-05 9.99992147e-01 -8.58517374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.52, Y:-0.54, Z:-0.86 [[ 9.96229048e-01 -8.66703757e-02 3.99115637e-03 1.50521958e+02] [ 8.66700882e-02 9.96237038e-01 2.45251381e-04 -5.43240957e-01] [-3.99739382e-03 1.01587324e-04 9.99992005e-01 -8.58636630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.52589822699997 meters Centerline goodness [0,1] 0.9999789960092418 Centerline is valid? [True, True] Translation: X:150.55, Y:-0.54, Z:-0.86 [[ 9.96170333e-01 -8.73725124e-02 3.27285445e-03 1.50550584e+02] [ 8.73723213e-02 9.96175706e-01 2.01600739e-04 -5.43756262e-01] [-3.27795245e-03 8.51282154e-05 9.99994624e-01 -8.60005915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.58, Y:-0.55, Z:-0.86 [[ 9.96405662e-01 -8.47006287e-02 1.24909680e-03 1.50578793e+02] [ 8.47005986e-02 9.96406445e-01 7.70122982e-05 -5.45173602e-01] [-1.25113109e-03 2.90637570e-05 9.99999217e-01 -8.63750034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.585898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.61, Y:-0.54, Z:-0.87 [[ 9.96627787e-01 -8.20551710e-02 5.44169356e-05 1.50607126e+02] [ 8.20551710e-02 9.96627789e-01 3.28535731e-06 -5.41753614e-01] [-5.45030108e-05 1.19091257e-06 9.99999999e-01 -8.65780553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.64, Y:-0.54, Z:-0.87 [[ 9.96892536e-01 -7.87698471e-02 -7.63153540e-04 1.50635614e+02] [ 7.87698340e-02 9.96892828e-01 -4.72865133e-05 -5.36813256e-01] [ 7.64507042e-04 -1.29739054e-05 9.99999708e-01 -8.66979288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.645898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.66, Y:-0.53, Z:-0.87 [[ 9.97172776e-01 -7.51333059e-02 -1.20048156e-03 1.50662897e+02] [ 7.51332707e-02 9.97173498e-01 -7.44289629e-05 -5.32329913e-01] [ 1.20268049e-03 -1.59775704e-05 9.99999277e-01 -8.68172938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.69, Y:-0.52, Z:-0.87 [[ 9.97593958e-01 -6.93260984e-02 -4.32901927e-04 1.50691619e+02] [ 6.93260931e-02 9.97594052e-01 -2.71209110e-05 -5.24477612e-01] [ 4.33740574e-04 -2.95574237e-06 9.99999906e-01 -8.66371543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.705898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.72, Y:-0.52, Z:-0.87 [[ 9.97718880e-01 -6.75056338e-02 1.62537971e-04 1.50720292e+02] [ 6.75056331e-02 9.97718893e-01 9.84425669e-06 -5.20780743e-01] [-1.62831747e-04 1.15042789e-06 9.99999987e-01 -8.65749910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.75, Y:-0.52, Z:-0.86 [[ 9.97823624e-01 -6.59332091e-02 9.09637737e-04 1.50749048e+02] [ 6.59331850e-02 9.97824039e-01 5.64843236e-05 -5.17002761e-01] [-9.11382593e-04 3.61392076e-06 9.99999585e-01 -8.64506399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.765898227 meters Centerline goodness [0,1] 0.9998946614418742 Centerline is valid? [True, True] Translation: X:150.78, Y:-0.51, Z:-0.86 [[ 9.97894634e-01 -6.48416019e-02 1.36595355e-03 1.50776681e+02] [ 6.48415460e-02 9.97895569e-01 8.51702742e-05 -5.10915373e-01] [-1.36860158e-03 3.57958065e-06 9.99999063e-01 -8.64108015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.80, Y:-0.51, Z:-0.86 [[ 9.97853602e-01 -6.54738117e-02 1.16997562e-03 1.50804706e+02] [ 6.54737710e-02 9.97854288e-01 7.31206273e-05 -5.08684484e-01] [-1.17225268e-03 3.63903454e-06 9.99999313e-01 -8.64315360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.825898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.83, Y:-0.51, Z:-0.87 [[ 9.97707702e-01 -6.76647670e-02 9.05827877e-04 1.50832887e+02] [ 6.76647434e-02 9.97708113e-01 5.67878573e-05 -5.07790239e-01] [-9.07594359e-04 4.63492818e-06 9.99999588e-01 -8.65409618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.86, Y:-0.51, Z:-0.87 [[ 9.97190359e-01 -7.49088980e-02 2.13643002e-04 1.50862120e+02] [ 7.49088969e-02 9.97190382e-01 1.33768662e-05 -5.14419990e-01] [-2.14044793e-04 2.66447957e-06 9.99999977e-01 -8.66586725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.885898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.89, Y:-0.52, Z:-0.87 [[ 9.96817384e-01 -7.97182738e-02 3.15302730e-04 1.50892066e+02] [ 7.97182715e-02 9.96817434e-01 1.97966860e-05 -5.19092404e-01] [-3.15877416e-04 5.40170791e-06 9.99999950e-01 -8.66262435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.92, Y:-0.52, Z:-0.87 [[ 9.96411874e-01 -8.46356798e-02 4.24076954e-04 1.50921557e+02] [ 8.46356761e-02 9.96411964e-01 2.66126158e-05 -5.20999981e-01] [-4.24807727e-04 9.37491339e-06 9.99999910e-01 -8.65440653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.945898227 meters Centerline goodness [0,1] 0.9998534092812866 Centerline is valid? [True, True] Translation: X:150.95, Y:-0.53, Z:-0.86 [[ 9.95590290e-01 -9.38053231e-02 7.32370952e-04 1.50951683e+02] [ 9.38053145e-02 9.95590559e-01 4.61025613e-05 -5.33635777e-01] [-7.33466271e-04 2.28010252e-05 9.99999731e-01 -8.64155443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97589822699996 meters Centerline goodness [0,1] 0.9999361892202323 Centerline is valid? [True, True] Translation: X:150.98, Y:-0.54, Z:-0.86 [[ 9.95182523e-01 -9.80309422e-02 1.29658530e-03 1.50981578e+02] [ 9.80309190e-02 9.95183366e-01 8.16290823e-05 -5.35672876e-01] [-1.29834230e-03 4.58696125e-05 9.99999156e-01 -8.63273479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.005898227 meters Centerline goodness [0,1] 0.9997260966668071 Centerline is valid? [True, True] Translation: X:151.01, Y:-0.54, Z:-0.86 [[ 9.94850331e-01 -1.01338776e-01 1.80853520e-03 1.51011320e+02] [ 1.01338737e-01 9.94851973e-01 1.13890689e-04 -5.41150716e-01] [-1.81076636e-03 6.99704828e-05 9.99998358e-01 -8.62573472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03589822699996 meters Centerline goodness [0,1] 0.9995994181020851 Centerline is valid? [True, True] Translation: X:151.04, Y:-0.54, Z:-0.86 [[ 9.94633032e-01 -1.03459919e-01 1.08518650e-03 1.51041013e+02] [ 1.03459906e-01 9.94633623e-01 6.83485620e-05 -5.42765449e-01] [-1.08643431e-03 4.42915552e-05 9.99999409e-01 -8.64256296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.065898227 meters Centerline goodness [0,1] 0.9997472779731693 Centerline is valid? [True, True] Translation: X:151.07, Y:-0.54, Z:-0.87 [[ 9.94733618e-01 -1.02492809e-01 5.03078726e-04 1.51070000e+02] [ 1.02492806e-01 9.94733745e-01 3.16056289e-05 -5.37289948e-01] [-5.03668735e-04 2.01227687e-05 9.99999873e-01 -8.65449664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09589822699996 meters Centerline goodness [0,1] 0.9999360491142802 Centerline is valid? [True, True] Translation: X:151.10, Y:-0.53, Z:-0.87 [[ 9.94960081e-01 -1.00271811e-01 4.09374673e-05 1.51099291e+02] [ 1.00271811e-01 9.94960082e-01 2.54449756e-06 -5.31896031e-01] [-4.09862872e-05 1.57320051e-06 9.99999999e-01 -8.65219576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.125898227 meters Centerline goodness [0,1] 0.9999360491142802 Centerline is valid? [True, True] Translation: X:151.13, Y:-0.53, Z:-0.87 [[ 9.94940992e-01 -1.00461043e-01 4.09545337e-05 1.51126750e+02] [ 1.00461043e-01 9.94940993e-01 2.27461285e-06 -5.29984035e-01] [-4.09758544e-05 1.85122960e-06 9.99999999e-01 -8.65265576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15589822699997 meters Centerline goodness [0,1] 0.9999360763674331 Centerline is valid? [True, True] Translation: X:151.16, Y:-0.52, Z:-0.87 [[ 9.95263963e-01 -9.72057284e-02 -8.31162240e-04 1.51155351e+02] [ 9.72057183e-02 9.95264309e-01 -5.26861199e-05 -5.23451855e-01] [ 8.32347505e-04 -2.83571261e-05 9.99999653e-01 -8.66237626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.18, Y:-0.52, Z:-0.87 [[ 9.95325852e-01 -9.65633156e-02 -1.40528345e-03 1.51182675e+02] [ 9.65632858e-02 9.95326843e-01 -8.91934334e-05 -5.20313058e-01] [ 1.40732915e-03 -4.69222571e-05 9.99999009e-01 -8.67166798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21589822699997 meters Centerline goodness [0,1] 0.9999577372524988 Centerline is valid? [True, True] Translation: X:151.21, Y:-0.52, Z:-0.87 [[ 9.95343394e-01 -9.63830162e-02 -1.35713879e-03 1.51210845e+02] [ 9.63829882e-02 9.95344318e-01 -8.62205679e-05 -5.17305353e-01] [ 1.35913058e-03 -4.49860190e-05 9.99999075e-01 -8.67733585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24589822699994 meters Centerline goodness [0,1] 0.9999575200186912 Centerline is valid? [True, True] Translation: X:151.24, Y:-0.51, Z:-0.87 [[ 9.95340113e-01 -9.64248314e-02 5.58053252e-04 1.51238681e+02] [ 9.64248268e-02 9.95340269e-01 3.53189380e-05 -5.13846833e-01] [-5.58858497e-04 1.86558324e-05 9.99999844e-01 -8.65448284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27589822699997 meters Centerline goodness [0,1] 0.999873572421931 Centerline is valid? [True, True] Translation: X:151.27, Y:-0.51, Z:-0.86 [[ 9.95401024e-01 -9.57911458e-02 9.25817254e-04 1.51266400e+02] [ 9.57911325e-02 9.95401454e-01 5.87870660e-05 -5.14258316e-01] [-9.27191122e-04 3.01683776e-05 9.99999570e-01 -8.64228352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30589822699994 meters Centerline goodness [0,1] 0.9999158691765696 Centerline is valid? [True, True] Translation: X:151.29, Y:-0.50, Z:-0.86 [[ 9.95409495e-01 -9.57036374e-02 8.66715586e-04 1.51294759e+02] [ 9.57036258e-02 9.95409872e-01 5.49939609e-05 -5.04773591e-01] [-8.68000372e-04 2.82063132e-05 9.99999623e-01 -8.64662271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.335898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.32, Y:-0.50, Z:-0.87 [[ 9.95467510e-01 -9.51020316e-02 2.01597874e-04 1.51322912e+02] [ 9.51020310e-02 9.95467530e-01 1.26176782e-05 -5.01152245e-01] [-2.01884104e-04 6.61187853e-06 9.99999980e-01 -8.65444206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36589822699995 meters Centerline goodness [0,1] 0.9999789823241346 Centerline is valid? [True, True] Translation: X:151.35, Y:-0.50, Z:-0.87 [[ 9.95386235e-01 -9.59486680e-02 -3.09946214e-04 1.51350644e+02] [ 9.59486664e-02 9.95386283e-01 -1.99269485e-05 -5.01272782e-01] [ 3.10428175e-04 -9.90391572e-06 9.99999952e-01 -8.67681925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.395898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.38, Y:-0.50, Z:-0.87 [[ 9.95236927e-01 -9.74855637e-02 1.53875901e-04 1.51379133e+02] [ 9.74855633e-02 9.95236939e-01 9.60108253e-06 -4.95481175e-01] [-1.54078948e-04 5.44532705e-06 9.99999988e-01 -8.66703710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42589822699995 meters Centerline goodness [0,1] 0.9998537461869541 Centerline is valid? [True, True] Translation: X:151.41, Y:-0.49, Z:-0.87 [[ 9.95069605e-01 -9.91788147e-02 2.11244737e-04 1.51409034e+02] [ 9.91788140e-02 9.95069627e-01 1.35167483e-05 -4.93776040e-01] [-2.11543796e-04 7.50089702e-06 9.99999978e-01 -8.66226742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.455898227 meters Centerline goodness [0,1] 0.9998737054811822 Centerline is valid? [True, True] Translation: X:151.44, Y:-0.49, Z:-0.87 [[ 9.94900106e-01 -1.00865152e-01 2.86198476e-05 1.51438017e+02] [ 1.00865152e-01 9.94900106e-01 1.77966686e-06 -4.92125420e-01] [-2.86533958e-05 1.11615453e-06 1.00000000e+00 -8.66178529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48589822699995 meters Centerline goodness [0,1] 0.9994127886248768 Centerline is valid? [True, True] Translation: X:151.47, Y:-0.49, Z:-0.87 [[ 9.94485621e-01 -1.04867832e-01 -1.04287477e-03 1.51467441e+02] [ 1.04867820e-01 9.94486167e-01 -6.69678042e-05 -4.94197160e-01] [ 1.04414730e-03 -4.27654853e-05 9.99999454e-01 -8.68155538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.515898227 meters Centerline goodness [0,1] 0.9997661813157616 Centerline is valid? [True, True] Translation: X:151.50, Y:-0.48, Z:-0.87 [[ 9.94252080e-01 -1.07062924e-01 -5.76420439e-04 1.51496100e+02] [ 1.07062920e-01 9.94252247e-01 -3.70914847e-05 -4.83143796e-01] [ 5.77078439e-04 -2.48349695e-05 9.99999833e-01 -8.66673042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54589822699995 meters Centerline goodness [0,1] 0.9967821313647549 Centerline is valid? [True, True] Translation: X:151.53, Y:-0.49, Z:-0.87 [[ 9.94018923e-01 -1.09207789e-01 2.00838532e-04 1.51525462e+02] [ 1.09207788e-01 9.94018943e-01 1.28499197e-05 -4.91266832e-01] [-2.01040617e-04 9.16006865e-06 9.99999980e-01 -8.65966526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.575898227 meters Centerline goodness [0,1] 0.9964571355835119 Centerline is valid? [True, True] Translation: X:151.56, Y:-0.48, Z:-0.86 [[ 9.93659355e-01 -1.12428293e-01 9.81941259e-04 1.51555248e+02] [ 1.12428285e-01 9.93659840e-01 6.31108334e-05 -4.81477799e-01] [-9.82811038e-04 4.76873020e-05 9.99999516e-01 -8.64637392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60589822699995 meters Centerline goodness [0,1] 0.9870904935240836 Centerline is valid? [True, True] Translation: X:151.58, Y:-0.48, Z:-0.87 [[ 9.93502752e-01 -1.13808002e-01 -1.44407485e-04 1.51583880e+02] [ 1.13808002e-01 9.93502762e-01 -9.34659733e-06 -4.83101113e-01] [ 1.44532953e-04 -7.14885723e-06 9.99999990e-01 -8.66497925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.635898227 meters Centerline goodness [0,1] 0.9960118168389955 Centerline is valid? [True, True] Translation: X:151.61, Y:-0.47, Z:-0.87 [[ 9.93196292e-01 -1.16424323e-01 -2.55002925e-03 1.51613408e+02] [ 1.16424285e-01 9.93199556e-01 -1.64080900e-04 -4.72770229e-01] [ 2.55179093e-03 -1.33920790e-04 9.99996735e-01 -8.69932128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66589822699996 meters Centerline goodness [0,1] 0.9466134125175132 Centerline is valid? [True, False] Translation: X:151.61, Y:-0.48, Z:-0.87 [[ 9.93634487e-01 -1.12612671e-01 -2.98201058e-03 1.51613270e+02] [ 1.12625129e-01 9.93627791e-01 4.40385299e-03 -4.75607540e-01] [ 2.46707894e-03 -4.71166954e-03 9.99985857e-01 -8.69748861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.695898227 meters Centerline goodness [0,1] 0.9965311235305454 Centerline is valid? [False, True] Translation: X:151.55, Y:-0.48, Z:-0.87 [[ 9.93835505e-01 -1.10839277e-01 -2.37568649e-03 1.51545807e+02] [ 1.10829961e-01 9.93832314e-01 -3.74846666e-03 -4.76051222e-01] [ 2.77651134e-03 3.46206201e-03 9.99990153e-01 -8.67513877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72589822699996 meters Centerline goodness [0,1] 0.9953324808184143 Centerline is valid? [True, True] Translation: X:151.57, Y:-0.47, Z:-0.86 [[ 9.93911009e-01 -1.10180838e-01 1.04366240e-03 1.51574633e+02] [ 1.10180835e-01 9.93911555e-01 5.99232367e-05 -4.70062933e-01] [-1.04391052e-03 5.54332308e-05 9.99999454e-01 -8.61629157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.755898227 meters Centerline goodness [0,1] 0.9855682373695509 Centerline is valid? [True, True] Translation: X:151.60, Y:-0.47, Z:-0.86 [[ 9.94033304e-01 -1.09061783e-01 1.82135534e-03 1.51602621e+02] [ 1.09061774e-01 9.94034969e-01 1.04613201e-04 -4.70279230e-01] [-1.82190020e-03 9.46512374e-05 9.99998336e-01 -8.59938852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78589822699996 meters Centerline goodness [0,1] 0.9536371070896853 Centerline is valid? [True, True] Translation: X:151.63, Y:-0.47, Z:-0.86 [[ 9.94169633e-01 -1.07807690e-01 2.05983600e-03 1.51630859e+02] [ 1.07807675e-01 9.94171761e-01 1.18425578e-04 -4.71775510e-01] [-2.06059797e-03 1.04331016e-04 9.99997872e-01 -8.59864790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.815898227 meters Centerline goodness [0,1] 0.9947604476673513 Centerline is valid? [True, True] Translation: X:151.66, Y:-0.46, Z:-0.86 [[ 9.94405826e-01 -1.05626156e-01 4.10790093e-04 1.51659834e+02] [ 1.05626155e-01 9.94405911e-01 2.36220597e-05 -4.55766491e-01] [-4.10987204e-04 1.99002642e-05 9.99999915e-01 -8.63801434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84589822699996 meters Centerline goodness [0,1] 0.9966616977051796 Centerline is valid? [True, True] Translation: X:151.69, Y:-0.45, Z:-0.87 [[ 9.94486308e-01 -1.04864552e-01 -6.39191858e-04 1.51688922e+02] [ 1.04864550e-01 9.94486513e-01 -3.68005313e-05 -4.50272102e-01] [ 6.39526753e-04 -3.04309419e-05 9.99999795e-01 -8.65494295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.875898227 meters Centerline goodness [0,1] 0.9981869927268894 Centerline is valid? [True, True] Translation: X:151.72, Y:-0.44, Z:-0.87 [[ 9.94549480e-01 -1.04258677e-01 -1.20858989e-03 1.51717467e+02] [ 1.04258669e-01 9.94550212e-01 -6.98121732e-05 -4.44783518e-01] [ 1.20928186e-03 -5.65743127e-05 9.99999267e-01 -8.65996845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90589822699997 meters Centerline goodness [0,1] 0.998997995991984 Centerline is valid? [True, True] Translation: X:151.75, Y:-0.44, Z:-0.87 [[ 9.94598664e-01 -1.03777951e-01 -1.90665154e-03 1.51745561e+02] [ 1.03777929e-01 9.94600487e-01 -1.10473309e-04 -4.37691759e-01] [ 1.90782124e-03 -8.79917427e-05 9.99998176e-01 -8.66495717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93589822699994 meters Centerline goodness [0,1] 0.9993839225016995 Centerline is valid? [True, True] Translation: X:151.77, Y:-0.43, Z:-0.87 [[ 9.94656122e-01 -1.03218904e-01 -2.24854904e-03 1.51773928e+02] [ 1.03218872e-01 9.94658659e-01 -1.30657473e-04 -4.31404921e-01] [ 2.25002509e-03 -1.02133439e-04 9.99997463e-01 -8.67090595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96589822699997 meters Centerline goodness [0,1] 0.9987565334682178 Centerline is valid? [True, True] Translation: X:151.80, Y:-0.43, Z:-0.87 [[ 9.94642965e-01 -1.03360030e-01 -1.44081086e-03 1.51801214e+02] [ 1.03360017e-01 9.94644007e-01 -8.38451880e-05 -4.29526434e-01] [ 1.44176013e-03 -6.55262094e-05 9.99998959e-01 -8.67260019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99589822699994 meters Centerline goodness [0,1] 0.9988565620632702 Centerline is valid? [True, True] Translation: X:151.83, Y:-0.43, Z:-0.87 [[ 9.94606383e-01 -1.03717950e-01 -8.54777129e-04 1.51830217e+02] [ 1.03717945e-01 9.94606749e-01 -4.98458777e-05 -4.25174175e-01] [ 8.55337014e-04 -3.90786993e-05 9.99999633e-01 -8.66055035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.02589822699997 meters Centerline goodness [0,1] 0.9966435209465271 Centerline is valid? [True, True] Translation: X:151.86, Y:-0.43, Z:-0.87 [[ 9.94539037e-01 -1.04362705e-01 -7.27510753e-04 1.51857870e+02] [ 1.04362701e-01 9.94539303e-01 -4.24903496e-05 -4.28003685e-01] [ 7.27972445e-04 -3.36666761e-05 9.99999734e-01 -8.65562945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05589822699994 meters Centerline goodness [0,1] 0.9909294677084861 Centerline is valid? [True, True] Translation: X:151.89, Y:-0.43, Z:-0.87 [[ 9.94259570e-01 -1.06974699e-01 -2.07865181e-03 1.51886728e+02] [ 1.06974678e-01 9.94261738e-01 -1.21470534e-04 -4.28123408e-01] [ 2.07971823e-03 -1.01589868e-04 9.99997832e-01 -8.68229784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.085898227 meters Centerline goodness [0,1] 0.9981059799957438 Centerline is valid? [True, True] Translation: X:151.92, Y:-0.42, Z:-0.87 [[ 9.94062208e-01 -1.08753622e-01 -3.60231774e-03 1.51915777e+02] [ 1.08753571e-01 9.94068718e-01 -2.10590879e-04 -4.18207231e-01] [ 3.60385390e-03 -1.82424484e-04 9.99993489e-01 -8.69852186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11589822699995 meters Centerline goodness [0,1] 0.9954498535948263 Centerline is valid? [True, True] Translation: X:151.95, Y:-0.42, Z:-0.87 [[ 9.93725106e-01 -1.11766457e-01 -4.32120999e-03 1.51946038e+02] [ 1.11766412e-01 9.93734474e-01 -2.52653299e-04 -4.16531186e-01] [ 4.32237350e-03 -2.31898209e-04 9.99990632e-01 -8.70016579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.145898227 meters Centerline goodness [0,1] 0.9949011841051789 Centerline is valid? [True, True] Translation: X:151.97, Y:-0.41, Z:-0.87 [[ 9.93612326e-01 -1.12777364e-01 -3.97646561e-03 1.51974990e+02] [ 1.12777332e-01 9.93620259e-01 -2.33095315e-04 -4.11766831e-01] [ 3.97738467e-03 -2.16848803e-04 9.99992067e-01 -8.68831729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17589822699995 meters Centerline goodness [0,1] 0.9943899908969663 Centerline is valid? [True, True] Translation: X:152.00, Y:-0.41, Z:-0.87 [[ 9.93578131e-01 -1.13097731e-01 -3.37662916e-03 1.52002641e+02] [ 1.13097709e-01 9.93583851e-01 -1.98241144e-04 -4.08099490e-01] [ 3.37738483e-03 -1.84920957e-04 9.99994280e-01 -8.68308475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.205898227 meters Centerline goodness [0,1] 0.9899293997922276 Centerline is valid? [True, True] Translation: X:152.03, Y:-0.40, Z:-0.87 [[ 9.93507943e-01 -1.13734152e-01 -2.55148748e-03 1.52031120e+02] [ 1.13734140e-01 9.93511209e-01 -1.50152263e-04 -4.04167044e-01] [ 2.55200885e-03 -1.41013768e-04 9.99996734e-01 -8.66610295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23589822699995 meters Centerline goodness [0,1] 0.9880949850124365 Centerline is valid? [True, True] Translation: X:152.06, Y:-0.40, Z:-0.87 [[ 9.93271742e-01 -1.15790453e-01 -1.95378893e-03 1.52060738e+02] [ 1.15790450e-01 9.93273657e-01 -1.15031966e-04 -3.95276009e-01] [ 1.95396668e-03 -1.11972098e-04 9.99998085e-01 -8.65412055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.265898227 meters Centerline goodness [0,1] 0.9680549939344926 Centerline is valid? [True, True] Translation: X:152.09, Y:-0.40, Z:-0.87 [[ 9.93061093e-01 -1.17570534e-01 -2.61448476e-03 1.52089151e+02] [ 1.17570534e-01 9.93064522e-01 -1.54041497e-04 -3.95147342e-01] [ 2.61446280e-03 -1.54413752e-04 9.99996570e-01 -8.66531004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29589822699995 meters Centerline goodness [0,1] 0.9588928646600716 Centerline is valid? [True, True] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.92794535e-01 -1.19782263e-01 -3.34965120e-03 1.52118758e+02] [ 1.19782276e-01 9.92800165e-01 -1.97408672e-04 -3.92312594e-01] [ 3.34918032e-03 -2.05242593e-04 9.99994370e-01 -8.68104843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.325898227 meters Centerline goodness [0,1] 0.8478528127517063 Centerline is valid? [True, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.92705303e-01 -1.20522999e-01 -3.22311681e-03 1.52118695e+02] [ 1.20521377e-01 9.92710490e-01 -6.93786577e-04 -3.91255691e-01] [ 3.28323911e-03 3.00271139e-04 9.99994565e-01 -8.68530268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35589822699995 meters Centerline goodness [0,1] 0.7676383430360858 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.40, Z:-0.87 [[ 9.93093343e-01 -1.17274966e-01 -3.49209380e-03 1.52118435e+02] [ 1.17287794e-01 9.93090971e-01 3.72772131e-03 -3.95013935e-01] [ 3.03079843e-03 -4.11155520e-03 9.99986955e-01 -8.68799580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.385898227 meters Centerline goodness [0,1] 0.6860847525084313 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.93057061e-01 -1.17581780e-01 -3.49278224e-03 1.52118541e+02] [ 1.17594091e-01 9.93055375e-01 3.55701618e-03 -3.94698937e-01] [ 3.05028588e-03 -3.94305058e-03 9.99987574e-01 -8.68927890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41589822699996 meters Centerline goodness [0,1] 0.636130766162051 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.93033166e-01 -1.17784170e-01 -3.46713206e-03 1.52118444e+02] [ 1.17795905e-01 9.93032004e-01 3.40063717e-03 -3.94233333e-01] [ 3.04243187e-03 -3.78535945e-03 9.99988207e-01 -8.68867970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.445898227 meters Centerline goodness [0,1] 0.7973093032110674 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.92996677e-01 -1.18095012e-01 -3.34183585e-03 1.52117913e+02] [ 1.18105030e-01 9.92996643e-01 2.97795934e-03 -3.92492544e-01] [ 2.96674964e-03 -3.35179135e-03 9.99989982e-01 -8.68691655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47589822699996 meters Centerline goodness [0,1] 0.753413077475802 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.40, Z:-0.87 [[ 9.93477543e-01 -1.13969014e-01 -3.66540233e-03 1.52117643e+02] [ 1.13994298e-01 9.93451963e-01 7.64832004e-03 -3.95191658e-01] [ 2.76972965e-03 -8.01626917e-03 9.99964033e-01 -8.68940514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.505898227 meters Centerline goodness [0,1] 0.5962869268884197 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.93470998e-01 -1.14020746e-01 -3.82708314e-03 1.52118262e+02] [ 1.14046154e-01 9.93448988e-01 7.25137016e-03 -3.92942404e-01] [ 2.97520524e-03 -7.64049006e-03 9.99966385e-01 -8.69216503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53589822699996 meters Centerline goodness [0,1] 0.6556360742261131 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.93467699e-01 -1.14048126e-01 -3.86742382e-03 1.52118134e+02] [ 1.14071753e-01 9.93450805e-01 6.56753649e-03 -3.88987189e-01] [ 3.09308008e-03 -6.96579918e-03 9.99970955e-01 -8.69095879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.565898227 meters Centerline goodness [0,1] 0.6227090882433026 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.93465180e-01 -1.14070736e-01 -3.84746912e-03 1.52117931e+02] [ 1.14093803e-01 9.93449167e-01 6.43095714e-03 -3.88186584e-01] [ 3.08868098e-03 -6.82790438e-03 9.99971919e-01 -8.68935646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59589822699996 meters Centerline goodness [0,1] 0.6034399479177605 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.93469669e-01 -1.14031671e-01 -3.84650705e-03 1.52117764e+02] [ 1.14055079e-01 9.93452879e-01 6.54333965e-03 -3.88728953e-01] [ 3.07517555e-03 -6.93932314e-03 9.99971194e-01 -8.68664318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.625898227 meters Centerline goodness [0,1] 0.7591840171785857 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.93483519e-01 -1.13909629e-01 -3.88505909e-03 1.52117997e+02] [ 1.13934319e-01 9.93464527e-01 6.87049824e-03 -3.90346084e-01] [ 3.07705249e-03 -7.26836833e-03 9.99968851e-01 -8.68723204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65589822699997 meters Centerline goodness [0,1] 0.7541931144646685 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.93508060e-01 -1.13684634e-01 -4.18783407e-03 1.52119236e+02] [ 1.13713251e-01 9.93486180e-01 7.38283915e-03 -3.92825702e-01] [ 3.32123991e-03 -7.81112243e-03 9.99963977e-01 -8.69013151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68589822699994 meters Centerline goodness [0,1] 0.7664388055279253 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.93515858e-01 -1.13612484e-01 -4.29445943e-03 1.52119593e+02] [ 1.13642148e-01 9.93493853e-01 7.44486531e-03 -3.92941417e-01] [ 3.42068940e-03 -7.88462335e-03 9.99963065e-01 -8.69050217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71589822699997 meters Centerline goodness [0,1] 0.6704486094569464 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.93519602e-01 -1.13573480e-01 -4.45713461e-03 1.52119964e+02] [ 1.13603784e-01 9.93499569e-01 7.26549811e-03 -3.91846536e-01] [ 3.60299341e-03 -7.72476214e-03 9.99963673e-01 -8.68880508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74589822699994 meters Centerline goodness [0,1] 0.8676080084299262 Centerline is valid? [False, False] Translation: X:152.12, Y:-0.39, Z:-0.87 [[ 9.93816776e-01 -1.10945550e-01 -4.39321060e-03 1.52115599e+02] [ 1.10982970e-01 9.93777255e-01 9.46294758e-03 -3.89295316e-01] [ 3.31600084e-03 -9.89200762e-03 9.99945575e-01 -8.65397434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77589822699997 meters Centerline goodness [0,1] 0.8768620905487169 Centerline is valid? [False, False] Translation: X:152.13, Y:-0.38, Z:-0.86 [[ 9.94145351e-01 -1.07847139e-01 -6.63447778e-03 1.52134033e+02] [ 1.07867145e-01 9.94161557e-01 2.73439141e-03 -3.84643056e-01] [ 6.30084647e-03 -3.43402468e-03 9.99974253e-01 -8.59538677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80589822699994 meters Centerline goodness [0,1] 0.9436513268390998 Centerline is valid? [False, False] Translation: X:152.13, Y:-0.39, Z:-0.86 [[ 9.94595883e-01 -1.03590142e-01 -6.93623916e-03 1.52133487e+02] [ 1.03639500e-01 9.94589011e-01 7.18004962e-03 -3.85699518e-01] [ 6.15492488e-03 -7.86011615e-03 9.99950166e-01 -8.59397451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.835898227 meters Centerline goodness [0,1] 0.9652720636327193 Centerline is valid? [False, True] Translation: X:152.13, Y:-0.38, Z:-0.86 [[ 9.94579926e-01 -1.03747516e-01 -6.87189619e-03 1.52132993e+02] [ 1.03792418e-01 9.94577511e-01 6.53517521e-03 -3.82284476e-01] [ 6.15662521e-03 -7.21300480e-03 9.99955033e-01 -8.59125010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86589822699995 meters Centerline goodness [0,1] 0.9818883922013054 Centerline is valid? [True, True] Translation: X:152.16, Y:-0.37, Z:-0.86 [[ 9.94750473e-01 -1.02104526e-01 -6.79425726e-03 1.52162814e+02] [ 1.02105021e-01 9.94773587e-01 -2.74868909e-04 -3.70262256e-01] [ 6.78681302e-03 -4.20301801e-04 9.99976881e-01 -8.59292080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.895898227 meters Centerline goodness [0,1] 0.989382218925506 Centerline is valid? [True, True] Translation: X:152.19, Y:-0.36, Z:-0.86 [[ 9.94679935e-01 -1.02730678e-01 -7.63115926e-03 1.52191734e+02] [ 1.02731315e-01 9.94709094e-01 -3.09553330e-04 -3.64617342e-01] [ 7.62258413e-03 -4.76052539e-04 9.99970834e-01 -8.59912940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92589822699995 meters Centerline goodness [0,1] 0.8989331600679089 Centerline is valid? [True, False] Translation: X:152.19, Y:-0.37, Z:-0.86 [[ 9.95059169e-01 -9.89437411e-02 -8.20888313e-03 1.52192673e+02] [ 9.89803662e-02 9.95080602e-01 4.18126659e-03 -3.67246718e-01] [ 7.75479021e-03 -4.97312592e-03 9.99957565e-01 -8.60501018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.955898227 meters Centerline goodness [0,1] 0.8363853753697061 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.37, Z:-0.86 [[ 9.95022715e-01 -9.93159064e-02 -8.13310883e-03 1.52192429e+02] [ 9.93480765e-02 9.95046045e-01 3.65087635e-03 -3.65048004e-01] [ 7.73022768e-03 -4.44071361e-03 9.99960261e-01 -8.60571691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98589822699995 meters Centerline goodness [0,1] 0.9189006912830888 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.36, Z:-0.86 [[ 9.95002902e-01 -9.95237469e-02 -8.01552793e-03 1.52191897e+02] [ 9.95523426e-02 9.95027018e-01 3.25026786e-03 -3.63216199e-01] [ 7.65218801e-03 -4.03199054e-03 9.99962593e-01 -8.60386842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.015898227 meters Centerline goodness [0,1] 0.8978188166501904 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.37, Z:-0.86 [[ 9.95384386e-01 -9.56179937e-02 -8.19282874e-03 1.52191358e+02] [ 9.56812375e-02 9.95382169e-01 7.70966178e-03 -3.65267529e-01] [ 7.41781324e-03 -8.45797696e-03 9.99936717e-01 -8.60572570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04589822699995 meters Centerline goodness [0,1] 0.8978188166501904 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.37, Z:-0.86 [[ 9.95384386e-01 -9.56179937e-02 -8.19282874e-03 1.52191358e+02] [ 9.56812375e-02 9.95382169e-01 7.70966178e-03 -3.65267529e-01] [ 7.41781324e-03 -8.45797696e-03 9.99936717e-01 -8.60572570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.075898227 meters Centerline goodness [0,1] 0.9479355209642043 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.36, Z:-0.86 [[ 9.95364743e-01 -9.58295740e-02 -8.10681425e-03 1.52190793e+02] [ 9.58885867e-02 9.95365791e-01 7.23326936e-03 -3.63011540e-01] [ 7.37608446e-03 -7.97709226e-03 9.99940978e-01 -8.60197997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10589822699995 meters Centerline goodness [0,1] 0.8333508502722132 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.35, Z:-0.86 [[ 9.94951560e-01 -1.00035158e-01 -8.02255545e-03 1.52191188e+02] [ 1.00051642e-01 9.94980828e-01 1.67935380e-03 -3.54990851e-01] [ 7.81429445e-03 -2.47354553e-03 9.99966409e-01 -8.59518088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.135898227 meters Centerline goodness [0,1] 0.897950958764636 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.35, Z:-0.86 [[ 9.94936516e-01 -1.00179499e-01 -8.08682788e-03 1.52191601e+02] [ 1.00193724e-01 9.94967002e-01 1.37242794e-03 -3.53466420e-01] [ 7.90863775e-03 -2.17572807e-03 9.99966359e-01 -8.59914363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16589822699996 meters Centerline goodness [0,1] 0.8222157104883103 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.35, Z:-0.86 [[ 9.94918574e-01 -1.00336157e-01 -8.34783296e-03 1.52192712e+02] [ 1.00348253e-01 9.94951829e-01 1.04195747e-03 -3.51886367e-01] [ 8.20114567e-03 -1.87435330e-03 9.99964613e-01 -8.60436388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.195898227 meters Centerline goodness [0,1] 0.627217568390334 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.35, Z:-0.86 [[ 9.95271953e-01 -9.67531172e-02 -8.51901445e-03 1.52192518e+02] [ 9.67993754e-02 9.95290354e-01 5.19533313e-03 -3.53017824e-01] [ 7.97622824e-03 -5.99540463e-03 9.99950216e-01 -8.61213396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22589822699996 meters Centerline goodness [0,1] 0.7544260782010405 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.35, Z:-0.86 [[ 9.95259883e-01 -9.68927171e-02 -8.34068330e-03 1.52191727e+02] [ 9.69368157e-02 9.95277700e-01 5.05513222e-03 -3.52519915e-01] [ 7.81149059e-03 -5.83968958e-03 9.99952438e-01 -8.60910847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.255898227 meters Centerline goodness [0,1] 0.8742653718956038 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.35, Z:-0.86 [[ 9.95246533e-01 -9.70482850e-02 -8.12208585e-03 1.52190683e+02] [ 9.70899162e-02 9.95263563e-01 4.89782543e-03 -3.52008527e-01] [ 7.60829054e-03 -5.66311642e-03 9.99955021e-01 -8.60351292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28589822699996 meters Centerline goodness [0,1] 0.7841314475175222 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.35, Z:-0.86 [[ 9.95214411e-01 -9.73940778e-02 -7.91637971e-03 1.52189618e+02] [ 9.74295575e-02 9.95233451e-01 4.22613393e-03 -3.48896200e-01] [ 7.46704548e-03 -4.97719876e-03 9.99959735e-01 -8.59799310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.315898227 meters Centerline goodness [0,1] 0.7854403721631986 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.35, Z:-0.86 [[ 9.95598708e-01 -9.33485610e-02 -8.32219311e-03 1.52190052e+02] [ 9.34197802e-02 9.95589461e-01 8.62380857e-03 -3.50205212e-01] [ 7.48046763e-03 -9.36331012e-03 9.99928183e-01 -8.60419152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34589822699996 meters Centerline goodness [0,1] 0.8305445502823906 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.35, Z:-0.86 [[ 9.95572000e-01 -9.36244043e-02 -8.41807515e-03 1.52190394e+02] [ 9.36906493e-02 9.95570390e-01 7.85243648e-03 -3.46333715e-01] [ 7.64560667e-03 -8.60636082e-03 9.99933735e-01 -8.60633032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.375898227 meters Centerline goodness [0,1] 0.8244642932024993 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.34, Z:-0.86 [[ 9.95983882e-01 -8.94751235e-02 -3.21083545e-03 1.52192854e+02] [ 8.94550159e-02 9.95973160e-01 -5.93848962e-03 -3.38908659e-01] [ 3.72925302e-03 5.62741461e-03 9.99977212e-01 -8.63874466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40589822699997 meters Centerline goodness [0,1] 0.9573914698356981 Centerline is valid? [False, True] Translation: X:152.19, Y:-0.33, Z:-0.86 [[ 9.96307539e-01 -8.57934571e-02 -3.28184226e-03 1.52191574e+02] [ 8.57838230e-02 9.96309341e-01 -2.97184010e-03 -3.32540272e-01] [ 3.52469454e-03 2.67933772e-03 9.99990199e-01 -8.63584416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43589822699994 meters Centerline goodness [0,1] 0.9115530303030304 Centerline is valid? [True, False] Translation: X:152.19, Y:-0.33, Z:-0.86 [[ 9.96643333e-01 -8.17890505e-02 -3.55207130e-03 1.52191506e+02] [ 8.17936164e-02 9.96648614e-01 1.15950548e-03 -3.32260775e-01] [ 3.44533209e-03 -1.44615016e-03 9.99993019e-01 -8.63935854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46589822699997 meters Centerline goodness [0,1] 0.8952274735911788 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.33, Z:-0.86 [[ 9.96950065e-01 -7.79516512e-02 -3.75611341e-03 1.52191550e+02] [ 7.79709428e-02 9.96941560e-01 5.29689996e-03 -3.32482430e-01] [ 3.33172346e-03 -5.57361246e-03 9.99978917e-01 -8.64676094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49589822699994 meters Centerline goodness [0,1] 0.7776346084789083 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.33, Z:-0.87 [[ 9.96902418e-01 -7.85518634e-02 -3.89534021e-03 1.52192705e+02] [ 7.85684751e-02 9.96899393e-01 4.31229586e-03 -3.28075384e-01] [ 3.54452341e-03 -4.60498911e-03 9.99983115e-01 -8.65956558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.52589822699997 meters Centerline goodness [0,1] 0.7806165362940534 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.33, Z:-0.87 [[ 9.96882084e-01 -7.88084640e-02 -3.91628419e-03 1.52193087e+02] [ 7.88241870e-02 9.96880359e-01 4.03694781e-03 -3.26990141e-01] [ 3.58592113e-03 -4.33305887e-03 9.99984183e-01 -8.66476006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55589822699994 meters Centerline goodness [0,1] 0.6104776450404836 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.33, Z:-0.87 [[ 9.96861990e-01 -7.90637096e-02 -3.88613912e-03 1.52193065e+02] [ 7.90781834e-02 9.96861463e-01 3.72352187e-03 -3.25703822e-01] [ 3.57954688e-03 -4.01914624e-03 9.99985517e-01 -8.66635958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.585898227 meters Centerline goodness [0,1] 0.6097842511752855 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.32, Z:-0.87 [[ 9.96806721e-01 -7.97718479e-02 -3.57950399e-03 1.52191614e+02] [ 7.97810677e-02 9.96809247e-01 2.51120268e-03 -3.20406019e-01] [ 3.36775940e-03 -2.78876036e-03 9.99990440e-01 -8.65949985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61589822699995 meters Centerline goodness [0,1] 0.6328981504728429 Centerline is valid? [False, False] Translation: X:152.19, Y:-0.32, Z:-0.87 [[ 9.97102491e-01 -7.59853792e-02 -3.58399437e-03 1.52190589e+02] [ 7.60080343e-02 9.97084850e-01 6.67687465e-03 -3.20987972e-01] [ 3.06620164e-03 -6.92994071e-03 9.99971287e-01 -8.65896892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.645898227 meters Centerline goodness [0,1] 0.7540585969914253 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.31, Z:-0.86 [[ 9.97374949e-01 -7.23283044e-02 -3.43897361e-03 1.52145567e+02] [ 7.22904522e-02 9.97332609e-01 -1.00874507e-02 -3.12752829e-01] [ 4.15940872e-03 9.81236565e-03 9.99943207e-01 -8.64582423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67589822699995 meters Centerline goodness [0,1] 0.6184792868379654 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.31, Z:-0.86 [[ 9.97350780e-01 -7.26534008e-02 -3.59233121e-03 1.52146042e+02] [ 7.26099523e-02 9.97299474e-01 -1.10251076e-02 -3.07990904e-01] [ 4.38364159e-03 1.07350607e-02 9.99932769e-01 -8.64658524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.705898227 meters Centerline goodness [0,1] 0.5794563457859441 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.31, Z:-0.87 [[ 9.97859747e-01 -6.52826625e-02 -3.75480258e-03 1.52145420e+02] [ 6.52710098e-02 9.97862613e-01 -3.14661159e-03 -3.07136188e-01] [ 3.95219629e-03 2.89479729e-03 9.99988000e-01 -8.65740490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73589822699995 meters Centerline goodness [0,1] 0.6337694964932482 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.31, Z:-0.87 [[ 9.98106837e-01 -6.13873027e-02 -3.78707144e-03 1.52145043e+02] [ 6.13922597e-02 9.98112987e-01 1.20676091e-03 -3.08375405e-01] [ 3.70584538e-03 -1.43697319e-03 9.99992101e-01 -8.66361577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.765898227 meters Centerline goodness [0,1] 0.7131480853947814 Centerline is valid? [False, False] Translation: X:152.14, Y:-0.31, Z:-0.87 [[ 9.98092813e-01 -6.16215632e-02 -3.67692489e-03 1.52144537e+02] [ 6.16248305e-02 9.98099078e-01 7.81928265e-04 -3.06430805e-01] [ 3.62175170e-03 -1.00702685e-03 9.99992934e-01 -8.66162768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79589822699995 meters Centerline goodness [0,1] 0.6258010295199076 Centerline is valid? [False, False] Translation: X:152.14, Y:-0.31, Z:-0.87 [[ 9.98079516e-01 -6.18441547e-02 -3.54690338e-03 1.52144144e+02] [ 6.18466463e-02 9.98085485e-01 5.97030735e-04 -3.05865919e-01] [ 3.50318992e-03 -8.15248226e-04 9.99993531e-01 -8.66239510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.825898227 meters Centerline goodness [0,1] 0.4762861736334405 Centerline is valid? [False, False] Translation: X:152.14, Y:-0.31, Z:-0.87 [[ 9.98028914e-01 -6.26690316e-02 -3.29851322e-03 1.52143615e+02] [ 6.26708496e-02 9.98034148e-01 4.50623967e-04 -3.07307893e-01] [ 3.26378867e-03 -6.56456374e-04 9.99994458e-01 -8.66578742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85589822699995 meters Centerline goodness [0,1] 0.43660358143087497 Centerline is valid? [False, False] Translation: X:152.14, Y:-0.31, Z:-0.87 [[ 9.98023157e-01 -6.27544466e-02 -3.41428277e-03 1.52144507e+02] [ 6.27579339e-02 9.98028350e-01 9.23904106e-04 -3.10135756e-01] [ 3.34957191e-03 -1.13635103e-03 9.99993745e-01 -8.67433015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.885898227 meters Centerline goodness [0,1] 0.4083575550781414 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.31, Z:-0.87 [[ 9.98016235e-01 -6.28526947e-02 -3.62410718e-03 1.52145777e+02] [ 6.28581869e-02 9.98021456e-01 1.42191823e-03 -3.13207361e-01] [ 3.52756534e-03 -1.64690228e-03 9.99992422e-01 -8.68406013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91589822699996 meters Centerline goodness [0,1] 0.3999367422245651 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.32, Z:-0.87 [[ 9.98012454e-01 -6.29286488e-02 -3.33567901e-03 1.52145106e+02] [ 6.29358950e-02 9.98015333e-01 2.11368206e-03 -3.17550727e-01] [ 3.19604764e-03 -2.31941496e-03 9.99992203e-01 -8.68659801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.945898227 meters Centerline goodness [0,1] 0.3681413326611209 Centerline is valid? [False, False] Translation: X:152.14, Y:-0.32, Z:-0.87 [[ 9.98018726e-01 -6.28321297e-02 -3.27809227e-03 1.52144718e+02] [ 6.28398349e-02 9.98020968e-01 2.30287596e-03 -3.18431957e-01] [ 3.12691022e-03 -2.50430811e-03 9.99991975e-01 -8.68304479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97589822699996 meters Centerline goodness [0,1] 0.34949804679296004 Centerline is valid? [False, False] Translation: X:152.14, Y:-0.32, Z:-0.87 [[ 9.98025654e-01 -6.27215532e-02 -3.28640853e-03 1.52144497e+02] [ 6.27292909e-02 9.98027913e-01 2.30669055e-03 -3.18173252e-01] [ 3.13524823e-03 -2.50829043e-03 9.99991939e-01 -8.67915038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.005898227 meters Centerline goodness [0,1] 0.4829822404950621 Centerline is valid? [False, False] Translation: X:152.14, Y:-0.32, Z:-0.87 [[ 9.98030636e-01 -6.26307407e-02 -3.49867524e-03 1.52144932e+02] [ 6.26386449e-02 9.98033853e-01 2.19715550e-03 -3.17316704e-01] [ 3.35418686e-03 -2.41198077e-03 9.99991466e-01 -8.67558410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03589822699996 meters Centerline goodness [0,1] 0.4653388460973409 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.32, Z:-0.87 [[ 9.98162060e-01 -6.04213598e-02 -4.66491512e-03 1.52151451e+02] [ 6.04414090e-02 9.98162556e-01 4.28355052e-03 -3.18996611e-01] [ 4.39752565e-03 -4.55763166e-03 9.99979945e-01 -8.71146145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.065898227 meters Centerline goodness [0,1] 0.45364474235441976 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.32, Z:-0.87 [[ 9.98171028e-01 -6.02625481e-02 -4.79833776e-03 1.52151912e+02] [ 6.02840608e-02 9.98171242e-01 4.47247109e-03 -3.19713719e-01] [ 4.52004026e-03 -4.75355436e-03 9.99978486e-01 -8.71206323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09589822699996 meters Centerline goodness [0,1] 0.46569423072869454 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.32, Z:-0.87 [[ 9.98180792e-01 -6.00999034e-02 -4.80698952e-03 1.52151937e+02] [ 6.01229250e-02 9.98179453e-01 4.79722339e-03 -3.21186498e-01] [ 4.50992551e-03 -5.07750651e-03 9.99976939e-01 -8.71202134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.125898227 meters Centerline goodness [0,1] 0.4663197151345315 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.32, Z:-0.87 [[ 9.98194821e-01 -5.98769493e-02 -4.67446090e-03 1.52151163e+02] [ 5.99015937e-02 9.98190094e-01 5.32316351e-03 -3.23798668e-01] [ 4.34726577e-03 -5.59356191e-03 9.99974906e-01 -8.70572799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15589822699997 meters Centerline goodness [0,1] 0.4658161871335197 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.32, Z:-0.87 [[ 9.98444884e-01 -5.57465908e-02 3.62046266e-04 1.52151826e+02] [ 5.57476716e-02 9.98410149e-01 -8.32893682e-03 -3.22056659e-01] [ 1.02839167e-04 8.33616759e-03 9.99965248e-01 -8.72597922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18589822699994 meters Centerline goodness [0,1] 0.47536079216264615 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.33, Z:-0.87 [[ 9.98678631e-01 -5.13889281e-02 4.12467102e-04 1.52151084e+02] [ 5.13900114e-02 9.98673217e-01 -3.29731756e-03 -3.26113795e-01] [-2.42474233e-04 3.31415727e-03 9.99994479e-01 -8.72797147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21589822699997 meters Centerline goodness [0,1] 0.5409371563900871 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.33, Z:-0.87 [[ 9.98895511e-01 -4.69847682e-02 4.34595520e-04 1.52150422e+02] [ 4.69840628e-02 9.98894495e-01 1.51155165e-03 -3.28766100e-01] [-5.05134976e-04 -1.48946309e-03 9.99998763e-01 -8.72908035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24589822699994 meters Centerline goodness [0,1] 0.6980120045975055 Centerline is valid? [False, False] Translation: X:152.15, Y:-0.32, Z:-0.87 [[ 9.99360818e-01 -3.56890127e-02 -2.06147209e-03 1.52146645e+02] [ 3.56730957e-02 9.99336842e-01 -7.30114706e-03 -3.21818058e-01] [ 2.32067574e-03 7.22294121e-03 9.99971221e-01 -8.68355635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27589822699997 meters Centerline goodness [0,1] 0.7176042189854345 Centerline is valid? [False, False] Translation: X:152.17, Y:-0.32, Z:-0.87 [[ 9.99544172e-01 -3.01759507e-02 -9.27307783e-04 1.52168628e+02] [ 3.01620108e-02 9.99466771e-01 -1.25070482e-02 -3.17747159e-01] [ 1.30422539e-03 1.24733776e-02 9.99921354e-01 -8.68456536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30589822699994 meters Centerline goodness [0,1] 0.9002118244164342 Centerline is valid? [False, False] Translation: X:152.17, Y:-0.32, Z:-0.87 [[ 9.99763555e-01 -2.17251672e-02 -9.22896491e-04 1.52168354e+02] [ 2.17215899e-02 9.99757123e-01 -3.72385720e-03 -3.19021954e-01] [ 1.00357376e-03 3.70292993e-03 9.99992641e-01 -8.69283943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.335898227 meters Centerline goodness [0,1] 0.9691313711414213 Centerline is valid? [False, True] Translation: X:152.15, Y:-0.31, Z:-0.87 [[ 9.99922248e-01 -1.21062942e-02 -2.98922197e-03 1.52148604e+02] [ 1.20858412e-02 9.99904058e-01 -6.76804812e-03 -3.11345543e-01] [ 3.07087116e-03 6.73139463e-03 9.99972629e-01 -8.68647906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36589822699995 meters Centerline goodness [0,1] 0.9945474372955289 Centerline is valid? [True, True] Translation: X:152.18, Y:-0.31, Z:-0.87 [[ 9.99960782e-01 -8.55365448e-03 -2.29543098e-03 1.52179771e+02] [ 8.55391090e-03 9.99963409e-01 1.01915641e-04 -3.05322084e-01] [ 2.29447524e-03 -1.21546556e-04 9.99997360e-01 -8.68674112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.395898227 meters Centerline goodness [0,1] 0.9991575400168492 Centerline is valid? [True, True] Translation: X:152.21, Y:-0.29, Z:-0.87 [[ 9.99981912e-01 -5.56866481e-03 -2.27302338e-03 1.52211132e+02] [ 5.56890854e-03 9.99984488e-01 1.00914520e-04 -2.92442900e-01] [ 2.27242616e-03 -1.13570954e-04 9.99997412e-01 -8.68054039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42589822699995 meters Centerline goodness [0,1] 0.9991522909337516 Centerline is valid? [True, True] Translation: X:152.24, Y:-0.29, Z:-0.87 [[ 9.99995631e-01 -1.05402298e-03 -2.76178150e-03 1.52240420e+02] [ 1.05436553e-03 9.99999437e-01 1.22579253e-04 -2.89098141e-01] [ 2.76165074e-03 -1.25490645e-04 9.99996179e-01 -8.69299845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.455898227 meters Centerline goodness [0,1] 0.9997231332793798 Centerline is valid? [True, True] Translation: X:152.27, Y:-0.28, Z:-0.87 [[ 9.99995612e-01 8.88667817e-04 -2.82585009e-03 1.52271063e+02] [-8.88317020e-04 9.99999598e-01 1.25391314e-04 -2.77924644e-01] [ 2.82596038e-03 -1.22880513e-04 9.99995999e-01 -8.68536276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48589822699995 meters Centerline goodness [0,1] 0.999767976544538 Centerline is valid? [True, True] Translation: X:152.30, Y:-0.27, Z:-0.87 [[ 9.99994149e-01 2.85606939e-03 -1.88301305e-03 1.52299829e+02] [-2.85591722e-03 9.99995918e-01 8.34955368e-05 -2.73661347e-01] [ 1.88324383e-03 -7.81173189e-05 9.99998224e-01 -8.67326869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.515898227 meters Centerline goodness [0,1] 0.9997278398861115 Centerline is valid? [True, True] Translation: X:152.33, Y:-0.27, Z:-0.87 [[ 9.99987678e-01 4.82434159e-03 -1.17054858e-03 1.52328226e+02] [-4.82428418e-03 9.99988362e-01 5.18667370e-05 -2.73880151e-01] [ 1.17078518e-03 -4.62190389e-05 9.99999314e-01 -8.66376760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54589822699995 meters Centerline goodness [0,1] 0.999957282299921 Centerline is valid? [True, True] Translation: X:152.36, Y:-0.25, Z:-0.87 [[ 9.99958826e-01 9.01683084e-03 -1.02110636e-03 1.52359638e+02] [-9.01678934e-03 9.99959347e-01 4.52370093e-05 -2.48273974e-01] [ 1.02147275e-03 -3.60280457e-05 9.99999478e-01 -8.66214983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.575898227 meters Centerline goodness [0,1] 0.9997899865591398 Centerline is valid? [True, True] Translation: X:152.39, Y:-0.26, Z:-0.87 [[ 9.99937111e-01 1.10979163e-02 -1.61585343e-03 1.52388497e+02] [-1.10978152e-02 9.99938415e-01 7.15486276e-05 -2.58281638e-01] [ 1.61654796e-03 -5.36116852e-05 9.99998692e-01 -8.67857182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60589822699995 meters Centerline goodness [0,1] 0.9999152883373218 Centerline is valid? [True, True] Translation: X:152.42, Y:-0.25, Z:-0.87 [[ 9.99914205e-01 1.29394908e-02 -2.03745756e-03 1.52417860e+02] [-1.29393340e-02 9.99916279e-01 9.01273391e-05 -2.45659702e-01] [ 2.03845318e-03 -6.37562628e-05 9.99997920e-01 -8.68302481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.635898227 meters Centerline goodness [0,1] 0.9999581721217191 Centerline is valid? [True, True] Translation: X:152.45, Y:-0.24, Z:-0.87 [[ 9.99902523e-01 1.38801100e-02 -1.51219735e-03 1.52446015e+02] [-1.38800248e-02 9.99903666e-01 6.68103250e-05 -2.40695941e-01] [ 1.51297900e-03 -4.58144759e-05 9.99998854e-01 -8.67543101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66589822699996 meters Centerline goodness [0,1] 0.9998539079620161 Centerline is valid? [True, True] Translation: X:152.47, Y:-0.24, Z:-0.87 [[ 9.99917417e-01 1.28237430e-02 -8.43592720e-04 1.52474474e+02] [-1.28237161e-02 9.99917772e-01 3.72432487e-05 -2.41334289e-01] [ 8.44000951e-04 -2.64221794e-05 9.99999643e-01 -8.66390879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.695898227 meters Centerline goodness [0,1] 0.9998734791135103 Centerline is valid? [True, True] Translation: X:152.50, Y:-0.24, Z:-0.87 [[ 9.99935261e-01 1.13729237e-02 -3.61094948e-04 1.52504400e+02] [-1.13729187e-02 9.99935326e-01 1.59347221e-05 -2.42378627e-01] [ 3.61252819e-04 -1.18269870e-05 9.99999935e-01 -8.65855109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72589822699996 meters Centerline goodness [0,1] 0.9998740527718886 Centerline is valid? [True, True] Translation: X:152.53, Y:-0.25, Z:-0.87 [[ 9.99962694e-01 8.63273709e-03 -2.95166547e-04 1.52533405e+02] [-8.63273362e-03 9.99962737e-01 1.30252961e-05 -2.46859023e-01] [ 2.95267992e-04 -1.04767160e-05 9.99999956e-01 -8.66860988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.755898227 meters Centerline goodness [0,1] 0.999894583711075 Centerline is valid? [True, True] Translation: X:152.56, Y:-0.24, Z:-0.87 [[ 9.99968683e-01 7.89520699e-03 -5.46030576e-04 1.52563302e+02] [-7.89519502e-03 9.99968832e-01 2.40878734e-05 -2.41743678e-01] [ 5.46203736e-04 -1.97761012e-05 9.99999851e-01 -8.67036607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78589822699996 meters Centerline goodness [0,1] 0.9998118414450577 Centerline is valid? [True, True] Translation: X:152.59, Y:-0.25, Z:-0.87 [[ 9.99969209e-01 7.81752147e-03 -6.83077655e-04 1.52592011e+02] [-7.81750272e-03 9.99969442e-01 3.01106388e-05 -2.50333257e-01] [ 6.83292173e-04 -2.47697503e-05 9.99999766e-01 -8.67412653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.815898227 meters Centerline goodness [0,1] 0.9998950417733742 Centerline is valid? [True, True] Translation: X:152.62, Y:-0.24, Z:-0.87 [[ 9.99959984e-01 8.83768768e-03 -1.38793333e-03 1.52621032e+02] [-8.83761136e-03 9.99960946e-01 6.11143839e-05 -2.42342126e-01] [ 1.38841924e-03 -4.88459229e-05 9.99999035e-01 -8.67984637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84589822699996 meters Centerline goodness [0,1] 0.9999577720535451 Centerline is valid? [True, True] Translation: X:152.65, Y:-0.24, Z:-0.87 [[ 9.99954106e-01 9.24723724e-03 -2.50509207e-03 1.52649757e+02] [-9.24699018e-03 9.99957240e-01 1.10186330e-04 -2.43639641e-01] [ 2.50600387e-03 -8.70167111e-05 9.99996856e-01 -8.70365977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.875898227 meters Centerline goodness [0,1] 0.999852885544954 Centerline is valid? [True, True] Translation: X:152.68, Y:-0.25, Z:-0.87 [[ 9.99955446e-01 8.78639228e-03 -3.45028735e-03 1.52678027e+02] [-8.78592157e-03 9.99961392e-01 1.51560496e-04 -2.45416245e-01] [ 3.45148581e-03 -1.21239789e-04 9.99994036e-01 -8.72570082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90589822699997 meters Centerline goodness [0,1] 0.9999370012599748 Centerline is valid? [True, True] Translation: X:152.71, Y:-0.25, Z:-0.87 [[ 9.99962899e-01 7.43788296e-03 -4.34501525e-03 1.52705847e+02] [-7.43712464e-03 9.99972326e-01 1.90659968e-04 -2.51424694e-01] [ 4.34631312e-03 -1.58338474e-04 9.99990542e-01 -8.74953431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93589822699994 meters Centerline goodness [0,1] 0.9999370012599748 Centerline is valid? [True, True] Translation: X:152.73, Y:-0.25, Z:-0.87 [[ 9.99963237e-01 7.39222798e-03 -4.34502396e-03 1.52734163e+02] [-7.39147008e-03 9.99972665e-01 1.90461555e-04 -2.52584189e-01] [ 4.34631312e-03 -1.58338439e-04 9.99990542e-01 -8.74950179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96589822699997 meters Centerline goodness [0,1] 0.9996632004378394 Centerline is valid? [True, True] Translation: X:152.76, Y:-0.26, Z:-0.88 [[ 9.99986545e-01 2.98697749e-03 -4.24119161e-03 1.52762609e+02] [-2.98621610e-03 9.99995524e-01 1.85844791e-04 -2.64947554e-01] [ 4.24172775e-03 -1.73177176e-04 9.99990989e-01 -8.75812068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99589822699994 meters Centerline goodness [0,1] 0.9997266783003596 Centerline is valid? [True, True] Translation: X:152.79, Y:-0.28, Z:-0.87 [[ 9.99992329e-01 1.36955195e-03 -3.66965330e-03 1.52790043e+02] [-1.36897129e-03 9.99999050e-01 1.60738658e-04 -2.79851051e-01] [ 3.66986995e-03 -1.55713774e-04 9.99993254e-01 -8.74657011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.02589822699997 meters Centerline goodness [0,1] 0.9998737851823805 Centerline is valid? [True, True] Translation: X:152.82, Y:-0.28, Z:-0.87 [[ 9.99997370e-01 -8.92123524e-04 -2.11282805e-03 1.52819281e+02] [ 8.92320878e-04 9.99999598e-01 9.24667421e-05 -2.81724451e-01] [ 2.11274471e-03 -9.43518195e-05 9.99997764e-01 -8.71481796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05589822699994 meters Centerline goodness [0,1] 0.9997033835462615 Centerline is valid? [True, True] Translation: X:152.85, Y:-0.29, Z:-0.87 [[ 9.99997885e-01 -1.05341862e-03 -1.76661335e-03 1.52848735e+02] [ 1.05355681e-03 9.99999442e-01 7.72927078e-05 -2.88700870e-01] [ 1.76653094e-03 -7.91537718e-05 9.99998437e-01 -8.71233725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.085898227 meters Centerline goodness [0,1] 0.9998729298149011 Centerline is valid? [True, True] Translation: X:152.88, Y:-0.29, Z:-0.87 [[ 9.99997966e-01 -7.57490634e-04 -1.86931507e-03 1.52878170e+02] [ 7.57644761e-04 9.99999710e-01 8.17443632e-05 -2.87255979e-01] [ 1.86925261e-03 -8.31604737e-05 9.99998249e-01 -8.71065658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11589822699995 meters Centerline goodness [0,1] 0.9998536360975202 Centerline is valid? [True, True] Translation: X:152.91, Y:-0.30, Z:-0.87 [[ 9.99998144e-01 -1.40205494e-04 -1.92140980e-03 1.52907637e+02] [ 1.40367149e-04 9.99999987e-01 8.39990745e-05 -2.95937094e-01] [ 1.92139800e-03 -8.42686214e-05 9.99998151e-01 -8.71491544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.145898227 meters Centerline goodness [0,1] 0.9997880906971816 Centerline is valid? [True, True] Translation: X:152.94, Y:-0.30, Z:-0.87 [[ 9.99998541e-01 1.08534767e-03 -1.31940154e-03 1.52937266e+02] [-1.08527254e-03 9.99999409e-01 5.76523495e-05 -2.97614098e-01] [ 1.31946333e-03 -5.62203551e-05 9.99999128e-01 -8.69878466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17589822699995 meters Centerline goodness [0,1] 0.9997891363022942 Centerline is valid? [True, True] Translation: X:152.97, Y:-0.30, Z:-0.87 [[ 9.99998210e-01 1.84038040e-03 -4.40054519e-04 1.52967221e+02] [-1.84037212e-03 9.99998306e-01 1.92201387e-05 -2.99276694e-01] [ 4.40089146e-04 -1.84102402e-05 9.99999903e-01 -8.68550014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.205898227 meters Centerline goodness [0,1] 0.9997276517294115 Centerline is valid? [True, True] Translation: X:153.00, Y:-0.30, Z:-0.87 [[ 9.99995213e-01 3.09268648e-03 1.00806804e-04 1.52996564e+02] [-3.09268605e-03 9.99995218e-01 -4.39982829e-06 -3.03029951e-01] [-1.00819929e-04 4.08804343e-06 9.99999995e-01 -8.67914864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23589822699995 meters Centerline goodness [0,1] 0.9998941664549996 Centerline is valid? [True, True] Translation: X:153.03, Y:-0.30, Z:-0.87 [[ 9.99991520e-01 4.07899888e-03 -5.66769841e-04 1.53027089e+02] [-4.07898551e-03 9.99991681e-01 2.47447204e-05 -3.04015394e-01] [ 5.66866059e-04 -2.24326646e-05 9.99999839e-01 -8.68625319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.265898227 meters Centerline goodness [0,1] 0.9998733215100076 Centerline is valid? [True, True] Translation: X:153.06, Y:-0.31, Z:-0.87 [[ 9.99984088e-01 4.96037772e-03 -2.68657784e-03 1.53056396e+02] [-4.96008055e-03 9.99987692e-01 1.17264677e-04 -3.06446007e-01] [ 2.68712645e-03 -1.03937169e-04 9.99996384e-01 -8.71113697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29589822699995 meters Centerline goodness [0,1] 0.9998511778212433 Centerline is valid? [True, True] Translation: X:153.09, Y:-0.31, Z:-0.87 [[ 9.99985792e-01 4.38397303e-03 -3.03251191e-03 1.53085290e+02] [-4.38359217e-03 9.99990383e-01 1.32228637e-04 -3.07933111e-01] [ 3.03306244e-03 -1.18933463e-04 9.99995393e-01 -8.71553312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.325898227 meters Centerline goodness [0,1] 0.9999361035973675 Centerline is valid? [True, True] Translation: X:153.11, Y:-0.31, Z:-0.87 [[ 9.99992949e-01 2.93730950e-03 -2.33952188e-03 1.53114341e+02] [-2.93707906e-03 9.99995682e-01 1.01930619e-04 -3.11278945e-01] [ 2.33981118e-03 -9.50585393e-05 9.99997258e-01 -8.70495790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35589822699995 meters Centerline goodness [0,1] 0.9996203092370325 Centerline is valid? [True, True] Translation: X:153.14, Y:-0.33, Z:-0.87 [[ 9.99997653e-01 -2.15313412e-03 2.38916871e-04 1.53143221e+02] [ 2.15313667e-03 9.99997682e-01 -1.04050610e-05 -3.25905060e-01] [-2.38893914e-04 1.09194572e-05 9.99999971e-01 -8.66435617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.385898227 meters Centerline goodness [0,1] 0.9991798797156917 Centerline is valid? [True, True] Translation: X:153.17, Y:-0.33, Z:-0.87 [[ 9.99985072e-01 -5.32506460e-03 1.22434824e-03 1.53174055e+02] [ 5.32513389e-03 9.99985820e-01 -5.33383892e-05 -3.31207642e-01] [-1.22404685e-03 5.98574113e-05 9.99999249e-01 -8.65736427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41589822699996 meters Centerline goodness [0,1] 0.9994919774776682 Centerline is valid? [True, True] Translation: X:153.21, Y:-0.33, Z:-0.86 [[ 9.99969708e-01 -7.60396655e-03 1.66227425e-03 1.53205535e+02] [ 7.60409748e-03 9.99971086e-01 -7.24560822e-05 -3.33232448e-01] [-1.66167523e-03 8.50939828e-05 9.99998616e-01 -8.64928866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.445898227 meters Centerline goodness [0,1] 0.9988851024443604 Centerline is valid? [True, True] Translation: X:153.24, Y:-0.34, Z:-0.87 [[ 9.99955748e-01 -9.27973920e-03 1.54538178e-03 1.53236555e+02] [ 9.27985441e-03 9.99956939e-01 -6.73964240e-05 -3.37722416e-01] [-1.54468982e-03 8.17343595e-05 9.99998804e-01 -8.65414202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47589822699996 meters Centerline goodness [0,1] 0.9955639255074283 Centerline is valid? [True, True] Translation: X:153.27, Y:-0.35, Z:-0.87 [[ 9.99934482e-01 -1.14415909e-02 -3.47975155e-04 1.53266337e+02] [ 1.14415968e-02 9.99934543e-01 1.51844361e-05 -3.48487123e-01] [ 3.47778643e-04 -1.91648327e-05 9.99999939e-01 -8.69181850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.505898227 meters Centerline goodness [0,1] 0.9968049775087232 Centerline is valid? [True, True] Translation: X:153.30, Y:-0.35, Z:-0.87 [[ 9.99917796e-01 -1.26309966e-02 -2.20418631e-03 1.53297104e+02] [ 1.26312394e-02 9.99920218e-01 9.62352864e-05 -3.50011762e-01] [ 2.20279491e-03 -1.24068980e-04 9.99997566e-01 -8.71293338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53589822699996 meters Centerline goodness [0,1] 0.9975092348284961 Centerline is valid? [True, True] Translation: X:153.33, Y:-0.35, Z:-0.87 [[ 9.99892938e-01 -1.42889484e-02 -3.15252613e-03 1.53327784e+02] [ 1.42894531e-02 9.99897891e-01 1.37641846e-04 -3.50052536e-01] [ 3.15023747e-03 -1.82674985e-04 9.99995021e-01 -8.72910759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.565898227 meters Centerline goodness [0,1] 0.9933219574880449 Centerline is valid? [True, True] Translation: X:153.36, Y:-0.36, Z:-0.88 [[ 9.99810698e-01 -1.89359164e-02 -4.47209459e-03 1.53357996e+02] [ 1.89369785e-02 9.99820660e-01 1.95261039e-04 -3.57381390e-01] [ 4.46759512e-03 -2.79912035e-04 9.99989981e-01 -8.75476474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59589822699996 meters Centerline goodness [0,1] 0.9793177375622675 Centerline is valid? [True, True] Translation: X:153.39, Y:-0.36, Z:-0.88 [[ 9.99753864e-01 -2.17085526e-02 -4.57721647e-03 1.53387637e+02] [ 2.17096941e-02 9.99764297e-01 1.99840388e-04 -3.64930062e-01] [ 4.57179936e-03 -2.99161170e-04 9.99989505e-01 -8.75666388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.625898227 meters Centerline goodness [0,1] 0.8367880524587421 Centerline is valid? [True, False] Translation: X:153.39, Y:-0.37, Z:-0.88 [[ 9.99746781e-01 -2.20246935e-02 -4.61366064e-03 1.53388259e+02] [ 2.20302254e-02 9.99756642e-01 1.15166474e-03 -3.71438760e-01] [ 4.58717280e-03 -1.25301310e-03 9.99988694e-01 -8.76574785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65589822699997 meters Centerline goodness [0,1] 0.8812973883740522 Centerline is valid? [False, False] Translation: X:153.39, Y:-0.38, Z:-0.88 [[ 9.99749575e-01 -2.18809629e-02 -4.69156398e-03 1.53388772e+02] [ 2.18897827e-02 9.99758703e-01 1.83688083e-03 -3.75092004e-01] [ 4.65023920e-03 -1.93911815e-03 9.99987307e-01 -8.76999209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68589822699994 meters Centerline goodness [0,1] 0.7834059854136977 Centerline is valid? [False, False] Translation: X:153.39, Y:-0.38, Z:-0.88 [[ 9.99754019e-01 -2.16592870e-02 -4.77252363e-03 1.53389426e+02] [ 2.16717456e-02 9.99761826e-01 2.57440799e-03 -3.78858282e-01] [ 4.71562709e-03 -2.67720365e-03 9.99985298e-01 -8.77620379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71589822699997 meters Centerline goodness [0,1] 0.7270753049883967 Centerline is valid? [False, False] Translation: X:153.37, Y:-0.38, Z:-0.88 [[ 9.99783847e-01 -2.01515827e-02 -5.11587653e-03 1.53370751e+02] [ 2.01131878e-02 9.99769962e-01 -7.44872647e-03 -3.78701059e-01] [ 5.26480331e-03 7.34421983e-03 9.99959171e-01 -8.79725405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74589822699994 meters Centerline goodness [0,1] 0.8335947102954266 Centerline is valid? [False, False] Translation: X:153.37, Y:-0.39, Z:-0.88 [[ 9.99864802e-01 -1.55919369e-02 -5.22204938e-03 1.53371396e+02] [ 1.55836651e-02 9.99877253e-01 -1.62098823e-03 -3.87022342e-01] [ 5.24668274e-03 1.53939041e-03 9.99985051e-01 -8.80783343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.77589822699997 meters Centerline goodness [0,1] 0.8378481012658228 Centerline is valid? [False, False] Translation: X:153.37, Y:-0.39, Z:-0.88 [[ 9.99867102e-01 -1.54124897e-02 -5.31347695e-03 1.53371615e+02] [ 1.54052959e-02 9.99880362e-01 -1.39214682e-03 -3.87935317e-01] [ 5.33429770e-03 1.31010612e-03 9.99984914e-01 -8.80642577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80589822699994 meters Centerline goodness [0,1] 0.8583522041861548 Centerline is valid? [False, False] Translation: X:153.37, Y:-0.39, Z:-0.88 [[ 9.99927136e-01 -1.09167115e-02 -5.15254631e-03 1.53371064e+02] [ 1.09364291e-02 9.99932921e-01 3.81423656e-03 -3.92811387e-01] [ 5.11056176e-03 -3.87030909e-03 9.99979451e-01 -8.80927051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.835898227 meters Centerline goodness [0,1] 0.9541294190437584 Centerline is valid? [False, True] Translation: X:153.37, Y:-0.40, Z:-0.88 [[ 9.99950544e-01 -8.89643967e-03 -4.44559853e-03 1.53366134e+02] [ 8.92246212e-03 9.99942974e-01 5.86838920e-03 -3.96456094e-01] [ 4.39313725e-03 -5.90776466e-03 9.99972899e-01 -8.77560993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86589822699995 meters Centerline goodness [0,1] 0.9300693405273253 Centerline is valid? [True, False] Translation: X:153.39, Y:-0.40, Z:-0.88 [[ 9.99972587e-01 -6.80105608e-03 -2.92745313e-03 1.53385678e+02] [ 6.79379153e-03 9.99973836e-01 -2.48435852e-03 -3.96987154e-01] [ 2.94427280e-03 2.46440191e-03 9.99992629e-01 -8.76144082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.895898227 meters Centerline goodness [0,1] 0.9342813632756365 Centerline is valid? [False, False] Translation: X:153.34, Y:-0.40, Z:-0.88 [[ 9.99991657e-01 -3.74223408e-03 -1.63784685e-03 1.53339381e+02] [ 3.74209998e-03 9.99992995e-01 -8.49320609e-05 -3.97933182e-01] [ 1.63815321e-03 7.88023656e-05 9.99998655e-01 -8.75958268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92589822699995 meters Centerline goodness [0,1] 0.9415836392239119 Centerline is valid? [False, False] Translation: X:153.40, Y:-0.40, Z:-0.87 [[ 9.99992655e-01 -1.63263805e-03 -3.46774137e-03 1.53396467e+02] [ 1.61880555e-03 9.99990738e-01 -3.98797578e-03 -4.01792926e-01] [ 3.47422017e-03 3.98233289e-03 9.99986035e-01 -8.69610988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.955898227 meters Centerline goodness [0,1] 0.889993247235587 Centerline is valid? [False, False] Translation: X:153.40, Y:-0.40, Z:-0.87 [[ 9.99993611e-01 -1.54763824e-03 -3.22210471e-03 1.53395269e+02] [ 1.53614758e-03 9.99992463e-01 -3.56562173e-03 -4.04132519e-01] [ 3.22759871e-03 3.56064932e-03 9.99988452e-01 -8.69007098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98589822699995 meters Centerline goodness [0,1] 0.8412440009302522 Centerline is valid? [False, False] Translation: X:153.40, Y:-0.41, Z:-0.87 [[ 9.99993847e-01 -1.44404126e-03 -3.19689032e-03 1.53395257e+02] [ 1.43408749e-03 9.99994124e-01 -3.11368490e-03 -4.06512834e-01] [ 3.20136782e-03 3.10908113e-03 9.99990042e-01 -8.69152681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.015898227 meters Centerline goodness [0,1] 0.7715997653565743 Centerline is valid? [False, False] Translation: X:153.42, Y:-0.41, Z:-0.87 [[ 9.99989051e-01 -4.66271609e-03 3.95524511e-04 1.53417940e+02] [ 4.66071162e-03 9.99977007e-01 4.92584197e-03 -4.11650322e-01] [-4.18483219e-04 -4.92394462e-03 9.99987790e-01 -8.73646350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04589822699995 meters Centerline goodness [0,1] 0.5941197561850126 Centerline is valid? [False, False] Translation: X:153.42, Y:-0.41, Z:-0.87 [[ 9.99959985e-01 -8.94184852e-03 2.66750924e-04 1.53418548e+02] [ 8.94160173e-03 9.99959607e-01 9.12428995e-04 -4.13361883e-01] [-2.74898951e-04 -9.10007303e-04 9.99999548e-01 -8.73795284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.075898227 meters Centerline goodness [0,1] 0.7806653025924442 Centerline is valid? [False, False] Translation: X:153.42, Y:-0.42, Z:-0.87 [[ 9.99960620e-01 -8.86835823e-03 3.33994907e-04 1.53418341e+02] [ 8.86784519e-03 9.99959544e-01 1.50744645e-03 -4.16579805e-01] [-3.47349970e-04 -1.50442527e-03 9.99998808e-01 -8.73838600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10589822699995 meters Centerline goodness [0,1] 0.7128826044621311 Centerline is valid? [False, False] Translation: X:153.42, Y:-0.42, Z:-0.87 [[ 9.99961405e-01 -8.77239742e-03 4.84070847e-04 1.53417878e+02] [ 8.77139490e-03 9.99959459e-01 2.03565481e-03 -4.19446650e-01] [-5.01908795e-04 -2.03133026e-03 9.99997811e-01 -8.73877206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.135898227 meters Centerline goodness [0,1] 0.48591224018475754 Centerline is valid? [False, False] Translation: X:153.42, Y:-0.42, Z:-0.87 [[ 9.99962156e-01 -8.68298301e-03 5.40380548e-04 1.53417704e+02] [ 8.68159812e-03 9.99959153e-01 2.51443616e-03 -4.22062784e-01] [-5.62191281e-04 -2.50964963e-03 9.99996693e-01 -8.73899866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16589822699996 meters Centerline goodness [0,1] 0.6300103644478288 Centerline is valid? [False, False] Translation: X:153.42, Y:-0.43, Z:-0.87 [[ 9.99963986e-01 -8.46118529e-03 6.58935032e-04 1.53417261e+02] [ 8.45907097e-03 9.99959266e-01 3.14797231e-03 -4.25235817e-01] [-6.85543769e-04 -3.14228497e-03 9.99994828e-01 -8.73825568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.195898227 meters Centerline goodness [0,1] 0.6589749560725702 Centerline is valid? [False, False] Translation: X:153.42, Y:-0.43, Z:-0.87 [[ 9.99965445e-01 -8.28835062e-03 6.41334617e-04 1.53417454e+02] [ 8.28607660e-03 9.99959647e-01 3.47070359e-03 -4.26660304e-01] [-6.70075145e-04 -3.46526952e-03 9.99993771e-01 -8.74075325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22589822699996 meters Centerline goodness [0,1] 0.48357005677141596 Centerline is valid? [False, False] Translation: X:153.42, Y:-0.43, Z:-0.87 [[ 9.99967554e-01 -8.04057383e-03 4.89469032e-04 1.53418126e+02] [ 8.03859216e-03 9.99959990e-01 3.92422788e-03 -4.28665407e-01] [-5.21002492e-04 -3.92016592e-03 9.99992180e-01 -8.74409334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.255898227 meters Centerline goodness [0,1] 0.5693848657101198 Centerline is valid? [False, False] Translation: X:153.42, Y:-0.43, Z:-0.88 [[ 9.99972249e-01 -7.44973755e-03 4.66879777e-05 1.53420547e+02] [ 7.44941500e-03 9.99959989e-01 4.95233747e-03 -4.32994899e-01] [-8.35797242e-05 -4.95185224e-03 9.99987736e-01 -8.76103433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.28589822699996 meters Centerline goodness [0,1] 0.7637684255500962 Centerline is valid? [False, False] Translation: X:153.40, Y:-0.43, Z:-0.87 [[ 9.99973772e-01 -5.35741941e-03 -4.87368452e-03 1.53401437e+02] [ 5.33813366e-03 9.99977905e-01 -3.96155886e-03 -4.30698027e-01] [ 4.89480056e-03 3.93543857e-03 9.99980276e-01 -8.73213898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.315898227 meters Centerline goodness [0,1] 0.6806510630244149 Centerline is valid? [False, False] Translation: X:153.44, Y:-0.44, Z:-0.87 [[ 9.99982317e-01 -3.55837045e-03 -4.76483022e-03 1.53444405e+02] [ 3.56106854e-03 9.99993504e-01 5.57887278e-04 -4.37561737e-01] [ 4.76281410e-03 -5.74845300e-04 9.99988493e-01 -8.73582523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.34589822699996 meters Centerline goodness [0,1] 0.814778534923339 Centerline is valid? [False, False] Translation: X:153.40, Y:-0.44, Z:-0.87 [[ 9.99980842e-01 -1.96854711e-03 -5.86863331e-03 1.53403069e+02] [ 1.97105512e-03 9.99997969e-01 4.21606098e-04 -4.36084648e-01] [ 5.86779143e-03 -4.33165421e-04 9.99982691e-01 -8.74570461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.375898227 meters Centerline goodness [0,1] 0.8983204243138576 Centerline is valid? [False, False] Translation: X:153.41, Y:-0.44, Z:-0.88 [[ 9.99972306e-01 -7.25436731e-05 -7.44193274e-03 1.53408897e+02] [ 9.02300248e-05 9.99997173e-01 2.37627221e-03 -4.41341949e-01] [ 7.44173932e-03 -2.37687788e-03 9.99969485e-01 -8.75802786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.40589822699997 meters Centerline goodness [0,1] 0.6417897918065816 Centerline is valid? [False, False] Translation: X:153.41, Y:-0.44, Z:-0.88 [[ 9.99970956e-01 2.10936654e-04 -7.61856030e-03 1.53409628e+02] [-1.90226033e-04 9.99996285e-01 2.71906532e-03 -4.42655726e-01] [ 7.61910555e-03 -2.71753710e-03 9.99967282e-01 -8.76073948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43589822699994 meters Centerline goodness [0,1] 0.9515122217785157 Centerline is valid? [False, True] Translation: X:153.41, Y:-0.44, Z:-0.88 [[ 9.99970189e-01 4.37802413e-04 -7.70900626e-03 1.53409825e+02] [-4.15702289e-04 9.99995800e-01 2.86816179e-03 -4.42989300e-01] [ 7.71022957e-03 -2.86487164e-03 9.99966172e-01 -8.75913493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.46589822699997 meters Centerline goodness [0,1] 0.9918714555765595 Centerline is valid? [True, True] Translation: X:153.44, Y:-0.44, Z:-0.87 [[ 9.99949152e-01 8.18588480e-03 -5.88942633e-03 1.53439905e+02] [-8.18377326e-03 9.99966439e-01 3.82542183e-04 -4.40425169e-01] [ 5.89236013e-03 -3.34325001e-04 9.99982584e-01 -8.72143111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49589822699994 meters Centerline goodness [0,1] 0.9970880294967948 Centerline is valid? [True, True] Translation: X:153.47, Y:-0.44, Z:-0.87 [[ 9.99907812e-01 1.25931640e-02 -5.07735450e-03 1.53468771e+02] [-1.25916522e-02 9.99920668e-01 3.29606352e-04 -4.41486709e-01] [ 5.08110249e-03 -2.65643685e-04 9.99987056e-01 -8.70485068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.52589822699997 meters Centerline goodness [0,1] 0.9996808238999064 Centerline is valid? [True, True] Translation: X:153.50, Y:-0.44, Z:-0.87 [[ 9.99848248e-01 1.67280836e-02 -4.86337445e-03 1.53500068e+02] [-1.67267447e-02 9.99860048e-01 3.15842232e-04 -4.35780977e-01] [ 4.86797725e-03 -2.34445879e-04 9.99988124e-01 -8.69362017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55589822699994 meters Centerline goodness [0,1] 0.9997679080071737 Centerline is valid? [True, True] Translation: X:153.53, Y:-0.44, Z:-0.87 [[ 9.99773931e-01 2.07516725e-02 -4.63202378e-03 1.53529528e+02] [-2.07505016e-02 9.99784640e-01 3.00707245e-04 -4.40184579e-01] [ 4.63726641e-03 -2.04522447e-04 9.99989227e-01 -8.69790112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.585898227 meters Centerline goodness [0,1] 0.9998937029635614 Centerline is valid? [True, True] Translation: X:153.56, Y:-0.44, Z:-0.87 [[ 9.99600746e-01 2.80129888e-02 -3.69062409e-03 1.53558646e+02] [-2.80122950e-02 9.99607550e-01 2.39549831e-04 -4.38331418e-01] [ 3.69588621e-03 -1.36071339e-04 9.99993161e-01 -8.69038317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.59, Y:-0.43, Z:-0.87 [[ 9.99510500e-01 3.11207157e-02 -3.20327655e-03 1.53589146e+02] [-3.11202091e-02 9.99515627e-01 2.07877267e-04 -4.34753037e-01] [ 3.20819426e-03 -1.08088875e-04 9.99994848e-01 -8.66957874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.645898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.62, Y:-0.43, Z:-0.87 [[ 9.99408148e-01 3.43273654e-02 -2.23300813e-03 1.53618873e+02] [-3.43271275e-02 9.99410640e-01 1.44827795e-04 -4.33335776e-01] [ 2.23666364e-03 -6.80893233e-05 9.99997496e-01 -8.65249963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.65, Y:-0.43, Z:-0.86 [[ 9.99185271e-01 4.03578173e-02 -2.02049510e-04 1.53648815e+02] [-4.03578155e-02 9.99185291e-01 1.30761298e-05 -4.30604672e-01] [ 2.02412623e-04 -4.91119941e-06 9.99999980e-01 -8.62044628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.705898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.68, Y:-0.43, Z:-0.86 [[ 9.99042253e-01 4.37510390e-02 6.50354847e-04 1.53678845e+02] [-4.37510208e-02 9.99042465e-01 -4.22192705e-05 -4.26819263e-01] [-6.51579246e-04 1.37251467e-05 9.99999788e-01 -8.60425928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:-0.42, Z:-0.86 [[ 9.98879476e-01 4.73213765e-02 6.92511317e-04 1.53709275e+02] [-4.73213567e-02 9.98879716e-01 -4.49204074e-05 -4.24291396e-01] [-6.93861203e-04 1.20994979e-05 9.99999759e-01 -8.60403287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.765898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:-0.42, Z:-0.86 [[ 9.98609672e-01 5.27123027e-02 3.69515840e-04 1.53739352e+02] [-5.27122975e-02 9.98609740e-01 -2.39962880e-05 -4.19187867e-01] [-3.70267017e-04 4.48489637e-06 9.99999931e-01 -8.61341858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:-0.42, Z:-0.86 [[ 9.98529730e-01 5.42041758e-02 5.33513429e-04 1.53768280e+02] [-5.42041651e-02 9.98529873e-01 -3.46487383e-05 -4.18751825e-01] [-5.34607203e-04 5.67914538e-06 9.99999857e-01 -8.61352016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.825898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:-0.42, Z:-0.86 [[ 9.98483940e-01 5.50328328e-02 1.09940697e-03 1.53797533e+02] [-5.50327877e-02 9.98484545e-01 -7.12474731e-05 -4.17843273e-01] [-1.10166182e-03 1.06360274e-05 9.99999393e-01 -8.60752141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.83, Y:-0.42, Z:-0.86 [[ 9.98486549e-01 5.49854860e-02 1.09941033e-03 1.53825806e+02] [-5.49854409e-02 9.98487154e-01 -7.11955496e-05 -4.19586061e-01] [-1.10166181e-03 1.06362368e-05 9.99999393e-01 -8.60812114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.885898227 meters Centerline goodness [0,1] 0.9999363786741315 Centerline is valid? [True, True] Translation: X:153.85, Y:-0.42, Z:-0.86 [[ 9.98462820e-01 5.54240414e-02 4.14900378e-04 1.53853276e+02] [-5.54240350e-02 9.98462906e-01 -2.69377561e-05 -4.18295360e-01] [-4.15755637e-04 3.90089485e-06 9.99999914e-01 -8.62172509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:-0.42, Z:-0.86 [[ 9.98467419e-01 5.53365653e-02 -8.23848994e-04 1.53881488e+02] [-5.53365404e-02 9.98467758e-01 5.30508634e-05 -4.20171965e-01] [ 8.25522310e-04 -7.38060556e-06 9.99999659e-01 -8.64299498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.945898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:-0.42, Z:-0.87 [[ 9.98502081e-01 5.46490775e-02 -2.65946541e-03 1.53910073e+02] [-5.46488147e-02 9.98505622e-01 1.71434633e-04 -4.22279107e-01] [ 2.66485991e-03 -2.58412052e-05 9.99996449e-01 -8.68102547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:-0.43, Z:-0.87 [[ 9.98643944e-01 5.17848505e-02 -5.34807035e-03 1.53938644e+02] [-5.17837476e-02 9.98658262e-01 3.44598596e-04 -4.26115297e-01] [ 5.35873963e-03 -6.71881759e-05 9.99985640e-01 -8.72029950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.005898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.97, Y:-0.43, Z:-0.87 [[ 9.98742353e-01 4.98641317e-02 -5.22314196e-03 1.53966308e+02] [-4.98630551e-02 9.98756008e-01 3.36223161e-04 -4.31776898e-01] [ 5.23340989e-03 -7.53584948e-05 9.99986303e-01 -8.72428686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:-0.44, Z:-0.87 [[ 9.98870841e-01 4.72647535e-02 -4.80478527e-03 1.53995128e+02] [-4.72638133e-02 9.98882394e-01 3.09093384e-04 -4.35756893e-01] [ 4.81402463e-03 -8.16518940e-05 9.99988409e-01 -8.70480957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.065898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:-0.44, Z:-0.87 [[ 9.99004538e-01 4.43983386e-02 -4.32677191e-03 1.54023197e+02] [-4.43975505e-02 9.99013904e-01 2.78070537e-04 -4.41515489e-01] [ 4.33485117e-03 -8.56956542e-05 9.99990601e-01 -8.69730408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09589822699996 meters Centerline goodness [0,1] 0.9999578796621948 Centerline is valid? [True, True] Translation: X:154.05, Y:-0.45, Z:-0.87 [[ 9.99258726e-01 3.81250908e-02 -5.33620929e-03 1.54052419e+02] [-3.81238024e-02 9.99272965e-01 3.43002564e-04 -4.50719851e-01] [ 5.34540668e-03 -1.39311717e-04 9.99985704e-01 -8.70914811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.125898227 meters Centerline goodness [0,1] 0.9999575380565169 Centerline is valid? [True, True] Translation: X:154.08, Y:-0.46, Z:-0.87 [[ 9.99360842e-01 3.52181645e-02 -6.13088992e-03 1.54080459e+02] [-3.52164106e-02 9.99379632e-01 3.93825426e-04 -4.62579306e-01] [ 6.14095632e-03 -1.77665772e-04 9.99981128e-01 -8.73147353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15589822699997 meters Centerline goodness [0,1] 0.9999155708466133 Centerline is valid? [True, True] Translation: X:154.11, Y:-0.47, Z:-0.87 [[ 9.99440737e-01 3.28888025e-02 -6.04474780e-03 1.54108291e+02] [-3.28870567e-02 9.99458999e-01 3.88007692e-04 -4.71082646e-01] [ 6.05423869e-03 -1.88996730e-04 9.99981655e-01 -8.73780161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18589822699994 meters Centerline goodness [0,1] 0.9999788851351351 Centerline is valid? [True, True] Translation: X:154.14, Y:-0.48, Z:-0.87 [[ 9.99519290e-01 3.05494190e-02 -5.28414238e-03 1.54137236e+02] [-3.05480532e-02 9.99533242e-01 3.39009780e-04 -4.77662951e-01] [ 5.29203252e-03 -1.77426552e-04 9.99985981e-01 -8.70479086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21589822699997 meters Centerline goodness [0,1] 0.9999581414817915 Centerline is valid? [True, True] Translation: X:154.16, Y:-0.48, Z:-0.87 [[ 9.99503305e-01 3.11918611e-02 -4.49573076e-03 1.54164517e+02] [-3.11908804e-02 9.99513405e-01 2.88111986e-04 -4.83059832e-01] [ 4.50252991e-03 -1.47743082e-04 9.99989853e-01 -8.68763260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24589822699994 meters Centerline goodness [0,1] 0.9999790079140164 Centerline is valid? [True, True] Translation: X:154.19, Y:-0.49, Z:-0.87 [[ 9.99445793e-01 3.31091386e-02 -3.44839612e-03 1.54193608e+02] [-3.31085733e-02 9.99451736e-01 2.20893218e-04 -4.86221037e-01] [ 3.45381908e-03 -1.06599321e-04 9.99994030e-01 -8.66580095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.27589822699997 meters Centerline goodness [0,1] 0.9997686596984163 Centerline is valid? [True, True] Translation: X:154.22, Y:-0.50, Z:-0.86 [[ 9.99237214e-01 3.89933544e-02 -2.12310392e-03 1.54222467e+02] [-3.89931534e-02 9.99239469e-01 1.35984319e-04 -4.95349774e-01] [ 2.12679172e-03 -5.30940753e-05 9.99997737e-01 -8.64878840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.25, Y:-0.50, Z:-0.86 [[ 9.99078434e-01 4.29068863e-02 -1.13194321e-03 1.54252720e+02] [-4.29068317e-02 9.99079075e-01 7.24817616e-05 -4.96519545e-01] [ 1.13401074e-03 -2.38468682e-05 9.99999357e-01 -8.63810586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.335898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.28, Y:-0.50, Z:-0.86 [[ 9.98905710e-01 4.67694400e-02 5.47114881e-05 1.54282059e+02] [-4.67694399e-02 9.98905711e-01 -3.54851860e-06 -4.96678934e-01] [-5.48175801e-05 9.85809840e-07 9.99999998e-01 -8.61789458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.31, Y:-0.49, Z:-0.86 [[ 9.98475925e-01 5.51719117e-02 1.37407147e-03 1.54312488e+02] [-5.51718428e-02 9.98476870e-01 -8.79925717e-05 -4.91300780e-01] [-1.37683330e-03 1.20484092e-05 9.99999052e-01 -8.59115451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.395898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.34, Y:-0.49, Z:-0.86 [[ 9.98242238e-01 5.92512366e-02 1.31349943e-03 1.54340829e+02] [-5.92511772e-02 9.98243102e-01 -8.41178938e-05 -4.93272896e-01] [-1.31617584e-03 6.14364714e-06 9.99999134e-01 -8.59811931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.37, Y:-0.49, Z:-0.86 [[ 9.98010632e-01 6.30389594e-02 9.31250124e-04 1.54370784e+02] [-6.30389312e-02 9.98011067e-01 -5.96144647e-05 -4.93351903e-01] [-9.33155964e-04 7.90857051e-07 9.99999565e-01 -8.60411939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.455898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.40, Y:-0.49, Z:-0.86 [[ 9.97749645e-01 6.70462247e-02 6.70187005e-04 1.54398974e+02] [-6.70462109e-02 9.97749870e-01 -4.29340081e-05 -4.93779306e-01] [-6.71557560e-04 -2.09610791e-06 9.99999775e-01 -8.61301621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48589822699995 meters Centerline goodness [0,1] 0.9999159946236559 Centerline is valid? [True, True] Translation: X:154.43, Y:-0.49, Z:-0.86 [[ 9.97149689e-01 7.54432530e-02 9.01742306e-04 1.54428706e+02] [-7.54432317e-02 9.97150097e-01 -5.77208133e-05 -4.90102018e-01] [-9.03527073e-04 -1.04740627e-05 9.99999592e-01 -8.61309721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.46, Y:-0.49, Z:-0.86 [[ 9.96832292e-01 7.95251030e-02 1.06782896e-03 1.54457559e+02] [-7.95250755e-02 9.96832863e-01 -6.82236316e-05 -4.86616218e-01] [-1.06987249e-03 -1.69116599e-05 9.99999428e-01 -8.61130917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.49, Y:-0.49, Z:-0.86 [[ 9.96538914e-01 8.31208229e-02 1.05904842e-03 1.54487412e+02] [-8.31207979e-02 9.96539477e-01 -6.75934048e-05 -4.89007793e-01] [-1.06100198e-03 -2.06694916e-05 9.99999437e-01 -8.61280768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.575898227 meters Centerline goodness [0,1] 0.9999786343047603 Centerline is valid? [True, True] Translation: X:154.52, Y:-0.49, Z:-0.86 [[ 9.96102667e-01 8.82004460e-02 3.97082643e-04 1.54518052e+02] [-8.82004429e-02 9.96102746e-01 -2.53247915e-05 -4.91568127e-01] [-3.97768769e-04 -9.79677265e-06 9.99999921e-01 -8.62801381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60589822699995 meters Centerline goodness [0,1] 0.9999789588856626 Centerline is valid? [True, True] Translation: X:154.55, Y:-0.49, Z:-0.86 [[ 9.95991238e-01 8.94501878e-02 -3.42709700e-04 1.54545561e+02] [-8.94501856e-02 9.95991297e-01 2.17079284e-05 -4.91503663e-01] [ 3.43277657e-04 9.03453972e-06 9.99999941e-01 -8.64584869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.635898227 meters Centerline goodness [0,1] 0.9999788529859583 Centerline is valid? [True, True] Translation: X:154.57, Y:-0.49, Z:-0.87 [[ 9.95917875e-01 9.02591703e-02 -9.31374335e-04 1.54573227e+02] [-9.02591544e-02 9.95918311e-01 5.91410410e-05 -4.91966454e-01] [ 9.32910776e-04 2.51654401e-05 9.99999565e-01 -8.66465348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66589822699996 meters Centerline goodness [0,1] 0.9999162373832559 Centerline is valid? [True, True] Translation: X:154.60, Y:-0.50, Z:-0.87 [[ 9.95871616e-01 9.07410488e-02 -2.40561412e-03 1.54601038e+02] [-9.07409440e-02 9.95874519e-01 1.52911774e-04 -5.04121623e-01] [ 2.40956518e-03 6.60072014e-05 9.99997095e-01 -8.69621042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.695898227 meters Centerline goodness [0,1] 0.9999576558265583 Centerline is valid? [True, True] Translation: X:154.63, Y:-0.52, Z:-0.87 [[ 9.95903979e-01 9.03606614e-02 -3.19628135e-03 1.54629302e+02] [-9.03604748e-02 9.95909104e-01 2.03040379e-04 -5.16353598e-01] [ 3.20155256e-03 8.66087794e-05 9.99994871e-01 -8.70104708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.66, Y:-0.52, Z:-0.87 [[ 9.95929054e-01 9.00573079e-02 -3.87319025e-03 1.54657250e+02] [-9.00570322e-02 9.95936580e-01 2.45872439e-04 -5.23590138e-01] [ 3.87959446e-03 1.03936514e-04 9.99992469e-01 -8.71099542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.755898227 meters Centerline goodness [0,1] 0.9999790312434472 Centerline is valid? [True, True] Translation: X:154.69, Y:-0.53, Z:-0.87 [[ 9.95739501e-01 9.21469130e-02 -3.43412769e-03 1.54685801e+02] [-9.21467091e-02 9.95745418e-01 2.17890029e-04 -5.28671396e-01] [ 3.43959480e-03 9.94818557e-05 9.99994080e-01 -8.69935099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.78589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.72, Y:-0.53, Z:-0.87 [[ 9.95481943e-01 9.49150965e-02 -2.61265988e-03 1.54715507e+02] [-9.49149881e-02 9.95485368e-01 1.65712592e-04 -5.33223882e-01] [ 2.61659331e-03 8.30166882e-05 9.99996573e-01 -8.67558978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.815898227 meters Centerline goodness [0,1] 0.9997276060764798 Centerline is valid? [True, True] Translation: X:154.75, Y:-0.52, Z:-0.87 [[ 9.94700294e-01 1.02794574e-01 -2.14475186e-03 1.54745098e+02] [-1.02794519e-01 9.94702603e-01 1.36099440e-04 -5.23194544e-01] [ 2.14738054e-03 8.50905827e-05 9.99997691e-01 -8.67164947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.84589822699996 meters Centerline goodness [0,1] 0.999789020633782 Centerline is valid? [True, True] Translation: X:154.78, Y:-0.53, Z:-0.87 [[ 9.94312065e-01 1.06482523e-01 -2.23378338e-03 1.54775408e+02] [-1.06482473e-01 9.94314569e-01 1.41737473e-04 -5.28176503e-01] [ 2.23617592e-03 9.69274980e-05 9.99997495e-01 -8.67152395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.875898227 meters Centerline goodness [0,1] 0.9980323290453622 Centerline is valid? [True, True] Translation: X:154.81, Y:-0.51, Z:-0.87 [[ 9.93901058e-01 1.10245226e-01 -2.58401483e-03 1.54805240e+02] [-1.10245172e-01 9.93904409e-01 1.63883605e-04 -5.13863416e-01] [ 2.58633112e-03 1.21991071e-04 9.99996648e-01 -8.68896265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.90589822699997 meters Centerline goodness [0,1] 0.9985853339245371 Centerline is valid? [True, True] Translation: X:154.84, Y:-0.52, Z:-0.87 [[ 9.93529571e-01 1.13543154e-01 -2.63524460e-03 1.54835374e+02] [-1.13543109e-01 9.93533057e-01 1.67131157e-04 -5.18466806e-01] [ 2.63717922e-03 1.33164119e-04 9.99996514e-01 -8.67901006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93589822699994 meters Centerline goodness [0,1] 0.9984847528253046 Centerline is valid? [True, True] Translation: X:154.87, Y:-0.52, Z:-0.87 [[ 9.93219119e-01 1.16234168e-01 -2.32394581e-03 1.54866005e+02] [-1.16234141e-01 9.93221830e-01 1.47402529e-04 -5.19790224e-01] [ 2.32532692e-03 1.23718834e-04 9.99997289e-01 -8.67286247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.96589822699997 meters Centerline goodness [0,1] 0.9878782794706709 Centerline is valid? [True, True] Translation: X:154.90, Y:-0.51, Z:-0.87 [[ 9.92973461e-01 1.18333976e-01 -8.80239014e-04 1.54896262e+02] [-1.18333973e-01 9.92973850e-01 5.57928917e-05 -5.11333275e-01] [ 8.80656518e-04 4.87613191e-05 9.99999611e-01 -8.65752639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99589822699994 meters Centerline goodness [0,1] 0.9986005682541029 Centerline is valid? [True, True] Translation: X:154.92, Y:-0.52, Z:-0.86 [[ 9.93011303e-01 1.18019253e-01 8.65695721e-05 1.54924033e+02] [-1.18019253e-01 9.93011307e-01 -5.58639757e-06 -5.23261856e-01] [-8.66238664e-05 -4.66952031e-06 9.99999996e-01 -8.63956669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.02589822699997 meters Centerline goodness [0,1] 0.9977882222836605 Centerline is valid? [True, True] Translation: X:154.95, Y:-0.52, Z:-0.86 [[ 9.93152077e-01 1.16826503e-01 7.21446371e-04 1.54952068e+02] [-1.16826500e-01 9.93152338e-01 -4.57983142e-05 -5.23017990e-01] [-7.21856607e-04 -3.87993635e-05 9.99999739e-01 -8.63619652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05589822699994 meters Centerline goodness [0,1] 0.9986613399150788 Centerline is valid? [True, True] Translation: X:154.98, Y:-0.53, Z:-0.86 [[ 9.93606059e-01 1.12892916e-01 1.47947941e-03 1.54981242e+02] [-1.12892902e-01 9.93607158e-01 -9.36713501e-05 -5.31305132e-01] [-1.48059616e-03 -7.39503028e-05 9.99998901e-01 -8.63053534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.085898227 meters Centerline goodness [0,1] 0.9989706963554249 Centerline is valid? [True, True] Translation: X:155.01, Y:-0.54, Z:-0.86 [[ 9.93866267e-01 1.10568751e-01 2.09619110e-03 1.55010418e+02] [-1.10568716e-01 9.93868473e-01 -1.32677386e-04 -5.35946038e-01] [-2.09800822e-03 -9.99095799e-05 9.99997794e-01 -8.62388080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11589822699995 meters Centerline goodness [0,1] 0.9993695624763586 Centerline is valid? [True, True] Translation: X:155.04, Y:-0.54, Z:-0.86 [[ 9.94079548e-01 1.08621320e-01 2.69471655e-03 1.55039704e+02] [-1.08621257e-01 9.94083192e-01 -1.70484965e-04 -5.41807851e-01] [-2.69729073e-03 -1.23227881e-04 9.99996355e-01 -8.61892422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.145898227 meters Centerline goodness [0,1] 0.9995561192136969 Centerline is valid? [True, True] Translation: X:155.07, Y:-0.55, Z:-0.86 [[ 9.94413895e-01 1.05531955e-01 2.00308052e-03 1.55068923e+02] [-1.05531913e-01 9.94415909e-01 -1.26692839e-04 -5.50330843e-01] [-2.00526528e-03 -8.54038008e-05 9.99997986e-01 -8.63139985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17589822699995 meters Centerline goodness [0,1] 0.9995385228536069 Centerline is valid? [True, True] Translation: X:155.10, Y:-0.56, Z:-0.86 [[ 9.94527587e-01 1.04456794e-01 1.91234307e-03 1.55096399e+02] [-1.04456755e-01 9.94529422e-01 -1.20942145e-04 -5.55934765e-01] [-1.91451468e-03 -7.94768518e-05 9.99998164e-01 -8.64100484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.205898227 meters Centerline goodness [0,1] 0.9996642182581322 Centerline is valid? [True, True] Translation: X:155.13, Y:-0.56, Z:-0.86 [[ 9.94598171e-01 1.03787485e-01 1.62332464e-03 1.55125154e+02] [-1.03787456e-01 9.94599494e-01 -1.02583334e-04 -5.61715891e-01] [-1.62520473e-03 -6.64515382e-05 9.99998677e-01 -8.64701857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23589822699995 meters Centerline goodness [0,1] 0.9998523985239852 Centerline is valid? [True, True] Translation: X:155.15, Y:-0.57, Z:-0.87 [[ 9.94700592e-01 1.02813290e-01 4.00492110e-04 1.55153565e+02] [-1.02813288e-01 9.94700672e-01 -2.53653724e-05 -5.73363314e-01] [-4.00977669e-04 -1.59449598e-05 9.99999919e-01 -8.66904759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.265898227 meters Centerline goodness [0,1] 0.9998112574448452 Centerline is valid? [True, True] Translation: X:155.18, Y:-0.58, Z:-0.87 [[ 9.94704562e-01 1.02774445e-01 -4.97156242e-04 1.55181209e+02] [-1.02774442e-01 9.94704686e-01 3.11883511e-05 -5.76933773e-01] [ 4.97729009e-04 2.00717603e-05 9.99999876e-01 -8.68553037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29589822699995 meters Centerline goodness [0,1] 0.9996430146363999 Centerline is valid? [True, True] Translation: X:155.21, Y:-0.58, Z:-0.87 [[ 9.94674481e-01 1.03060859e-01 -1.06576031e-03 1.55209024e+02] [-1.03060846e-01 9.94675051e-01 6.69790123e-05 -5.79865709e-01] [ 1.06698811e-03 4.32158450e-05 9.99999430e-01 -8.69932877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.325898227 meters Centerline goodness [0,1] 0.9997661316041246 Centerline is valid? [True, True] Translation: X:155.24, Y:-0.59, Z:-0.87 [[ 9.94518462e-01 1.04546628e-01 -1.74081268e-03 1.55238263e+02] [-1.04546596e-01 9.94519983e-01 1.09515121e-04 -5.89978729e-01] [ 1.74272244e-03 7.30812302e-05 9.99998479e-01 -8.70248954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35589822699995 meters Centerline goodness [0,1] 0.9996436432239807 Centerline is valid? [True, True] Translation: X:155.27, Y:-0.59, Z:-0.87 [[ 9.94393838e-01 1.05718038e-01 -2.14264395e-03 1.55267200e+02] [-1.05717993e-01 9.94396142e-01 1.34707503e-04 -5.94296102e-01] [ 2.14487789e-03 9.25637082e-05 9.99997695e-01 -8.70960493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.385898227 meters Centerline goodness [0,1] 0.9996618837302678 Centerline is valid? [True, True] Translation: X:155.30, Y:-0.60, Z:-0.87 [[ 9.94202204e-01 1.07499632e-01 -2.40966418e-03 1.55296733e+02] [-1.07499580e-01 9.94205118e-01 1.51471730e-04 -5.99626247e-01] [ 2.41198361e-03 1.08444359e-04 9.99997085e-01 -8.71300987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41589822699996 meters Centerline goodness [0,1] 0.99922278704365 Centerline is valid? [True, True] Translation: X:155.33, Y:-0.60, Z:-0.87 [[ 9.93946481e-01 1.09825633e-01 -2.95360772e-03 1.55326419e+02] [-1.09825565e-01 9.93950859e-01 1.85665778e-04 -5.98763882e-01] [ 2.95613179e-03 1.39839790e-04 9.99995621e-01 -8.72200291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.445898227 meters Centerline goodness [0,1] 0.9975884754511032 Centerline is valid? [True, True] Translation: X:155.36, Y:-0.60, Z:-0.87 [[ 9.93209657e-01 1.16294522e-01 -3.18755857e-03 1.55357082e+02] [-1.16294476e-01 9.93214758e-01 2.00427945e-04 -6.00733642e-01] [ 3.18923888e-03 1.71628481e-04 9.99994900e-01 -8.72549275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47589822699996 meters Centerline goodness [0,1] 0.9889548991716174 Centerline is valid? [True, True] Translation: X:155.39, Y:-0.60, Z:-0.87 [[ 9.92762027e-01 1.20050611e-01 -3.37753852e-03 1.55386773e+02] [-1.20050582e-01 9.92767754e-01 2.12298542e-04 -5.96950375e-01] [ 3.37859790e-03 1.94713532e-04 9.99994274e-01 -8.72710126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.505898227 meters Centerline goodness [0,1] 0.9908783856463653 Centerline is valid? [True, True] Translation: X:155.42, Y:-0.60, Z:-0.87 [[ 9.91954994e-01 1.26551725e-01 -3.15457101e-03 1.55417108e+02] [-1.26551731e-01 9.91959989e-01 1.98285626e-04 -6.00318880e-01] [ 3.15430162e-03 2.02526006e-04 9.99995005e-01 -8.71568180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53589822699996 meters Centerline goodness [0,1] 0.9164489211058665 Centerline is valid? [True, False] Translation: X:155.46, Y:-0.60, Z:-0.87 [[ 9.92021129e-01 1.26055925e-01 -1.99587027e-03 1.55456376e+02] [-1.26061764e-01 9.92017440e-01 -3.13531032e-03 -5.99541960e-01] [ 1.58471368e-03 3.36189702e-03 9.99993093e-01 -8.70144504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.565898227 meters Centerline goodness [0,1] 0.7947738224118533 Centerline is valid? [False, False] Translation: X:155.46, Y:-0.60, Z:-0.87 [[ 9.92012733e-01 1.26123827e-01 -1.87551934e-03 1.55455860e+02] [-1.26129408e-01 9.92008522e-01 -3.23483646e-03 -5.98807597e-01] [ 1.45254122e-03 3.44555710e-03 9.99993009e-01 -8.69881342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59589822699996 meters Centerline goodness [0,1] 0.7211910690744732 Centerline is valid? [False, False] Translation: X:155.46, Y:-0.60, Z:-0.87 [[ 9.92012001e-01 1.26132430e-01 -1.67339202e-03 1.55455177e+02] [-1.26137915e-01 9.92005722e-01 -3.72480779e-03 -5.96003880e-01] [ 1.19019540e-03 3.90613221e-03 9.99991663e-01 -8.69521379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.625898227 meters Centerline goodness [0,1] 0.8636680540003803 Centerline is valid? [False, False] Translation: X:155.46, Y:-0.59, Z:-0.87 [[ 9.92030923e-01 1.25983758e-01 -1.65523504e-03 1.55455315e+02] [-1.25989665e-01 9.92022857e-01 -4.15408960e-03 -5.93914402e-01] [ 1.11868318e-03 4.32952785e-03 9.99990002e-01 -8.69753435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65589822699997 meters Centerline goodness [0,1] 0.679850840072066 Centerline is valid? [False, False] Translation: X:155.46, Y:-0.59, Z:-0.87 [[ 9.92541527e-01 1.21890894e-01 -1.98186758e-03 1.55455203e+02] [-1.21904192e-01 9.92497895e-01 -9.34325174e-03 -5.88090499e-01] [ 8.28142089e-04 9.51516331e-03 9.99954387e-01 -8.70173382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68589822699994 meters Centerline goodness [0,1] 0.8504654936795354 Centerline is valid? [False, False] Translation: X:155.41, Y:-0.59, Z:-0.87 [[ 9.93003457e-01 1.18066221e-01 -2.12168680e-03 1.55406803e+02] [-1.18052658e-01 9.92991178e-01 5.66476729e-03 -5.86176587e-01] [ 2.77563394e-03 -5.37466274e-03 9.99981704e-01 -8.66303420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71589822699997 meters Centerline goodness [0,1] 0.8732957913455839 Centerline is valid? [False, False] Translation: X:155.41, Y:-0.58, Z:-0.87 [[ 9.93523418e-01 1.13598320e-01 -2.57663083e-03 1.55406850e+02] [-1.13597781e-01 9.93526758e-01 3.55217918e-04 -5.80742132e-01] [ 2.60030383e-03 -6.02177767e-05 9.99996617e-01 -8.66324414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74589822699994 meters Centerline goodness [0,1] 0.8732957913455839 Centerline is valid? [False, False] Translation: X:155.41, Y:-0.58, Z:-0.87 [[ 9.93950716e-01 1.09795551e-01 -2.62874211e-03 1.55405820e+02] [-1.09805848e-01 9.93944352e-01 -4.15932537e-03 -5.77579767e-01] [ 2.15614796e-03 4.42281568e-03 9.99987895e-01 -8.66346582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.77589822699997 meters Centerline goodness [0,1] 0.9227316785368115 Centerline is valid? [False, False] Translation: X:155.41, Y:-0.57, Z:-0.87 [[ 9.94426922e-01 1.05382846e-01 -3.09079812e-03 1.55406195e+02] [-1.05407616e-01 9.94384534e-01 -9.41451334e-03 -5.72250699e-01] [ 2.08131364e-03 9.68783919e-03 9.99950906e-01 -8.66667403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80589822699994 meters Centerline goodness [0,1] 0.9454362162389214 Centerline is valid? [False, False] Translation: X:155.41, Y:-0.57, Z:-0.86 [[ 9.94840331e-01 1.01147973e-01 -7.86153760e-03 1.55405289e+02] [-1.01118690e-01 9.94866174e-01 4.03812116e-03 -5.73731913e-01] [ 8.22962560e-03 -3.22233740e-03 9.99960944e-01 -8.63904496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.835898227 meters Centerline goodness [0,1] 0.971586224392719 Centerline is valid? [False, True] Translation: X:155.41, Y:-0.57, Z:-0.86 [[ 9.95279837e-01 9.66830646e-02 -8.39228077e-03 1.55406218e+02] [-9.66955360e-02 9.95313408e-01 -1.09229357e-03 -5.69239033e-01] [ 8.24734329e-03 1.89863385e-03 9.99964188e-01 -8.64680858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86589822699995 meters Centerline goodness [0,1] 0.9594889897461758 Centerline is valid? [True, True] Translation: X:155.43, Y:-0.57, Z:-0.87 [[ 9.95420337e-01 9.51344543e-02 -9.36956113e-03 1.55434958e+02] [-9.51358107e-02 9.95464257e-01 3.01837289e-04 -5.68108980e-01] [ 9.35577833e-03 5.90925819e-04 9.99956059e-01 -8.66845894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.895898227 meters Centerline goodness [0,1] 0.990267277180279 Centerline is valid? [True, True] Translation: X:155.46, Y:-0.58, Z:-0.87 [[ 9.95582863e-01 9.33817278e-02 -9.72711111e-03 1.55464649e+02] [-9.33831088e-02 9.95630201e-01 3.13106140e-04 -5.75396304e-01] [ 9.71384399e-03 5.96624768e-04 9.99952642e-01 -8.67009987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92589822699995 meters Centerline goodness [0,1] 0.9931391915716137 Centerline is valid? [True, True] Translation: X:155.49, Y:-0.58, Z:-0.87 [[ 9.95913478e-01 8.98233661e-02 -9.38655341e-03 1.55493809e+02] [-8.98244956e-02 9.95957564e-01 3.02029782e-04 -5.78798375e-01] [ 9.37573820e-03 5.42346895e-04 9.99955900e-01 -8.66590494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.955898227 meters Centerline goodness [0,1] 0.996513470681458 Centerline is valid? [True, True] Translation: X:155.52, Y:-0.58, Z:-0.87 [[ 9.96065322e-01 8.81106780e-02 -9.50695445e-03 1.55523074e+02] [-8.81117605e-02 9.96110548e-01 3.05737037e-04 -5.84676674e-01] [ 9.49691631e-03 5.33140434e-04 9.99954761e-01 -8.66468195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98589822699995 meters Centerline goodness [0,1] 0.9977097472317358 Centerline is valid? [True, True] Translation: X:155.55, Y:-0.59, Z:-0.87 [[ 9.96191018e-01 8.65991043e-02 -1.02005274e-02 1.55552907e+02] [-8.66002735e-02 9.96243085e-01 3.27850492e-04 -5.89311614e-01] [ 1.01905964e-02 5.56766747e-04 9.99947920e-01 -8.67963946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.015898227 meters Centerline goodness [0,1] 0.9967087801252786 Centerline is valid? [True, True] Translation: X:155.58, Y:-0.60, Z:-0.87 [[ 9.96341775e-01 8.45918065e-02 -1.21364377e-02 1.55581141e+02] [-8.45933159e-02 9.96415485e-01 3.89845465e-04 -5.97055171e-01] [ 1.21259122e-02 6.38242185e-04 9.99926275e-01 -8.70309078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04589822699995 meters Centerline goodness [0,1] 0.9892217333642086 Centerline is valid? [True, True] Translation: X:155.61, Y:-0.60, Z:-0.87 [[ 9.96352553e-01 8.44823653e-02 -1.20133464e-02 1.55609150e+02] [-8.44838423e-02 9.96424775e-01 3.85397451e-04 -5.96294092e-01] [ 1.20029552e-02 6.30941927e-04 9.99927763e-01 -8.70001145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.075898227 meters Centerline goodness [0,1] 0.9904751870192814 Centerline is valid? [True, True] Translation: X:155.64, Y:-0.60, Z:-0.87 [[ 9.96320345e-01 8.49843347e-02 -1.11100446e-02 1.55637973e+02] [-8.49856349e-02 9.96382113e-01 3.55877149e-04 -6.00841682e-01] [ 1.11000937e-02 5.89626547e-04 9.99938218e-01 -8.67858358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10589822699995 meters Centerline goodness [0,1] 0.9901380670611439 Centerline is valid? [True, True] Translation: X:155.67, Y:-0.61, Z:-0.87 [[ 9.96042759e-01 8.83238941e-02 -9.88497500e-03 1.55668251e+02] [-8.83250896e-02 9.96091652e-01 3.16407514e-04 -6.06431273e-01] [ 9.87428742e-03 5.57935890e-04 9.99951092e-01 -8.65051728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.135898227 meters Centerline goodness [0,1] 0.982408403467696 Centerline is valid? [True, True] Translation: X:155.70, Y:-0.61, Z:-0.87 [[ 9.95845163e-01 9.05509247e-02 -9.64056869e-03 1.55698457e+02] [-9.05521663e-02 9.95891666e-01 3.08530349e-04 -6.07804826e-01] [ 9.62889972e-03 5.65725924e-04 9.99953481e-01 -8.65054751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.16589822699996 meters Centerline goodness [0,1] 0.9656512738180743 Centerline is valid? [True, True] Translation: X:155.73, Y:-0.61, Z:-0.87 [[ 9.95606440e-01 9.31337613e-02 -9.69119641e-03 1.55729184e+02] [-9.31351383e-02 9.95653429e-01 3.10106844e-04 -6.09181288e-01] [ 9.67795435e-03 5.93846547e-04 9.99952991e-01 -8.65128067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.195898227 meters Centerline goodness [0,1] 0.8840588880452206 Centerline is valid? [True, False] Translation: X:155.73, Y:-0.61, Z:-0.86 [[ 9.95851793e-01 9.05132436e-02 -9.30376420e-03 1.55726526e+02] [-9.05425979e-02 9.95888695e-01 -2.78299667e-03 -6.11374161e-01] [ 9.01361553e-03 3.61383920e-03 9.99952846e-01 -8.64618725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.22589822699996 meters Centerline goodness [0,1] 0.8021928985784408 Centerline is valid? [False, False] Translation: X:155.73, Y:-0.61, Z:-0.86 [[ 9.95822994e-01 9.08490978e-02 -9.11079364e-03 1.55725804e+02] [-9.08727781e-02 9.95860038e-01 -2.21890578e-03 -6.13898359e-01] [ 8.87148971e-03 3.03756052e-03 9.99956034e-01 -8.64551151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.255898227 meters Centerline goodness [0,1] 0.6574527788248106 Centerline is valid? [False, False] Translation: X:155.76, Y:-0.62, Z:-0.86 [[ 9.95469437e-01 9.48211335e-02 -7.03937870e-03 1.55764339e+02] [-9.48080434e-02 9.95493205e-01 2.17127941e-03 -6.24466927e-01] [ 7.21353684e-03 -1.49405258e-03 9.99972866e-01 -8.62025179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.28589822699996 meters Centerline goodness [0,1] 0.8226165944741158 Centerline is valid? [False, False] Translation: X:155.76, Y:-0.62, Z:-0.86 [[ 9.95804034e-01 9.12381447e-02 -7.06595284e-03 1.55763455e+02] [-9.12539157e-02 9.95825764e-01 -1.94202027e-03 -6.23687955e-01] [ 6.85927155e-03 2.57866748e-03 9.99973150e-01 -8.62340310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.315898227 meters Centerline goodness [0,1] 0.7657073883488978 Centerline is valid? [False, False] Translation: X:155.76, Y:-0.63, Z:-0.86 [[ 9.95770792e-01 9.16094923e-02 -6.94478637e-03 1.55763105e+02] [-9.16202830e-02 9.95793231e-01 -1.25122123e-03 -6.26864646e-01] [ 6.80094751e-03 1.88221285e-03 9.99975102e-01 -8.62491389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.34589822699996 meters Centerline goodness [0,1] 0.5883406748582629 Centerline is valid? [False, False] Translation: X:155.76, Y:-0.63, Z:-0.86 [[ 9.96101523e-01 8.79490790e-02 -6.83488541e-03 1.55761743e+02] [-8.79870504e-02 9.96106608e-01 -5.46843363e-03 -6.25701093e-01] [ 6.32733082e-03 6.04849647e-03 9.99961690e-01 -8.62619387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.375898227 meters Centerline goodness [0,1] 0.6075303796671354 Centerline is valid? [False, False] Translation: X:155.76, Y:-0.63, Z:-0.86 [[ 9.96042839e-01 8.86218578e-02 -6.69541858e-03 1.55761520e+02] [-8.86534872e-02 9.96051978e-01 -4.58437338e-03 -6.29266742e-01] [ 6.26270924e-03 5.15980449e-03 9.99967077e-01 -8.63019902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.40589822699997 meters Centerline goodness [0,1] 0.6638206141555889 Centerline is valid? [False, False] Translation: X:155.76, Y:-0.63, Z:-0.86 [[ 9.96029585e-01 8.87609000e-02 -6.82403496e-03 1.55762507e+02] [-8.87929223e-02 9.96039753e-01 -4.54168682e-03 -6.29221040e-01] [ 6.39388589e-03 5.12958045e-03 9.99966402e-01 -8.63949451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43589822699994 meters Centerline goodness [0,1] 0.44365960309451735 Centerline is valid? [False, False] Translation: X:155.76, Y:-0.63, Z:-0.86 [[ 9.96020725e-01 8.88505138e-02 -6.94998495e-03 1.55763563e+02] [-8.88841680e-02 9.96030914e-01 -4.69279376e-03 -6.28266776e-01] [ 6.50544273e-03 5.29186347e-03 9.99964837e-01 -8.64955666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.46589822699997 meters Centerline goodness [0,1] 0.40798008118173834 Centerline is valid? [False, False] Translation: X:155.76, Y:-0.63, Z:-0.87 [[ 9.96014888e-01 8.89089863e-02 -7.03807698e-03 1.55764357e+02] [-8.89441589e-02 9.96024794e-01 -4.85241868e-03 -6.27253301e-01] [ 6.57867555e-03 5.45907709e-03 9.99963459e-01 -8.65735704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49589822699994 meters Centerline goodness [0,1] 0.5112456747404844 Centerline is valid? [False, False] Translation: X:155.76, Y:-0.63, Z:-0.87 [[ 9.96008644e-01 8.89826174e-02 -6.99103844e-03 1.55764348e+02] [-8.90175430e-02 9.96018232e-01 -4.85379403e-03 -6.27129515e-01] [ 6.53129845e-03 5.45674588e-03 9.99963782e-01 -8.66017590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.52589822699997 meters Centerline goodness [0,1] 0.453798168200121 Centerline is valid? [False, False] Translation: X:155.76, Y:-0.63, Z:-0.87 [[ 9.96000465e-01 8.90719509e-02 -7.01863279e-03 1.55764220e+02] [-8.91046110e-02 9.96012170e-01 -4.48618388e-03 -6.29087339e-01] [ 6.59105052e-03 5.09363377e-03 9.99965306e-01 -8.65804280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55589822699994 meters Centerline goodness [0,1] 0.47442765663583475 Centerline is valid? [False, False] Translation: X:155.76, Y:-0.63, Z:-0.87 [[ 9.96363357e-01 8.48954263e-02 -7.26827410e-03 1.55763926e+02] [-8.49590434e-02 9.96344306e-01 -8.94340503e-03 -6.27765864e-01] [ 6.48244933e-03 9.52838667e-03 9.99933592e-01 -8.65913844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.585898227 meters Centerline goodness [0,1] 0.5897419627749577 Centerline is valid? [False, False] Translation: X:155.74, Y:-0.63, Z:-0.86 [[ 9.96586975e-01 8.17517865e-02 -1.14475925e-02 1.55744722e+02] [-8.17586298e-02 9.96652151e-01 -1.30307565e-04 -6.34566652e-01] [ 1.13986148e-02 1.06580230e-03 9.99934466e-01 -8.63447140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61589822699995 meters Centerline goodness [0,1] 0.4385639185580774 Centerline is valid? [False, False] Translation: X:155.75, Y:-0.64, Z:-0.86 [[ 9.96582736e-01 8.17855202e-02 -1.15749122e-02 1.55745340e+02] [-8.17899419e-02 9.96649586e-01 9.16333414e-05 -6.35885520e-01] [ 1.15436257e-02 8.55391188e-04 9.99933004e-01 -8.63798523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.645898227 meters Centerline goodness [0,1] 0.5452635118096999 Centerline is valid? [False, False] Translation: X:155.75, Y:-0.64, Z:-0.86 [[ 9.96580535e-01 8.18070744e-02 -1.16120639e-02 1.55745504e+02] [-8.18106590e-02 9.96647876e-01 1.66777726e-04 -6.36354877e-01] [ 1.15867824e-02 7.83783162e-04 9.99932564e-01 -8.63882526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67589822699995 meters Centerline goodness [0,1] 0.4991552067070172 Centerline is valid? [False, False] Translation: X:155.74, Y:-0.64, Z:-0.86 [[ 9.96545752e-01 8.23023563e-02 -1.10853981e-02 1.55743393e+02] [-8.23011069e-02 9.96607347e-01 5.69621433e-04 -6.36760374e-01] [ 1.10946703e-02 3.44686711e-04 9.99938393e-01 -8.63109972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.705898227 meters Centerline goodness [0,1] 0.5342685370741482 Centerline is valid? [False, False] Translation: X:155.74, Y:-0.64, Z:-0.86 [[ 9.96184206e-01 8.65713856e-02 -1.10645331e-02 1.55744132e+02] [-8.65152267e-02 9.96235577e-01 5.45815200e-03 -6.40285091e-01] [ 1.14954013e-02 -4.48007423e-03 9.99923889e-01 -8.62704591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73589822699995 meters Centerline goodness [0,1] 0.5500770090934025 Centerline is valid? [False, False] Translation: X:155.74, Y:-0.64, Z:-0.86 [[ 9.96528396e-01 8.25146406e-02 -1.10675144e-02 1.55743468e+02] [-8.25145771e-02 9.96589750e-01 4.63140699e-04 -6.35435333e-01] [ 1.10679873e-02 4.51698411e-04 9.99938646e-01 -8.63299150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.765898227 meters Centerline goodness [0,1] 0.5886259152051763 Centerline is valid? [False, False] Translation: X:155.74, Y:-0.63, Z:-0.86 [[ 9.96535223e-01 8.24389834e-02 -1.10165412e-02 1.55743034e+02] [-8.24402691e-02 9.96595950e-01 3.38138977e-04 -6.34849112e-01] [ 1.10069162e-02 5.71239222e-04 9.99939259e-01 -8.62837802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79589822699995 meters Centerline goodness [0,1] 0.5018716352624495 Centerline is valid? [False, False] Translation: X:155.74, Y:-0.64, Z:-0.86 [[ 9.96539748e-01 8.23623905e-02 -1.11788759e-02 1.55743320e+02] [-8.23619156e-02 9.96602359e-01 5.03629239e-04 -6.36019401e-01] [ 1.11823742e-02 4.18827076e-04 9.99937388e-01 -8.62549298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.825898227 meters Centerline goodness [0,1] 0.6291212858200275 Centerline is valid? [False, False] Translation: X:155.74, Y:-0.63, Z:-0.86 [[ 9.96892722e-01 7.79380111e-02 -1.14265620e-02 1.55743170e+02] [-7.79901351e-02 9.96945332e-01 -4.18863624e-03 -6.33960660e-01] [ 1.10652037e-02 5.06678010e-03 9.99925942e-01 -8.62773513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85589822699995 meters Centerline goodness [0,1] 0.5603368029110604 Centerline is valid? [False, False] Translation: X:155.74, Y:-0.64, Z:-0.86 [[ 9.97331861e-01 7.20688375e-02 -1.16293280e-02 1.55743261e+02] [-7.19541671e-02 9.97357856e-01 9.99522865e-03 -6.38902625e-01] [ 1.23189461e-02 -9.13178139e-03 9.99882420e-01 -8.61934246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.885898227 meters Centerline goodness [0,1] 0.7928175608917909 Centerline is valid? [False, False] Translation: X:155.74, Y:-0.64, Z:-0.86 [[ 9.97635516e-01 6.76849564e-02 -1.19216045e-02 1.55743149e+02] [-6.76203943e-02 9.97694620e-01 5.73831650e-03 -6.39333415e-01] [ 1.22825184e-02 -4.91860474e-03 9.99912470e-01 -8.61796547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91589822699996 meters Centerline goodness [0,1] 0.6026973573472479 Centerline is valid? [False, False] Translation: X:155.78, Y:-0.64, Z:-0.86 [[ 9.97817696e-01 6.52336753e-02 -1.02182738e-02 1.55781496e+02] [-6.52292678e-02 9.97870011e-01 7.64371392e-04 -6.36518483e-01] [ 1.02463718e-02 -9.61727805e-05 9.99947500e-01 -8.59522044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.945898227 meters Centerline goodness [0,1] 0.6169752243259714 Centerline is valid? [False, False] Translation: X:155.78, Y:-0.63, Z:-0.86 [[ 9.98086105e-01 6.09959225e-02 -1.01796039e-02 1.55780703e+02] [-6.10402455e-02 9.98126879e-01 -4.10145352e-03 -6.32870803e-01] [ 9.91036435e-03 4.71496929e-03 9.99939775e-01 -8.59744893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97589822699996 meters Centerline goodness [0,1] 0.5869624587718745 Centerline is valid? [False, False] Translation: X:155.78, Y:-0.63, Z:-0.86 [[ 9.98089048e-01 6.09484903e-02 -1.01751417e-02 1.55780697e+02] [-6.09934502e-02 9.98129464e-01 -4.16807189e-03 -6.32595489e-01] [ 9.90207100e-03 4.78072390e-03 9.99939545e-01 -8.59733117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.005898227 meters Centerline goodness [0,1] 0.6406476102594216 Centerline is valid? [False, False] Translation: X:155.78, Y:-0.63, Z:-0.86 [[ 9.98091500e-01 6.09057306e-02 -1.01906843e-02 1.55780841e+02] [-6.09515328e-02 9.98131697e-01 -4.24569713e-03 -6.32324230e-01] [ 9.91305777e-03 4.85873205e-03 9.99939060e-01 -8.59865158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03589822699996 meters Centerline goodness [0,1] 0.7343363128960511 Centerline is valid? [False, False] Translation: X:155.78, Y:-0.63, Z:-0.86 [[ 9.98092925e-01 6.08771802e-02 -1.02216157e-02 1.55780978e+02] [-6.09234663e-02 9.98133267e-01 -4.27935863e-03 -6.32239340e-01] [ 9.94201936e-03 4.89393383e-03 9.99938601e-01 -8.59922064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.065898227 meters Centerline goodness [0,1] 0.749125002651507 Centerline is valid? [False, False] Translation: X:155.78, Y:-0.63, Z:-0.86 [[ 9.98095515e-01 6.08285531e-02 -1.02581501e-02 1.55780756e+02] [-6.08735470e-02 9.98136933e-01 -4.13221517e-03 -6.33224206e-01] [ 9.98768176e-03 4.74879541e-03 9.99938846e-01 -8.59428312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09589822699996 meters Centerline goodness [0,1] 0.8976112874174458 Centerline is valid? [False, False] Translation: X:155.78, Y:-0.63, Z:-0.86 [[ 9.98095772e-01 6.08195597e-02 -1.02864530e-02 1.55780572e+02] [-6.08630996e-02 9.98138213e-01 -3.97375319e-03 -6.34168848e-01] [ 1.00256199e-02 4.59225167e-03 9.99939197e-01 -8.59011670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.125898227 meters Centerline goodness [0,1] 0.879524886877828 Centerline is valid? [False, False] Translation: X:155.82, Y:-0.63, Z:-0.86 [[ 9.98429718e-01 5.48469039e-02 -1.13980181e-02 1.55820058e+02] [-5.47847560e-02 9.98481945e-01 5.69527210e-03 -6.34744815e-01] [ 1.16930833e-02 -5.06189127e-03 9.99918821e-01 -8.56414890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15589822699997 meters Centerline goodness [0,1] 0.9884742276875615 Centerline is valid? [False, True] Translation: X:155.76, Y:-0.64, Z:-0.86 [[ 9.98669593e-01 5.02736649e-02 -1.14717881e-02 1.55756359e+02] [-5.01302751e-02 9.98664932e-01 1.24622835e-02 -6.35833470e-01] [ 1.20829972e-02 -1.18706197e-02 9.99856534e-01 -8.57451091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18589822699994 meters Centerline goodness [0,1] 0.9552785156985378 Centerline is valid? [True, True] Translation: X:155.78, Y:-0.62, Z:-0.86 [[ 9.98726637e-01 4.91774450e-02 -1.12553314e-02 1.55784986e+02] [-4.91826355e-02 9.98789785e-01 -1.84667190e-04 -6.21926890e-01] [ 1.12326285e-02 7.37998903e-04 9.99936640e-01 -8.58642115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21589822699997 meters Centerline goodness [0,1] 0.9826116245289771 Centerline is valid? [True, True] Translation: X:155.81, Y:-0.63, Z:-0.86 [[ 9.98726456e-01 4.90691160e-02 -1.17340800e-02 1.55814346e+02] [-4.90747545e-02 9.98795090e-01 -1.92904555e-04 -6.26076547e-01] [ 1.17104759e-02 7.68505981e-04 9.99931135e-01 -8.58579672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24589822699994 meters Centerline goodness [0,1] 0.991193363114231 Centerline is valid? [True, True] Translation: X:155.84, Y:-0.63, Z:-0.86 [[ 9.98690248e-01 4.96602993e-02 -1.23143753e-02 1.55844340e+02] [-4.96665578e-02 9.98765834e-01 -2.02742295e-04 -6.28665132e-01] [ 1.22891091e-02 8.14089386e-04 9.99924155e-01 -8.58210548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.27589822699997 meters Centerline goodness [0,1] 0.9028641536574016 Centerline is valid? [True, False] Translation: X:155.84, Y:-0.63, Z:-0.86 [[ 9.98697711e-01 4.94982846e-02 -1.23612955e-02 1.55844894e+02] [-4.95098324e-02 9.98773438e-01 -6.29742384e-04 -6.26655482e-01] [ 1.23149625e-02 1.24092795e-03 9.99923398e-01 -8.58817983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30589822699994 meters Centerline goodness [0,1] 0.8634139138505674 Centerline is valid? [False, False] Translation: X:155.85, Y:-0.62, Z:-0.86 [[ 9.98704718e-01 4.93289604e-02 -1.24715336e-02 1.55845598e+02] [-4.93466395e-02 9.98781092e-01 -1.11363818e-03 -6.24270572e-01] [ 1.24013973e-02 1.72762398e-03 9.99921607e-01 -8.59356110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.335898227 meters Centerline goodness [0,1] 0.7050251998059931 Centerline is valid? [False, False] Translation: X:155.85, Y:-0.62, Z:-0.86 [[ 9.98718714e-01 4.90586335e-02 -1.24169932e-02 1.55845659e+02] [-4.90854705e-02 9.98792839e-01 -1.86567350e-03 -6.20581222e-01] [ 1.23104765e-02 2.47277699e-03 9.99921166e-01 -8.59677477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36589822699995 meters Centerline goodness [0,1] 0.9314736976181378 Centerline is valid? [False, False] Translation: X:155.85, Y:-0.62, Z:-0.86 [[ 9.98722584e-01 4.89731602e-02 -1.24430223e-02 1.55845777e+02] [-4.90021611e-02 9.98796596e-01 -2.03642653e-03 -6.19835612e-01] [ 1.23283181e-02 2.64356015e-03 9.99920509e-01 -8.59715709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.395898227 meters Centerline goodness [0,1] 0.9384784168108359 Centerline is valid? [False, False] Translation: X:155.85, Y:-0.62, Z:-0.86 [[ 9.98724237e-01 4.89103969e-02 -1.25567270e-02 1.55846179e+02] [-4.89396165e-02 9.98799676e-01 -2.03019533e-03 -6.20070080e-01] [ 1.24423572e-02 2.64212668e-03 9.99919100e-01 -8.59812975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42589822699995 meters Centerline goodness [0,1] 0.9591909828294533 Centerline is valid? [False, True] Translation: X:155.85, Y:-0.62, Z:-0.86 [[ 9.99068794e-01 4.25831764e-02 -6.94391418e-03 1.55847693e+02] [-4.25214687e-02 9.99056758e-01 8.80450613e-03 -6.21887432e-01] [ 7.31228822e-03 -8.50104189e-03 9.99937129e-01 -8.62869503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.455898227 meters Centerline goodness [0,1] 0.9785828494487924 Centerline is valid? [True, True] Translation: X:155.88, Y:-0.62, Z:-0.86 [[ 9.99114833e-01 4.16123723e-02 -6.16132054e-03 1.55878488e+02] [-4.16140397e-02 9.99133750e-01 -1.42611796e-04 -6.21356463e-01] [ 6.15004889e-03 3.98882999e-04 9.99981009e-01 -8.62319160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48589822699995 meters Centerline goodness [0,1] 0.9287120418848167 Centerline is valid? [True, False] Translation: X:155.88, Y:-0.62, Z:-0.86 [[ 9.99278414e-01 3.74803411e-02 -6.15424808e-03 1.55877981e+02] [-3.75110880e-02 9.99283907e-01 -4.95899675e-03 -6.17840899e-01] [ 5.96397618e-03 5.18627095e-03 9.99968766e-01 -8.62365744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.515898227 meters Centerline goodness [0,1] 0.9152249499525866 Centerline is valid? [False, False] Translation: X:155.88, Y:-0.62, Z:-0.86 [[ 9.99275587e-01 3.75799867e-02 -6.00380112e-03 1.55877341e+02] [-3.76110063e-02 9.99279236e-01 -5.14008913e-03 -6.16464153e-01] [ 5.80630931e-03 5.36217459e-03 9.99968766e-01 -8.62055694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54589822699995 meters Centerline goodness [0,1] 0.8063680968785886 Centerline is valid? [False, False] Translation: X:155.88, Y:-0.62, Z:-0.86 [[ 9.99100811e-01 4.19701504e-02 -6.00624951e-03 1.55877766e+02] [-4.19729243e-02 9.99118692e-01 -3.36481090e-04 -6.19268970e-01] [ 5.98683399e-03 5.88278387e-04 9.99981906e-01 -8.61841481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.575898227 meters Centerline goodness [0,1] 0.7538580408043937 Centerline is valid? [False, False] Translation: X:155.88, Y:-0.62, Z:-0.86 [[ 9.99101187e-01 4.19726225e-02 -5.92592270e-03 1.55877624e+02] [-4.19773123e-02 9.99118340e-01 -6.69212457e-04 -6.17333928e-01] [ 5.89260945e-03 9.17365268e-04 9.99982218e-01 -8.61988564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60589822699995 meters Centerline goodness [0,1] 0.8309802339653086 Centerline is valid? [False, False] Translation: X:155.88, Y:-0.62, Z:-0.86 [[ 9.98900041e-01 4.65475628e-02 -5.65977838e-03 1.55877028e+02] [-4.65241086e-02 9.98908307e-01 4.20742993e-03 -6.20005695e-01] [ 5.84944525e-03 -3.93948579e-03 9.99975132e-01 -8.61394194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.635898227 meters Centerline goodness [0,1] 0.6049207079794134 Centerline is valid? [False, False] Translation: X:155.92, Y:-0.62, Z:-0.86 [[ 9.98948420e-01 4.56321768e-02 -4.44502859e-03 1.55916857e+02] [-4.56324170e-02 9.98958298e-01 4.74175189e-05 -6.15988103e-01] [ 4.44256196e-03 1.55469743e-04 9.99990120e-01 -8.60774561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66589822699996 meters Centerline goodness [0,1] 0.6049207079794134 Centerline is valid? [False, False] Translation: X:155.92, Y:-0.62, Z:-0.86 [[ 9.98948420e-01 4.56321768e-02 -4.44502859e-03 1.55916857e+02] [-4.56324170e-02 9.98958298e-01 4.74175189e-05 -6.15988103e-01] [ 4.44256196e-03 1.55469743e-04 9.99990120e-01 -8.60774561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.695898227 meters Centerline goodness [0,1] 0.5869729073321888 Centerline is valid? [False, False] Translation: X:155.92, Y:-0.61, Z:-0.86 [[ 9.99119410e-01 4.17314643e-02 -4.34624249e-03 1.55916460e+02] [-4.17517213e-02 9.99117059e-01 -4.67927121e-03 -6.12363294e-01] [ 4.14713217e-03 4.85661380e-03 9.99979607e-01 -8.61556787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72589822699996 meters Centerline goodness [0,1] 0.5054253153398955 Centerline is valid? [False, False] Translation: X:155.92, Y:-0.61, Z:-0.86 [[ 9.99120547e-01 4.16968255e-02 -4.41671514e-03 1.55917142e+02] [-4.17172359e-02 9.99118709e-01 -4.63448313e-03 -6.12809226e-01] [ 4.21957949e-03 4.81466047e-03 9.99979507e-01 -8.62296044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.755898227 meters Centerline goodness [0,1] 0.59369900840969 Centerline is valid? [False, False] Translation: X:155.92, Y:-0.61, Z:-0.86 [[ 9.99119654e-01 4.17107553e-02 -4.48673898e-03 1.55917391e+02] [-4.17307231e-02 9.99118971e-01 -4.45282678e-03 -6.13891983e-01] [ 4.29705526e-03 4.63614162e-03 9.99980021e-01 -8.62391045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.78589822699996 meters Centerline goodness [0,1] 0.768554500860037 Centerline is valid? [False, False] Translation: X:155.92, Y:-0.62, Z:-0.86 [[ 9.99116723e-01 4.17860782e-02 -4.43810881e-03 1.55917009e+02] [-4.18043997e-02 9.99117324e-01 -4.11892215e-03 -6.15708175e-01] [ 4.26207780e-03 4.30081648e-03 9.99981669e-01 -8.62053876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.815898227 meters Centerline goodness [0,1] 0.7693889110323271 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.62, Z:-0.86 [[ 9.99222459e-01 3.94122139e-02 -1.07466833e-03 1.55937986e+02] [-3.94077879e-02 9.99215724e-01 3.86832326e-03 -6.18693567e-01] [ 1.22628467e-03 -3.82296518e-03 9.99991941e-01 -8.63747740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.84589822699996 meters Centerline goodness [0,1] 0.7663008804389435 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.62, Z:-0.86 [[ 9.99221025e-01 3.94452850e-02 -1.18897333e-03 1.55938407e+02] [-3.94402107e-02 9.99213823e-01 4.02560042e-03 -6.19599357e-01] [ 1.34682954e-03 -3.97557122e-03 9.99991190e-01 -8.63844425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.875898227 meters Centerline goodness [0,1] 0.8725361921242561 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.62, Z:-0.86 [[ 9.99377760e-01 3.52392689e-02 -1.51229616e-03 1.55939570e+02] [-3.52406356e-02 9.99378462e-01 -8.86811270e-04 -6.15814901e-01] [ 1.48010563e-03 9.39553739e-04 9.99998463e-01 -8.64989800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.90589822699997 meters Centerline goodness [0,1] 0.7682841738027275 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99514287e-01 3.11218835e-02 -1.61839451e-03 1.55939961e+02] [-3.11306936e-02 9.99498853e-01 -5.73786822e-03 -6.12143405e-01] [ 1.43901019e-03 5.78546300e-03 9.99982229e-01 -8.65828781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93589822699994 meters Centerline goodness [0,1] 0.7097708493057331 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99514444e-01 3.11163597e-02 -1.62769222e-03 1.55940228e+02] [-3.11254156e-02 9.99498247e-01 -5.87056336e-03 -6.11404034e-01] [ 1.44420496e-03 5.91837547e-03 9.99981443e-01 -8.66184106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.96589822699997 meters Centerline goodness [0,1] 0.6658678316932474 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99515900e-01 3.10692313e-02 -1.63355939e-03 1.55940382e+02] [-3.10786527e-02 9.99498336e-01 -6.09866655e-03 -6.10176207e-01] [ 1.44325901e-03 6.14648301e-03 9.99980069e-01 -8.66394741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99589822699994 meters Centerline goodness [0,1] 0.79482831708351 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99515578e-01 3.10843487e-02 -1.54028744e-03 1.55940321e+02] [-3.10935950e-02 9.99496021e-01 -6.39474723e-03 -6.08287577e-01] [ 1.34073461e-03 6.43954255e-03 9.99978367e-01 -8.66742076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.02589822699997 meters Centerline goodness [0,1] 0.6881845477227555 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99376988e-01 3.52499660e-02 -1.75389675e-03 1.55941167e+02] [-3.52526534e-02 9.99377267e-01 -1.52569514e-03 -6.12031945e-01] [ 1.69902384e-03 1.58657413e-03 9.99997298e-01 -8.66317612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05589822699994 meters Centerline goodness [0,1] 0.6440720517165631 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99376556e-01 3.52628521e-02 -1.74094758e-03 1.55941069e+02] [-3.52654714e-02 9.99376858e-01 -1.49746853e-03 -6.12073494e-01] [ 1.68705771e-03 1.55793028e-03 9.99997363e-01 -8.66242270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.085898227 meters Centerline goodness [0,1] 0.8795357438938843 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99376256e-01 3.52714787e-02 -1.73847601e-03 1.55940924e+02] [-3.52740624e-02 9.99376583e-01 -1.47858916e-03 -6.12079532e-01] [ 1.68524019e-03 1.53899001e-03 9.99997396e-01 -8.66033316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11589822699995 meters Centerline goodness [0,1] 0.9058087767648929 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99379514e-01 3.51772762e-02 -1.77366884e-03 1.55941128e+02] [-3.51801287e-02 9.99379701e-01 -1.60352731e-03 -6.11611640e-01] [ 1.71616091e-03 1.66493024e-03 9.99997141e-01 -8.66181665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.145898227 meters Centerline goodness [0,1] 0.8737019067075247 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99388225e-01 3.49321243e-02 -1.70928074e-03 1.55941311e+02] [-3.49355600e-02 9.99387519e-01 -2.02319155e-03 -6.09849251e-01] [ 1.63755946e-03 2.08166849e-03 9.99996493e-01 -8.66825550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17589822699995 meters Centerline goodness [0,1] 0.6462023321777497 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99392140e-01 3.48165944e-02 -1.77619565e-03 1.55941727e+02] [-3.48205637e-02 9.99391036e-01 -2.25496417e-03 -6.08757320e-01] [ 1.69660383e-03 2.31544160e-03 9.99995880e-01 -8.67176866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.205898227 meters Centerline goodness [0,1] 0.8439629269118456 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99395004e-01 3.47320710e-02 -1.81933801e-03 1.55941887e+02] [-3.47364585e-02 9.99393533e-01 -2.43821366e-03 -6.07898968e-01] [ 1.73355043e-03 2.49993591e-03 9.99995373e-01 -8.67250587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23589822699995 meters Centerline goodness [0,1] 0.8011019166542577 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99400016e-01 3.45868620e-02 -1.83195746e-03 1.55941865e+02] [-3.45917914e-02 9.99397793e-01 -2.73118589e-03 -6.06575571e-01] [ 1.73639109e-03 2.79291791e-03 9.99994592e-01 -8.67146428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.265898227 meters Centerline goodness [0,1] 0.7479764143965171 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.61, Z:-0.87 [[ 9.99404793e-01 3.44398018e-02 -1.98988097e-03 1.55942503e+02] [-3.44457089e-02 9.99402023e-01 -3.01473882e-03 -6.05316093e-01] [ 1.88486406e-03 3.08148729e-03 9.99993476e-01 -8.67363628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29589822699995 meters Centerline goodness [0,1] 0.8305707091900965 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.60, Z:-0.87 [[ 9.99409955e-01 3.42805315e-02 -2.14163032e-03 1.55943275e+02] [-3.42875014e-02 9.99406539e-01 -3.30725136e-03 -6.04022447e-01] [ 2.02698501e-03 3.37873108e-03 9.99992238e-01 -8.67815239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.325898227 meters Centerline goodness [0,1] 0.8273399535178534 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.60, Z:-0.87 [[ 9.99418104e-01 3.40364742e-02 -2.22974420e-03 1.55943730e+02] [-3.40448060e-02 9.99413038e-01 -3.81182312e-03 -6.01631864e-01] [ 2.09869440e-03 3.88551625e-03 9.99990249e-01 -8.68075793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35589822699995 meters Centerline goodness [0,1] 0.7151488543234654 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.60, Z:-0.87 [[ 9.99275412e-01 3.79904570e-02 -2.31862581e-03 1.55944174e+02] [-3.79886125e-02 9.99277824e-01 8.34455349e-04 -6.04605796e-01] [ 2.34865269e-03 -7.45769336e-04 9.99996964e-01 -8.67571931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.385898227 meters Centerline goodness [0,1] 0.7685368629599967 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.60, Z:-0.87 [[ 9.99279700e-01 3.78830335e-02 -2.22656639e-03 1.55943518e+02] [-3.78817948e-02 9.99282050e-01 5.95933641e-04 -6.03438666e-01] [ 2.24754360e-03 -5.11158058e-04 9.99997344e-01 -8.66973710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41589822699996 meters Centerline goodness [0,1] 0.7486457657959132 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.60, Z:-0.87 [[ 9.99284284e-01 3.77639925e-02 -2.19090089e-03 1.55943274e+02] [-3.77634279e-02 9.99286663e-01 2.98516274e-04 -6.01975837e-01] [ 2.20061121e-03 -2.15566694e-04 9.99997555e-01 -8.66736557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.445898227 meters Centerline goodness [0,1] 0.6600154938129437 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.60, Z:-0.87 [[ 9.99431724e-01 3.36387123e-02 -2.16010024e-03 1.55942808e+02] [-3.36490556e-02 9.99421475e-01 -4.94524387e-03 -5.95596514e-01] [ 1.99249893e-03 5.01511894e-03 9.99985439e-01 -8.66903836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47589822699996 meters Centerline goodness [0,1] 0.7967006307617661 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.60, Z:-0.87 [[ 9.99433938e-01 3.35670543e-02 -2.24883395e-03 1.55943239e+02] [-3.35781155e-02 9.99423206e-01 -5.07601985e-03 -5.95037675e-01] [ 2.07714980e-03 5.14865811e-03 9.99984588e-01 -8.67120901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.505898227 meters Centerline goodness [0,1] 0.7906159351246056 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.60, Z:-0.87 [[ 9.99434344e-01 3.35487851e-02 -2.33906977e-03 1.55943458e+02] [-3.35603136e-02 9.99423798e-01 -5.07715187e-03 -5.95110446e-01] [ 2.16738971e-03 5.15277986e-03 9.99984376e-01 -8.67026636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53589822699996 meters Centerline goodness [0,1] 0.8383642903721156 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.60, Z:-0.87 [[ 9.99287488e-01 3.76592220e-02 -2.50999689e-03 1.55943928e+02] [-3.76594826e-02 9.99290628e-01 -5.66334735e-05 -5.99838614e-01] [ 2.50608360e-03 1.51118306e-04 9.99996848e-01 -8.66106845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.565898227 meters Centerline goodness [0,1] 0.8388486185523689 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.60, Z:-0.87 [[ 9.99429975e-01 3.36686575e-02 -2.47914656e-03 1.55943474e+02] [-3.36803892e-02 9.99420872e-01 -4.85307075e-03 -5.96061303e-01] [ 2.31431444e-03 4.93380300e-03 9.99985151e-01 -8.66277739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59589822699996 meters Centerline goodness [0,1] 0.6863355343399082 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.60, Z:-0.87 [[ 9.99429109e-01 3.36933458e-02 -2.49306172e-03 1.55943443e+02] [-3.37051863e-02 9.99419951e-01 -4.87043765e-03 -5.95873788e-01] [ 2.32751428e-03 4.95168626e-03 9.99985032e-01 -8.66130784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.625898227 meters Centerline goodness [0,1] 0.7003296563966019 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.59, Z:-0.87 [[ 9.99417077e-01 3.40744956e-02 -2.10591825e-03 1.55942132e+02] [-3.40846066e-02 9.99406604e-01 -4.96792271e-03 -5.94228640e-01] [ 1.93538915e-03 5.03680619e-03 9.99985442e-01 -8.65825448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65589822699997 meters Centerline goodness [0,1] 0.6684385242457349 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.59, Z:-0.87 [[ 9.99415046e-01 3.41338350e-02 -2.10863631e-03 1.55942349e+02] [-3.41446512e-02 9.99402709e-01 -5.32615554e-03 -5.91980705e-01] [ 1.92557473e-03 5.39503864e-03 9.99983593e-01 -8.66177824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68589822699994 meters Centerline goodness [0,1] 0.5700002096128451 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.59, Z:-0.87 [[ 9.99416991e-01 3.40816998e-02 -2.02890333e-03 1.55942534e+02] [-3.40931242e-02 9.99401298e-01 -5.89113020e-03 -5.88814908e-01] [ 1.82690889e-03 5.95686727e-03 9.99980589e-01 -8.66856765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71589822699997 meters Centerline goodness [0,1] 0.736587046888798 Centerline is valid? [False, False] Translation: X:155.88, Y:-0.59, Z:-0.87 [[ 9.99396841e-01 3.46394616e-02 -2.46198981e-03 1.55879648e+02] [-3.46251821e-02 9.99384547e-01 5.62353825e-03 -5.90634610e-01] [ 2.65527091e-03 -5.53489952e-03 9.99981157e-01 -8.67728314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74589822699994 meters Centerline goodness [0,1] 0.4955402221474251 Centerline is valid? [False, False] Translation: X:155.92, Y:-0.58, Z:-0.87 [[ 9.99444660e-01 3.32860687e-02 -1.55207847e-03 1.55920798e+02] [-3.32848847e-02 9.99445598e-01 7.82563825e-04 -5.83382218e-01] [ 1.57726647e-03 -7.30468483e-04 9.99998489e-01 -8.68168490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.77589822699997 meters Centerline goodness [0,1] 0.5958827383594361 Centerline is valid? [False, False] Translation: X:155.92, Y:-0.58, Z:-0.87 [[ 9.99576918e-01 2.90490611e-02 -1.46165647e-03 1.55920228e+02] [-2.90551249e-02 9.99568501e-01 -4.31415764e-03 -5.78552036e-01] [ 1.33570354e-03 4.35480101e-03 9.99989626e-01 -8.68432831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80589822699994 meters Centerline goodness [0,1] 0.6455965606776486 Centerline is valid? [False, False] Translation: X:155.92, Y:-0.58, Z:-0.87 [[ 9.99585868e-01 2.87389919e-02 -1.47070091e-03 1.55919742e+02] [-2.87453285e-02 9.99576702e-01 -4.48594335e-03 -5.78340590e-01] [ 1.34115688e-03 4.52636135e-03 9.99988857e-01 -8.67574457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.835898227 meters Centerline goodness [0,1] 0.554610077357307 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.58, Z:-0.87 [[ 9.99630210e-01 2.71899359e-02 -3.89114586e-04 1.55941494e+02] [-2.71878320e-02 9.99619497e-01 4.65639780e-03 -5.79169731e-01] [ 5.15573685e-04 -4.64409672e-03 9.99989083e-01 -8.67206075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86589822699995 meters Centerline goodness [0,1] 0.6559740341855123 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.57, Z:-0.87 [[ 9.99743463e-01 2.26479175e-02 -2.83785723e-04 1.55941122e+02] [-2.26480632e-02 9.99743364e-01 -5.21357293e-04 -5.74676670e-01] [ 2.71905236e-04 5.27650743e-04 9.99999824e-01 -8.67734001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.895898227 meters Centerline goodness [0,1] 0.7127112417340191 Centerline is valid? [False, False] Translation: X:155.95, Y:-0.57, Z:-0.87 [[ 9.99875888e-01 1.48565182e-02 5.24336997e-03 1.55945166e+02] [-1.49009016e-02 9.99852593e-01 8.52961978e-03 -5.74516094e-01] [-5.11587661e-03 -8.60669209e-03 9.99949875e-01 -8.72844985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92589822699995 meters Centerline goodness [0,1] 0.7232025117739403 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.57, Z:-0.87 [[ 9.99931199e-01 1.04286626e-02 5.37034113e-03 1.55944597e+02] [-1.04481137e-02 9.99938912e-01 3.60672085e-03 -5.71314508e-01] [-5.33239979e-03 -3.66258264e-03 9.99979075e-01 -8.72925758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.955898227 meters Centerline goodness [0,1] 0.6417703137824358 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.57, Z:-0.87 [[ 9.99943054e-01 8.73062852e-03 6.13711834e-03 1.55939325e+02] [-8.74356990e-03 9.99959600e-01 2.08504781e-03 -5.70916373e-01] [-6.11866662e-03 -2.13858939e-03 9.99978994e-01 -8.69589538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98589822699995 meters Centerline goodness [0,1] 0.8753275293719889 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.57, Z:-0.87 [[ 9.99970286e-01 4.50695635e-03 6.25410486e-03 1.55938929e+02] [-4.49153397e-03 9.99986843e-01 -2.47781952e-03 -5.69229765e-01] [-6.26519000e-03 2.44965537e-03 9.99977373e-01 -8.69712349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.015898227 meters Centerline goodness [0,1] 0.9042794210195091 Centerline is valid? [False, False] Translation: X:155.94, Y:-0.57, Z:-0.87 [[ 9.99973440e-01 4.50828533e-03 5.72662492e-03 1.55940874e+02] [-4.49888264e-03 9.99988513e-01 -1.65374856e-03 -5.74252383e-01] [-5.73401471e-03 1.62794122e-03 9.99982235e-01 -8.70116469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04589822699995 meters Centerline goodness [0,1] 0.9922257720979766 Centerline is valid? [False, True] Translation: X:155.92, Y:-0.58, Z:-0.87 [[ 9.99995080e-01 3.06841010e-03 6.51539763e-04 1.55919661e+02] [-3.07345227e-03 9.99964196e-01 7.88425499e-03 -5.81144291e-01] [-6.27324307e-04 -7.88621868e-03 9.99968707e-01 -8.65427407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.075898227 meters Centerline goodness [0,1] 0.9076469727685009 Centerline is valid? [True, False] Translation: X:155.96, Y:-0.58, Z:-0.87 [[ 9.99999280e-01 8.21574093e-04 8.74079971e-04 1.55963044e+02] [-8.24291128e-04 9.99994816e-01 3.11264624e-03 -5.77081280e-01] [-8.71518171e-04 -3.11336450e-03 9.99994774e-01 -8.66444022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.10589822699995 meters Centerline goodness [0,1] 0.8910461828463714 Centerline is valid? [False, False] Translation: X:155.96, Y:-0.58, Z:-0.87 [[ 9.99998748e-01 1.16545484e-03 1.06997834e-03 1.55962037e+02] [-1.16955327e-03 9.99991952e-01 3.83778098e-03 -5.80544879e-01] [-1.06549697e-03 -3.83902757e-03 9.99992063e-01 -8.65790263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.135898227 meters Centerline goodness [0,1] 0.9584929488528731 Centerline is valid? [False, True] Translation: X:155.96, Y:-0.58, Z:-0.87 [[ 9.99998353e-01 1.35755936e-03 1.20487884e-03 1.55961627e+02] [-1.36259402e-03 9.99990304e-01 4.18762395e-03 -5.82142329e-01] [-1.19918221e-03 -4.18925881e-03 9.99990506e-01 -8.65812343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16589822699996 meters Centerline goodness [0,1] 0.8438068169944202 Centerline is valid? [True, False] Translation: X:155.96, Y:-0.58, Z:-0.87 [[ 9.99998197e-01 1.48678581e-03 1.18161141e-03 1.55961806e+02] [-1.49198458e-03 9.99989158e-01 4.41108720e-03 -5.83199128e-01] [-1.17504025e-03 -4.41284219e-03 9.99989573e-01 -8.65946748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.195898227 meters Centerline goodness [0,1] 0.8651369604429716 Centerline is valid? [False, False] Translation: X:155.96, Y:-0.58, Z:-0.87 [[ 9.99997970e-01 1.67389493e-03 1.12172033e-03 1.55962329e+02] [-1.67923530e-03 9.99987180e-01 4.77696722e-03 -5.84976222e-01] [-1.11370981e-03 -4.77884115e-03 9.99987961e-01 -8.66476786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22589822699996 meters Centerline goodness [0,1] 0.9383882293930781 Centerline is valid? [False, False] Translation: X:155.97, Y:-0.59, Z:-0.87 [[ 9.99999965e-01 8.91331262e-05 2.49379539e-04 1.55968557e+02] [-9.00044574e-05 9.99993884e-01 3.49616965e-03 -5.89901990e-01] [-2.49066390e-04 -3.49619197e-03 9.99993857e-01 -8.70537931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.255898227 meters Centerline goodness [0,1] 0.9179747157644663 Centerline is valid? [False, False] Translation: X:155.93, Y:-0.60, Z:-0.87 [[ 9.99997894e-01 -2.05174940e-03 5.09508468e-05 1.55925533e+02] [ 2.05155598e-03 9.99991618e-01 3.54333083e-03 -5.96838138e-01] [-5.82204466e-05 -3.54321884e-03 9.99993721e-01 -8.71310209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.28589822699996 meters Centerline goodness [0,1] 0.9624431913819222 Centerline is valid? [False, True] Translation: X:155.93, Y:-0.60, Z:-0.87 [[ 9.99982011e-01 -5.99465410e-03 2.03698951e-04 1.55925227e+02] [ 5.99473553e-03 9.99981951e-01 -4.01506976e-04 -5.98030499e-01] [-2.01288379e-04 4.02720875e-04 9.99999899e-01 -8.71520859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.315898227 meters Centerline goodness [0,1] 0.9614949037372593 Centerline is valid? [True, True] Translation: X:155.95, Y:-0.60, Z:-0.87 [[ 9.99974777e-01 -7.02524922e-03 1.04499889e-03 1.55954735e+02] [ 7.02517445e-03 9.99975320e-01 7.51971220e-05 -6.00753628e-01] [-1.04550138e-03 -6.78539258e-05 9.99999451e-01 -8.70552824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.34589822699996 meters Centerline goodness [0,1] 0.9516445856145777 Centerline is valid? [True, True] Translation: X:155.99, Y:-0.61, Z:-0.87 [[ 9.99982727e-01 -5.80749966e-03 9.04909808e-04 1.55985288e+02] [ 5.80744309e-03 9.99983135e-01 6.51266136e-05 -6.05400025e-01] [-9.05272769e-04 -5.98702764e-05 9.99999588e-01 -8.70466223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.375898227 meters Centerline goodness [0,1] 0.9127112078892821 Centerline is valid? [True, False] Translation: X:155.99, Y:-0.61, Z:-0.87 [[ 9.99984046e-01 -5.59169883e-03 8.00774075e-04 1.55986031e+02] [ 5.59140297e-03 9.99984299e-01 3.71236560e-04 -6.06688632e-01] [-8.02837345e-04 -3.66753187e-04 9.99999610e-01 -8.71095837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.40589822699997 meters Centerline goodness [0,1] 0.9452793996753863 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.61, Z:-0.87 [[ 9.99985314e-01 -5.38218482e-03 6.35421104e-04 1.55987057e+02] [ 5.38181784e-03 9.99985351e-01 5.77845247e-04 -6.07389714e-01] [-6.38521866e-04 -5.74417040e-04 9.99999631e-01 -8.71908078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43589822699994 meters Centerline goodness [0,1] 0.623725264370223 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.61, Z:-0.88 [[ 9.99996701e-01 -2.56195384e-03 -1.83557040e-04 1.55993101e+02] [ 2.56257314e-03 9.99990741e-01 3.45702882e-03 -6.10338597e-01] [ 1.74698592e-04 -3.45748779e-03 9.99994008e-01 -8.75990392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.46589822699997 meters Centerline goodness [0,1] 0.6011165211551377 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.61, Z:-0.88 [[ 9.99997201e-01 -2.35863262e-03 -1.87514875e-04 1.55992932e+02] [ 2.35932485e-03 9.99990068e-01 3.78128658e-03 -6.11763800e-01] [ 1.78594346e-04 -3.78171840e-03 9.99992833e-01 -8.75669325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49589822699994 meters Centerline goodness [0,1] 0.8071448153693668 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.61, Z:-0.88 [[ 9.99997636e-01 -2.16930542e-03 -1.47790530e-04 1.55992583e+02] [ 2.16990289e-03 9.99988950e-01 4.17020853e-03 -6.13627027e-01] [ 1.38742441e-04 -4.17051937e-03 9.99991294e-01 -8.75269339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.52589822699997 meters Centerline goodness [0,1] 0.8975986751311068 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.61, Z:-0.87 [[ 9.99989145e-01 -4.60817527e-03 6.89345250e-04 1.55987308e+02] [ 4.60710792e-03 9.99988198e-01 1.54201492e-03 -6.13993846e-01] [-6.96442990e-04 -1.53882229e-03 9.99998573e-01 -8.72256512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55589822699994 meters Centerline goodness [0,1] 0.8975986751311068 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.61, Z:-0.87 [[ 9.99989145e-01 -4.60817527e-03 6.89345250e-04 1.55987308e+02] [ 4.60710792e-03 9.99988198e-01 1.54201492e-03 -6.13993846e-01] [-6.96442990e-04 -1.53882229e-03 9.99998573e-01 -8.72256512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.585898227 meters Centerline goodness [0,1] 0.6129086477855281 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.62, Z:-0.87 [[ 9.99962029e-01 -8.67160337e-03 8.62027308e-04 1.55986715e+02] [ 8.67371722e-03 9.99959309e-01 -2.47945739e-03 -6.15004998e-01] [-8.40491360e-04 2.48684022e-03 9.99996555e-01 -8.72061691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61589822699995 meters Centerline goodness [0,1] 0.9302595729402074 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.62, Z:-0.87 [[ 9.99964171e-01 -8.42443872e-03 8.28275244e-04 1.55986548e+02] [ 8.42582048e-03 9.99963092e-01 -1.67915015e-03 -6.19044808e-01] [-8.14098777e-04 1.68606889e-03 9.99998247e-01 -8.71567447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.645898227 meters Centerline goodness [0,1] 0.9654901294120147 Centerline is valid? [False, True] Translation: X:155.99, Y:-0.62, Z:-0.87 [[ 9.99965979e-01 -8.21385440e-03 7.57239736e-04 1.55986478e+02] [ 8.21454668e-03 9.99965841e-01 -9.15688048e-04 -6.22992241e-01] [-7.49692541e-04 9.21877276e-04 9.99999294e-01 -8.71012402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67589822699995 meters Centerline goodness [0,1] 0.8374787052810903 Centerline is valid? [True, False] Translation: X:155.99, Y:-0.63, Z:-0.87 [[ 9.99967938e-01 -7.98513221e-03 6.00894860e-04 1.55986905e+02] [ 7.98529187e-03 9.99968082e-01 -2.63777049e-04 -6.26181028e-01] [-5.98769387e-04 2.68566913e-04 9.99999785e-01 -8.70795957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.705898227 meters Centerline goodness [0,1] 0.6462396129167982 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.63, Z:-0.87 [[ 9.99969820e-01 -7.76660719e-03 1.99109372e-04 1.55988471e+02] [ 7.76653193e-03 9.99969769e-01 3.76002827e-04 -6.29503841e-01] [-2.02023619e-04 -3.74445090e-04 9.99999909e-01 -8.71181149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73589822699995 meters Centerline goodness [0,1] 0.7765144376740583 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.63, Z:-0.87 [[ 9.99971305e-01 -7.57509999e-03 8.22906692e-05 1.55988851e+02] [ 7.57504067e-03 9.99971065e-01 6.98709691e-04 -6.30916753e-01] [-8.75810839e-05 -6.98066287e-04 9.99999753e-01 -8.71174904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.765898227 meters Centerline goodness [0,1] 0.7479969797390831 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.63, Z:-0.87 [[ 9.99974407e-01 -7.15286511e-03 1.50531323e-04 1.55988574e+02] [ 7.15267128e-03 9.99973637e-01 1.25102865e-03 -6.33046494e-01] [-1.59475794e-04 -1.24991993e-03 9.99999206e-01 -8.70992212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79589822699995 meters Centerline goodness [0,1] 0.6622537665483754 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.63, Z:-0.87 [[ 9.99945577e-01 -1.03719792e-02 1.12517067e-03 1.55985450e+02] [ 1.03751169e-02 9.99942202e-01 -2.81964244e-03 -6.30194627e-01] [-1.09586036e-03 2.83116276e-03 9.99995392e-01 -8.70832760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.825898227 meters Centerline goodness [0,1] 0.7337133895647014 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.63, Z:-0.87 [[ 9.99981733e-01 -5.99369605e-03 7.81089972e-04 1.55986250e+02] [ 5.99203661e-03 9.99979822e-01 2.10982700e-03 -6.33707969e-01] [-7.93719873e-04 -2.10510814e-03 9.99997469e-01 -8.70472537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85589822699995 meters Centerline goodness [0,1] 0.7440238000460917 Centerline is valid? [False, False] Translation: X:155.99, Y:-0.63, Z:-0.87 [[ 9.99985747e-01 -5.29886373e-03 -6.53578692e-04 1.55989812e+02] [ 5.30024707e-03 9.99983678e-01 2.13329917e-03 -6.33332306e-01] [ 6.42263962e-04 -2.13673290e-03 9.99997511e-01 -8.69593426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.885898227 meters Centerline goodness [0,1] 0.6799011145919911 Centerline is valid? [False, False] Translation: X:155.97, Y:-0.63, Z:-0.87 [[ 9.99995616e-01 -1.64518853e-03 -2.46184804e-03 1.55966254e+02] [ 1.63378354e-03 9.99987958e-01 -4.62755672e-03 -6.33566621e-01] [ 2.46943160e-03 4.62351430e-03 9.99986262e-01 -8.67109284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91589822699996 meters Centerline goodness [0,1] 0.6230841681650826 Centerline is valid? [False, False] Translation: X:155.97, Y:-0.63, Z:-0.87 [[ 9.99995674e-01 -1.63205558e-03 -2.44703344e-03 1.55966332e+02] [ 1.62025564e-03 9.99987088e-01 -4.81639450e-03 -6.32378096e-01] [ 2.45486247e-03 4.81240885e-03 9.99985407e-01 -8.67344096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.945898227 meters Centerline goodness [0,1] 0.4658545821762181 Centerline is valid? [False, False] Translation: X:156.01, Y:-0.63, Z:-0.87 [[ 9.99996174e-01 1.16172179e-03 -2.51058012e-03 1.56009636e+02] [-1.17106889e-03 9.99992377e-01 -3.72482564e-03 -6.29343462e-01] [ 2.50623377e-03 3.72775145e-03 9.99989911e-01 -8.66854859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97589822699996 meters Centerline goodness [0,1] 0.5281033396345305 Centerline is valid? [False, False] Translation: X:156.01, Y:-0.63, Z:-0.87 [[ 9.99996029e-01 1.12405003e-03 -2.58440971e-03 1.56010200e+02] [-1.13442930e-03 9.99991284e-01 -4.01815493e-03 -6.27749855e-01] [ 2.57987058e-03 4.02107080e-03 9.99988588e-01 -8.67421833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.005898227 meters Centerline goodness [0,1] 0.5022918418839362 Centerline is valid? [False, False] Translation: X:156.01, Y:-0.62, Z:-0.87 [[ 9.99996240e-01 1.08902599e-03 -2.51680442e-03 1.56009961e+02] [-1.10037060e-03 9.99989222e-01 -4.51056319e-03 -6.24863297e-01] [ 2.51186518e-03 4.51331565e-03 9.99986660e-01 -8.67468607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03589822699996 meters Centerline goodness [0,1] 0.48551642597753564 Centerline is valid? [False, False] Translation: X:156.01, Y:-0.62, Z:-0.87 [[ 9.99996565e-01 1.07416858e-03 -2.39096990e-03 1.56009259e+02] [-1.08516322e-03 9.99988823e-01 -4.60186326e-03 -6.24279537e-01] [ 2.38600000e-03 4.60444204e-03 9.99986553e-01 -8.66986077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.065898227 meters Centerline goodness [0,1] 0.4894205008121849 Centerline is valid? [False, False] Translation: X:156.01, Y:-0.62, Z:-0.87 [[ 9.99996605e-01 1.12325358e-03 -2.35126919e-03 1.56008783e+02] [-1.13372607e-03 9.99989423e-01 -4.45738951e-03 -6.24948870e-01] [ 2.34623754e-03 4.46004007e-03 9.99987302e-01 -8.66423159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09589822699996 meters Centerline goodness [0,1] 0.5437712585034014 Centerline is valid? [False, False] Translation: X:156.01, Y:-0.63, Z:-0.87 [[ 9.99996046e-01 1.05698387e-03 -2.60596133e-03 1.56009232e+02] [-1.06642586e-03 9.99992863e-01 -3.62450549e-03 -6.30156140e-01] [ 2.60211169e-03 3.62727023e-03 9.99990036e-01 -8.65702361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.125898227 meters Centerline goodness [0,1] 0.5613484743919527 Centerline is valid? [False, False] Translation: X:156.03, Y:-0.63, Z:-0.87 [[ 9.99998501e-01 -1.69911291e-03 -3.31911293e-04 1.56032156e+02] [ 1.70041322e-03 9.99990724e-01 3.95744337e-03 -6.32842622e-01] [ 3.25184071e-04 -3.95800182e-03 9.99992114e-01 -8.68191900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15589822699997 meters Centerline goodness [0,1] 0.5867838076421876 Centerline is valid? [False, False] Translation: X:156.03, Y:-0.63, Z:-0.87 [[ 9.99982426e-01 -5.92236947e-03 -2.69580412e-04 1.56032356e+02] [ 5.92226769e-03 9.99982392e-01 -3.76801188e-04 -6.32427664e-01] [ 2.71807221e-04 3.75198039e-04 9.99999893e-01 -8.68784837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18589822699994 meters Centerline goodness [0,1] 0.6402556451442236 Centerline is valid? [False, False] Translation: X:156.03, Y:-0.64, Z:-0.87 [[ 9.99983321e-01 -5.75824123e-03 -4.47022275e-04 1.56032995e+02] [ 5.75837535e-03 9.99983376e-01 2.99334364e-04 -6.35988139e-01] [ 4.45291204e-04 -3.01903494e-04 9.99999855e-01 -8.68852854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21589822699997 meters Centerline goodness [0,1] 0.7356947079907232 Centerline is valid? [False, False] Translation: X:156.04, Y:-0.64, Z:-0.87 [[ 9.99982811e-01 -5.78202528e-03 -9.72336016e-04 1.56035058e+02] [ 5.78327312e-03 9.99982451e-01 1.28546493e-03 -6.42015285e-01] [ 9.64886362e-04 -1.29106612e-03 9.99998701e-01 -8.69384820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24589822699994 meters Centerline goodness [0,1] 0.7656053095858187 Centerline is valid? [False, False] Translation: X:156.04, Y:-0.65, Z:-0.87 [[ 9.99983587e-01 -5.61566892e-03 -1.13545658e-03 1.56035487e+02] [ 5.61785685e-03 9.99982351e-01 1.93299183e-03 -6.45455000e-01] [ 1.12458150e-03 -1.93933894e-03 9.99997487e-01 -8.69198088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.27589822699997 meters Centerline goodness [0,1] 0.813471831432863 Centerline is valid? [False, False] Translation: X:156.03, Y:-0.65, Z:-0.87 [[ 9.99966179e-01 -8.21906676e-03 -2.95587957e-04 1.56030235e+02] [ 8.21888667e-03 9.99966041e-01 -6.05411259e-04 -6.47414975e-01] [ 3.00553835e-04 6.02961380e-04 9.99999773e-01 -8.66093559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30589822699994 meters Centerline goodness [0,1] 0.880322649119083 Centerline is valid? [False, False] Translation: X:156.03, Y:-0.66, Z:-0.86 [[ 9.99969859e-01 -7.76142087e-03 -2.03386972e-04 1.56029082e+02] [ 7.76161159e-03 9.99969423e-01 9.54331257e-04 -6.55247633e-01] [ 1.95973786e-04 -9.55881103e-04 9.99999524e-01 -8.64487723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.335898227 meters Centerline goodness [0,1] 0.8038721240413471 Centerline is valid? [False, False] Translation: X:156.07, Y:-0.66, Z:-0.86 [[ 9.99979687e-01 -6.37266752e-03 1.23089881e-04 1.56071487e+02] [ 6.37236324e-03 9.99976978e-01 2.33175568e-03 -6.58238291e-01] [-1.37946551e-04 -2.33092394e-03 9.99997274e-01 -8.63290409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36589822699995 meters Centerline goodness [0,1] 0.9363513170153299 Centerline is valid? [False, False] Translation: X:156.05, Y:-0.66, Z:-0.87 [[ 9.99948120e-01 -9.09799102e-03 4.58089153e-03 1.56052695e+02] [ 9.13420782e-03 9.99926693e-01 -7.94820358e-03 -6.58259029e-01] [-4.50824304e-03 7.98963404e-03 9.99957920e-01 -8.70610397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.395898227 meters Centerline goodness [0,1] 0.9932199787460149 Centerline is valid? [False, True] Translation: X:156.05, Y:-0.67, Z:-0.87 [[ 9.99977893e-01 -5.18850531e-03 4.15836018e-03 1.56053811e+02] [ 5.19878808e-03 9.99983446e-01 -2.46581015e-03 -6.66984898e-01] [-4.14549747e-03 2.48737407e-03 9.99988314e-01 -8.70102969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42589822699995 meters Centerline goodness [0,1] 0.9873128381495617 Centerline is valid? [True, True] Translation: X:156.08, Y:-0.67, Z:-0.87 [[ 9.99941515e-01 -9.77365655e-03 4.63062297e-03 1.56083923e+02] [ 9.77228916e-03 9.99952200e-01 3.17827428e-04 -6.70989198e-01] [-4.63350796e-03 -2.72557053e-04 9.99989228e-01 -8.68292146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.455898227 meters Centerline goodness [0,1] 0.9916624663978495 Centerline is valid? [True, True] Translation: X:156.11, Y:-0.68, Z:-0.87 [[ 9.99920550e-01 -1.18331490e-02 4.34401455e-03 1.56114310e+02] [ 1.18319650e-02 9.99929955e-01 2.98158800e-04 -6.75908686e-01] [-4.34723844e-03 -2.46736883e-04 9.99990520e-01 -8.68065562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48589822699995 meters Centerline goodness [0,1] 0.99854605221569 Centerline is valid? [True, True] Translation: X:156.15, Y:-0.69, Z:-0.87 [[ 9.99905223e-01 -1.32321962e-02 3.80191144e-03 1.56145345e+02] [ 1.32312993e-02 9.99912428e-01 2.60960433e-04 -6.87527678e-01] [-3.80503158e-03 -2.10631472e-04 9.99992739e-01 -8.68848805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.515898227 meters Centerline goodness [0,1] 0.9991771283890706 Centerline is valid? [True, True] Translation: X:156.18, Y:-0.69, Z:-0.87 [[ 9.99888112e-01 -1.45362162e-02 3.53012344e-03 1.56175150e+02] [ 1.45354509e-02 9.99894325e-01 2.42350216e-04 -6.93379738e-01] [-3.53327325e-03 -1.91011164e-04 9.99993740e-01 -8.69422771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54589822699995 meters Centerline goodness [0,1] 0.9994029850746269 Centerline is valid? [True, True] Translation: X:156.20, Y:-0.70, Z:-0.87 [[ 9.99844591e-01 -1.71563563e-02 4.05626077e-03 1.56204756e+02] [ 1.71553670e-02 9.99852797e-01 2.78575431e-04 -7.01928009e-01] [-4.06044302e-03 -2.08945496e-04 9.99991735e-01 -8.67741830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.575898227 meters Centerline goodness [0,1] 0.999536471282289 Centerline is valid? [True, True] Translation: X:156.23, Y:-0.71, Z:-0.87 [[ 9.99816374e-01 -1.83170113e-02 5.63078427e-03 1.56234168e+02] [ 1.83151219e-02 9.99832189e-01 3.86929228e-04 -7.05872074e-01] [-5.63692675e-03 -2.83729677e-04 9.99984072e-01 -8.65469084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.60589822699995 meters Centerline goodness [0,1] 0.9989133160578451 Centerline is valid? [True, True] Translation: X:156.26, Y:-0.70, Z:-0.86 [[ 9.99789095e-01 -1.94122392e-02 6.70298564e-03 1.56262600e+02] [ 1.94095843e-02 9.99811510e-01 4.60898269e-04 -7.02538323e-01] [-6.71066927e-03 -3.30698898e-04 9.99977429e-01 -8.63327158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.635898227 meters Centerline goodness [0,1] 0.999704223269178 Centerline is valid? [True, True] Translation: X:156.29, Y:-0.72, Z:-0.86 [[ 9.99735996e-01 -2.20843140e-02 6.34200131e-03 1.56293543e+02] [ 2.20819905e-02 9.99756068e-01 4.36172785e-04 -7.17095637e-01] [-6.35008687e-03 -2.96013621e-04 9.99979794e-01 -8.64390867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66589822699996 meters Centerline goodness [0,1] 0.9996638231709879 Centerline is valid? [True, True] Translation: X:156.32, Y:-0.72, Z:-0.87 [[ 9.99697526e-01 -2.39162044e-02 5.73346457e-03 1.56322335e+02] [ 2.39143349e-02 9.99713934e-01 3.94416511e-04 -7.15564944e-01] [-5.74125736e-03 -2.57185218e-04 9.99983486e-01 -8.65285057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.695898227 meters Centerline goodness [0,1] 0.99985234559568 Centerline is valid? [True, True] Translation: X:156.35, Y:-0.72, Z:-0.87 [[ 9.99642743e-01 -2.61802269e-02 5.38341450e-03 1.56352838e+02] [ 2.61786108e-02 9.99657213e-01 3.70459520e-04 -7.20898626e-01] [-5.39126785e-03 -2.29396858e-04 9.99985441e-01 -8.66362619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72589822699996 meters Centerline goodness [0,1] 0.9997050209645815 Centerline is valid? [True, True] Translation: X:156.38, Y:-0.72, Z:-0.87 [[ 9.99581329e-01 -2.84058247e-02 5.50241801e-03 1.56382056e+02] [ 2.84041695e-02 9.99596448e-01 3.78741916e-04 -7.21074629e-01] [-5.51095598e-03 -2.22291733e-04 9.99984790e-01 -8.65821433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.755898227 meters Centerline goodness [0,1] 0.9998952901509917 Centerline is valid? [True, True] Translation: X:156.41, Y:-0.73, Z:-0.86 [[ 9.99452546e-01 -3.25214343e-02 6.07988673e-03 1.56411788e+02] [ 3.25194887e-02 9.99471014e-01 4.18609657e-04 -7.26391905e-01] [-6.09028434e-03 -2.20665679e-04 9.99981430e-01 -8.63995480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.78589822699996 meters Centerline goodness [0,1] 0.9998954936878187 Centerline is valid? [True, True] Translation: X:156.44, Y:-0.73, Z:-0.86 [[ 9.99384934e-01 -3.45813920e-02 5.82080383e-03 1.56440969e+02] [ 3.45796427e-02 9.99401865e-01 4.00939243e-04 -7.29055428e-01] [-5.83118724e-03 -1.99411322e-04 9.99982979e-01 -8.63987528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.815898227 meters Centerline goodness [0,1] 0.9999578174762196 Centerline is valid? [True, True] Translation: X:156.47, Y:-0.73, Z:-0.86 [[ 9.99298198e-01 -3.70679434e-02 5.39256904e-03 1.56470713e+02] [ 3.70664772e-02 9.99312733e-01 3.71618280e-04 -7.30940049e-01] [-5.40263803e-03 -1.71473940e-04 9.99985391e-01 -8.64739508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.84589822699996 meters Centerline goodness [0,1] 0.9999789734855653 Centerline is valid? [True, True] Translation: X:156.50, Y:-0.74, Z:-0.87 [[ 9.99046036e-01 -4.33814279e-02 5.00705350e-03 1.56501570e+02] [ 4.33802427e-02 9.99058575e-01 3.45116390e-04 -7.40992563e-01] [-5.01731137e-03 -1.27579966e-04 9.99987405e-01 -8.65701105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.875898227 meters Centerline goodness [0,1] 0.9999789924793075 Centerline is valid? [True, True] Translation: X:156.53, Y:-0.75, Z:-0.87 [[ 9.98879831e-01 -4.70745270e-02 4.80342726e-03 1.56532192e+02] [ 4.70734788e-02 9.98891374e-01 3.31107633e-04 -7.46015300e-01] [-4.81368880e-03 -1.04622705e-04 9.99988409e-01 -8.66045789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.90589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.56, Y:-0.75, Z:-0.87 [[ 9.98701519e-01 -5.07557223e-02 4.37404298e-03 1.56560617e+02] [ 5.07548879e-02 9.98711095e-01 3.01618998e-04 -7.50654471e-01] [-4.38371414e-03 -7.92232899e-05 9.99990388e-01 -8.66893279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.59, Y:-0.76, Z:-0.87 [[ 9.98526551e-01 -5.41196916e-02 3.97325074e-03 1.56589646e+02] [ 5.41190290e-02 9.98534454e-01 2.74178832e-04 -7.57349365e-01] [-3.98226623e-03 -5.87463712e-05 9.99992069e-01 -8.67454955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.96589822699997 meters Centerline goodness [0,1] 0.9998309847252446 Centerline is valid? [True, True] Translation: X:156.62, Y:-0.77, Z:-0.87 [[ 9.98171852e-01 -6.02494153e-02 4.79185635e-03 1.56618324e+02] [ 6.02485208e-02 9.98183353e-01 3.30940418e-04 -7.66359026e-01] [-4.80309021e-03 -4.16331525e-05 9.99988464e-01 -8.66487115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99589822699994 meters Centerline goodness [0,1] 0.9999362366894089 Centerline is valid? [True, True] Translation: X:156.65, Y:-0.77, Z:-0.87 [[ 9.98017227e-01 -6.27462375e-02 4.95214268e-03 1.56647803e+02] [ 6.27453104e-02 9.98029513e-01 3.42510496e-04 -7.69384116e-01] [-4.96387579e-03 -3.11076461e-05 9.99987679e-01 -8.66033284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.02589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.68, Y:-0.77, Z:-0.87 [[ 9.97899911e-01 -6.45832272e-02 4.97744042e-03 1.56676625e+02] [ 6.45823094e-02 9.97912324e-01 3.45065793e-04 -7.71654559e-01] [-4.98933460e-03 -2.28865269e-05 9.99987553e-01 -8.65588214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.71, Y:-0.77, Z:-0.87 [[ 9.97778144e-01 -6.64417649e-02 4.92624202e-03 1.56705268e+02] [ 6.64408844e-02 9.97790304e-01 3.42350746e-04 -7.73098032e-01] [-4.93810291e-03 -1.42862147e-05 9.99987807e-01 -8.65154316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.73, Y:-0.78, Z:-0.86 [[ 9.97571287e-01 -6.93833849e-02 6.12160975e-03 1.56732353e+02] [ 6.93820749e-02 9.97590069e-01 4.26353505e-04 -7.77700168e-01] [-6.13643894e-03 -5.88028604e-07 9.99981172e-01 -8.63329766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.76, Y:-0.78, Z:-0.86 [[ 9.97444420e-01 -7.11756828e-02 6.21707851e-03 1.56759731e+02] [ 7.11743634e-02 9.97463795e-01 4.33501480e-04 -7.79572139e-01] [-6.23216549e-03 1.01029735e-05 9.99980580e-01 -8.62909859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.79, Y:-0.78, Z:-0.86 [[ 9.97298428e-01 -7.32240722e-02 5.83794395e-03 1.56787505e+02] [ 7.32229395e-02 9.97315514e-01 4.07805682e-04 -7.80837002e-01] [-5.85213327e-03 2.07674518e-05 9.99982876e-01 -8.64233433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.82, Y:-0.79, Z:-0.87 [[ 9.96996236e-01 -7.73098258e-02 4.65796116e-03 1.56816379e+02] [ 7.73091469e-02 9.97007116e-01 3.25900129e-04 -7.87324536e-01] [-4.66921570e-03 3.51818013e-05 9.99989099e-01 -8.66517824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.85, Y:-0.79, Z:-0.87 [[ 9.96846946e-01 -7.91837082e-02 5.10939094e-03 1.56845232e+02] [ 7.91829133e-02 9.96860039e-01 3.58005880e-04 -7.89681472e-01] [-5.12169589e-03 4.76993918e-05 9.99986883e-01 -8.65872839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.87, Y:-0.79, Z:-0.86 [[ 9.96717748e-01 -8.07421478e-02 5.86822764e-03 1.56874391e+02] [ 8.07411203e-02 9.96735021e-01 4.12191269e-04 -7.89529479e-01] [-5.88234921e-03 6.29689204e-05 9.99982697e-01 -8.64890897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.90, Y:-0.79, Z:-0.86 [[ 9.96652580e-01 -8.15163287e-02 6.22281995e-03 1.56902616e+02] [ 8.15151839e-02 9.96672004e-01 4.37807400e-04 -7.91357643e-01] [-6.23779888e-03 7.09124387e-05 9.99980542e-01 -8.64005953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.93, Y:-0.79, Z:-0.87 [[ 9.96631409e-01 -8.18793745e-02 4.64779396e-03 1.56930528e+02] [ 8.18787377e-02 9.96642245e-01 3.27442446e-04 -7.90928978e-01] [-4.65899859e-03 5.42160762e-05 9.99989145e-01 -8.67225956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.325898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.96, Y:-0.79, Z:-0.87 [[ 9.96630507e-01 -8.19420914e-02 3.62303022e-03 1.56957311e+02] [ 8.19417032e-02 9.96637091e-01 2.55731992e-04 -7.92284569e-01] [-3.63180152e-03 4.20069621e-05 9.99993404e-01 -8.68844033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.99, Y:-0.79, Z:-0.87 [[ 9.96594338e-01 -8.24205083e-02 2.56636940e-03 1.56985232e+02] [ 8.24203148e-02 9.96597641e-01 1.81246230e-04 -7.90170433e-01] [-2.57257610e-03 3.08920071e-05 9.99996690e-01 -8.70727854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.01, Y:-0.79, Z:-0.87 [[ 9.96574628e-01 -8.26769051e-02 1.88131471e-03 1.57013355e+02] [ 8.26768010e-02 9.96576404e-01 1.33205367e-04 -7.90032234e-01] [-1.88588686e-03 2.27919927e-05 9.99998221e-01 -8.71932318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.04, Y:-0.80, Z:-0.88 [[ 9.96490523e-01 -8.37043991e-02 -4.58437734e-04 1.57042004e+02] [ 8.37043929e-02 9.96490629e-01 -3.26950670e-05 -7.95470239e-01] [ 4.59565627e-04 -5.79292775e-06 9.99999894e-01 -8.76301948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.445898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.07, Y:-0.79, Z:-0.88 [[ 9.96449305e-01 -8.41903428e-02 -8.76286106e-04 1.57070990e+02] [ 8.41903201e-02 9.96449691e-01 -6.27872391e-05 -7.94368182e-01] [ 8.78461098e-04 -1.12105069e-05 9.99999614e-01 -8.75622071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.10, Y:-0.79, Z:-0.88 [[ 9.96433990e-01 -8.43714120e-02 -8.76270021e-04 1.57098457e+02] [ 8.43713892e-02 9.96434376e-01 -6.30125391e-05 -7.92226514e-01] [ 8.78462028e-04 -1.11442832e-05 9.99999614e-01 -8.75703452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.505898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.13, Y:-0.79, Z:-0.87 [[ 9.96421269e-01 -8.45258286e-02 -1.97531540e-04 1.57126493e+02] [ 8.45258273e-02 9.96421289e-01 -1.46572533e-05 -7.92022359e-01] [ 1.98063548e-04 -2.09171787e-06 9.99999980e-01 -8.74481262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.16, Y:-0.79, Z:-0.87 [[ 9.96565480e-01 -8.28025746e-02 9.88705838e-04 1.57155280e+02] [ 8.28025455e-02 9.96565970e-01 7.03571231e-05 -7.88169330e-01] [-9.91136344e-04 1.17518799e-05 9.99999509e-01 -8.72108267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.565898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.18, Y:-0.78, Z:-0.87 [[ 9.96734346e-01 -8.07425086e-02 1.13570688e-03 1.57183157e+02] [ 8.07424684e-02 9.96734993e-01 8.12553560e-05 -7.82824344e-01] [-1.13855955e-03 1.07097729e-05 9.99999352e-01 -8.72098804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.21, Y:-0.78, Z:-0.87 [[ 9.96916376e-01 -7.84543548e-02 1.62873606e-03 1.57211303e+02] [ 7.84542691e-02 9.96917707e-01 1.16561167e-04 -7.76223924e-01] [-1.63286055e-03 1.15795612e-05 9.99998667e-01 -8.71407566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.625898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.24, Y:-0.77, Z:-0.87 [[ 9.97109463e-01 -7.59445717e-02 2.26730076e-03 1.57238966e+02] [ 7.59443977e-02 9.97112041e-01 1.62864054e-04 -7.69133781e-01] [-2.27312153e-03 9.79550161e-06 9.99997416e-01 -8.69559454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.27, Y:-0.76, Z:-0.87 [[ 9.97435289e-01 -7.14875081e-02 3.51868286e-03 1.57265656e+02] [ 7.14870603e-02 9.97441495e-01 2.53037970e-04 -7.55298386e-01] [-3.52776934e-03 -8.48706897e-07 9.99993777e-01 -8.66946059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.29, Y:-0.75, Z:-0.87 [[ 9.97463206e-01 -7.10838162e-02 3.77409268e-03 1.57293165e+02] [ 7.10832969e-02 9.97470346e-01 2.71723525e-04 -7.48942162e-01] [-3.78386068e-03 -2.75926720e-06 9.99992841e-01 -8.66921105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.32, Y:-0.74, Z:-0.87 [[ 9.97381998e-01 -7.22025073e-02 3.99356269e-03 1.57321431e+02] [ 7.22019319e-02 9.97389993e-01 2.88253781e-04 -7.44747859e-01] [-4.00395211e-03 8.43809601e-07 9.99991984e-01 -8.67033511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.35, Y:-0.75, Z:-0.87 [[ 9.96932508e-01 -7.81724414e-02 3.82671172e-03 1.57349602e+02] [ 7.81719547e-02 9.96939852e-01 2.76836782e-04 -7.45682475e-01] [-3.83664243e-03 2.31539481e-05 9.99992640e-01 -8.67282375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.77589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.38, Y:-0.75, Z:-0.87 [[ 9.96598367e-01 -8.23245275e-02 3.79049621e-03 1.57378246e+02] [ 8.23240780e-02 9.96605574e-01 2.74707045e-04 -7.47227125e-01] [-3.80024478e-03 3.82765137e-05 9.99992778e-01 -8.67467342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.41, Y:-0.75, Z:-0.87 [[ 9.96220693e-01 -8.67730313e-02 3.84332475e-03 1.57408026e+02] [ 8.67726017e-02 9.96228105e-01 2.78716780e-04 -7.49660570e-01] [-3.85301324e-03 5.58318643e-05 9.99992576e-01 -8.67112776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.835898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.44, Y:-0.76, Z:-0.87 [[ 9.95495426e-01 -9.47376999e-02 3.69117466e-03 1.57437875e+02] [ 9.47373581e-02 9.95502266e-01 2.67750389e-04 -7.55495193e-01] [-3.69993879e-03 8.31478481e-05 9.99993152e-01 -8.66636923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86589822699995 meters Centerline goodness [0,1] 0.9999581502406362 Centerline is valid? [True, True] Translation: X:157.47, Y:-0.75, Z:-0.87 [[ 9.95271755e-01 -9.70544311e-02 3.81724375e-03 1.57467014e+02] [ 9.70540823e-02 9.95279071e-01 2.76949468e-04 -7.53838833e-01] [-3.82610198e-03 9.48391062e-05 9.99992676e-01 -8.66615110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.895898227 meters Centerline goodness [0,1] 0.9999369906746198 Centerline is valid? [True, True] Translation: X:157.50, Y:-0.75, Z:-0.87 [[ 9.95182429e-01 -9.79624258e-02 3.91109637e-03 1.57495030e+02] [ 9.79620661e-02 9.95190109e-01 2.83908168e-04 -7.50222993e-01] [-3.92009676e-03 1.00598661e-04 9.99992311e-01 -8.66061149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92589822699995 meters Centerline goodness [0,1] 0.999936948297604 Centerline is valid? [True, True] Translation: X:157.52, Y:-0.74, Z:-0.87 [[ 9.95218421e-01 -9.75961832e-02 3.90878602e-03 1.57523577e+02] [ 9.75958199e-02 9.95226093e-01 2.84041645e-04 -7.44175875e-01] [-3.91784721e-03 9.87976988e-05 9.99992320e-01 -8.65478318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.955898227 meters Centerline goodness [0,1] 0.9999789588856626 Centerline is valid? [True, True] Translation: X:157.55, Y:-0.73, Z:-0.86 [[ 9.95637833e-01 -9.32082206e-02 4.18735736e-03 1.57551791e+02] [ 9.32077628e-02 9.95646634e-01 3.04783292e-04 -7.26944925e-01] [-4.19753657e-03 8.68404353e-05 9.99991187e-01 -8.63480447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.58, Y:-0.71, Z:-0.86 [[ 9.95922837e-01 -9.01066840e-02 4.29987596e-03 1.57579826e+02] [ 9.01061718e-02 9.95932116e-01 3.13094377e-04 -7.14521470e-01] [-4.31059646e-03 7.56275223e-05 9.99990706e-01 -8.62354405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.015898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.61, Y:-0.70, Z:-0.86 [[ 9.96210310e-01 -8.68691488e-02 4.33239409e-03 1.57607982e+02] [ 8.68685974e-02 9.96219728e-01 3.15645503e-04 -7.00777451e-01] [-4.34343632e-03 6.18996938e-05 9.99990565e-01 -8.61848716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.63, Y:-0.69, Z:-0.86 [[ 9.96458959e-01 -8.39751451e-02 4.20932850e-03 1.57634583e+02] [ 8.39745978e-02 9.96467848e-01 3.06896212e-04 -6.87282051e-01] [-4.22023217e-03 4.76671884e-05 9.99991094e-01 -8.61733213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.075898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.66, Y:-0.66, Z:-0.86 [[ 9.96710134e-01 -8.09939642e-02 2.98087351e-03 1.57661379e+02] [ 8.09936759e-02 9.96714592e-01 2.17496419e-04 -6.63195930e-01] [-2.98869602e-03 2.46510188e-05 9.99995534e-01 -8.64036935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.10589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.69, Y:-0.66, Z:-0.86 [[ 9.96686086e-01 -8.12828087e-02 3.15438081e-03 1.57688213e+02] [ 8.12824855e-02 9.96691078e-01 2.30720737e-04 -6.59790736e-01] [-3.16269684e-03 2.64397643e-05 9.99994998e-01 -8.64011371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.135898227 meters Centerline goodness [0,1] 0.9999791113989096 Centerline is valid? [True, True] Translation: X:157.72, Y:-0.65, Z:-0.86 [[ 9.96373894e-01 -8.49993816e-02 3.76415275e-03 1.57716571e+02] [ 8.49989458e-02 9.96381003e-01 2.75902728e-04 -6.54011549e-01] [-3.77398186e-03 4.50467400e-05 9.99992877e-01 -8.63863729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16589822699996 meters Centerline goodness [0,1] 0.9999790466212677 Centerline is valid? [True, True] Translation: X:157.74, Y:-0.65, Z:-0.86 [[ 9.96154419e-01 -8.75397839e-02 3.62757700e-03 1.57744689e+02] [ 8.75393941e-02 9.96161023e-01 2.66384682e-04 -6.46531058e-01] [-3.63697007e-03 5.21956150e-05 9.99993385e-01 -8.64391782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.195898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.77, Y:-0.64, Z:-0.87 [[ 9.95963728e-01 -8.97071827e-02 2.97893561e-03 1.57772839e+02] [ 8.97069283e-02 9.95968182e-01 2.19150013e-04 -6.40742797e-01] [-2.98658442e-03 4.89656996e-05 9.99995539e-01 -8.65461934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.80, Y:-0.64, Z:-0.87 [[ 9.95799516e-01 -9.15310357e-02 2.32232368e-03 1.57800604e+02] [ 9.15308853e-02 9.95802223e-01 1.71187897e-04 -6.44892167e-01] [-2.32824409e-03 4.20955169e-05 9.99997289e-01 -8.67148433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.255898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.83, Y:-0.63, Z:-0.87 [[ 9.95531309e-01 -9.44320511e-02 -3.50415367e-05 1.57829245e+02] [ 9.44320510e-02 9.95531309e-01 -2.79705705e-06 -6.28530025e-01] [ 3.51490788e-05 -5.24486323e-07 9.99999999e-01 -8.70752244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.28589822699996 meters Centerline goodness [0,1] 0.999937306695645 Centerline is valid? [True, True] Translation: X:157.86, Y:-0.63, Z:-0.87 [[ 9.95432392e-01 -9.54673501e-02 -5.80737074e-04 1.57857865e+02] [ 9.54673412e-02 9.95432562e-01 -4.32209061e-05 -6.34543094e-01] [ 5.82210779e-04 -1.24179344e-05 9.99999830e-01 -8.73917285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.315898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.89, Y:-0.62, Z:-0.87 [[ 9.95320621e-01 -9.66245478e-02 -7.46766946e-04 1.57885944e+02] [ 9.66245331e-02 9.95320901e-01 -5.58547874e-05 -6.20543766e-01] [ 7.48669693e-04 -1.65625858e-05 9.99999720e-01 -8.72662712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.34589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.91, Y:-0.62, Z:-0.87 [[ 9.95265046e-01 -9.71981459e-02 -9.24586686e-05 1.57913724e+02] [ 9.71981456e-02 9.95265050e-01 -7.03529310e-06 -6.20589353e-01] [ 9.27046989e-05 -1.98482983e-06 9.99999996e-01 -8.72189118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.375898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.94, Y:-0.62, Z:-0.87 [[ 9.95249374e-01 -9.73572467e-02 4.99770519e-04 1.57941727e+02] [ 9.73572406e-02 9.95249500e-01 3.66189676e-05 -6.15189299e-01] [-5.00961481e-04 1.22112741e-05 9.99999874e-01 -8.70616244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.40589822699997 meters Centerline goodness [0,1] 0.9999790021837729 Centerline is valid? [True, True] Translation: X:157.97, Y:-0.61, Z:-0.87 [[ 9.95319996e-01 -9.66337206e-02 1.70409081e-04 1.57969857e+02] [ 9.66337199e-02 9.95320011e-01 1.22082380e-05 -6.09054160e-01] [-1.70791295e-04 4.31615993e-06 9.99999985e-01 -8.70251543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.00, Y:-0.60, Z:-0.87 [[ 9.95476821e-01 -9.50047148e-02 6.33580591e-05 1.57997218e+02] [ 9.50047147e-02 9.95476823e-01 4.55117561e-06 -6.04191072e-01] [-6.35038625e-05 1.48872450e-06 9.99999998e-01 -8.70601518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.46589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.03, Y:-0.60, Z:-0.87 [[ 9.95958063e-01 -8.98141363e-02 9.78596003e-04 1.58025620e+02] [ 8.98141079e-02 9.95958544e-01 7.29647636e-05 -5.95453826e-01] [-9.81194318e-04 1.52218824e-05 9.99999519e-01 -8.69237672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.05, Y:-0.59, Z:-0.87 [[ 9.96175133e-01 -8.73671317e-02 1.44522326e-03 1.58053986e+02] [ 8.73670675e-02 9.96176181e-01 1.07613651e-04 -5.87309987e-01] [-1.44909888e-03 1.90628747e-05 9.99998950e-01 -8.68282072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.52589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.08, Y:-0.58, Z:-0.87 [[ 9.96415349e-01 -8.45783023e-02 1.72140955e-03 1.58081408e+02] [ 8.45782062e-02 9.96416836e-01 1.28647763e-04 -5.81208598e-01] [-1.72612226e-03 1.74071262e-05 9.99998510e-01 -8.68026212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.11, Y:-0.57, Z:-0.87 [[ 9.96607223e-01 -8.22869182e-02 1.70495251e-03 1.58109795e+02] [ 8.22868206e-02 9.96608681e-01 1.27458689e-04 -5.74867825e-01] [-1.70965866e-03 1.32688721e-05 9.99998538e-01 -8.68175910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.585898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.14, Y:-0.57, Z:-0.87 [[ 9.96961159e-01 -7.78814278e-02 1.71173832e-03 1.58138042e+02] [ 7.78813224e-02 9.96962629e-01 1.28251656e-04 -5.68959719e-01] [-1.71652756e-03 5.45052394e-06 9.99998527e-01 -8.67936993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.17, Y:-0.57, Z:-0.87 [[ 9.97089456e-01 -7.61878786e-02 2.83263034e-03 1.58166087e+02] [ 7.61875809e-02 9.97093480e-01 2.13024711e-04 -5.65290697e-01] [-2.84062715e-03 3.40656009e-06 9.99995965e-01 -8.66183374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.645898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.19, Y:-0.56, Z:-0.86 [[ 9.97222836e-01 -7.43377047e-02 4.53001333e-03 1.58193500e+02] [ 7.43369187e-02 9.97233125e-01 3.41880575e-04 -5.61043519e-01] [-4.54289397e-03 -4.18388328e-06 9.99989681e-01 -8.63870242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67589822699995 meters Centerline goodness [0,1] 0.9997888335163443 Centerline is valid? [True, True] Translation: X:158.22, Y:-0.55, Z:-0.86 [[ 9.97421441e-01 -7.14600243e-02 6.62820473e-03 1.58220406e+02] [ 7.14582706e-02 9.97443464e-01 5.01322342e-04 -5.53994361e-01] [-6.64708400e-03 -2.63896053e-05 9.99977908e-01 -8.61238356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.705898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.25, Y:-0.55, Z:-0.86 [[ 9.97544820e-01 -6.97370021e-02 6.40964819e-03 1.58248172e+02] [ 6.97353240e-02 9.97565411e-01 4.85199116e-04 -5.49962968e-01] [-6.42787966e-03 -3.70289718e-05 9.99979340e-01 -8.61092883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.28, Y:-0.55, Z:-0.86 [[ 9.97611108e-01 -6.88363446e-02 5.79963338e-03 1.58276281e+02] [ 6.88349514e-02 9.97627965e-01 4.39715277e-04 -5.46085672e-01] [-5.81614484e-03 -3.94473623e-05 9.99983085e-01 -8.62710411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.765898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.30, Y:-0.54, Z:-0.86 [[ 9.97672510e-01 -6.79605155e-02 5.56154476e-03 1.58304717e+02] [ 6.79592155e-02 9.97688011e-01 4.22630752e-04 -5.42399816e-01] [-5.57740873e-03 -4.36888649e-05 9.99984445e-01 -8.63899526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.33, Y:-0.54, Z:-0.87 [[ 9.97724496e-01 -6.72160040e-02 5.27618107e-03 1.58332190e+02] [ 6.72148199e-02 9.97738446e-01 4.01618317e-04 -5.39329642e-01] [-5.29124388e-03 -4.60668722e-05 9.99986000e-01 -8.65979899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.825898227 meters Centerline goodness [0,1] 0.9998302999448475 Centerline is valid? [True, True] Translation: X:158.36, Y:-0.54, Z:-0.87 [[ 9.97679545e-01 -6.79145476e-02 4.81027848e-03 1.58360328e+02] [ 6.79135688e-02 9.97691141e-01 3.66740107e-04 -5.38091260e-01] [-4.82407922e-03 -3.92059244e-05 9.99988363e-01 -8.68068221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.39, Y:-0.54, Z:-0.87 [[ 9.97637805e-01 -6.85880802e-02 3.80607588e-03 1.58388461e+02] [ 6.85874700e-02 9.97645064e-01 2.90776178e-04 -5.38764868e-01] [-3.81705660e-03 -2.90401928e-05 9.99992715e-01 -8.68966479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.885898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.42, Y:-0.54, Z:-0.87 [[ 9.97545063e-01 -6.99810012e-02 2.55067230e-03 1.58416208e+02] [ 6.99807308e-02 9.97548324e-01 1.95218884e-04 -5.38803041e-01] [-2.55808049e-03 -1.62417224e-05 9.99996728e-01 -8.70748349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.44, Y:-0.54, Z:-0.87 [[ 9.97294781e-01 -7.35007481e-02 8.71296637e-04 1.58444556e+02] [ 7.35007180e-02 9.97295162e-01 6.65668932e-05 -5.41132274e-01] [-8.73832637e-04 -2.34588674e-06 9.99999618e-01 -8.72784014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.945898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.47, Y:-0.54, Z:-0.87 [[ 9.97145916e-01 -7.54867804e-02 1.32978335e-03 1.58472724e+02] [ 7.54867119e-02 9.97146803e-01 1.01686203e-04 -5.41120999e-01] [-1.33366518e-03 -1.01500886e-06 9.99999111e-01 -8.72089441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.50, Y:-0.54, Z:-0.87 [[ 9.96998277e-01 -7.73986719e-02 1.97002538e-03 1.58499956e+02] [ 7.73985239e-02 9.97000223e-01 1.51364711e-04 -5.41595038e-01] [-1.97583117e-03 1.56670018e-06 9.99998048e-01 -8.70595565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.005898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.53, Y:-0.55, Z:-0.87 [[ 9.96590603e-01 -8.24727416e-02 2.32728073e-03 1.58528881e+02] [ 8.24725484e-02 9.96593321e-01 1.79031076e-04 -5.45626692e-01] [-2.33411761e-03 1.35160845e-05 9.99997276e-01 -8.69734881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.56, Y:-0.55, Z:-0.87 [[ 9.96344428e-01 -8.53989287e-02 2.19168726e-03 1.58557701e+02] [ 8.53987641e-02 9.96346839e-01 1.68736629e-04 -5.47208520e-01] [-2.19809060e-03 1.90475831e-05 9.99997584e-01 -8.69935429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.065898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.59, Y:-0.55, Z:-0.87 [[ 9.96039848e-01 -8.88753851e-02 2.40578290e-03 1.58587132e+02] [ 8.88751959e-02 9.96042753e-01 1.85670311e-04 -5.49676623e-01] [-2.41276414e-03 2.88793980e-05 9.99997089e-01 -8.69829852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.62, Y:-0.55, Z:-0.87 [[ 9.95727390e-01 -9.22918194e-02 3.03081496e-03 1.58615379e+02] [ 9.22915330e-02 9.95732001e-01 2.34538568e-04 -5.54570730e-01] [-3.03952543e-03 4.61820822e-05 9.99995380e-01 -8.68361466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.125898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.65, Y:-0.56, Z:-0.87 [[ 9.95219953e-01 -9.75444791e-02 4.72438110e-03 1.58645373e+02] [ 9.75438407e-02 9.95231162e-01 3.65912006e-04 -5.58432636e-01] [-4.73754399e-03 9.66713486e-05 9.99988773e-01 -8.65077216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15589822699997 meters Centerline goodness [0,1] 0.9997677904202993 Centerline is valid? [True, True] Translation: X:158.67, Y:-0.56, Z:-0.87 [[ 9.95063070e-01 -9.91345727e-02 4.67146924e-03 1.58673875e+02] [ 9.91339643e-02 9.95074030e-01 3.62174346e-04 -5.56964106e-01] [-4.68436173e-03 1.02714949e-04 9.99989023e-01 -8.65227862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.70, Y:-0.56, Z:-0.86 [[ 9.95079266e-01 -9.89679693e-02 4.75342267e-03 1.58701684e+02] [ 9.89673346e-02 9.95090614e-01 3.69144002e-04 -5.56552930e-01] [-4.76661972e-03 1.03106030e-04 9.99988634e-01 -8.64227032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21589822699997 meters Centerline goodness [0,1] 0.9999581974751275 Centerline is valid? [True, True] Translation: X:158.73, Y:-0.55, Z:-0.86 [[ 9.95191169e-01 -9.77426576e-02 6.39615634e-03 1.58729801e+02] [ 9.77414803e-02 9.95211714e-01 4.97157224e-04 -5.54186760e-01] [-6.41412318e-03 1.30403310e-04 9.99979421e-01 -8.61179460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.76, Y:-0.55, Z:-0.86 [[ 9.95269345e-01 -9.68507438e-02 7.67235481e-03 1.58758201e+02] [ 9.68490158e-02 9.95298906e-01 5.97314208e-04 -5.48570338e-01] [-7.69413667e-03 1.48571492e-04 9.99970389e-01 -8.59857860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.27589822699997 meters Centerline goodness [0,1] 0.9999581169375105 Centerline is valid? [True, True] Translation: X:158.79, Y:-0.54, Z:-0.86 [[ 9.95338766e-01 -9.60546949e-02 8.61607773e-03 1.58786486e+02] [ 9.60524733e-02 9.95376045e-01 6.72234778e-04 -5.42906573e-01] [-8.64080868e-03 1.58494242e-04 9.99962655e-01 -8.58458420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.81, Y:-0.54, Z:-0.86 [[ 9.95405872e-01 -9.53708224e-02 8.45908516e-03 1.58814359e+02] [ 9.53686497e-02 9.95441803e-01 6.60774202e-04 -5.39487712e-01] [-8.48354557e-03 1.48993009e-04 9.99964003e-01 -8.59485330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.335898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.84, Y:-0.53, Z:-0.86 [[ 9.95333828e-01 -9.61994715e-02 7.49883949e-03 1.58842553e+02] [ 9.61977806e-02 9.95362066e-01 5.86689817e-04 -5.33801711e-01] [-7.52049962e-03 1.37419494e-04 9.99971711e-01 -8.62743896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.87, Y:-0.53, Z:-0.86 [[ 9.95315206e-01 -9.63919590e-02 7.49873147e-03 1.58869988e+02] [ 9.63902632e-02 9.95343444e-01 5.88068214e-04 -5.31468897e-01] [-7.52049825e-03 1.37491464e-04 9.99971711e-01 -8.62825277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.395898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.90, Y:-0.53, Z:-0.87 [[ 9.95198603e-01 -9.76713041e-02 6.32904567e-03 1.58898009e+02] [ 9.76701176e-02 9.95218720e-01 4.97027374e-04 -5.30537579e-01] [-6.34733004e-03 1.23517687e-04 9.99979848e-01 -8.65478355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.93, Y:-0.53, Z:-0.87 [[ 9.94902139e-01 -1.00735222e-01 4.70635724e-03 1.58927254e+02] [ 1.00734598e-01 9.94913264e-01 3.70021719e-04 -5.29945976e-01] [-4.71969147e-03 1.05957607e-04 9.99988857e-01 -8.68206476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.455898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.96, Y:-0.53, Z:-0.87 [[ 9.94769273e-01 -1.02056961e-01 4.29761936e-03 1.58955920e+02] [ 1.02056450e-01 9.94778551e-01 3.38563112e-04 -5.27246967e-01] [-4.30973228e-03 1.01807593e-04 9.99990708e-01 -8.68930107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.98, Y:-0.52, Z:-0.87 [[ 9.94702326e-01 -1.02727542e-01 3.78613708e-03 1.58984797e+02] [ 1.02727148e-01 9.94709527e-01 2.98847711e-04 -5.22995158e-01] [-3.79680652e-03 9.16745523e-05 9.99992788e-01 -8.69849803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.515898227 meters Centerline goodness [0,1] 0.9999787667742484 Centerline is valid? [True, True] Translation: X:159.01, Y:-0.51, Z:-0.87 [[ 9.94712312e-01 -1.02655299e-01 3.05054068e-03 1.59012180e+02] [ 1.02655041e-01 9.94716987e-01 2.41206775e-04 -5.12478146e-01] [-3.05918578e-03 7.32220306e-05 9.99995318e-01 -8.70909876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.04, Y:-0.50, Z:-0.87 [[ 9.94730295e-01 -1.02489658e-01 2.74054523e-03 1.59040831e+02] [ 1.02489449e-01 9.94734068e-01 2.17170954e-04 -5.04766636e-01] [-2.74837148e-03 6.48504428e-05 9.99996221e-01 -8.71229700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.575898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.07, Y:-0.50, Z:-0.87 [[ 9.94746652e-01 -1.02316829e-01 3.21950156e-03 1.59068056e+02] [ 1.02316537e-01 9.94751859e-01 2.55733323e-04 -4.99291549e-01] [-3.22877099e-03 7.50183829e-05 9.99994785e-01 -8.70616909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.60589822699995 meters Centerline goodness [0,1] 0.9999788601386775 Centerline is valid? [True, True] Translation: X:159.10, Y:-0.48, Z:-0.87 [[ 9.94693572e-01 -1.02827466e-01 3.34810429e-03 1.59095234e+02] [ 1.02827152e-01 9.94699204e-01 2.66249234e-04 -4.83716440e-01] [-3.35773440e-03 7.94396261e-05 9.99994360e-01 -8.70131851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.635898227 meters Centerline goodness [0,1] 0.9999371714590881 Centerline is valid? [True, True] Translation: X:159.12, Y:-0.48, Z:-0.87 [[ 9.94551096e-01 -1.04188445e-01 3.58970352e-03 1.59122850e+02] [ 1.04188092e-01 9.94557570e-01 2.85687252e-04 -4.81237184e-01] [-3.59993212e-03 8.98737909e-05 9.99993516e-01 -8.69637617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66589822699996 meters Centerline goodness [0,1] 0.9999580466521228 Centerline is valid? [True, True] Translation: X:159.15, Y:-0.47, Z:-0.87 [[ 9.94327288e-01 -1.06305464e-01 3.52018546e-03 1.59150699e+02] [ 1.06305137e-01 9.94333515e-01 2.80358677e-04 -4.72935542e-01] [-3.53004204e-03 9.54455145e-05 9.99993765e-01 -8.70275190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.695898227 meters Centerline goodness [0,1] 0.9998536666945397 Centerline is valid? [True, True] Translation: X:159.18, Y:-0.47, Z:-0.87 [[ 9.94057085e-01 -1.08801681e-01 3.56463004e-03 1.59178850e+02] [ 1.08801362e-01 9.94063470e-01 2.84101616e-04 -4.73093937e-01] [-3.57437924e-03 1.05423377e-04 9.99993606e-01 -8.70495612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72589822699996 meters Centerline goodness [0,1] 0.9999579195421646 Centerline is valid? [True, True] Translation: X:159.21, Y:-0.46, Z:-0.87 [[ 9.93411038e-01 -1.14561825e-01 3.17774514e-03 1.59208163e+02] [ 1.14561600e-01 9.93416114e-01 2.53391274e-04 -4.61934806e-01] [-3.18585219e-03 1.12325879e-04 9.99994919e-01 -8.70646641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.755898227 meters Centerline goodness [0,1] 0.9997062279670975 Centerline is valid? [True, True] Translation: X:159.24, Y:-0.46, Z:-0.87 [[ 9.93127181e-01 -1.16982954e-01 3.65930174e-03 1.59236379e+02] [ 1.16982671e-01 9.93133913e-01 2.91853919e-04 -4.60194797e-01] [-3.66831859e-03 1.38226834e-04 9.99993262e-01 -8.69253446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.78589822699996 meters Centerline goodness [0,1] 0.9993315089097328 Centerline is valid? [True, True] Translation: X:159.26, Y:-0.46, Z:-0.87 [[ 9.92910403e-01 -1.18790386e-01 4.21608639e-03 1.59264858e+02] [ 1.18790026e-01 9.92919340e-01 3.36511856e-04 -4.56055710e-01] [-4.22620809e-03 1.66702889e-04 9.99991056e-01 -8.68102823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.815898227 meters Centerline goodness [0,1] 0.9990471552290003 Centerline is valid? [True, True] Translation: X:159.29, Y:-0.45, Z:-0.87 [[ 9.92740495e-01 -1.20184429e-01 4.69171310e-03 1.59293437e+02] [ 1.20183998e-01 9.92751563e-01 3.74913773e-04 -4.49986059e-01] [-4.70276431e-03 1.91676751e-04 9.99988924e-01 -8.68468411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.84589822699996 meters Centerline goodness [0,1] 0.9986532836731687 Centerline is valid? [True, True] Translation: X:159.32, Y:-0.44, Z:-0.87 [[ 9.92626101e-01 -1.21106210e-01 5.16811440e-03 1.59321203e+02] [ 1.21105693e-01 9.92639532e-01 4.13856404e-04 -4.38425907e-01] [-5.18019524e-03 2.15083409e-04 9.99986560e-01 -8.67385865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.875898227 meters Centerline goodness [0,1] 0.9960881934566145 Centerline is valid? [True, True] Translation: X:159.35, Y:-0.43, Z:-0.87 [[ 9.92533139e-01 -1.21842031e-01 5.69974849e-03 1.59348494e+02] [ 1.21841410e-01 9.92549476e-01 4.57382832e-04 -4.33344905e-01] [-5.71301083e-03 2.40497773e-04 9.99983652e-01 -8.66412176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.90589822699997 meters Centerline goodness [0,1] 0.9948545626378242 Centerline is valid? [True, True] Translation: X:159.38, Y:-0.43, Z:-0.87 [[ 9.92436524e-01 -1.22608739e-01 6.06990753e-03 1.59376872e+02] [ 1.22608043e-01 9.92455052e-01 4.88074799e-04 -4.25269496e-01] [-6.08395262e-03 2.59836224e-04 9.99981459e-01 -8.65692729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93589822699994 meters Centerline goodness [0,1] 0.9901235085659167 Centerline is valid? [True, True] Translation: X:159.40, Y:-0.41, Z:-0.86 [[ 9.92360990e-01 -1.23206372e-01 6.31309282e-03 1.59403332e+02] [ 1.23205626e-01 9.92381033e-01 5.08438889e-04 -4.13260270e-01] [-6.32763648e-03 2.73253633e-04 9.99979943e-01 -8.64793400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.96589822699997 meters Centerline goodness [0,1] 0.997996499145876 Centerline is valid? [True, True] Translation: X:159.43, Y:-0.40, Z:-0.87 [[ 9.92370239e-01 -1.23150077e-01 5.94709160e-03 1.59430913e+02] [ 1.23149409e-01 9.92388025e-01 4.79714304e-04 -3.99544824e-01] [-5.96089934e-03 2.56326618e-04 9.99982201e-01 -8.65362231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99589822699994 meters Centerline goodness [0,1] 0.9958109042163249 Centerline is valid? [True, True] Translation: X:159.46, Y:-0.39, Z:-0.87 [[ 9.92377267e-01 -1.23105182e-01 5.69868306e-03 1.59458297e+02] [ 1.23104565e-01 9.92393598e-01 4.60288226e-04 -3.93492673e-01] [-5.71200045e-03 2.44754326e-04 9.99983656e-01 -8.66337428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.02589822699997 meters Centerline goodness [0,1] 0.9912371460546042 Centerline is valid? [True, True] Translation: X:159.48, Y:-0.38, Z:-0.86 [[ 9.92360999e-01 -1.23222044e-01 5.99790751e-03 1.59484027e+02] [ 1.23221359e-01 9.92379092e-01 4.85007490e-04 -3.81823495e-01] [-6.01196162e-03 2.57767799e-04 9.99981895e-01 -8.64983876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05589822699994 meters Centerline goodness [0,1] 0.9988865780130669 Centerline is valid? [True, True] Translation: X:159.51, Y:-0.37, Z:-0.87 [[ 9.92319594e-01 -1.23547763e-01 6.14595510e-03 1.59511833e+02] [ 1.23547044e-01 9.92338591e-01 4.97872311e-04 -3.65335094e-01] [-6.16037944e-03 2.65266138e-04 9.99980989e-01 -8.65499336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.085898227 meters Centerline goodness [0,1] 0.990418026745288 Centerline is valid? [True, True] Translation: X:159.54, Y:-0.37, Z:-0.87 [[ 9.92277084e-01 -1.23912788e-01 5.64002532e-03 1.59540163e+02] [ 1.23912185e-01 9.92293082e-01 4.57485951e-04 -3.65541250e-01] [-5.65324647e-03 2.44915035e-04 9.99983990e-01 -8.65670272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11589822699995 meters Centerline goodness [0,1] 0.9865212212400476 Centerline is valid? [True, True] Translation: X:159.57, Y:-0.36, Z:-0.87 [[ 9.92186736e-01 -1.24658607e-01 5.07078580e-03 1.59567881e+02] [ 1.24658128e-01 9.92199668e-01 4.11579928e-04 -3.59587555e-01] [-5.08253897e-03 2.23750521e-04 9.99987059e-01 -8.67370602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.145898227 meters Centerline goodness [0,1] 0.9820750162668178 Centerline is valid? [True, True] Translation: X:159.60, Y:-0.35, Z:-0.87 [[ 9.91947666e-01 -1.26611899e-01 3.04235207e-03 1.59597191e+02] [ 1.26611735e-01 9.91952321e-01 2.47035588e-04 -3.51076972e-01] [-3.04914585e-03 1.40151102e-04 9.99995342e-01 -8.72742178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17589822699995 meters Centerline goodness [0,1] 0.9982615616621984 Centerline is valid? [True, True] Translation: X:159.63, Y:-0.34, Z:-0.87 [[ 9.91809980e-01 -1.27704869e-01 2.10450271e-03 1.59625105e+02] [ 1.27704794e-01 9.91812208e-01 1.70790477e-04 -3.35737718e-01] [-2.10908226e-03 9.93633849e-05 9.99997771e-01 -8.74561241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.205898227 meters Centerline goodness [0,1] 0.9986112572330352 Centerline is valid? [True, True] Translation: X:159.65, Y:-0.33, Z:-0.88 [[ 9.91691421e-01 -1.28629346e-01 1.61782920e-03 1.59652990e+02] [ 1.28629302e-01 9.91692737e-01 1.31544047e-04 -3.28910220e-01] [-1.62130989e-03 7.76491381e-05 9.99998683e-01 -8.75080332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23589822699995 meters Centerline goodness [0,1] 0.9982754994742377 Centerline is valid? [True, True] Translation: X:159.68, Y:-0.32, Z:-0.87 [[ 9.91746142e-01 -1.28209375e-01 1.39473826e-03 1.59680801e+02] [ 1.28209341e-01 9.91747121e-01 1.13537657e-04 -3.22495458e-01] [-1.39778425e-03 6.62179407e-05 9.99999021e-01 -8.74207310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.265898227 meters Centerline goodness [0,1] 0.9993417560250557 Centerline is valid? [True, True] Translation: X:159.71, Y:-0.31, Z:-0.87 [[ 9.91891909e-01 -1.27075639e-01 1.49084814e-03 1.59709485e+02] [ 1.27075600e-01 9.91893027e-01 1.21324370e-04 -3.12272045e-01] [-1.49417925e-03 6.91097603e-05 9.99998881e-01 -8.73704754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29589822699995 meters Centerline goodness [0,1] 0.9994285472400948 Centerline is valid? [True, True] Translation: X:159.74, Y:-0.30, Z:-0.87 [[ 9.92053496e-01 -1.25808812e-01 1.41529319e-03 1.59737894e+02] [ 1.25808776e-01 9.92054504e-01 1.15366858e-04 -3.04657502e-01] [-1.41856215e-03 6.36062084e-05 9.99998992e-01 -8.73933386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.325898227 meters Centerline goodness [0,1] 0.999683937714659 Centerline is valid? [True, True] Translation: X:159.77, Y:-0.30, Z:-0.87 [[ 9.92288763e-01 -1.23937092e-01 1.61489248e-03 1.59766881e+02] [ 1.23937041e-01 9.92290075e-01 1.32112419e-04 -2.96823140e-01] [-1.61881541e-03 6.90513270e-05 9.99998687e-01 -8.74275265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35589822699995 meters Centerline goodness [0,1] 0.9998312912545604 Centerline is valid? [True, True] Translation: X:159.80, Y:-0.28, Z:-0.87 [[ 9.92742914e-01 -1.20224816e-01 2.73854122e-03 1.59795540e+02] [ 1.20224655e-01 9.92746686e-01 2.24148854e-04 -2.82620785e-01] [-2.74562598e-03 1.06717986e-04 9.99996225e-01 -8.72467822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.385898227 meters Centerline goodness [0,1] 0.9996429471561791 Centerline is valid? [True, True] Translation: X:159.82, Y:-0.28, Z:-0.87 [[ 9.92901422e-01 -1.18878123e-01 3.84174092e-03 1.59823371e+02] [ 1.18877794e-01 9.92908843e-01 3.14572176e-04 -2.80609582e-01] [-3.85189428e-03 1.44358526e-04 9.99992571e-01 -8.70832661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41589822699996 meters Centerline goodness [0,1] 0.9998535319718781 Centerline is valid? [True, True] Translation: X:159.85, Y:-0.27, Z:-0.87 [[ 9.92970156e-01 -1.18275550e-01 4.60032899e-03 1.59851183e+02] [ 1.18275071e-01 9.92980798e-01 3.77158533e-04 -2.69930830e-01] [-4.61264698e-03 1.69597069e-04 9.99989347e-01 -8.69447566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.445898227 meters Centerline goodness [0,1] 0.9998522427440634 Centerline is valid? [True, True] Translation: X:159.88, Y:-0.26, Z:-0.87 [[ 9.93020322e-01 -1.17825898e-01 5.26286790e-03 1.59878835e+02] [ 1.17825259e-01 9.93034250e-01 4.32392577e-04 -2.60629668e-01] [-5.27715512e-03 1.90724155e-04 9.99986058e-01 -8.68614791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47589822699996 meters Centerline goodness [0,1] 0.9998519896815664 Centerline is valid? [True, True] Translation: X:159.91, Y:-0.25, Z:-0.87 [[ 9.93017693e-01 -1.17846851e-01 5.28977411e-03 1.59905885e+02] [ 1.17846201e-01 9.93031763e-01 4.35520077e-04 -2.51307504e-01] [-5.30423838e-03 1.90900643e-04 9.99985914e-01 -8.68930134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.505898227 meters Centerline goodness [0,1] 0.9998734150509504 Centerline is valid? [True, True] Translation: X:159.93, Y:-0.25, Z:-0.87 [[ 9.93007359e-01 -1.17930512e-01 5.36466287e-03 1.59932563e+02] [ 1.17929841e-01 9.93021831e-01 4.42448745e-04 -2.48594329e-01] [-5.37940556e-03 1.93298979e-04 9.99985512e-01 -8.69093352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53589822699996 meters Centerline goodness [0,1] 0.9998946037099494 Centerline is valid? [True, True] Translation: X:159.96, Y:-0.24, Z:-0.87 [[ 9.92996577e-01 -1.18002326e-01 5.76612770e-03 1.59959674e+02] [ 1.18001547e-01 9.93013297e-01 4.76343705e-04 -2.41223028e-01] [-5.78205115e-03 2.07404319e-04 9.99983262e-01 -8.68240231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.565898227 meters Centerline goodness [0,1] 0.9998944056091741 Centerline is valid? [True, True] Translation: X:159.99, Y:-0.23, Z:-0.87 [[ 9.93050182e-01 -1.17495346e-01 6.79554419e-03 1.59987376e+02] [ 1.17494243e-01 9.93073404e-01 5.62651998e-04 -2.30830153e-01] [-6.81458320e-03 2.39695651e-04 9.99976752e-01 -8.65062284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59589822699996 meters Centerline goodness [0,1] 0.9998742375652393 Centerline is valid? [True, True] Translation: X:160.02, Y:-0.22, Z:-0.86 [[ 9.93063313e-01 -1.17341063e-01 7.50544673e-03 1.60015291e+02] [ 1.17339704e-01 9.93091640e-01 6.22691671e-04 -2.24212756e-01] [-7.52666371e-03 2.62314647e-04 9.99971640e-01 -8.64649604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.625898227 meters Centerline goodness [0,1] 0.9997688152834114 Centerline is valid? [True, True] Translation: X:160.04, Y:-0.22, Z:-0.86 [[ 9.93100661e-01 -1.16979204e-01 8.18187537e-03 1.60042671e+02] [ 1.16977570e-01 9.93134324e-01 6.79630888e-04 -2.22028808e-01] [-8.20520395e-03 2.82154013e-04 9.99966297e-01 -8.62299118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65589822699997 meters Centerline goodness [0,1] 0.9999357629223588 Centerline is valid? [True, True] Translation: X:160.07, Y:-0.20, Z:-0.86 [[ 9.93009099e-01 -1.17659595e-01 9.44186774e-03 1.60069570e+02] [ 1.17657437e-01 9.93053931e-01 7.85587186e-04 -2.03857878e-01] [-9.46871575e-03 3.30810737e-04 9.99955116e-01 -8.62067675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68589822699994 meters Centerline goodness [0,1] 0.9998950483826956 Centerline is valid? [True, True] Translation: X:160.10, Y:-0.20, Z:-0.86 [[ 9.92885209e-01 -1.18719953e-01 9.19430972e-03 1.60097605e+02] [ 1.18717945e-01 9.92927723e-01 7.65853694e-04 -2.04037357e-01] [-9.22020713e-03 3.31124747e-04 9.99957438e-01 -8.62031077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71589822699997 meters Centerline goodness [0,1] 0.9995389290579483 Centerline is valid? [True, True] Translation: X:160.13, Y:-0.20, Z:-0.86 [[ 9.92713586e-01 -1.20160415e-01 9.01169228e-03 1.60125452e+02] [ 1.20158540e-01 9.92754431e-01 7.51165465e-04 -2.04283317e-01] [-9.03665780e-03 3.37139627e-04 9.99959112e-01 -8.62259780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74589822699994 meters Centerline goodness [0,1] 0.9995980027081923 Centerline is valid? [True, True] Translation: X:160.16, Y:-0.20, Z:-0.86 [[ 9.92357454e-01 -1.23077517e-01 8.86608502e-03 1.60155422e+02] [ 1.23075817e-01 9.92396996e-01 7.39195218e-04 -1.95027092e-01] [-8.88965444e-03 3.57654775e-04 9.99960422e-01 -8.63817658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.77589822699997 meters Centerline goodness [0,1] 0.9994745360153016 Centerline is valid? [True, True] Translation: X:160.18, Y:-0.19, Z:-0.86 [[ 9.92195910e-01 -1.24329372e-01 9.45955560e-03 1.60184327e+02] [ 1.24327491e-01 9.92240925e-01 7.88899650e-04 -1.94202588e-01] [-9.48424159e-03 3.93339810e-04 9.99954946e-01 -8.63047851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80589822699994 meters Centerline goodness [0,1] 0.9998305264272852 Centerline is valid? [True, True] Translation: X:160.21, Y:-0.19, Z:-0.86 [[ 9.92021105e-01 -1.25676424e-01 9.97817041e-03 1.60212182e+02] [ 1.25674386e-01 9.92071194e-01 8.33436173e-04 -1.85400983e-01] [-1.00037987e-02 4.27214168e-04 9.99949869e-01 -8.63418120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.835898227 meters Centerline goodness [0,1] 0.9995341647786224 Centerline is valid? [True, True] Translation: X:160.24, Y:-0.18, Z:-0.86 [[ 9.91794904e-01 -1.27414889e-01 1.04073936e-02 1.60240261e+02] [ 1.27412759e-01 9.91849400e-01 8.70214347e-04 -1.84073933e-01] [-1.04334454e-02 4.62960581e-04 9.99945463e-01 -8.64049584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86589822699995 meters Centerline goodness [0,1] 0.9988297738955991 Centerline is valid? [True, True] Translation: X:160.27, Y:-0.18, Z:-0.87 [[ 9.91755791e-01 -1.27758989e-01 9.90410276e-03 1.60268533e+02] [ 1.27757071e-01 9.91805144e-01 8.28697729e-04 -1.84713930e-01] [-9.92881365e-03 4.43453389e-04 9.99950610e-01 -8.65271567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.895898227 meters Centerline goodness [0,1] 0.9989748310563424 Centerline is valid? [True, True] Translation: X:160.30, Y:-0.18, Z:-0.87 [[ 9.91765516e-01 -1.27745743e-01 9.06566383e-03 1.60297189e+02] [ 1.27744125e-01 9.91806867e-01 7.59684061e-04 -1.82349230e-01] [-9.08843404e-03 4.04656839e-04 9.99958617e-01 -8.66976281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92589822699995 meters Centerline goodness [0,1] 0.9990349312913039 Centerline is valid? [True, True] Translation: X:160.33, Y:-0.18, Z:-0.87 [[ 9.91821149e-01 -1.27375507e-01 8.14173137e-03 1.60325915e+02] [ 1.27374179e-01 9.91854501e-01 6.83519274e-04 -1.78306565e-01] [-8.16247652e-03 3.59117476e-04 9.99966622e-01 -8.68927699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.955898227 meters Centerline goodness [0,1] 0.9998737347166397 Centerline is valid? [True, True] Translation: X:160.35, Y:-0.17, Z:-0.87 [[ 9.92142044e-01 -1.24877100e-01 7.73791028e-03 1.60354705e+02] [ 1.24875820e-01 9.92172166e-01 6.50182207e-04 -1.66748006e-01] [-7.75853207e-03 3.21204790e-04 9.99969851e-01 -8.70455636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98589822699995 meters Centerline goodness [0,1] 0.9997485647236307 Centerline is valid? [True, True] Translation: X:160.38, Y:-0.17, Z:-0.87 [[ 9.92311230e-01 -1.23515442e-01 7.89666869e-03 1.60382589e+02] [ 1.23514064e-01 9.92342600e-01 6.63888245e-04 -1.66969546e-01] [-7.91820119e-03 3.16565880e-04 9.99968600e-01 -8.69707700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.015898227 meters Centerline goodness [0,1] 0.9998952287157136 Centerline is valid? [True, True] Translation: X:160.41, Y:-0.16, Z:-0.87 [[ 9.92469280e-01 -1.22219778e-01 8.18868949e-03 1.60410890e+02] [ 1.22218248e-01 9.92503010e-01 6.88862660e-04 -1.60967031e-01] [-8.21149161e-03 3.17132256e-04 9.99966235e-01 -8.69490295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04589822699995 meters Centerline goodness [0,1] 0.9998745609633718 Centerline is valid? [True, True] Translation: X:160.44, Y:-0.16, Z:-0.87 [[ 9.92542407e-01 -1.21594035e-01 8.62905082e-03 1.60439820e+02] [ 1.21592303e-01 9.92579862e-01 7.26967559e-04 -1.56617109e-01] [-8.65341699e-03 3.27680034e-04 9.99962505e-01 -8.68960305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.075898227 meters Centerline goodness [0,1] 0.9998538988144933 Centerline is valid? [True, True] Translation: X:160.47, Y:-0.16, Z:-0.87 [[ 9.92548138e-01 -1.21553920e-01 8.53452595e-03 1.60467856e+02] [ 1.21552218e-01 9.92584777e-01 7.19795014e-04 -1.57536932e-01] [-8.55873444e-03 3.22959358e-04 9.99963321e-01 -8.70245579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.10589822699995 meters Centerline goodness [0,1] 0.9997272002350275 Centerline is valid? [True, True] Translation: X:160.50, Y:-0.15, Z:-0.87 [[ 9.92455694e-01 -1.22324954e-01 8.26448914e-03 1.60496834e+02] [ 1.22323376e-01 9.92490052e-01 6.98038643e-04 -1.54159768e-01] [-8.28781081e-03 3.18167792e-04 9.99965605e-01 -8.71884557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.135898227 meters Centerline goodness [0,1] 0.9998116051243406 Centerline is valid? [True, True] Translation: X:160.53, Y:-0.15, Z:-0.87 [[ 9.92337166e-01 -1.23289841e-01 8.15873001e-03 1.60525069e+02] [ 1.23288329e-01 9.92370652e-01 6.89877941e-04 -1.52297364e-01] [-8.18153916e-03 3.21284672e-04 9.99966479e-01 -8.72907181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16589822699996 meters Centerline goodness [0,1] 0.9997478726757012 Centerline is valid? [True, True] Translation: X:160.55, Y:-0.15, Z:-0.87 [[ 9.92249587e-01 -1.24001334e-01 8.02663654e-03 1.60552584e+02] [ 1.23999889e-01 9.92281999e-01 6.79393581e-04 -1.53448414e-01] [-8.04893266e-03 3.21174040e-04 9.99967555e-01 -8.73208105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.195898227 meters Centerline goodness [0,1] 0.9992677211482133 Centerline is valid? [True, True] Translation: X:160.58, Y:-0.16, Z:-0.87 [[ 9.92153664e-01 -1.24795101e-01 7.56895627e-03 1.60580948e+02] [ 1.24793835e-01 9.92182487e-01 6.41202410e-04 -1.56924780e-01] [-7.58980478e-03 3.08387760e-04 9.99971149e-01 -8.73597850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22589822699996 meters Centerline goodness [0,1] 0.9995420482930891 Centerline is valid? [True, True] Translation: X:160.61, Y:-0.15, Z:-0.88 [[ 9.92173971e-01 -1.24663228e-01 7.06333829e-03 1.60609551e+02] [ 1.24662117e-01 9.92199072e-01 5.99185259e-04 -1.51403855e-01] [-7.08293407e-03 2.86034683e-04 9.99974875e-01 -8.75040661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.255898227 meters Centerline goodness [0,1] 0.9996854092825235 Centerline is valid? [True, True] Translation: X:160.64, Y:-0.15, Z:-0.88 [[ 9.92220654e-01 -1.24297844e-01 6.94404599e-03 1.60638160e+02] [ 1.24296752e-01 9.92244914e-01 5.90183842e-04 -1.46295414e-01] [-6.96355289e-03 2.77529767e-04 9.99975716e-01 -8.75909479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.28589822699996 meters Centerline goodness [0,1] 0.9996854092825235 Centerline is valid? [True, True] Translation: X:160.67, Y:-0.14, Z:-0.88 [[ 9.92197549e-01 -1.24482146e-01 6.94394200e-03 1.60665552e+02] [ 1.24481051e-01 9.92221809e-01 5.91405508e-04 -1.43795050e-01] [-6.96355012e-03 2.77598101e-04 9.99975716e-01 -8.75990894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.315898227 meters Centerline goodness [0,1] 0.999513896227412 Centerline is valid? [True, True] Translation: X:160.69, Y:-0.14, Z:-0.88 [[ 9.92268341e-01 -1.23884626e-01 7.49253250e-03 1.60693935e+02] [ 1.23883323e-01 9.92296585e-01 6.39469285e-04 -1.40551515e-01] [-7.51403482e-03 2.93674699e-04 9.99971726e-01 -8.75678979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.34589822699996 meters Centerline goodness [0,1] 0.9992242698702224 Centerline is valid? [True, True] Translation: X:160.72, Y:-0.14, Z:-0.87 [[ 9.92576708e-01 -1.21262432e-01 9.32212525e-03 1.60722703e+02] [ 1.21260294e-01 9.92620424e-01 7.96371769e-04 -1.37750300e-01] [-9.34990190e-03 3.39943576e-04 9.99956231e-01 -8.72502636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.375898227 meters Centerline goodness [0,1] 0.9992260871384049 Centerline is valid? [True, True] Translation: X:160.75, Y:-0.13, Z:-0.87 [[ 9.92721419e-01 -1.19993641e-01 1.02815635e-02 1.60751442e+02] [ 1.19990959e-01 9.92774595e-01 8.79514271e-04 -1.29904228e-01] [-1.03128112e-02 3.60582015e-04 9.99946757e-01 -8.72132160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.40589822699997 meters Centerline goodness [0,1] 0.9992680580534526 Centerline is valid? [True, True] Translation: X:160.78, Y:-0.12, Z:-0.87 [[ 9.92810722e-01 -1.19224284e-01 1.06037551e-02 1.60779719e+02] [ 1.19221370e-01 9.92867282e-01 9.08780633e-04 -1.24141482e-01] [-1.06364702e-02 3.61947051e-04 9.99943366e-01 -8.72336574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43589822699994 meters Centerline goodness [0,1] 0.9994867737313688 Centerline is valid? [True, True] Translation: X:160.81, Y:-0.11, Z:-0.87 [[ 9.92914175e-01 -1.18394009e-01 1.02127688e-02 1.60807871e+02] [ 1.18391245e-01 9.92966638e-01 8.76949613e-04 -1.13595963e-01] [-1.02447643e-02 3.38366710e-04 9.99947464e-01 -8.73481183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.46589822699997 meters Centerline goodness [0,1] 0.9996405235668521 Centerline is valid? [True, True] Translation: X:160.84, Y:-0.11, Z:-0.87 [[ 9.92937676e-01 -1.18189908e-01 1.02916182e-02 1.60836555e+02] [ 1.18187072e-01 9.92990953e-01 8.85437554e-04 -1.07934385e-01] [-1.03241335e-02 3.37151916e-04 9.99946648e-01 -8.73991318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49589822699994 meters Centerline goodness [0,1] 0.9996027182435965 Centerline is valid? [True, True] Translation: X:160.86, Y:-0.10, Z:-0.87 [[ 9.93013939e-01 -1.17555072e-01 1.02040597e-02 1.60863846e+02] [ 1.17552242e-01 9.93066311e-01 8.78817952e-04 -1.04857912e-01] [-1.02366174e-02 3.26831618e-04 9.99947551e-01 -8.73477666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.52589822699997 meters Centerline goodness [0,1] 0.9997469582270206 Centerline is valid? [True, True] Translation: X:160.89, Y:-0.09, Z:-0.87 [[ 9.93274592e-01 -1.15339334e-01 1.01204257e-02 1.60891952e+02] [ 1.15336427e-01 9.93326103e-01 8.72356528e-04 -9.03112808e-02] [-1.01535000e-02 3.00764158e-04 9.99948407e-01 -8.74141134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55589822699994 meters Centerline goodness [0,1] 0.9995799378307989 Centerline is valid? [True, True] Translation: X:160.92, Y:-0.08, Z:-0.87 [[ 9.93332734e-01 -1.14784518e-01 1.07048992e-02 1.60920448e+02] [ 1.14781218e-01 9.93390365e-01 9.24245423e-04 -8.21827971e-02] [-1.07402328e-02 3.10638133e-04 9.99942274e-01 -8.73901281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.585898227 meters Centerline goodness [0,1] 0.9997049090487532 Centerline is valid? [True, True] Translation: X:160.95, Y:-0.08, Z:-0.87 [[ 9.93312244e-01 -1.14915687e-01 1.11879429e-02 1.60948253e+02] [ 1.14912079e-01 9.93375196e-01 9.66927795e-04 -7.71844416e-02] [-1.12249401e-02 3.25168561e-04 9.99936946e-01 -8.73106917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61589822699995 meters Centerline goodness [0,1] 0.9994969608048627 Centerline is valid? [True, True] Translation: X:160.98, Y:-0.07, Z:-0.87 [[ 9.93093409e-01 -1.16744523e-01 1.16703526e-02 1.60977019e+02] [ 1.16740705e-01 9.93161914e-01 1.01021240e-03 -7.27650981e-02] [-1.17084865e-02 3.59169908e-04 9.99931389e-01 -8.73489609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.645898227 meters Centerline goodness [0,1] 0.9990780899700379 Centerline is valid? [True, True] Translation: X:161.01, Y:-0.08, Z:-0.87 [[ 9.92228772e-01 -1.23828503e-01 1.21887686e-02 1.61006890e+02] [ 1.23824866e-01 9.92303526e-01 1.05549068e-03 -7.83288551e-02] [-1.22256579e-02 4.61984415e-04 9.99925157e-01 -8.73518552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67589822699995 meters Centerline goodness [0,1] 0.9982760795526217 Centerline is valid? [True, True] Translation: X:161.04, Y:-0.08, Z:-0.87 [[ 9.91621836e-01 -1.28641543e-01 1.17255509e-02 1.61038025e+02] [ 1.28638514e-01 9.91691031e-01 1.01535248e-03 -8.25596269e-02] [-1.17587402e-02 5.01511754e-04 9.99930738e-01 -8.74012218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.705898227 meters Centerline goodness [0,1] 0.9923228181742114 Centerline is valid? [True, True] Translation: X:161.07, Y:-0.09, Z:-0.88 [[ 9.91039576e-01 -1.33108782e-01 1.10730256e-02 1.61068882e+02] [ 1.33106357e-01 9.91101296e-01 9.58941686e-04 -9.20839726e-02] [-1.11021336e-02 5.23540940e-04 9.99938232e-01 -8.75168332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73589822699995 meters Centerline goodness [0,1] 0.9659798754192621 Centerline is valid? [True, True] Translation: X:161.10, Y:-0.10, Z:-0.88 [[ 9.90131673e-01 -1.39810195e-01 9.61139879e-03 1.61100275e+02] [ 1.39808682e-01 9.90178186e-01 8.32411582e-04 -1.02905981e-01] [-9.63337704e-03 5.19559925e-04 9.99953463e-01 -8.77718010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.765898227 meters Centerline goodness [0,1] 0.9884949075820445 Centerline is valid? [True, True] Translation: X:161.13, Y:-0.10, Z:-0.88 [[ 9.89971947e-01 -1.40945271e-01 9.48551098e-03 1.61129293e+02] [ 1.40943847e-01 9.90017251e-01 8.21742679e-04 -9.85988196e-02] [-9.50664024e-03 5.23422212e-04 9.99954674e-01 -8.78644817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79589822699995 meters Centerline goodness [0,1] 0.9557104223008113 Centerline is valid? [True, True] Translation: X:161.16, Y:-0.11, Z:-0.88 [[ 9.89992851e-01 -1.40788190e-01 9.63540887e-03 1.61158156e+02] [ 1.40786709e-01 9.90039598e-01 8.35211425e-04 -1.05512932e-01] [-9.65702422e-03 5.29684163e-04 9.99953230e-01 -8.77314940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.825898227 meters Centerline goodness [0,1] 0.9915402567094516 Centerline is valid? [True, True] Translation: X:161.19, Y:-0.10, Z:-0.88 [[ 9.90477280e-01 -1.37310821e-01 1.00247450e-02 1.61188142e+02] [ 1.37309039e-01 9.90527876e-01 8.69152344e-04 -1.00057716e-01] [-1.00491334e-02 5.15612446e-04 9.99949373e-01 -8.75702872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85589822699995 meters Centerline goodness [0,1] 0.9954119791339325 Centerline is valid? [True, True] Translation: X:161.22, Y:-0.10, Z:-0.87 [[ 9.90834611e-01 -1.34657672e-01 1.06810441e-02 1.61217997e+02] [ 1.34655493e-01 9.90892043e-01 9.26149579e-04 -9.72674387e-02] [-1.07084748e-02 5.20600205e-04 9.99942527e-01 -8.74253749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.885898227 meters Centerline goodness [0,1] 0.997793515035619 Centerline is valid? [True, True] Translation: X:161.25, Y:-0.09, Z:-0.87 [[ 9.91211605e-01 -1.31769042e-01 1.16822207e-02 1.61247096e+02] [ 1.31766232e-01 9.91280300e-01 1.01319952e-03 -9.10504073e-02] [-1.17138636e-02 5.35027080e-04 9.99931247e-01 -8.73247015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91589822699996 meters Centerline goodness [0,1] 0.9962591431556949 Centerline is valid? [True, True] Translation: X:161.28, Y:-0.09, Z:-0.87 [[ 9.91554169e-01 -1.29060842e-01 1.27917364e-02 1.61276348e+02] [ 1.29057245e-01 9.91636524e-01 1.10972840e-03 -9.26746838e-02] [-1.28279755e-02 5.50510424e-04 9.99917567e-01 -8.71037514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.945898227 meters Centerline goodness [0,1] 0.9984771679496005 Centerline is valid? [True, True] Translation: X:161.31, Y:-0.09, Z:-0.87 [[ 9.91879867e-01 -1.26373612e-01 1.42842778e-02 1.61305525e+02] [ 1.26368844e-01 9.91982550e-01 1.23954630e-03 -8.63182032e-02] [-1.43264002e-02 5.75606652e-04 9.99897206e-01 -8.70552668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97589822699996 meters Centerline goodness [0,1] 0.998518178402972 Centerline is valid? [True, True] Translation: X:161.33, Y:-0.09, Z:-0.87 [[ 9.91819932e-01 -1.26832895e-01 1.43749369e-02 1.61334380e+02] [ 1.26828086e-01 9.91923926e-01 1.24932606e-03 -8.50231072e-02] [-1.44172995e-02 5.84039250e-04 9.99895895e-01 -8.71517317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.005898227 meters Centerline goodness [0,1] 0.9988197854538557 Centerline is valid? [True, True] Translation: X:161.36, Y:-0.08, Z:-0.87 [[ 9.91618528e-01 -1.28438262e-01 1.40109533e-02 1.61363665e+02] [ 1.28433842e-01 9.91717330e-01 1.21854879e-03 -8.41801766e-02] [-1.40514135e-02 5.91145014e-04 9.99901099e-01 -8.73150192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03589822699996 meters Centerline goodness [0,1] 0.9949468475457615 Centerline is valid? [True, True] Translation: X:161.39, Y:-0.10, Z:-0.87 [[ 9.91104985e-01 -1.32447853e-01 1.29798152e-02 1.61394355e+02] [ 1.32444401e-01 9.91189793e-01 1.12898018e-03 -9.61819766e-02] [-1.30149914e-02 6.00165971e-04 9.99915121e-01 -8.74096047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.065898227 meters Centerline goodness [0,1] 0.9932459111785366 Centerline is valid? [True, True] Translation: X:161.42, Y:-0.10, Z:-0.87 [[ 9.90898662e-01 -1.33989994e-01 1.29043610e-02 1.61424314e+02] [ 1.33986709e-01 9.90982493e-01 1.12264821e-03 -9.65060198e-02] [-1.29384194e-02 6.16582246e-04 9.99916105e-01 -8.74727167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09589822699996 meters Centerline goodness [0,1] 0.9852679599054136 Centerline is valid? [True, True] Translation: X:161.45, Y:-0.10, Z:-0.87 [[ 9.90721869e-01 -1.35272285e-01 1.30990965e-02 1.61453405e+02] [ 1.35269007e-01 9.90808254e-01 1.14000368e-03 -9.80673089e-02] [-1.31329038e-02 6.42475204e-04 9.99913553e-01 -8.74776253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.125898227 meters Centerline goodness [0,1] 0.9720573482695202 Centerline is valid? [True, True] Translation: X:161.48, Y:-0.10, Z:-0.88 [[ 9.90552418e-01 -1.36519683e-01 1.29724252e-02 1.61482280e+02] [ 1.36516569e-01 9.90637144e-01 1.12941483e-03 -1.00341213e-01] [-1.30051536e-02 6.52206389e-04 9.99915217e-01 -8.75601756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15589822699997 meters Centerline goodness [0,1] 0.9877930715157638 Centerline is valid? [True, True] Translation: X:161.51, Y:-0.10, Z:-0.88 [[ 9.90352232e-01 -1.38089057e-01 1.15701489e-02 1.61511969e+02] [ 1.38086683e-01 9.90419635e-01 1.00761511e-03 -9.62704752e-02] [-1.15984432e-02 5.99789603e-04 9.99932556e-01 -8.79502889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18589822699994 meters Centerline goodness [0,1] 0.987289735307689 Centerline is valid? [True, True] Translation: X:161.54, Y:-0.09, Z:-0.88 [[ 9.90360622e-01 -1.38091936e-01 1.07914798e-02 1.61540749e+02] [ 1.38089858e-01 9.90419258e-01 9.41031272e-04 -9.48691705e-02] [-1.08180383e-02 5.58233601e-04 9.99941327e-01 -8.81038775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21589822699997 meters Centerline goodness [0,1] 0.9877874769179117 Centerline is valid? [True, True] Translation: X:161.57, Y:-0.09, Z:-0.88 [[ 9.90416533e-01 -1.37715894e-01 1.04605485e-02 1.61569117e+02] [ 1.37713904e-01 9.90471628e-01 9.13803498e-04 -9.17960185e-02] [-1.04867218e-02 5.35516878e-04 9.99944869e-01 -8.82552378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24589822699994 meters Centerline goodness [0,1] 0.9892526868282929 Centerline is valid? [True, True] Translation: X:161.60, Y:-0.09, Z:-0.88 [[ 9.90517400e-01 -1.36962117e-01 1.08008753e-02 1.61598245e+02] [ 1.36959932e-01 9.90576137e-01 9.45182640e-04 -8.90225299e-02] [-1.08285435e-02 5.43067297e-04 9.99941222e-01 -8.82648140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.27589822699997 meters Centerline goodness [0,1] 0.9886351766352602 Centerline is valid? [True, True] Translation: X:161.63, Y:-0.09, Z:-0.88 [[ 9.90574151e-01 -1.36557900e-01 1.07141088e-02 1.61626231e+02] [ 1.36555717e-01 9.90631947e-01 9.38459381e-04 -8.76167177e-02] [-1.07418925e-02 5.33459207e-04 9.99942162e-01 -8.83127698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30589822699994 meters Centerline goodness [0,1] 0.9842365353739653 Centerline is valid? [True, True] Translation: X:161.65, Y:-0.09, Z:-0.88 [[ 9.90526126e-01 -1.36957046e-01 1.00379804e-02 1.61654075e+02] [ 1.36955145e-01 9.90576859e-01 8.79788513e-04 -8.59581312e-02] [-1.00638844e-02 5.03299554e-04 9.99949231e-01 -8.84203118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.335898227 meters Centerline goodness [0,1] 0.9880952380952381 Centerline is valid? [True, True] Translation: X:161.68, Y:-0.08, Z:-0.88 [[ 9.90423774e-01 -1.37728795e-01 9.56697651e-03 1.61682631e+02] [ 1.37727093e-01 9.90469860e-01 8.39704399e-04 -8.25722473e-02] [-9.59145336e-03 4.85968663e-04 9.99953883e-01 -8.84913190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36589822699995 meters Centerline goodness [0,1] 0.979195010151328 Centerline is valid? [True, True] Translation: X:161.71, Y:-0.08, Z:-0.89 [[ 9.90273830e-01 -1.38812739e-01 9.42153039e-03 1.61710500e+02] [ 1.38811128e-01 9.90318527e-01 8.27937676e-04 -8.18223008e-02] [-9.44524439e-03 4.87928246e-04 9.99955274e-01 -8.85298848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.395898227 meters Centerline goodness [0,1] 0.955163643243016 Centerline is valid? [True, True] Translation: X:161.74, Y:-0.08, Z:-0.88 [[ 9.89995930e-01 -1.40723793e-01 1.02407581e-02 1.61739358e+02] [ 1.40721988e-01 9.90048742e-01 9.00227542e-04 -8.11923007e-02] [-1.02655331e-02 5.49878237e-04 9.99947157e-01 -8.83444219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42589822699995 meters Centerline goodness [0,1] 0.9282106326556383 Centerline is valid? [True, False] Translation: X:161.74, Y:-0.08, Z:-0.88 [[ 9.90531437e-01 -1.36927531e-01 9.91578025e-03 1.61738784e+02] [ 1.36878094e-01 9.90572594e-01 5.50673967e-03 -8.41284745e-02] [-1.05763244e-02 -4.09734566e-03 9.99935674e-01 -8.83533688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.455898227 meters Centerline goodness [0,1] 0.9108599078148789 Centerline is valid? [False, False] Translation: X:161.74, Y:-0.09, Z:-0.88 [[ 9.91059897e-01 -1.33082512e-01 9.45120781e-03 1.61738793e+02] [ 1.32987288e-01 9.91066502e-01 1.00782106e-02 -8.66668879e-02] [-1.07080090e-02 -8.73121988e-03 9.99904548e-01 -8.83882926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48589822699995 meters Centerline goodness [0,1] 0.8926476095368868 Centerline is valid? [False, False] Translation: X:161.74, Y:-0.09, Z:-0.88 [[ 9.91040798e-01 -1.33225027e-01 9.44614869e-03 1.61738934e+02] [ 1.33133381e-01 9.91050194e-01 9.74757899e-03 -8.50287428e-02] [-1.06602290e-02 -8.40265074e-03 9.99907873e-01 -8.84234163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.515898227 meters Centerline goodness [0,1] 0.9084023916920172 Centerline is valid? [False, False] Translation: X:161.72, Y:-0.08, Z:-0.89 [[ 9.91228011e-01 -1.31907605e-01 8.21056430e-03 1.61720545e+02] [ 1.31923317e-01 9.91258936e-01 -1.40003193e-03 -7.89792275e-02] [-7.95412037e-03 2.47091575e-03 9.99965313e-01 -8.85121479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54589822699995 meters Centerline goodness [0,1] 0.9086591235328886 Centerline is valid? [False, False] Translation: X:161.72, Y:-0.08, Z:-0.89 [[ 9.91752028e-01 -1.27938479e-01 7.72398674e-03 1.61720645e+02] [ 1.27919290e-01 9.91780249e-01 2.93129287e-03 -7.99277315e-02] [-8.03552265e-03 -1.91906875e-03 9.99965873e-01 -8.85557361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.575898227 meters Centerline goodness [0,1] 0.9092156366092536 Centerline is valid? [False, False] Translation: X:161.72, Y:-0.08, Z:-0.89 [[ 9.92256203e-01 -1.23992948e-01 7.30596820e-03 1.61720492e+02] [ 1.23940455e-01 9.92263187e-01 7.24783110e-03 -8.07424705e-02] [-8.14812324e-03 -6.28620034e-03 9.99947044e-01 -8.85829406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.60589822699995 meters Centerline goodness [0,1] 0.9118122807386089 Centerline is valid? [False, False] Translation: X:161.72, Y:-0.08, Z:-0.89 [[ 9.92704693e-01 -1.20377822e-01 6.82440263e-03 1.61720989e+02] [ 1.20299504e-01 9.92677636e-01 1.09151860e-02 -7.87269842e-02] [-8.08837818e-03 -1.00145841e-02 9.99917140e-01 -8.86919959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.635898227 meters Centerline goodness [0,1] 0.9822557275151719 Centerline is valid? [False, True] Translation: X:161.72, Y:-0.08, Z:-0.89 [[ 9.92668808e-01 -1.20676722e-01 6.76504801e-03 1.61721332e+02] [ 1.20604276e-01 9.92647705e-01 1.02538976e-02 -7.55967239e-02] [-7.95271613e-03 -9.36283061e-03 9.99924543e-01 -8.87394603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66589822699996 meters Centerline goodness [0,1] 0.8956618046558281 Centerline is valid? [True, False] Translation: X:161.72, Y:-0.07, Z:-0.89 [[ 9.92634567e-01 -1.20958648e-01 6.75443709e-03 1.61721473e+02] [ 1.20891471e-01 9.92619316e-01 9.59930277e-03 -7.24173530e-02] [-7.86570341e-03 -8.71204591e-03 9.99931113e-01 -8.87788996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.695898227 meters Centerline goodness [0,1] 0.9807264795939767 Centerline is valid? [False, True] Translation: X:161.72, Y:-0.07, Z:-0.89 [[ 9.92596242e-01 -1.21272665e-01 6.75582680e-03 1.61721350e+02] [ 1.21210970e-01 9.92586897e-01 8.89678492e-03 -6.90609467e-02] [-7.78468198e-03 -8.01203495e-03 9.99937601e-01 -8.87810027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72589822699996 meters Centerline goodness [0,1] 0.9738995751093622 Centerline is valid? [True, True] Translation: X:161.75, Y:-0.06, Z:-0.89 [[ 9.92568659e-01 -1.21462487e-01 7.37032829e-03 1.61748728e+02] [ 1.21462301e-01 9.92595932e-01 4.74541981e-04 -5.63315006e-02] [-7.37339693e-03 4.24201534e-04 9.99972726e-01 -8.88023175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.755898227 meters Centerline goodness [0,1] 0.9489226362238558 Centerline is valid? [True, False] Translation: X:161.75, Y:-0.06, Z:-0.89 [[ 9.93040382e-01 -1.17562998e-01 7.05279645e-03 1.61748335e+02] [ 1.17532623e-01 9.93058468e-01 4.57832200e-03 -5.60153192e-02] [-7.54208050e-03 -3.71752496e-03 9.99964648e-01 -8.88367547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.78589822699996 meters Centerline goodness [0,1] 0.9844759039946149 Centerline is valid? [False, True] Translation: X:161.75, Y:-0.06, Z:-0.89 [[ 9.93498878e-01 -1.13645389e-01 6.68611430e-03 1.61747996e+02] [ 1.13586236e-01 9.93490508e-01 8.64739686e-03 -5.55249595e-02] [-7.62532787e-03 -7.83172852e-03 9.99940257e-01 -8.88494597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.815898227 meters Centerline goodness [0,1] 0.8954323410296021 Centerline is valid? [True, False] Translation: X:161.76, Y:-0.04, Z:-0.89 [[ 9.93904616e-01 -1.09876108e-01 8.99195447e-03 1.61764091e+02] [ 1.09873802e-01 9.93945261e-01 7.51586210e-04 -4.36438590e-02] [-9.02009190e-03 2.40975222e-04 9.99959289e-01 -8.85362748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.84589822699996 meters Centerline goodness [0,1] 0.9974459642012834 Centerline is valid? [False, True] Translation: X:161.76, Y:-0.04, Z:-0.89 [[ 9.93858769e-01 -1.10276738e-01 9.15356039e-03 1.61763174e+02] [ 1.10285641e-01 9.93899821e-01 -4.72075569e-04 -3.74547015e-02] [-9.04566308e-03 1.47868272e-03 9.99957994e-01 -8.85023749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.875898227 meters Centerline goodness [0,1] 0.994336892002433 Centerline is valid? [True, True] Translation: X:161.79, Y:-0.03, Z:-0.88 [[ 9.93998423e-01 -1.08957426e-01 9.76802715e-03 1.61790977e+02] [ 1.08957092e-01 9.94046291e-01 5.67964079e-04 -3.38274503e-02] [-9.77175507e-03 4.99740432e-04 9.99952130e-01 -8.83563629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.90589822699997 meters Centerline goodness [0,1] 0.9966251624533602 Centerline is valid? [True, True] Translation: X:161.82, Y:-0.02, Z:-0.88 [[ 9.94055742e-01 -1.08333874e-01 1.08145045e-02 1.61819606e+02] [ 1.08333412e-01 9.94114417e-01 6.30249686e-04 -2.35740989e-02] [-1.08191322e-02 5.45068850e-04 9.99941323e-01 -8.82041162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93589822699994 meters Centerline goodness [0,1] 0.9869339800142158 Centerline is valid? [True, True] Translation: X:161.85, Y:-0.01, Z:-0.88 [[ 9.93942393e-01 -1.09240024e-01 1.20472498e-02 1.61847774e+02] [ 1.09239506e-01 9.94015209e-01 7.03030154e-04 -1.48079196e-02] [-1.20519485e-02 6.17264134e-04 9.99927182e-01 -8.80595453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.96589822699997 meters Centerline goodness [0,1] 0.9949280070421059 Centerline is valid? [True, True] Translation: X:161.88, Y:-0.00, Z:-0.88 [[ 9.93761000e-01 -1.10857619e-01 1.22337027e-02 1.61877399e+02] [ 1.10857204e-01 9.93836088e-01 7.14155339e-04 -4.15740989e-03] [-1.22374648e-02 6.46494349e-04 9.99924910e-01 -8.81573951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99589822699994 meters Centerline goodness [0,1] 0.9758339790170251 Centerline is valid? [True, True] Translation: X:161.91, Y:-0.00, Z:-0.88 [[ 9.93529788e-01 -1.12939662e-01 1.19663250e-02 1.61906424e+02] [ 1.12939413e-01 9.93601631e-01 6.98670002e-04 -4.10945911e-03] [-1.19686676e-02 6.57320264e-04 9.99928157e-01 -8.81866023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.02589822699997 meters Centerline goodness [0,1] 0.9528592864288096 Centerline is valid? [True, True] Translation: X:161.94, Y:-0.00, Z:-0.88 [[ 9.93284210e-01 -1.15148808e-01 1.12796446e-02 1.61935461e+02] [ 1.15148727e-01 9.93348044e-01 6.58787934e-04 -1.50002110e-03] [-1.12804715e-02 6.44473061e-04 9.99936166e-01 -8.82803870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05589822699994 meters Centerline goodness [0,1] 0.9063192209637648 Centerline is valid? [True, False] Translation: X:161.94, Y:0.00, Z:-0.88 [[ 9.93592417e-01 -1.12477206e-01 1.10899569e-02 1.61935197e+02] [ 1.12445722e-01 9.93651967e-01 3.42474054e-03 3.41995585e-03] [-1.14047628e-02 -2.15577802e-03 9.99932640e-01 -8.83885810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.085898227 meters Centerline goodness [0,1] 0.9748207507380852 Centerline is valid? [False, True] Translation: X:161.94, Y:0.01, Z:-0.88 [[ 9.93542094e-01 -1.12919061e-01 1.11082860e-02 1.61935183e+02] [ 1.12898182e-01 9.93603440e-01 2.49105208e-03 7.87358814e-03] [-1.13185185e-02 -1.22085981e-03 9.99935198e-01 -8.84185983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11589822699995 meters Centerline goodness [0,1] 0.9604026845637584 Centerline is valid? [True, True] Translation: X:161.96, Y:0.01, Z:-0.89 [[ 9.93464070e-01 -1.13683522e-01 1.02566482e-02 1.61964617e+02] [ 1.13684234e-01 9.93516799e-01 5.15468611e-04 1.20668555e-02] [-1.02487526e-02 6.53919646e-04 9.99947266e-01 -8.85864400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.145898227 meters Centerline goodness [0,1] 0.9708490171476369 Centerline is valid? [True, True] Translation: X:161.99, Y:0.02, Z:-0.89 [[ 9.93431805e-01 -1.14105630e-01 8.55297199e-03 1.61994851e+02] [ 1.14106140e-01 9.93468472e-01 4.29885985e-04 2.28262481e-02] [-8.54616042e-03 5.48884211e-04 9.99963330e-01 -8.88819544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17589822699995 meters Centerline goodness [0,1] 0.9708490171476369 Centerline is valid? [True, True] Translation: X:162.02, Y:0.02, Z:-0.89 [[ 9.93431805e-01 -1.14105630e-01 8.55297199e-03 1.62024875e+02] [ 1.14106140e-01 9.93468472e-01 4.29885985e-04 2.43352993e-02] [-8.54616042e-03 5.48884211e-04 9.99963330e-01 -8.88944433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.205898227 meters Centerline goodness [0,1] 0.9611852474519281 Centerline is valid? [True, True] Translation: X:162.05, Y:0.03, Z:-0.89 [[ 9.93459898e-01 -1.13849959e-01 8.69582035e-03 1.62054721e+02] [ 1.13850477e-01 9.93497800e-01 4.37065771e-04 2.82323664e-02] [-8.68903830e-03 5.55815978e-04 9.99962095e-01 -8.89144780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23589822699995 meters Centerline goodness [0,1] 0.975473240676687 Centerline is valid? [True, True] Translation: X:162.09, Y:0.04, Z:-0.89 [[ 9.93498747e-01 -1.13484855e-01 9.02372113e-03 1.62085973e+02] [ 1.13485399e-01 9.93539561e-01 4.53436718e-04 3.61816117e-02] [-9.01688213e-03 5.73571781e-04 9.99959183e-01 -8.89591883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.265898227 meters Centerline goodness [0,1] 0.9421497963020996 Centerline is valid? [True, False] Translation: X:162.09, Y:0.04, Z:-0.89 [[ 9.93935980e-01 -1.09609392e-01 8.77776012e-03 1.62085476e+02] [ 1.09571447e-01 9.93967837e-01 4.69442196e-03 3.56769083e-02] [-9.23936397e-03 -3.70416301e-03 9.99950455e-01 -8.89962064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29589822699995 meters Centerline goodness [0,1] 0.9559265442404007 Centerline is valid? [False, True] Translation: X:162.09, Y:0.04, Z:-0.89 [[ 9.94337148e-01 -1.05936504e-01 8.43172680e-03 1.62085149e+02] [ 1.05864113e-01 9.94343294e-01 8.61415684e-03 3.64237176e-02] [-9.29658466e-03 -7.67275887e-03 9.99927349e-01 -8.90001490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.325898227 meters Centerline goodness [0,1] 0.9618133935289691 Centerline is valid? [True, True] Translation: X:162.12, Y:0.04, Z:-0.89 [[ 9.94341721e-01 -1.05934582e-01 7.89977196e-03 1.62116118e+02] [ 1.05935261e-01 9.94372973e-01 3.33597442e-04 4.24641542e-02] [-7.89065923e-03 5.05154551e-04 9.99968741e-01 -8.90525032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35589822699995 meters Centerline goodness [0,1] 0.9585881860075408 Centerline is valid? [True, True] Translation: X:162.15, Y:0.04, Z:-0.89 [[ 9.94365911e-01 -1.05767278e-01 7.05111031e-03 1.62146189e+02] [ 1.05767816e-01 9.94390809e-01 2.97563369e-04 4.26655477e-02] [-7.04303175e-03 4.49893668e-04 9.99975096e-01 -8.92386051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.385898227 meters Centerline goodness [0,1] 0.9692588934882646 Centerline is valid? [True, True] Translation: X:162.18, Y:0.04, Z:-0.89 [[ 9.94439454e-01 -1.05139564e-01 5.98703392e-03 1.62176741e+02] [ 1.05139941e-01 9.94457404e-01 2.52516952e-04 4.40208280e-02] [-5.98039973e-03 3.78363576e-04 9.99982046e-01 -8.93945290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41589822699996 meters Centerline goodness [0,1] 0.9962554830426875 Centerline is valid? [True, True] Translation: X:162.21, Y:0.06, Z:-0.90 [[ 9.94699960e-01 -1.02679440e-01 5.37793632e-03 1.62207065e+02] [ 1.02679709e-01 9.94714444e-01 2.26813720e-04 5.63560755e-02] [-5.37280005e-03 3.26593340e-04 9.99985513e-01 -8.95772957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.445898227 meters Centerline goodness [0,1] 0.9881960751425696 Centerline is valid? [True, True] Translation: X:162.24, Y:0.05, Z:-0.90 [[ 9.94916022e-01 -1.00567058e-01 5.32683396e-03 1.62236665e+02] [ 1.00567292e-01 9.94930233e-01 2.24569243e-04 5.10527179e-02] [-5.32241242e-03 3.12277727e-04 9.99985787e-01 -8.95434699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47589822699996 meters Centerline goodness [0,1] 0.9950405959655143 Centerline is valid? [True, True] Translation: X:162.27, Y:0.06, Z:-0.89 [[ 9.95148323e-01 -9.82226254e-02 5.66837771e-03 1.62267235e+02] [ 9.82228537e-02 9.95164416e-01 2.38781808e-04 5.61115342e-02] [-5.66442157e-03 3.19140918e-04 9.99983906e-01 -8.94937952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.505898227 meters Centerline goodness [0,1] 0.9972667904608901 Centerline is valid? [True, True] Translation: X:162.30, Y:0.06, Z:-0.89 [[ 9.95601060e-01 -9.34151804e-02 7.22036609e-03 1.62296234e+02] [ 9.34154248e-02 9.95627172e-01 3.04137691e-04 6.17816435e-02] [-7.21720374e-03 3.71693758e-04 9.99973887e-01 -8.92157483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53589822699996 meters Centerline goodness [0,1] 0.9981165243596183 Centerline is valid? [True, True] Translation: X:162.33, Y:0.07, Z:-0.89 [[ 9.95836625e-01 -9.08384281e-02 7.60234716e-03 1.62326786e+02] [ 9.08386243e-02 9.95865574e-01 3.20206054e-04 6.59758317e-02] [-7.60000284e-03 3.71713841e-04 9.99971050e-01 -8.91096346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.565898227 meters Centerline goodness [0,1] 0.9988477331769043 Centerline is valid? [True, True] Translation: X:162.36, Y:0.08, Z:-0.89 [[ 9.96068983e-01 -8.82502315e-02 7.64703053e-03 1.62357281e+02] [ 8.82503548e-02 9.96098274e-01 3.21957953e-04 7.71340356e-02] [-7.64560678e-03 3.54160827e-04 9.99970709e-01 -8.91795213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59589822699996 meters Centerline goodness [0,1] 0.9990552768038965 Centerline is valid? [True, True] Translation: X:162.39, Y:0.08, Z:-0.89 [[ 9.96396591e-01 -8.46023216e-02 6.02331156e-03 1.62387314e+02] [ 8.46023317e-02 9.96414764e-01 2.53574241e-04 7.62566063e-02] [-6.02316954e-03 2.56925694e-04 9.99981828e-01 -8.93928274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.625898227 meters Centerline goodness [0,1] 0.9997012249775918 Centerline is valid? [True, True] Translation: X:162.42, Y:0.09, Z:-0.90 [[ 9.96462134e-01 -8.38558484e-02 5.60471451e-03 1.62419469e+02] [ 8.38558457e-02 9.96477868e-01 2.35903186e-04 8.72992436e-02] [-5.60475583e-03 2.34919483e-04 9.99984266e-01 -8.95259608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65589822699997 meters Centerline goodness [0,1] 0.9994544119190012 Centerline is valid? [True, True] Translation: X:162.45, Y:0.09, Z:-0.90 [[ 9.96471747e-01 -8.37271507e-02 5.81561792e-03 1.62450421e+02] [ 8.37271473e-02 9.96488688e-01 2.44472423e-04 8.55568262e-02] [-5.81566645e-03 2.43315236e-04 9.99983059e-01 -8.95087443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68589822699994 meters Centerline goodness [0,1] 0.999415765972541 Centerline is valid? [True, True] Translation: X:162.48, Y:0.08, Z:-0.89 [[ 9.96440852e-01 -8.40498111e-02 6.42316060e-03 1.62481222e+02] [ 8.40498151e-02 9.96461517e-01 2.69801267e-04 8.31939999e-02] [-6.42310910e-03 2.71024456e-04 9.99979335e-01 -8.93947192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71589822699997 meters Centerline goodness [0,1] 0.9991624439884417 Centerline is valid? [True, True] Translation: X:162.51, Y:0.08, Z:-0.89 [[ 9.96306469e-01 -8.54482410e-02 8.48636632e-03 1.62512226e+02] [ 8.54483000e-02 9.96342542e-01 3.56293253e-04 8.49597676e-02] [-8.48577242e-03 3.70168303e-04 9.99963927e-01 -8.90973779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74589822699994 meters Centerline goodness [0,1] 0.9985782089614653 Centerline is valid? [True, True] Translation: X:162.54, Y:0.08, Z:-0.89 [[ 9.96217797e-01 -8.64577949e-02 8.66892727e-03 1.62543670e+02] [ 8.64578963e-02 9.96255439e-01 3.63762735e-04 8.05529949e-02] [-8.66791607e-03 3.87110305e-04 9.99962358e-01 -8.90107292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.77589822699997 meters Centerline goodness [0,1] 0.9991599991599992 Centerline is valid? [True, True] Translation: X:162.58, Y:0.09, Z:-0.89 [[ 9.96140380e-01 -8.73640687e-02 8.47714874e-03 1.62575543e+02] [ 8.73642012e-02 9.96176375e-01 3.55388515e-04 8.82600120e-02] [-8.47578349e-03 3.86582477e-04 9.99964005e-01 -8.91500081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80589822699994 meters Centerline goodness [0,1] 0.9991778222831242 Centerline is valid? [True, True] Translation: X:162.61, Y:0.09, Z:-0.89 [[ 9.96063740e-01 -8.82519392e-02 8.28384023e-03 1.62607588e+02] [ 8.82520994e-02 9.96098111e-01 3.46919710e-04 8.97390363e-02] [-8.28213394e-03 3.85512148e-04 9.99965628e-01 -8.92141819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.835898227 meters Centerline goodness [0,1] 0.9991118817533992 Centerline is valid? [True, True] Translation: X:162.64, Y:0.09, Z:-0.89 [[ 9.95913037e-01 -8.99680010e-02 7.93611483e-03 1.62638102e+02] [ 8.99682040e-02 9.95944583e-01 3.32136906e-04 9.48802837e-02] [-7.93381227e-03 3.83218523e-04 9.99968453e-01 -8.93314459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86589822699995 meters Centerline goodness [0,1] 0.9981794211814928 Centerline is valid? [True, True] Translation: X:162.67, Y:0.09, Z:-0.89 [[ 9.95819679e-01 -9.10250482e-02 7.58994696e-03 1.62668979e+02] [ 9.10252670e-02 9.95848533e-01 3.17334367e-04 8.96152349e-02] [-7.58732292e-03 3.74869140e-04 9.99971146e-01 -8.94456763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.895898227 meters Centerline goodness [0,1] 0.9970496537004876 Centerline is valid? [True, True] Translation: X:162.70, Y:0.09, Z:-0.90 [[ 9.95449062e-01 -9.50566612e-02 6.73772869e-03 1.62699476e+02] [ 9.50569277e-02 9.95471798e-01 2.81404869e-04 8.76141747e-02] [-6.73396830e-03 3.60343576e-04 9.99977262e-01 -8.97469053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92589822699995 meters Centerline goodness [0,1] 0.9951705022677642 Centerline is valid? [True, True] Translation: X:162.73, Y:0.09, Z:-0.90 [[ 9.95198707e-01 -9.76908175e-02 6.00311567e-03 1.62730087e+02] [ 9.76910769e-02 9.95216756e-01 2.50695752e-04 8.67792279e-02] [-5.99889198e-03 3.36958746e-04 9.99981950e-01 -8.98199916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.955898227 meters Centerline goodness [0,1] 0.9964193730761982 Centerline is valid? [True, True] Translation: X:162.76, Y:0.09, Z:-0.90 [[ 9.94954481e-01 -1.00160888e-01 5.77727462e-03 1.62760871e+02] [ 1.00161170e-01 9.94971196e-01 2.41201034e-04 8.94568159e-02] [-5.77238075e-03 3.38674536e-04 9.99983282e-01 -8.98473075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98589822699995 meters Centerline goodness [0,1] 0.9827806255884507 Centerline is valid? [True, True] Translation: X:162.79, Y:0.08, Z:-0.90 [[ 9.94710315e-01 -1.02536481e-01 6.13664076e-03 1.62790744e+02] [ 1.02536845e-01 9.94729174e-01 2.56159889e-04 8.29076852e-02] [-6.13056133e-03 3.74426895e-04 9.99981138e-01 -8.98469581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.015898227 meters Centerline goodness [0,1] 0.9363998914246341 Centerline is valid? [True, False] Translation: X:162.79, Y:0.08, Z:-0.90 [[ 9.94699581e-01 -1.02621462e-01 6.44819449e-03 1.62789868e+02] [ 1.02617063e-01 9.94720422e-01 1.01025105e-03 7.83083722e-02] [-6.51782419e-03 -3.43201512e-04 9.99978700e-01 -8.98422670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04589822699995 meters Centerline goodness [0,1] 0.9799205231176804 Centerline is valid? [False, True] Translation: X:162.79, Y:0.08, Z:-0.90 [[ 9.94710210e-01 -1.02519889e-01 6.42424993e-03 1.62790290e+02] [ 1.02513471e-01 9.94730739e-01 1.32135384e-03 7.67997101e-02] [-6.52586393e-03 -6.55791996e-04 9.99978491e-01 -8.98902377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.075898227 meters Centerline goodness [0,1] 0.9820717551140793 Centerline is valid? [True, True] Translation: X:162.82, Y:0.08, Z:-0.90 [[ 9.94698932e-01 -1.02708060e-01 5.00898970e-03 1.62821993e+02] [ 1.02708427e-01 9.94711488e-01 1.84611672e-04 7.78557427e-02] [-5.00146070e-03 3.30832420e-04 9.99987438e-01 -9.01001088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.10589822699995 meters Centerline goodness [0,1] 0.9855714942913304 Centerline is valid? [True, True] Translation: X:162.85, Y:0.08, Z:-0.90 [[ 9.94790297e-01 -1.01886878e-01 3.36577912e-03 1.62853289e+02] [ 1.01887039e-01 9.94795967e-01 1.23950727e-04 7.92517803e-02] [-3.36089245e-03 2.19624290e-04 9.99994328e-01 -9.03072937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.135898227 meters Centerline goodness [0,1] 0.984364492266308 Centerline is valid? [True, True] Translation: X:162.88, Y:0.08, Z:-0.91 [[ 9.95114789e-01 -9.87005203e-02 2.18261162e-03 1.62882759e+02] [ 9.87005806e-02 9.95117173e-01 8.03276751e-05 7.93730180e-02] [-2.17988269e-03 1.35489777e-04 9.99997615e-01 -9.05334291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16589822699996 meters Centerline goodness [0,1] 0.9858741053250215 Centerline is valid? [True, True] Translation: X:162.91, Y:0.08, Z:-0.90 [[ 9.95276581e-01 -9.70485024e-02 2.47287565e-03 1.62912141e+02] [ 9.70485746e-02 9.95279642e-01 9.10433092e-05 8.08683701e-02] [-2.47003841e-03 1.49375783e-04 9.99996938e-01 -9.04944972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.195898227 meters Centerline goodness [0,1] 0.9844060701203559 Centerline is valid? [True, True] Translation: X:162.94, Y:0.08, Z:-0.90 [[ 9.95421598e-01 -9.55408524e-02 2.79068647e-03 1.62942243e+02] [ 9.55409384e-02 9.95425496e-01 1.02779919e-04 8.20822477e-02] [-2.78774015e-03 1.64315453e-04 9.99996101e-01 -9.04190724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22589822699996 meters Centerline goodness [0,1] 0.9977214290193783 Centerline is valid? [True, True] Translation: X:162.97, Y:0.09, Z:-0.90 [[ 9.95784967e-01 -9.16478215e-02 3.60221710e-03 1.62972061e+02] [ 9.16479394e-02 9.95791463e-01 1.32668718e-04 9.30322603e-02] [-3.59921583e-03 1.98026259e-04 9.99993503e-01 -9.03198735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.255898227 meters Centerline goodness [0,1] 0.9976570017990879 Centerline is valid? [True, True] Translation: X:163.00, Y:0.09, Z:-0.90 [[ 9.95944900e-01 -8.98999989e-02 3.42743404e-03 1.63002579e+02] [ 8.99000955e-02 9.95950780e-01 1.26198597e-04 9.31660825e-02] [-3.42490086e-03 1.82439798e-04 9.99994118e-01 -9.04502524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.28589822699996 meters Centerline goodness [0,1] 0.9984085436079991 Centerline is valid? [True, True] Translation: X:163.03, Y:0.10, Z:-0.91 [[ 9.96063821e-01 -8.85831463e-02 3.14480069e-03 1.63034036e+02] [ 8.85832216e-02 9.96068772e-01 1.15611431e-04 9.70250443e-02] [-3.14267898e-03 1.63420212e-04 9.99995048e-01 -9.05451912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.315898227 meters Centerline goodness [0,1] 0.9996417205842062 Centerline is valid? [True, True] Translation: X:163.07, Y:0.11, Z:-0.91 [[ 9.96145926e-01 -8.76664750e-02 2.80769243e-03 1.63065031e+02] [ 8.76665316e-02 9.96149873e-01 1.03163510e-04 1.06406068e-01] [-2.80592643e-03 1.43374747e-04 9.99996053e-01 -9.05987224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.34589822699996 meters Centerline goodness [0,1] 0.9994698897370653 Centerline is valid? [True, True] Translation: X:163.10, Y:0.11, Z:-0.91 [[ 9.96323433e-01 -8.56454092e-02 2.11666570e-03 1.63095301e+02] [ 8.56454369e-02 9.96325676e-01 7.77408594e-05 1.14049616e-01] [-2.11554653e-03 1.03827718e-04 9.99997757e-01 -9.06701949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.375898227 meters Centerline goodness [0,1] 0.9994353944919596 Centerline is valid? [True, True] Translation: X:163.13, Y:0.12, Z:-0.91 [[ 9.96431787e-01 -8.43894857e-02 1.45175524e-03 1.63125820e+02] [ 8.43894974e-02 9.96432843e-01 5.33079380e-05 1.17718339e-01] [-1.45107523e-03 6.93951709e-05 9.99998945e-01 -9.07327272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.40589822699997 meters Centerline goodness [0,1] 0.9995411121772141 Centerline is valid? [True, True] Translation: X:163.16, Y:0.12, Z:-0.91 [[ 9.96523554e-01 -8.33048420e-02 1.05363396e-03 1.63155754e+02] [ 8.33048476e-02 9.96524110e-01 3.86622226e-05 1.21688869e-01] [-1.05319240e-03 4.92450014e-05 9.99999444e-01 -9.08102512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43589822699994 meters Centerline goodness [0,1] 0.9996001094437312 Centerline is valid? [True, True] Translation: X:163.19, Y:0.13, Z:-0.91 [[ 9.96618627e-01 -8.21511104e-02 1.58332759e-03 1.63186880e+02] [ 8.21511216e-02 9.96619882e-01 5.80794400e-05 1.29592211e-01] [-1.58274705e-03 7.21890858e-05 9.99998745e-01 -9.08179401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.46589822699997 meters Centerline goodness [0,1] 0.9994342469197888 Centerline is valid? [True, True] Translation: X:163.22, Y:0.13, Z:-0.91 [[ 9.96548424e-01 -8.29838950e-02 2.21640499e-03 1.63218918e+02] [ 8.29839191e-02 9.96550883e-01 8.12417239e-05 1.30577194e-01] [-2.21550211e-03 1.02964661e-04 9.99997540e-01 -9.07533809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49589822699994 meters Centerline goodness [0,1] 0.9993478763910217 Centerline is valid? [True, True] Translation: X:163.25, Y:0.13, Z:-0.91 [[ 9.96403324e-01 -8.46959719e-02 2.64736025e-03 1.63249448e+02] [ 8.46960127e-02 9.96406833e-01 9.68881543e-05 1.30961978e-01] [-2.64605388e-03 1.27681179e-04 9.99996491e-01 -9.06961064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.52589822699997 meters Centerline goodness [0,1] 0.9982833696198292 Centerline is valid? [True, True] Translation: X:163.28, Y:0.13, Z:-0.91 [[ 9.95870527e-01 -9.07573053e-02 2.23727140e-03 1.63279969e+02] [ 9.07573497e-02 9.95873032e-01 8.18558724e-05 1.27155961e-01] [-2.23546727e-03 1.21530972e-04 9.99997494e-01 -9.08504005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55589822699994 meters Centerline goodness [0,1] 0.9979392715955926 Centerline is valid? [True, True] Translation: X:163.31, Y:0.13, Z:-0.91 [[ 9.95544076e-01 -9.42859987e-02 1.46389726e-03 1.63310177e+02] [ 9.42860215e-02 9.95545149e-01 5.35540936e-05 1.29316266e-01] [-1.46242522e-03 8.47095883e-05 9.99998927e-01 -9.09793221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.585898227 meters Centerline goodness [0,1] 0.9852408566583625 Centerline is valid? [True, True] Translation: X:163.34, Y:0.12, Z:-0.91 [[ 9.95201275e-01 -9.78459900e-02 7.63871320e-04 1.63340344e+02] [ 9.78459972e-02 9.95201568e-01 2.79222532e-05 1.22332207e-01] [-7.62938015e-04 4.69534890e-05 9.99999708e-01 -9.10797981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61589822699995 meters Centerline goodness [0,1] 0.92482499106561 Centerline is valid? [True, False] Translation: X:163.34, Y:0.12, Z:-0.91 [[ 9.95157770e-01 -9.82875590e-02 7.54462486e-04 1.63341105e+02] [ 9.82873904e-02 9.95158039e-01 2.57543088e-04 1.19936279e-01] [-7.76122690e-04 -1.82141856e-04 9.99999682e-01 -9.11773115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.645898227 meters Centerline goodness [0,1] 0.9547747106711592 Centerline is valid? [False, True] Translation: X:163.34, Y:0.12, Z:-0.91 [[ 9.95519005e-01 -9.45598912e-02 5.80976001e-04 1.63340962e+02] [ 9.45557659e-02 9.95506687e-01 5.06389855e-03 1.15386962e-01] [-1.05720719e-03 -4.98627262e-03 9.99987010e-01 -9.12555624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67589822699995 meters Centerline goodness [0,1] 0.9086026017624843 Centerline is valid? [True, False] Translation: X:163.34, Y:0.12, Z:-0.91 [[ 9.95514084e-01 -9.46117829e-02 5.65621992e-04 1.63340970e+02] [ 9.46078094e-02 9.95502111e-01 4.99094183e-03 1.15667325e-01] [-1.03527979e-03 -4.91504063e-03 9.99987385e-01 -9.12482313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.705898227 meters Centerline goodness [0,1] 0.9652951699463327 Centerline is valid? [False, True] Translation: X:163.34, Y:0.12, Z:-0.91 [[ 9.95512046e-01 -9.46332582e-02 5.58801303e-04 1.63340893e+02] [ 9.46294097e-02 9.95500503e-01 4.90132572e-03 1.16185347e-01] [-1.02011540e-03 -4.82644976e-03 9.99987832e-01 -9.12352421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73589822699995 meters Centerline goodness [0,1] 0.966633831450548 Centerline is valid? [True, True] Translation: X:163.37, Y:0.12, Z:-0.91 [[ 9.95535519e-01 -9.43853533e-02 6.60232440e-04 1.63373223e+02] [ 9.43853627e-02 9.95535737e-01 1.70145020e-05 1.18934878e-01] [-6.58890908e-04 4.53777373e-05 9.99999782e-01 -9.12461571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.765898227 meters Centerline goodness [0,1] 0.9793132773466567 Centerline is valid? [True, True] Translation: X:163.41, Y:0.12, Z:-0.91 [[ 9.95511766e-01 -9.46345157e-02 7.95659873e-04 1.63405022e+02] [ 9.46345294e-02 9.95512082e-01 2.04350109e-05 1.20706187e-01] [-7.94022874e-04 5.49536038e-05 9.99999683e-01 -9.13218001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79589822699995 meters Centerline goodness [0,1] 0.8961732548359966 Centerline is valid? [True, False] Translation: X:163.41, Y:0.12, Z:-0.91 [[ 9.95525775e-01 -9.44867871e-02 8.23592132e-04 1.63405097e+02] [ 9.44864765e-02 9.95526061e-01 4.08304712e-04 1.18837743e-01] [-8.58486832e-04 -3.28659546e-04 9.99999577e-01 -9.13461199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.825898227 meters Centerline goodness [0,1] 0.969664 Centerline is valid? [False, True] Translation: X:163.40, Y:0.12, Z:-0.91 [[ 9.95392532e-01 -9.58702797e-02 1.61119291e-03 1.63399933e+02] [ 9.58716488e-02 9.95393387e-01 -7.95027352e-04 1.16658628e-01] [-1.52755127e-03 9.45832010e-04 9.99998386e-01 -9.09616399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85589822699995 meters Centerline goodness [0,1] 0.9169255310217446 Centerline is valid? [True, False] Translation: X:163.40, Y:0.11, Z:-0.91 [[ 9.95410471e-01 -9.56850933e-02 1.53523572e-03 1.63400292e+02] [ 9.56857319e-02 9.95411533e-01 -3.47872345e-04 1.14582040e-01] [-1.49490515e-03 4.93175928e-04 9.99998761e-01 -9.09739922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.885898227 meters Centerline goodness [0,1] 0.8971046305006795 Centerline is valid? [False, False] Translation: X:163.40, Y:0.11, Z:-0.91 [[ 9.95809844e-01 -9.14381151e-02 1.35108324e-03 1.63400226e+02] [ 9.14303297e-02 9.95798926e-01 4.99929095e-03 1.08311441e-01] [-1.80253298e-03 -4.85481315e-03 9.99986591e-01 -9.10461090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91589822699996 meters Centerline goodness [0,1] 0.9278474091520861 Centerline is valid? [False, False] Translation: X:163.40, Y:0.11, Z:-0.91 [[ 9.95838824e-01 -9.11248246e-02 1.14108164e-03 1.63401059e+02] [ 9.11173375e-02 9.95825250e-01 5.45005857e-03 1.06423524e-01] [-1.63295354e-03 -5.32340760e-03 9.99984497e-01 -9.10629839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.945898227 meters Centerline goodness [0,1] 0.9646101637754779 Centerline is valid? [False, True] Translation: X:163.40, Y:0.11, Z:-0.91 [[ 9.95849930e-01 -9.10041708e-02 1.07592793e-03 1.63401234e+02] [ 9.09968622e-02 9.95835667e-01 5.55828141e-03 1.06099691e-01] [-1.57727420e-03 -5.43730809e-03 9.99983974e-01 -9.10585812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97589822699996 meters Centerline goodness [0,1] 0.9813753581661891 Centerline is valid? [True, True] Translation: X:163.43, Y:0.11, Z:-0.91 [[ 9.96025465e-01 -8.90509939e-02 1.78721755e-03 1.63432350e+02] [ 8.90510568e-02 9.96027062e-01 4.45200274e-05 1.11097622e-01] [-1.78408160e-03 1.14810530e-04 9.99998402e-01 -9.09112419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.005898227 meters Centerline goodness [0,1] 0.9804374291591453 Centerline is valid? [True, True] Translation: X:163.46, Y:0.11, Z:-0.91 [[ 9.96205906e-01 -8.69909706e-02 2.52250127e-03 1.63462031e+02] [ 8.69910894e-02 9.96209088e-01 6.27914735e-05 1.09921677e-01] [-2.51840098e-03 1.56881896e-04 9.99996817e-01 -9.08505577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03589822699996 meters Centerline goodness [0,1] 0.9967898955142461 Centerline is valid? [True, True] Translation: X:163.49, Y:0.12, Z:-0.91 [[ 9.96474534e-01 -8.38539474e-02 2.64942500e-03 1.63492820e+02] [ 8.38540674e-02 9.96478043e-01 6.59534431e-05 1.16981641e-01] [-2.64562430e-03 1.56444136e-04 9.99996488e-01 -9.08047277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.065898227 meters Centerline goodness [0,1] 0.9986317229765288 Centerline is valid? [True, True] Translation: X:163.52, Y:0.12, Z:-0.91 [[ 9.96573765e-01 -8.26814488e-02 2.12351140e-03 1.63524211e+02] [ 8.26815232e-02 9.96576020e-01 5.28520904e-05 1.21721706e-01] [-2.12061043e-03 1.22904150e-04 9.99997744e-01 -9.09202448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09589822699996 meters Centerline goodness [0,1] 0.9986317229765288 Centerline is valid? [True, True] Translation: X:163.56, Y:0.12, Z:-0.91 [[ 9.96577492e-01 -8.26365178e-02 2.12351217e-03 1.63555934e+02] [ 8.26365923e-02 9.96579746e-01 5.28210020e-05 1.22429673e-01] [-2.12061417e-03 1.22839588e-04 9.99997744e-01 -9.09293500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.125898227 meters Centerline goodness [0,1] 0.9970897366106947 Centerline is valid? [True, True] Translation: X:163.59, Y:0.12, Z:-0.91 [[ 9.96659315e-01 -8.16633828e-02 1.14108974e-03 1.63586170e+02] [ 8.16634037e-02 9.96659966e-01 2.83336805e-05 1.20601560e-01] [-1.13959229e-03 6.49462455e-05 9.99999349e-01 -9.11337083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15589822699997 meters Centerline goodness [0,1] 0.9988157672136694 Centerline is valid? [True, True] Translation: X:163.62, Y:0.13, Z:-0.91 [[ 9.96710419e-01 -8.10452827e-02 6.06303390e-05 1.63617340e+02] [ 8.10452827e-02 9.96710420e-01 1.56730544e-06 1.27883271e-01] [-6.05579134e-05 3.35165330e-06 9.99999998e-01 -9.13583301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18589822699994 meters Centerline goodness [0,1] 0.9941984223047706 Centerline is valid? [True, True] Translation: X:163.65, Y:0.12, Z:-0.92 [[ 9.96661644e-01 -8.16429095e-02 -5.39753273e-05 1.63648110e+02] [ 8.16429095e-02 9.96661645e-01 -1.30460231e-06 1.22057197e-01] [ 5.39016500e-05 -3.10645568e-06 9.99999999e-01 -9.15114006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21589822699997 meters Centerline goodness [0,1] 0.9927824267782427 Centerline is valid? [True, True] Translation: X:163.68, Y:0.12, Z:-0.91 [[ 9.96580265e-01 -8.26297043e-02 -3.26745411e-04 1.63679128e+02] [ 8.26297061e-02 9.96580319e-01 -8.05794793e-06 1.22510319e-01] [ 3.26293872e-04 -1.89684854e-05 9.99999947e-01 -9.14829184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24589822699994 meters Centerline goodness [0,1] 0.9834168104718212 Centerline is valid? [True, True] Translation: X:163.71, Y:0.12, Z:-0.92 [[ 9.96476716e-01 -8.38675788e-02 -6.19899791e-04 1.63709505e+02] [ 8.38675854e-02 9.96476908e-01 -1.52648280e-05 1.20649117e-01] [ 6.18996051e-04 -3.67784530e-05 9.99999808e-01 -9.16034506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.27589822699997 meters Centerline goodness [0,1] 0.9539918809201624 Centerline is valid? [True, True] Translation: X:163.74, Y:0.12, Z:-0.92 [[ 9.96240648e-01 -8.66269841e-02 -5.80419934e-04 1.63739057e+02] [ 8.66269903e-02 9.96240816e-01 -1.43860832e-05 1.18608985e-01] [ 5.79484252e-04 -3.59480311e-05 9.99999831e-01 -9.16507874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30589822699994 meters Centerline goodness [0,1] 0.9788782615991275 Centerline is valid? [True, True] Translation: X:163.77, Y:0.12, Z:-0.92 [[ 9.96071038e-01 -8.85560835e-02 -5.54569363e-04 1.63769501e+02] [ 8.85560895e-02 9.96071192e-01 -1.36834755e-05 1.23168501e-01] [ 5.53602321e-04 -3.54807806e-05 9.99999846e-01 -9.16375659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.335898227 meters Centerline goodness [0,1] 0.9241569512348 Centerline is valid? [True, False] Translation: X:163.77, Y:0.12, Z:-0.92 [[ 9.96391102e-01 -8.48780116e-02 -7.03225551e-04 1.63769287e+02] [ 8.48804158e-02 9.96379621e-01 4.79229142e-03 1.18473121e-01] [ 2.93919441e-04 -4.83468661e-03 9.99988270e-01 -9.16997193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36589822699995 meters Centerline goodness [0,1] 0.8543454484267206 Centerline is valid? [False, False] Translation: X:163.77, Y:0.12, Z:-0.92 [[ 9.96370352e-01 -8.51216768e-02 -6.49867689e-04 1.63769438e+02] [ 8.51238541e-02 9.96358147e-01 4.93676346e-03 1.17024881e-01] [ 2.27275383e-04 -4.97416398e-03 9.99987603e-01 -9.17387495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.395898227 meters Centerline goodness [0,1] 0.8120501143732556 Centerline is valid? [False, False] Translation: X:163.77, Y:0.12, Z:-0.92 [[ 9.96365220e-01 -8.51818025e-02 -6.40231257e-04 1.63769569e+02] [ 8.51839393e-02 9.96352823e-01 4.97482045e-03 1.16729909e-01] [ 2.14132047e-04 -5.01127549e-03 9.99987421e-01 -9.17619546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42589822699995 meters Centerline goodness [0,1] 0.8132489593407055 Centerline is valid? [False, False] Translation: X:163.77, Y:0.12, Z:-0.92 [[ 9.96359449e-01 -8.52493312e-02 -6.33133294e-04 1.63769640e+02] [ 8.52514255e-02 9.96347197e-01 4.94545515e-03 1.16714851e-01] [ 2.09223839e-04 -4.98142648e-03 9.99987571e-01 -9.17746318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.455898227 meters Centerline goodness [0,1] 0.9655826038804762 Centerline is valid? [False, True] Translation: X:163.76, Y:0.12, Z:-0.91 [[ 9.96234517e-01 -8.66992417e-02 1.66789887e-04 1.63764787e+02] [ 8.66980915e-02 9.96228192e-01 3.58207233e-03 1.17243517e-01] [-4.76723742e-04 -3.55412373e-03 9.99993570e-01 -9.14630997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48589822699995 meters Centerline goodness [0,1] 0.7855157340802512 Centerline is valid? [True, False] Translation: X:163.76, Y:0.12, Z:-0.91 [[ 9.96238064e-01 -8.66581501e-02 2.91724873e-04 1.63764440e+02] [ 8.66563927e-02 9.96230821e-01 3.84990035e-03 1.15798842e-01] [-6.24250551e-04 -3.81013744e-03 9.99992547e-01 -9.14649940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.515898227 meters Centerline goodness [0,1] 0.8624306244328613 Centerline is valid? [False, False] Translation: X:163.76, Y:0.11, Z:-0.91 [[ 9.96240440e-01 -8.66308050e-02 2.99574925e-04 1.63764554e+02] [ 8.66288808e-02 9.96232364e-01 4.06364681e-03 1.14677002e-01] [-6.50483230e-04 -4.02241744e-03 9.99991698e-01 -9.14844489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54589822699995 meters Centerline goodness [0,1] 0.6969512066825173 Centerline is valid? [False, False] Translation: X:163.77, Y:0.11, Z:-0.92 [[ 9.96262807e-01 -8.63736584e-02 9.84275164e-05 1.63765647e+02] [ 8.63721245e-02 9.96250735e-01 4.93240107e-03 1.10284925e-01] [-5.24088011e-04 -4.90546634e-03 9.99987831e-01 -9.15402593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.575898227 meters Centerline goodness [0,1] 0.8165000526149637 Centerline is valid? [False, False] Translation: X:163.77, Y:0.11, Z:-0.92 [[ 9.96285679e-01 -8.61094781e-02 5.65856927e-05 1.63766034e+02] [ 8.61078294e-02 9.96270263e-01 5.56811383e-03 1.07250306e-01] [-5.35842019e-04 -5.54255960e-03 9.99984496e-01 -9.15702342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.60589822699995 meters Centerline goodness [0,1] 0.7458936790102606 Centerline is valid? [False, False] Translation: X:163.77, Y:0.10, Z:-0.92 [[ 9.96310539e-01 -8.58213701e-02 4.03765867e-05 1.63766248e+02] [ 8.58194644e-02 9.96291339e-01 6.21193258e-03 1.04173157e-01] [-5.73343409e-04 -6.18554880e-03 9.99980705e-01 -9.15817723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.635898227 meters Centerline goodness [0,1] 0.8964885689023621 Centerline is valid? [False, False] Translation: X:163.77, Y:0.10, Z:-0.92 [[ 9.96329500e-01 -8.56009688e-02 -2.44717719e-05 1.63766693e+02] [ 8.55992585e-02 9.96307703e-01 6.61271623e-03 1.02430403e-01] [-5.41673501e-04 -6.59053902e-03 9.99978135e-01 -9.16142425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66589822699996 meters Centerline goodness [0,1] 0.7648444070647603 Centerline is valid? [False, False] Translation: X:163.76, Y:0.11, Z:-0.91 [[ 9.96757002e-01 -8.04122957e-02 -3.05626704e-03 1.63763013e+02] [ 8.03877391e-02 9.96735817e-01 -7.45136093e-03 1.05234754e-01] [ 3.64547187e-03 7.18150979e-03 9.99967568e-01 -9.10082993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.695898227 meters Centerline goodness [0,1] 0.9103150352965967 Centerline is valid? [False, False] Translation: X:163.76, Y:0.10, Z:-0.91 [[ 9.97108561e-01 -7.59179014e-02 -3.31516715e-03 1.63763019e+02] [ 7.59102998e-02 9.97111854e-01 -2.36173711e-03 1.01158109e-01] [ 3.48489059e-03 2.10325295e-03 9.99991716e-01 -9.10424710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72589822699996 meters Centerline goodness [0,1] 0.8817784685176628 Centerline is valid? [False, False] Translation: X:163.76, Y:0.10, Z:-0.91 [[ 9.97445047e-01 -7.13472793e-02 -3.59766492e-03 1.63763401e+02] [ 7.13575379e-02 9.97446848e-01 2.80846178e-03 9.67552676e-02] [ 3.38810343e-03 -3.05800680e-03 9.99989585e-01 -9.11108992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.755898227 meters Centerline goodness [0,1] 0.9505334423274434 Centerline is valid? [False, True] Translation: X:163.76, Y:0.10, Z:-0.91 [[ 9.98014852e-01 -6.29438804e-02 -2.10308416e-03 1.63763623e+02] [ 6.29225866e-02 9.97977852e-01 -8.99754285e-03 9.92068646e-02] [ 2.66517167e-03 8.84734991e-03 9.99957310e-01 -9.11380041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.78589822699996 meters Centerline goodness [0,1] 0.9908166474473216 Centerline is valid? [True, True] Translation: X:163.79, Y:0.10, Z:-0.91 [[ 9.98235014e-01 -5.93495326e-02 -2.11890922e-03 1.63794304e+02] [ 5.93496701e-02 9.98237255e-01 2.02937419e-06 1.04349971e-01] [ 2.11505368e-03 -1.27782356e-04 9.99997755e-01 -9.12098908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.815898227 meters Centerline goodness [0,1] 0.9990543635866939 Centerline is valid? [True, True] Translation: X:163.82, Y:0.12, Z:-0.91 [[ 9.98421138e-01 -5.61529325e-02 -1.44208207e-03 1.63824783e+02] [ 5.61529929e-02 9.98422176e-01 1.38382984e-06 1.15360464e-01] [ 1.43972901e-03 -8.23588693e-05 9.99998960e-01 -9.11166685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.84589822699996 meters Centerline goodness [0,1] 0.9976686094920899 Centerline is valid? [True, True] Translation: X:163.85, Y:0.11, Z:-0.91 [[ 9.98534696e-01 -5.41133656e-02 -4.53096326e-04 1.63854394e+02] [ 5.41133713e-02 9.98534798e-01 4.34439582e-07 1.13980561e-01] [ 4.52408939e-04 -2.49523727e-05 9.99999897e-01 -9.10280423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.875898227 meters Centerline goodness [0,1] 0.9883720930232558 Centerline is valid? [True, True] Translation: X:163.88, Y:0.11, Z:-0.91 [[ 9.98482507e-01 -5.50599587e-02 1.04150461e-03 1.63884547e+02] [ 5.50599896e-02 9.98483048e-01 -9.91136799e-07 1.09672579e-01] [-1.03987013e-03 5.83348658e-05 9.99999458e-01 -9.08559072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.90589822699997 meters Centerline goodness [0,1] 0.9956789864496371 Centerline is valid? [True, True] Translation: X:163.92, Y:0.11, Z:-0.91 [[ 9.98337448e-01 -5.76315190e-02 9.73343191e-04 1.63915738e+02] [ 5.76315472e-02 9.98337921e-01 -9.32570130e-07 1.14523065e-01] [-9.71671672e-04 5.70262937e-05 9.99999526e-01 -9.09177366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93589822699994 meters Centerline goodness [0,1] 0.9877087003943283 Centerline is valid? [True, True] Translation: X:163.95, Y:0.11, Z:-0.91 [[ 9.98103599e-01 -6.15522409e-02 7.26814303e-04 1.63946349e+02] [ 6.15522576e-02 9.98103862e-01 -7.08877770e-07 1.10168429e-01] [-7.25392529e-04 4.54445947e-05 9.99999736e-01 -9.09658465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.96589822699997 meters Centerline goodness [0,1] 0.9341514579400042 Centerline is valid? [True, False] Translation: X:163.95, Y:0.11, Z:-0.91 [[ 9.98096294e-01 -6.16708475e-02 7.02840365e-04 1.63946826e+02] [ 6.16704968e-02 9.98096433e-01 5.10140259e-04 1.06944567e-01] [-7.32963244e-04 -4.65824587e-04 9.99999623e-01 -9.10259087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99589822699994 meters Centerline goodness [0,1] 0.9210592633037927 Centerline is valid? [False, False] Translation: X:163.95, Y:0.10, Z:-0.91 [[ 9.98034229e-01 -6.26666276e-02 7.55830197e-04 1.63947336e+02] [ 6.26659399e-02 9.98034151e-01 9.01609688e-04 1.01571258e-01] [-8.10845187e-04 -8.52472520e-04 9.99999308e-01 -9.11272299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.02589822699997 meters Centerline goodness [0,1] 0.7292045003861649 Centerline is valid? [False, False] Translation: X:163.95, Y:0.10, Z:-0.91 [[ 9.98031613e-01 -6.27089219e-02 7.00720378e-04 1.63947858e+02] [ 6.27079919e-02 9.98031098e-01 1.27850115e-03 9.93000267e-02] [-7.79514157e-04 -1.23204380e-03 9.99998937e-01 -9.11749468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05589822699994 meters Centerline goodness [0,1] 0.6468349106203997 Centerline is valid? [False, False] Translation: X:163.95, Y:0.10, Z:-0.91 [[ 9.98031709e-01 -6.27080818e-02 6.35930752e-04 1.63948167e+02] [ 6.27071424e-02 9.98030984e-01 1.40296734e-03 9.85764135e-02] [-7.22655985e-04 -1.36032849e-03 9.99998814e-01 -9.11848136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.085898227 meters Centerline goodness [0,1] 0.6635365137922361 Centerline is valid? [False, False] Translation: X:163.95, Y:0.10, Z:-0.91 [[ 9.98270203e-01 -5.87891087e-02 6.64461492e-04 1.63947564e+02] [ 5.87840310e-02 9.98252380e-01 6.05168235e-03 9.55050860e-02] [-1.01907328e-03 -6.00215444e-03 9.99981468e-01 -9.12308448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11589822699995 meters Centerline goodness [0,1] 0.7157130837189736 Centerline is valid? [False, False] Translation: X:163.94, Y:0.10, Z:-0.91 [[ 9.98573621e-01 -5.33921585e-02 2.43558010e-05 1.63942593e+02] [ 5.33901169e-02 9.98531235e-01 -9.21240574e-03 1.03176592e-01] [ 4.67550200e-04 9.20056572e-03 9.99957565e-01 -9.06933492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.145898227 meters Centerline goodness [0,1] 0.7690342039670737 Centerline is valid? [False, False] Translation: X:163.94, Y:0.10, Z:-0.91 [[ 9.98953391e-01 -4.57395869e-02 1.16377171e-04 1.63941525e+02] [ 4.57396178e-02 9.98953357e-01 -2.79031019e-04 9.78152641e-02] [-1.03492603e-04 2.84062030e-04 9.99999954e-01 -9.07892524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17589822699995 meters Centerline goodness [0,1] 0.9603824848880558 Centerline is valid? [False, True] Translation: X:163.94, Y:0.10, Z:-0.91 [[ 9.99138542e-01 -4.14982613e-02 2.60595737e-04 1.63940565e+02] [ 4.14968195e-02 9.99129966e-01 4.16225161e-03 9.68208085e-02] [-4.33095215e-04 -4.14785211e-03 9.99991304e-01 -9.08087585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.205898227 meters Centerline goodness [0,1] 0.9739885006258885 Centerline is valid? [True, True] Translation: X:163.97, Y:0.11, Z:-0.91 [[ 9.99287623e-01 -3.77357624e-02 5.08447072e-04 1.63970801e+02] [ 3.77357751e-02 9.99287752e-01 -1.54826309e-05 1.05726795e-01] [-5.07500682e-04 3.46582458e-05 9.99999871e-01 -9.06650181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23589822699995 meters Centerline goodness [0,1] 0.9763967857667373 Centerline is valid? [True, True] Translation: X:164.00, Y:0.11, Z:-0.91 [[ 9.99325164e-01 -3.67298133e-02 -3.70533677e-04 1.64002690e+02] [ 3.67298200e-02 9.99325232e-01 1.12736366e-05 1.08232890e-01] [ 3.69869575e-04 -2.48756641e-05 9.99999931e-01 -9.07978856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.265898227 meters Centerline goodness [0,1] 0.9717985249748575 Centerline is valid? [True, True] Translation: X:164.03, Y:0.11, Z:-0.91 [[ 9.99351101e-01 -3.59935979e-02 -1.35540166e-03 1.64033073e+02] [ 3.59936869e-02 9.99352016e-01 4.13279318e-05 1.09760839e-01] [ 1.35303584e-03 -9.00870171e-05 9.99999081e-01 -9.09739566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29589822699995 meters Centerline goodness [0,1] 0.9651223538754101 Centerline is valid? [True, True] Translation: X:164.06, Y:0.11, Z:-0.91 [[ 9.99355620e-01 -3.58470389e-02 -1.82580899e-03 1.64064930e+02] [ 3.58472003e-02 9.99357281e-01 5.57324882e-05 1.11177055e-01] [ 1.82263766e-03 -1.21146716e-04 9.99998332e-01 -9.10887592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.325898227 meters Centerline goodness [0,1] 0.90062917144922 Centerline is valid? [True, False] Translation: X:164.04, Y:0.12, Z:-0.90 [[ 9.99286912e-01 -3.72615518e-02 -6.10282935e-03 1.64039492e+02] [ 3.71805232e-02 9.99225400e-01 -1.28921889e-02 1.23786768e-01] [ 6.57848506e-03 1.26560893e-02 9.99898268e-01 -9.03532909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35589822699995 meters Centerline goodness [0,1] 0.9156165190499232 Centerline is valid? [False, False] Translation: X:164.06, Y:0.12, Z:-0.91 [[ 9.99285947e-01 -3.77333625e-02 -1.94657185e-03 1.64062253e+02] [ 3.77295293e-02 9.99286047e-01 -1.96971190e-03 1.19546172e-01] [ 2.01950595e-03 1.89486218e-03 9.99996166e-01 -9.09621770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.385898227 meters Centerline goodness [0,1] 0.8726154882722028 Centerline is valid? [False, False] Translation: X:164.06, Y:0.12, Z:-0.91 [[ 9.99415586e-01 -3.41359583e-02 -1.79540154e-03 1.64061910e+02] [ 3.41406268e-02 9.99413559e-01 2.63727247e-03 1.15688654e-01] [ 1.70432282e-03 -2.69702734e-03 9.99994911e-01 -9.10712507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41589822699996 meters Centerline goodness [0,1] 0.7718675373528604 Centerline is valid? [False, False] Translation: X:164.06, Y:0.11, Z:-0.91 [[ 9.99412538e-01 -3.42218288e-02 -1.85606961e-03 1.64062484e+02] [ 3.42268599e-02 9.99410305e-01 2.75020528e-03 1.14886603e-01] [ 1.76085804e-03 -2.81211707e-03 9.99994496e-01 -9.11355751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.445898227 meters Centerline goodness [0,1] 0.6475163070747616 Centerline is valid? [False, False] Translation: X:164.06, Y:0.12, Z:-0.91 [[ 9.99242839e-01 -3.88488621e-02 -2.12480163e-03 1.64064105e+02] [ 3.88438864e-02 9.99242563e-01 -2.33492514e-03 1.18809543e-01] [ 2.21390141e-03 2.25062167e-03 9.99995017e-01 -9.11726276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47589822699996 meters Centerline goodness [0,1] 0.6403689385662661 Centerline is valid? [False, False] Translation: X:164.06, Y:0.12, Z:-0.91 [[ 9.99384877e-01 -3.50089402e-02 -2.05943906e-03 1.64063864e+02] [ 3.50135943e-02 9.99384260e-01 2.26899107e-03 1.15835867e-01] [ 1.97873601e-03 -2.33970373e-03 9.99995305e-01 -9.12508206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.505898227 meters Centerline goodness [0,1] 0.6060714210736254 Centerline is valid? [False, False] Translation: X:164.06, Y:0.12, Z:-0.91 [[ 9.99379784e-01 -3.51481194e-02 -2.15819410e-03 1.64064008e+02] [ 3.51523575e-02 9.99380046e-01 1.95822925e-03 1.17319270e-01] [ 2.08802805e-03 -2.03288034e-03 9.99995754e-01 -9.12197786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53589822699996 meters Centerline goodness [0,1] 0.8443800349516218 Centerline is valid? [False, False] Translation: X:164.05, Y:0.12, Z:-0.91 [[ 9.99438367e-01 -3.34449803e-02 2.09382385e-03 1.64051438e+02] [ 3.34437595e-02 9.99440412e-01 6.15394241e-04 1.21588256e-01] [-2.11323402e-03 -5.45023274e-04 9.99997619e-01 -9.13652491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.565898227 meters Centerline goodness [0,1] 0.6425357359619932 Centerline is valid? [False, False] Translation: X:164.07, Y:0.13, Z:-0.91 [[ 9.99460022e-01 -3.26279994e-02 3.88313551e-03 1.64070588e+02] [ 3.26631294e-02 9.99422624e-01 -9.35615695e-03 1.26086411e-01] [-3.57562080e-03 9.47794018e-03 9.99948690e-01 -9.11318760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59589822699996 meters Centerline goodness [0,1] 0.7434938772080909 Centerline is valid? [False, False] Translation: X:164.07, Y:0.12, Z:-0.91 [[ 9.99587550e-01 -2.84317940e-02 4.04510884e-03 1.64069867e+02] [ 2.84507673e-02 9.99584085e-01 -4.71285977e-03 1.23912939e-01] [-3.90943136e-03 4.82600240e-03 9.99980713e-01 -9.11753775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.625898227 meters Centerline goodness [0,1] 0.5837829924289957 Centerline is valid? [False, False] Translation: X:164.07, Y:0.12, Z:-0.91 [[ 9.99693151e-01 -2.44260579e-02 4.11959456e-03 1.64069620e+02] [ 2.44262449e-02 9.99701635e-01 4.91909082e-06 1.20865224e-01] [-4.11848557e-03 9.57086443e-05 9.99991514e-01 -9.12468483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65589822699997 meters Centerline goodness [0,1] 0.7052445417605322 Centerline is valid? [False, False] Translation: X:164.07, Y:0.12, Z:-0.91 [[ 9.99686691e-01 -2.46630918e-02 4.27231342e-03 1.64069167e+02] [ 2.46635907e-02 9.99695805e-01 -6.41317314e-05 1.20618285e-01] [-4.26943212e-03 1.69482228e-04 9.99990872e-01 -9.12509933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68589822699994 meters Centerline goodness [0,1] 0.6317590402162894 Centerline is valid? [False, False] Translation: X:164.07, Y:0.12, Z:-0.91 [[ 9.99683918e-01 -2.47738484e-02 4.28014576e-03 1.64069174e+02] [ 2.47740957e-02 9.99693075e-01 -4.76436718e-06 1.20042236e-01] [-4.27871405e-03 1.10799602e-04 9.99990840e-01 -9.12576804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71589822699997 meters Centerline goodness [0,1] 0.4400813877876366 Centerline is valid? [False, False] Translation: X:164.07, Y:0.12, Z:-0.91 [[ 9.99681168e-01 -2.49133785e-02 4.10935416e-03 1.64069848e+02] [ 2.49134855e-02 9.99689611e-01 2.51763418e-05 1.19585837e-01] [-4.10870589e-03 7.72100205e-05 9.99991556e-01 -9.12768154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74589822699994 meters Centerline goodness [0,1] 0.44742462311557785 Centerline is valid? [False, False] Translation: X:164.07, Y:0.12, Z:-0.91 [[ 9.99673806e-01 -2.52503638e-02 3.83413510e-03 1.64071444e+02] [ 2.52495105e-02 9.99681144e-01 2.70811104e-04 1.17482695e-01] [-3.83975064e-03 -1.73912732e-04 9.99992613e-01 -9.13965230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.77589822699997 meters Centerline goodness [0,1] 0.43976863106714725 Centerline is valid? [False, False] Translation: X:164.07, Y:0.11, Z:-0.91 [[ 9.99676385e-01 -2.51560667e-02 3.78125542e-03 1.64072054e+02] [ 2.51534055e-02 9.99683322e-01 7.49708475e-04 1.14955483e-01] [-3.79891769e-03 -6.54354407e-04 9.99992570e-01 -9.14724088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.80589822699994 meters Centerline goodness [0,1] 0.4294897380417201 Centerline is valid? [False, False] Translation: X:164.07, Y:0.11, Z:-0.92 [[ 9.99678900e-01 -2.50269028e-02 3.96868684e-03 1.64071677e+02] [ 2.50222076e-02 9.99686141e-01 1.22834121e-03 1.12467490e-01] [-3.99818281e-03 -1.12864149e-03 9.99991370e-01 -9.15102853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.835898227 meters Centerline goodness [0,1] 0.40225127241240943 Centerline is valid? [False, False] Translation: X:164.07, Y:0.11, Z:-0.91 [[ 9.99680338e-01 -2.49385126e-02 4.15841911e-03 1.64070953e+02] [ 2.49320127e-02 9.99687856e-01 1.60765774e-03 1.10422389e-01] [-4.19721367e-03 -1.50346608e-03 9.99990061e-01 -9.14900241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.86589822699995 meters Centerline goodness [0,1] 0.4070120992262367 Centerline is valid? [False, False] Translation: X:164.07, Y:0.11, Z:-0.91 [[ 9.99681334e-01 -2.48535523e-02 4.41935051e-03 1.64069803e+02] [ 2.48438633e-02 9.99688848e-01 2.23395788e-03 1.06852271e-01] [-4.47349721e-03 -2.12345225e-03 9.99987739e-01 -9.14381902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.895898227 meters Centerline goodness [0,1] 0.4157039028693862 Centerline is valid? [False, False] Translation: X:164.07, Y:0.11, Z:-0.91 [[ 9.99686084e-01 -2.46766412e-02 4.33555227e-03 1.64070149e+02] [ 2.46654497e-02 9.99692338e-01 2.61611231e-03 1.05078982e-01] [-4.39877526e-03 -2.50835272e-03 9.99987179e-01 -9.14513433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.92589822699995 meters Centerline goodness [0,1] 0.4222077128835906 Centerline is valid? [False, False] Translation: X:164.07, Y:0.10, Z:-0.92 [[ 9.99690830e-01 -2.45164934e-02 4.14558586e-03 1.64071083e+02] [ 2.45044727e-02 9.99695438e-01 2.92598822e-03 1.03743132e-01] [-4.21605825e-03 -2.82349820e-03 9.99987126e-01 -9.15063563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.955898227 meters Centerline goodness [0,1] 0.39004350948337774 Centerline is valid? [False, False] Translation: X:164.07, Y:0.10, Z:-0.92 [[ 9.99700394e-01 -2.41672308e-02 3.88177433e-03 1.64072426e+02] [ 2.41539798e-02 9.99702383e-01 3.42501695e-03 1.01765164e-01] [-3.96339223e-03 -3.33023049e-03 9.99986600e-01 -9.15911266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.98589822699995 meters Centerline goodness [0,1] 0.39004350948337774 Centerline is valid? [False, False] Translation: X:164.07, Y:0.10, Z:-0.92 [[ 9.99700394e-01 -2.41672308e-02 3.88177433e-03 1.64072426e+02] [ 2.41539798e-02 9.99702383e-01 3.42501695e-03 1.01765164e-01] [-3.96339223e-03 -3.33023049e-03 9.99986600e-01 -9.15911266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.015898227 meters Centerline goodness [0,1] 0.3796781319028084 Centerline is valid? [False, False] Translation: X:164.07, Y:0.10, Z:-0.92 [[ 9.99772792e-01 -1.95497018e-02 8.49551981e-03 1.64074018e+02] [ 1.96323951e-02 9.99759608e-01 -9.76187865e-03 1.03183310e-01] [-8.30263575e-03 9.92644808e-03 9.99916262e-01 -9.18212052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.04589822699995 meters Centerline goodness [0,1] 0.37857906991378765 Centerline is valid? [False, False] Translation: X:164.07, Y:0.10, Z:-0.92 [[ 9.99851782e-01 -1.49919446e-02 8.46495930e-03 1.64074355e+02] [ 1.50284727e-02 9.99877956e-01 -4.26822388e-03 9.70936142e-02] [-8.39993723e-03 4.39480666e-03 9.99955062e-01 -9.19178204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.075898227 meters Centerline goodness [0,1] 0.3918244008897469 Centerline is valid? [False, False] Translation: X:164.07, Y:0.09, Z:-0.92 [[ 9.99910164e-01 -1.04192532e-02 8.43230086e-03 1.64074866e+02] [ 1.04090183e-02 9.99945035e-01 1.25674451e-03 9.07960225e-02] [-8.44493171e-03 -1.16885963e-03 9.99963658e-01 -9.20304830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.10589822699995 meters Centerline goodness [0,1] 0.5977951560886153 Centerline is valid? [False, False] Translation: X:164.08, Y:0.09, Z:-0.92 [[ 9.99915690e-01 -9.93123966e-03 8.36564983e-03 1.64075328e+02] [ 9.91473258e-03 9.99948823e-01 2.01236569e-03 8.76126391e-02] [-8.38520699e-03 -1.92925285e-03 9.99962982e-01 -9.20770307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.135898227 meters Centerline goodness [0,1] 0.6090387829803441 Centerline is valid? [False, False] Translation: X:164.08, Y:0.09, Z:-0.92 [[ 9.99917948e-01 -9.72392305e-03 8.33921574e-03 1.64075385e+02] [ 9.70466962e-03 9.99950156e-01 2.34614838e-03 8.61518719e-02] [-8.36161385e-03 -2.26502654e-03 9.99962476e-01 -9.20735348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.16589822699996 meters Centerline goodness [0,1] 0.5992924133311004 Centerline is valid? [False, False] Translation: X:164.08, Y:0.08, Z:-0.92 [[ 9.99920426e-01 -9.50335968e-03 8.29621557e-03 1.64075560e+02] [ 9.48084576e-03 9.99951277e-01 2.74888146e-03 8.43063590e-02] [-8.32193496e-03 -2.67000758e-03 9.99961807e-01 -9.20851513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.195898227 meters Centerline goodness [0,1] 0.8336785155754681 Centerline is valid? [False, False] Translation: X:164.06, Y:0.09, Z:-0.92 [[ 9.99950528e-01 -7.34096712e-03 6.71198947e-03 1.64056293e+02] [ 7.38960498e-03 9.99946410e-01 -7.25056011e-03 8.59288126e-02] [-6.65840366e-03 7.29980036e-03 9.99951188e-01 -9.20906981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.22589822699996 meters Centerline goodness [0,1] 0.827789393651397 Centerline is valid? [False, False] Translation: X:164.06, Y:0.08, Z:-0.92 [[ 9.99973474e-01 -2.93817844e-03 6.66466531e-03 1.64056906e+02] [ 2.94594556e-03 9.99994993e-01 -1.15589921e-03 7.53797008e-02] [-6.66123570e-03 1.17550229e-03 9.99977123e-01 -9.22180459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.255898227 meters Centerline goodness [0,1] 0.6898075703108479 Centerline is valid? [False, False] Translation: X:164.06, Y:0.07, Z:-0.92 [[ 9.99975374e-01 -2.57557342e-03 6.52820070e-03 1.64057705e+02] [ 2.57689267e-03 9.99996661e-01 -1.93681631e-04 7.07166370e-02] [-6.52768006e-03 2.10499334e-04 9.99978672e-01 -9.22904831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.28589822699996 meters Centerline goodness [0,1] 0.6264253737646761 Centerline is valid? [False, False] Translation: X:164.06, Y:0.07, Z:-0.92 [[ 9.99976811e-01 -2.21497573e-03 6.43977764e-03 1.64058396e+02] [ 2.20982349e-03 9.99997233e-01 8.07069977e-04 6.58278482e-02] [-6.44154746e-03 -7.92820490e-04 9.99978939e-01 -9.23677161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.315898227 meters Centerline goodness [0,1] 0.4869747458870376 Centerline is valid? [False, False] Translation: X:164.06, Y:0.06, Z:-0.92 [[ 9.99963592e-01 -5.85794587e-03 6.20484083e-03 1.64059111e+02] [ 5.87326561e-03 9.99979742e-01 -2.45366033e-03 6.13013908e-02] [-6.19034172e-03 2.49001367e-03 9.99977740e-01 -9.23585388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.34589822699996 meters Centerline goodness [0,1] 0.46364949446316805 Centerline is valid? [False, False] Translation: X:164.06, Y:0.06, Z:-0.92 [[ 9.99965299e-01 -5.49898630e-03 6.25797579e-03 1.64058953e+02] [ 5.50922480e-03 9.99983512e-01 -1.62001236e-03 5.72367617e-02] [-6.24896418e-03 1.65443274e-03 9.99979106e-01 -9.23647655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.375898227 meters Centerline goodness [0,1] 0.580325042575111 Centerline is valid? [False, False] Translation: X:164.06, Y:0.05, Z:-0.92 [[ 9.99966177e-01 -5.19006683e-03 6.38031871e-03 1.64058470e+02] [ 5.19588515e-03 9.99986100e-01 -8.95678848e-04 5.37395314e-02] [-6.37558139e-03 9.28799957e-04 9.99979244e-01 -9.23544038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.40589822699997 meters Centerline goodness [0,1] 0.7206384683506937 Centerline is valid? [False, False] Translation: X:164.06, Y:0.05, Z:-0.92 [[ 9.99967251e-01 -4.69374310e-03 6.59279944e-03 1.64057408e+02] [ 4.69313217e-03 9.99988981e-01 1.08133482e-04 4.90273185e-02] [-6.59323435e-03 -7.71890621e-05 9.99978261e-01 -9.22965634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43589822699994 meters Centerline goodness [0,1] 0.7514479175538711 Centerline is valid? [False, False] Translation: X:164.04, Y:0.05, Z:-0.93 [[ 9.99923857e-01 -1.83152003e-03 1.22035152e-02 1.64036250e+02] [ 1.89310740e-03 9.99985522e-01 -5.03705173e-03 4.90297558e-02] [-1.21941131e-02 5.05977076e-03 9.99912847e-01 -9.27622178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.46589822699997 meters Centerline goodness [0,1] 0.7166903944393267 Centerline is valid? [False, False] Translation: X:164.08, Y:0.04, Z:-0.93 [[ 9.99903463e-01 -7.09346627e-04 1.38766321e-02 1.64076557e+02] [ 7.21165876e-04 9.99999381e-01 -8.46752221e-04 4.16485335e-02] [-1.38760228e-02 8.56677832e-04 9.99903356e-01 -9.27857807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49589822699994 meters Centerline goodness [0,1] 0.7261416923661865 Centerline is valid? [False, False] Translation: X:164.05, Y:0.04, Z:-0.92 [[ 9.99953051e-01 1.93407497e-03 9.49501302e-03 1.64054726e+02] [-1.84470923e-03 9.99954008e-01 -9.41161378e-03 4.34685064e-02] [-9.51277909e-03 9.39365638e-03 9.99910629e-01 -9.23328375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.52589822699997 meters Centerline goodness [0,1] 0.630962851279474 Centerline is valid? [False, False] Translation: X:164.06, Y:0.04, Z:-0.92 [[ 9.99954412e-01 2.06792664e-03 9.32190130e-03 1.64055657e+02] [-1.98230904e-03 9.99955857e-01 -9.18446613e-03 4.25799967e-02] [-9.34048260e-03 9.16556854e-03 9.99914370e-01 -9.23996015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55589822699994 meters Centerline goodness [0,1] 0.7059540829198554 Centerline is valid? [False, False] Translation: X:164.06, Y:0.04, Z:-0.92 [[ 9.99935491e-01 6.17717048e-03 9.53182276e-03 1.64055388e+02] [-6.13865566e-03 9.99972897e-01 -4.06463661e-03 3.73717014e-02] [-9.55667237e-03 4.00586183e-03 9.99946310e-01 -9.24813653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.585898227 meters Centerline goodness [0,1] 0.6577902605904464 Centerline is valid? [False, False] Translation: X:164.06, Y:0.03, Z:-0.92 [[ 9.99933942e-01 6.44035345e-03 9.52021168e-03 1.64055291e+02] [-6.40953490e-03 9.99974131e-01 -3.26414514e-03 3.33596026e-02] [-9.54098765e-03 3.20290938e-03 9.99949354e-01 -9.24698787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61589822699995 meters Centerline goodness [0,1] 0.6233906032335683 Centerline is valid? [False, False] Translation: X:164.05, Y:0.03, Z:-0.92 [[ 9.99932717e-01 6.61676770e-03 9.52786668e-03 1.64054972e+02] [-6.59139742e-03 9.99974654e-01 -2.69169009e-03 3.03898076e-02] [-9.54543547e-03 2.62870703e-03 9.99950986e-01 -9.24287426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.645898227 meters Centerline goodness [0,1] 0.5902353783317192 Centerline is valid? [False, False] Translation: X:164.05, Y:0.03, Z:-0.92 [[ 9.99930901e-01 6.74947706e-03 9.62489659e-03 1.64054422e+02] [-6.72825706e-03 9.99974867e-01 -2.23537713e-03 2.79778161e-02] [-9.63974231e-03 2.17046389e-03 9.99951181e-01 -9.23958346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67589822699995 meters Centerline goodness [0,1] 0.5904515205121725 Centerline is valid? [False, False] Translation: X:164.05, Y:0.03, Z:-0.92 [[ 9.99930095e-01 6.90350734e-03 9.59933896e-03 1.64054313e+02] [-6.88581663e-03 9.99974535e-01 -1.87474008e-03 2.61648840e-02] [-9.61203680e-03 1.80850974e-03 9.99952168e-01 -9.23650620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.705898227 meters Centerline goodness [0,1] 0.613221725879848 Centerline is valid? [False, False] Translation: X:164.05, Y:0.02, Z:-0.92 [[ 9.99929668e-01 7.22364517e-03 9.40630833e-03 1.64054860e+02] [-7.21137753e-03 9.99973103e-01 -1.33745789e-03 2.38306382e-02] [-9.41571665e-03 1.26953138e-03 9.99954865e-01 -9.23540324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73589822699995 meters Centerline goodness [0,1] 0.6322046336093929 Centerline is valid? [False, False] Translation: X:164.06, Y:0.02, Z:-0.92 [[ 9.99929726e-01 7.33730773e-03 9.31163240e-03 1.64055303e+02] [-7.32638950e-03 9.99972434e-01 -1.20610722e-03 2.33007908e-02] [-9.32022530e-03 1.13780181e-03 9.99955918e-01 -9.23760538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.765898227 meters Centerline goodness [0,1] 0.6634781874234554 Centerline is valid? [False, False] Translation: X:164.06, Y:0.02, Z:-0.92 [[ 9.99885176e-01 1.18438085e-02 9.45297136e-03 1.64055240e+02] [-1.18836468e-02 9.99920694e-01 4.16938236e-03 1.76626025e-02] [-9.40284032e-03 -4.28123939e-03 9.99946627e-01 -9.24392164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79589822699995 meters Centerline goodness [0,1] 0.9557644163448891 Centerline is valid? [False, True] Translation: X:164.06, Y:0.02, Z:-0.92 [[ 9.99921056e-01 8.58594982e-03 9.17405953e-03 1.64055690e+02] [-8.58934283e-03 9.99963056e-01 3.30511389e-04 1.75830468e-02] [-9.17088286e-03 -4.09284440e-04 9.99957863e-01 -9.23773548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.825898227 meters Centerline goodness [0,1] 0.9643483219633767 Centerline is valid? [True, True] Translation: X:164.09, Y:0.01, Z:-0.92 [[ 9.99904301e-01 1.01152398e-02 9.43770048e-03 1.64085945e+02] [-1.01085537e-02 9.99948622e-01 -7.55876113e-04 1.34187075e-02] [-9.44486145e-03 6.60402274e-04 9.99955178e-01 -9.23010318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85589822699995 meters Centerline goodness [0,1] 0.7408824759514847 Centerline is valid? [True, False] Translation: X:164.09, Y:0.01, Z:-0.92 [[ 9.99902190e-01 1.03459999e-02 9.41122302e-03 1.64085816e+02] [-1.03431309e-02 9.99946446e-01 -3.53469103e-04 1.16390103e-02] [-9.41437600e-03 2.56093018e-04 9.99955651e-01 -9.22690870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.885898227 meters Centerline goodness [0,1] 0.9929796367173458 Centerline is valid? [False, True] Translation: X:164.06, Y:0.00, Z:-0.92 [[ 9.99892063e-01 1.35533787e-02 5.67172935e-03 1.64064271e+02] [-1.36305427e-02 9.99811935e-01 1.37950317e-02 4.21189956e-03] [-5.48369341e-03 -1.38708515e-02 9.99888758e-01 -9.19717098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91589822699996 meters Centerline goodness [0,1] 0.8933131720430108 Centerline is valid? [True, False] Translation: X:164.07, Y:0.01, Z:-0.92 [[ 9.99936722e-01 1.00847725e-02 4.98498511e-03 1.64066572e+02] [-1.01306056e-02 9.99905843e-01 9.25612667e-03 7.93131773e-03] [-4.89116981e-03 -9.30604188e-03 9.99944735e-01 -9.20050568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.945898227 meters Centerline goodness [0,1] 0.9972836386607707 Centerline is valid? [False, True] Translation: X:164.07, Y:0.01, Z:-0.92 [[ 9.99968186e-01 6.53847945e-03 4.56884428e-03 1.64067836e+02] [-6.55924320e-03 9.99968161e-01 4.54453039e-03 1.23671003e-02] [-4.53898449e-03 -4.57435398e-03 9.99979236e-01 -9.19984463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97589822699996 meters Centerline goodness [0,1] 0.9990692755156002 Centerline is valid? [True, True] Translation: X:164.10, Y:0.02, Z:-0.92 [[ 9.99946488e-01 9.36459723e-03 4.39605042e-03 1.64099002e+02] [-9.36342946e-03 9.99956121e-01 -2.86147259e-04 1.65056470e-02] [-4.39853718e-03 2.44969839e-04 9.99990296e-01 -9.19450755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.005898227 meters Centerline goodness [0,1] 0.9995157283025224 Centerline is valid? [True, True] Translation: X:164.13, Y:0.02, Z:-0.92 [[ 9.99893530e-01 1.37989210e-02 4.74526266e-03 1.64128945e+02] [-1.37976099e-02 9.99904761e-01 -3.08920046e-04 1.62714587e-02] [-4.74907349e-03 2.43413872e-04 9.99988693e-01 -9.20255443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03589822699996 meters Centerline goodness [0,1] 0.9993680352215036 Centerline is valid? [True, True] Translation: X:164.16, Y:0.01, Z:-0.92 [[ 9.99877910e-01 1.49429168e-02 4.56877925e-03 1.64158627e+02] [-1.49417147e-02 9.99888322e-01 -2.97120702e-04 9.54999953e-03] [-4.57270887e-03 2.28819031e-04 9.99989519e-01 -9.22260480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.065898227 meters Centerline goodness [0,1] 0.9989957738817524 Centerline is valid? [True, True] Translation: X:164.19, Y:0.00, Z:-0.92 [[ 9.99869145e-01 1.56149967e-02 4.22666827e-03 1.64188651e+02] [-1.56139716e-02 9.99878057e-01 -2.75418430e-04 4.41007476e-03] [-4.23045352e-03 2.09387312e-04 9.99991030e-01 -9.23493538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09589822699996 meters Centerline goodness [0,1] 0.9995146040857673 Centerline is valid? [True, True] Translation: X:164.22, Y:0.00, Z:-0.92 [[ 9.99869402e-01 1.56669799e-02 3.96531241e-03 1.64220043e+02] [-1.56660782e-02 9.99877246e-01 -2.58354394e-04 4.49046169e-03] [-3.96887328e-03 1.96199759e-04 9.99992105e-01 -9.23083515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.125898227 meters Centerline goodness [0,1] 0.9996643872970592 Centerline is valid? [True, True] Translation: X:164.25, Y:-0.00, Z:-0.92 [[ 9.99846451e-01 1.70656815e-02 3.97955035e-03 1.64251341e+02] [-1.70647840e-02 9.99854352e-01 -2.59372811e-04 -1.30096126e-03] [-3.98339711e-03 1.91422818e-04 9.99992048e-01 -9.22919174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15589822699997 meters Centerline goodness [0,1] 0.9998944991876437 Centerline is valid? [True, True] Translation: X:164.28, Y:0.00, Z:-0.92 [[ 9.99814656e-01 1.89035218e-02 3.64845213e-03 1.64281773e+02] [-1.89027789e-02 9.99821298e-01 -2.38000099e-04 1.02535437e-03] [-3.65229918e-03 1.68990104e-04 9.99993316e-01 -9.22342550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18589822699994 meters Centerline goodness [0,1] 0.9998326079678608 Centerline is valid? [True, True] Translation: X:164.31, Y:-0.00, Z:-0.92 [[ 9.99724247e-01 2.29917151e-02 4.77601827e-03 1.64310963e+02] [-2.29904883e-02 9.99735635e-01 -3.11610576e-04 -3.87443619e-03] [-4.78192012e-03 2.01721656e-04 9.99988546e-01 -9.22516807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21589822699997 meters Centerline goodness [0,1] 0.9999574893191915 Centerline is valid? [True, True] Translation: X:164.34, Y:0.00, Z:-0.92 [[ 9.99688561e-01 2.45048244e-02 4.72181262e-03 1.64341488e+02] [-2.45036427e-02 9.99699693e-01 -3.07968923e-04 7.23128823e-04] [-4.72794135e-03 1.92171400e-04 9.99988805e-01 -9.21575139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24589822699994 meters Centerline goodness [0,1] 0.9999371359121579 Centerline is valid? [True, True] Translation: X:164.37, Y:-0.00, Z:-0.92 [[ 9.99646436e-01 2.60655019e-02 5.25289759e-03 1.64371386e+02] [-2.60640609e-02 9.99660216e-01 -3.42607668e-04 -2.66199061e-03] [-5.26004298e-03 2.05574692e-04 9.99986145e-01 -9.22505095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.27589822699997 meters Centerline goodness [0,1] 0.9999579160003367 Centerline is valid? [True, True] Translation: X:164.40, Y:-0.01, Z:-0.92 [[ 9.99616803e-01 2.70762598e-02 5.75535635e-03 1.64401516e+02] [-2.70745467e-02 9.99633347e-01 -3.75379338e-04 -5.77127981e-03] [-5.76341000e-03 2.19411829e-04 9.99983367e-01 -9.22181182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.30589822699994 meters Centerline goodness [0,1] 0.9999579328187115 Centerline is valid? [True, True] Translation: X:164.43, Y:-0.01, Z:-0.92 [[ 9.99574785e-01 2.82462732e-02 7.23857240e-03 1.64431391e+02] [-2.82435939e-02 9.99600959e-01 -4.72118553e-04 -1.17172784e-02] [-7.24901950e-03 2.67474503e-04 9.99973690e-01 -9.20458028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.335898227 meters Centerline goodness [0,1] 0.9999165258039608 Centerline is valid? [True, True] Translation: X:164.46, Y:-0.02, Z:-0.92 [[ 9.99565008e-01 2.87602579e-02 6.53005807e-03 1.64461351e+02] [-2.87580898e-02 9.99586310e-01 -4.25693607e-04 -2.07056356e-02] [-6.53959971e-03 2.37716437e-04 9.99978588e-01 -9.21921030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.36589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.49, Y:-0.02, Z:-0.92 [[ 9.99551086e-01 2.94675395e-02 5.41207555e-03 1.64491599e+02] [-2.94660579e-02 9.99565719e-01 -3.53317994e-04 -1.97758224e-02] [-5.42013660e-03 1.93686853e-04 9.99985292e-01 -9.23246154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.395898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.52, Y:-0.03, Z:-0.93 [[ 9.99523761e-01 3.05509194e-02 4.34665429e-03 1.64520859e+02] [-3.05499737e-02 9.99533200e-01 -2.83828707e-04 -2.51101681e-02] [-4.35329650e-03 1.50903362e-04 9.99990513e-01 -9.25529299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.42589822699995 meters Centerline goodness [0,1] 0.9999581239530988 Centerline is valid? [True, True] Translation: X:164.55, Y:-0.03, Z:-0.93 [[ 9.99487693e-01 3.17987867e-02 3.63151307e-03 1.64551035e+02] [-3.17981352e-02 9.99494283e-01 -2.37035759e-04 -2.85062966e-02] [-3.63721401e-03 1.21438981e-04 9.99993378e-01 -9.27606963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.455898227 meters Centerline goodness [0,1] 0.999916282963583 Centerline is valid? [True, True] Translation: X:164.58, Y:-0.03, Z:-0.93 [[ 9.99494645e-01 3.15332520e-02 4.01352789e-03 1.64580511e+02] [-3.15324537e-02 9.99502694e-01 -2.62038670e-04 -3.44851878e-02] [-4.01979487e-03 1.35349865e-04 9.99991911e-01 -9.26799130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.48589822699995 meters Centerline goodness [0,1] 0.9999162636856539 Centerline is valid? [True, True] Translation: X:164.61, Y:-0.04, Z:-0.92 [[ 9.99500042e-01 3.11428072e-02 5.45811190e-03 1.64610764e+02] [-3.11413262e-02 9.99514928e-01 -3.56148687e-04 -3.99294588e-02] [-5.46655579e-03 1.85997785e-04 9.99985041e-01 -9.24673686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.515898227 meters Centerline goodness [0,1] 0.9999365522492227 Centerline is valid? [True, True] Translation: X:164.64, Y:-0.04, Z:-0.92 [[ 9.99460009e-01 3.18015754e-02 8.26741554e-03 1.64640839e+02] [-3.17981984e-02 9.99494164e-01 -5.39628729e-04 -4.20373989e-02] [-8.28039463e-03 2.76448415e-04 9.99965679e-01 -9.19391272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.54589822699995 meters Centerline goodness [0,1] 0.9999791105262058 Centerline is valid? [True, True] Translation: X:164.67, Y:-0.04, Z:-0.92 [[ 9.99426814e-01 3.28112222e-02 8.33464022e-03 1.64671758e+02] [-3.28078264e-02 9.99461530e-01 -5.43863320e-04 -4.45169550e-02] [-8.34799709e-03 2.70110156e-04 9.99965118e-01 -9.19464080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.575898227 meters Centerline goodness [0,1] 0.9999579778963735 Centerline is valid? [True, True] Translation: X:164.70, Y:-0.05, Z:-0.92 [[ 9.99418284e-01 3.32879054e-02 7.41674602e-03 1.64702841e+02] [-3.32852240e-02 9.99445776e-01 -4.84706997e-04 -4.78404372e-02] [-7.42877036e-03 2.37556983e-04 9.99972378e-01 -9.22033051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.60589822699995 meters Centerline goodness [0,1] 0.9999789198532821 Centerline is valid? [True, True] Translation: X:164.73, Y:-0.05, Z:-0.93 [[ 9.99426209e-01 3.33692496e-02 5.80905116e-03 1.64733669e+02] [-3.33676064e-02 9.99443074e-01 -3.79591970e-04 -4.88534399e-02] [-5.81848265e-03 1.85540031e-04 9.99983055e-01 -9.25029824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.635898227 meters Centerline goodness [0,1] 0.9999366714514903 Centerline is valid? [True, True] Translation: X:164.76, Y:-0.06, Z:-0.93 [[ 9.99457478e-01 3.27207976e-02 3.75486408e-03 1.64763529e+02] [-3.27201054e-02 9.99464524e-01 -2.45628141e-04 -5.60626256e-02] [-3.76089058e-03 1.22635334e-04 9.99992920e-01 -9.30100087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.66589822699996 meters Centerline goodness [0,1] 0.9998733295332193 Centerline is valid? [True, True] Translation: X:164.79, Y:-0.06, Z:-0.93 [[ 9.99478898e-01 3.21067797e-02 3.32969930e-03 1.64793967e+02] [-3.21062317e-02 9.99484438e-01 -2.17916410e-04 -5.86484317e-02] [-3.33497922e-03 1.10898756e-04 9.99994433e-01 -9.30952286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.695898227 meters Centerline goodness [0,1] 0.9999368726721798 Centerline is valid? [True, True] Translation: X:164.82, Y:-0.06, Z:-0.93 [[ 9.99508515e-01 3.11777103e-02 3.26796415e-03 1.64824777e+02] [-3.11771777e-02 9.99513851e-01 -2.13799517e-04 -5.90854921e-02] [-3.27304121e-03 1.11808538e-04 9.99994637e-01 -9.30636583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.72589822699996 meters Centerline goodness [0,1] 0.9998740580592347 Centerline is valid? [True, True] Translation: X:164.85, Y:-0.07, Z:-0.93 [[ 9.99573803e-01 2.89642633e-02 3.64468418e-03 1.64854897e+02] [-2.89635860e-02 9.99580439e-01 -2.38499888e-04 -6.71571347e-02] [-3.65006298e-03 1.32835116e-04 9.99993330e-01 -9.31015936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.755898227 meters Centerline goodness [0,1] 0.9999160298933579 Centerline is valid? [True, True] Translation: X:164.89, Y:-0.06, Z:-0.93 [[ 9.99581923e-01 2.86300997e-02 4.03692337e-03 1.64885541e+02] [-2.86292655e-02 9.99590064e-01 -2.64292626e-04 -6.25424526e-02] [-4.04283521e-03 1.48607980e-04 9.99991817e-01 -9.30099950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.78589822699996 meters Centerline goodness [0,1] 0.9998947501368248 Centerline is valid? [True, True] Translation: X:164.92, Y:-0.07, Z:-0.93 [[ 9.99588309e-01 2.83426645e-02 4.46157551e-03 1.64915182e+02] [-2.83416424e-02 9.99598252e-01 -2.92158360e-04 -6.55854452e-02] [-4.46806363e-03 1.65589703e-04 9.99990004e-01 -9.30365031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.815898227 meters Centerline goodness [0,1] 0.9999577032885694 Centerline is valid? [True, True] Translation: X:164.95, Y:-0.06, Z:-0.93 [[ 9.99595823e-01 2.80205283e-02 4.80016662e-03 1.64945778e+02] [-2.80193421e-02 9.99607332e-01 -3.14206109e-04 -6.44879389e-02] [-4.80708597e-03 1.79581604e-04 9.99988430e-01 -9.29753800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.84589822699996 meters Centerline goodness [0,1] 0.9998950571938293 Centerline is valid? [True, True] Translation: X:164.98, Y:-0.07, Z:-0.93 [[ 9.99609327e-01 2.72580198e-02 6.18015404e-03 1.64976445e+02] [-2.72560401e-02 9.99628403e-01 -4.04347460e-04 -6.68986310e-02] [-6.18887922e-03 2.35742966e-04 9.99980821e-01 -9.28361890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.875898227 meters Centerline goodness [0,1] 0.9999153385400131 Centerline is valid? [True, True] Translation: X:165.01, Y:-0.07, Z:-0.93 [[ 9.99610859e-01 2.71910721e-02 6.22709542e-03 1.65007949e+02] [-2.71890583e-02 9.99630226e-01 -4.07824804e-04 -6.66987474e-02] [-6.23588200e-03 2.38357241e-04 9.99980528e-01 -9.27643055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.90589822699997 meters Centerline goodness [0,1] 0.9999153385400131 Centerline is valid? [True, True] Translation: X:165.04, Y:-0.07, Z:-0.93 [[ 9.99610236e-01 2.72139407e-02 6.22708608e-03 1.65038739e+02] [-2.72119266e-02 9.99629604e-01 -4.07967400e-04 -6.87582905e-02] [-6.23588199e-03 2.38357380e-04 9.99980528e-01 -9.27953973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93589822699994 meters Centerline goodness [0,1] 0.9999787175176112 Centerline is valid? [True, True] Translation: X:165.07, Y:-0.07, Z:-0.93 [[ 9.99625182e-01 2.67377053e-02 5.88145626e-03 1.65070362e+02] [-2.67358996e-02 9.99642458e-01 -3.85444247e-04 -6.82665972e-02] [-5.88965928e-03 2.28053751e-04 9.99982630e-01 -9.28690173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.96589822699997 meters Centerline goodness [0,1] 0.9998948541627237 Centerline is valid? [True, True] Translation: X:165.10, Y:-0.08, Z:-0.93 [[ 9.99649052e-01 2.58936566e-02 5.59388557e-03 1.65099962e+02] [-2.58920090e-02 9.99664678e-01 -3.66769564e-04 -7.61931916e-02] [-5.60150682e-03 2.21803912e-04 9.99984287e-01 -9.30649441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99589822699994 meters Centerline goodness [0,1] 0.9996212121212121 Centerline is valid? [True, True] Translation: X:165.13, Y:-0.08, Z:-0.93 [[ 9.99729276e-01 2.27846698e-02 4.71532432e-03 1.65129701e+02] [-2.27834641e-02 9.99740375e-01 -3.09264116e-04 -8.09754277e-02] [-4.72114659e-03 2.01748968e-04 9.99988835e-01 -9.31578418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.02589822699997 meters Centerline goodness [0,1] 0.9998092169415356 Centerline is valid? [True, True] Translation: X:165.16, Y:-0.08, Z:-0.93 [[ 9.99781835e-01 2.02845579e-02 4.98187625e-03 1.65160680e+02] [-2.02831814e-02 9.99794222e-01 -3.26687049e-04 -7.69096965e-02] [-4.98747779e-03 2.25567478e-04 9.99987537e-01 -9.30348331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05589822699994 meters Centerline goodness [0,1] 0.9995395177494977 Centerline is valid? [True, True] Translation: X:165.19, Y:-0.09, Z:-0.93 [[ 9.99832575e-01 1.75559674e-02 5.15847215e-03 1.65190158e+02] [-1.75544550e-02 9.99845851e-01 -3.38332251e-04 -9.13996594e-02] [-5.16361673e-03 2.47721438e-04 9.99986638e-01 -9.31133375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.085898227 meters Centerline goodness [0,1] 0.9972650579597332 Centerline is valid? [True, True] Translation: X:165.22, Y:-0.10, Z:-0.93 [[ 9.99922081e-01 1.14786771e-02 4.90622884e-03 1.65219817e+02] [-1.14772356e-02 9.99934083e-01 -3.21872961e-04 -1.04615855e-01] [-4.90960011e-03 2.65537937e-04 9.99987913e-01 -9.32272963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11589822699995 meters Centerline goodness [0,1] 0.9931952848558447 Centerline is valid? [True, True] Translation: X:165.25, Y:-0.11, Z:-0.93 [[ 9.99947331e-01 8.87787109e-03 5.14964009e-03 1.65249951e+02] [-8.87624841e-03 9.99960548e-01 -3.37874643e-04 -1.12506717e-01] [-5.15243653e-03 2.92147363e-04 9.99986683e-01 -9.31567123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.145898227 meters Centerline goodness [0,1] 0.9899246447387754 Centerline is valid? [True, True] Translation: X:165.28, Y:-0.12, Z:-0.93 [[ 9.99957937e-01 7.28189724e-03 5.57651835e-03 1.65280971e+02] [-7.27996992e-03 9.99973434e-01 -3.65833606e-04 -1.17811805e-01] [-5.57903416e-03 3.25221332e-04 9.99984384e-01 -9.30774816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17589822699995 meters Centerline goodness [0,1] 0.9886684367878572 Centerline is valid? [True, True] Translation: X:165.31, Y:-0.12, Z:-0.93 [[ 9.99960087e-01 7.02186728e-03 5.52427401e-03 1.65312884e+02] [-7.01997458e-03 9.99975294e-01 -3.61931431e-04 -1.21531526e-01] [-5.52667897e-03 3.23136722e-04 9.99984676e-01 -9.30095068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.205898227 meters Centerline goodness [0,1] 0.996980499056406 Centerline is valid? [True, True] Translation: X:165.34, Y:-0.12, Z:-0.93 [[ 9.99933175e-01 9.84986947e-03 6.05189584e-03 1.65343451e+02] [-9.84763948e-03 9.99951432e-01 -3.98167440e-04 -1.21775115e-01] [-6.05552380e-03 3.38543945e-04 9.99981608e-01 -9.28401395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23589822699995 meters Centerline goodness [0,1] 0.9986951763616466 Centerline is valid? [True, True] Translation: X:165.37, Y:-0.12, Z:-0.93 [[ 9.99909724e-01 1.17472974e-02 6.52256888e-03 1.65374222e+02] [-1.17447470e-02 9.99930936e-01 -4.29175946e-04 -1.19815424e-01] [-6.52716006e-03 3.52531281e-04 9.99978636e-01 -9.28021214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.265898227 meters Centerline goodness [0,1] 0.9986091794158554 Centerline is valid? [True, True] Translation: X:165.40, Y:-0.12, Z:-0.93 [[ 9.99884615e-01 1.36655102e-02 6.63399099e-03 1.65403598e+02] [-1.36629140e-02 9.99906563e-01 -4.36507366e-04 -1.22880720e-01] [-6.63933623e-03 3.45817351e-04 9.99977900e-01 -9.28187716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29589822699995 meters Centerline goodness [0,1] 0.999303018142649 Centerline is valid? [True, True] Translation: X:165.44, Y:-0.12, Z:-0.93 [[ 9.99865594e-01 1.49568519e-02 6.71465831e-03 1.65435506e+02] [-1.49542220e-02 9.99888082e-01 -4.41702195e-04 -1.21389684e-01] [-6.72051329e-03 3.41230336e-04 9.99977359e-01 -9.27804925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.325898227 meters Centerline goodness [0,1] 0.9985071488645921 Centerline is valid? [True, True] Translation: X:165.47, Y:-0.13, Z:-0.93 [[ 9.99854833e-01 1.61548881e-02 5.41587449e-03 1.65466539e+02] [-1.61531970e-02 9.99869465e-01 -3.55864881e-04 -1.28990019e-01] [-5.42091649e-03 2.68329534e-04 9.99985271e-01 -9.29686069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35589822699995 meters Centerline goodness [0,1] 0.9989941535173195 Centerline is valid? [True, True] Translation: X:165.50, Y:-0.13, Z:-0.93 [[ 9.99867587e-01 1.57109556e-02 4.23969615e-03 1.65498786e+02] [-1.57099142e-02 9.99876553e-01 -2.78825710e-04 -1.30602494e-01] [-4.24355339e-03 2.12183527e-04 9.99990974e-01 -9.32255224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.385898227 meters Centerline goodness [0,1] 0.9983405801667822 Centerline is valid? [True, True] Translation: X:165.53, Y:-0.13, Z:-0.93 [[ 9.99884953e-01 1.48319118e-02 3.17736119e-03 1.65530409e+02] [-1.48313205e-02 9.99889988e-01 -2.09592941e-04 -1.33447547e-01] [-3.18012031e-03 1.62444366e-04 9.99994930e-01 -9.34195072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41589822699996 meters Centerline goodness [0,1] 0.9990701802582364 Centerline is valid? [True, True] Translation: X:165.56, Y:-0.13, Z:-0.93 [[ 9.99905574e-01 1.34258446e-02 2.93082400e-03 1.65561556e+02] [-1.34253336e-02 9.99909857e-01 -1.93971064e-04 -1.30698423e-01] [-2.93316403e-03 1.54605458e-04 9.99995686e-01 -9.34169107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.445898227 meters Centerline goodness [0,1] 0.9968728356454761 Centerline is valid? [True, True] Translation: X:165.59, Y:-0.14, Z:-0.93 [[ 9.99905283e-01 1.34051148e-02 3.11899727e-03 1.65591785e+02] [-1.34045367e-02 9.99910134e-01 -2.06183094e-04 -1.38107779e-01] [-3.12148089e-03 1.64354852e-04 9.99995115e-01 -9.34855280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47589822699996 meters Centerline goodness [0,1] 0.9978270862061761 Centerline is valid? [True, True] Translation: X:165.62, Y:-0.14, Z:-0.94 [[ 9.99905406e-01 1.34469974e-02 2.89081797e-03 1.65623031e+02] [-1.34465000e-02 9.99909573e-01 -1.91429728e-04 -1.37614122e-01] [-2.89313072e-03 1.52540236e-04 9.99995803e-01 -9.35343234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.505898227 meters Centerline goodness [0,1] 0.9962383103919302 Centerline is valid? [True, True] Translation: X:165.65, Y:-0.14, Z:-0.94 [[ 9.99914515e-01 1.27966341e-02 2.68486059e-03 1.65653107e+02] [-1.27962024e-02 9.99918109e-01 -1.77916940e-04 -1.40826883e-01] [-2.68691746e-03 1.43545711e-04 9.99996380e-01 -9.37054628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53589822699996 meters Centerline goodness [0,1] 0.9974016097344572 Centerline is valid? [True, True] Translation: X:165.68, Y:-0.14, Z:-0.94 [[ 9.99920088e-01 1.23889957e-02 2.51615943e-03 1.65683452e+02] [-1.23886151e-02 9.99923244e-01 -1.66757439e-04 -1.39750209e-01] [-2.51803226e-03 1.35572382e-04 9.99996821e-01 -9.37369828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.565898227 meters Centerline goodness [0,1] 0.9871012250700338 Centerline is valid? [True, True] Translation: X:165.71, Y:-0.15, Z:-0.94 [[ 9.99926986e-01 1.18383690e-02 2.42418347e-03 1.65713414e+02] [-1.18380141e-02 9.99929915e-01 -1.60684843e-04 -1.46665057e-01] [-2.42591582e-03 1.31975592e-04 9.99997049e-01 -9.38822970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59589822699996 meters Centerline goodness [0,1] 0.9987708479030242 Centerline is valid? [True, True] Translation: X:165.75, Y:-0.14, Z:-0.94 [[ 9.99939262e-01 1.08394557e-02 1.99438753e-03 1.65745320e+02] [-1.08392137e-02 9.99941245e-01 -1.32101415e-04 -1.38791766e-01] [-1.99570226e-03 1.10475799e-04 9.99998002e-01 -9.38587327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.625898227 meters Centerline goodness [0,1] 0.9777324060486187 Centerline is valid? [True, True] Translation: X:165.77, Y:-0.15, Z:-0.94 [[ 9.99962497e-01 8.63133200e-03 7.10674095e-04 1.65774293e+02] [-8.63130096e-03 9.99962749e-01 -4.67384198e-05 -1.53493956e-01] [-7.11051036e-04 4.06026250e-05 9.99999746e-01 -9.42215254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65589822699997 meters Centerline goodness [0,1] 0.9974694755488075 Centerline is valid? [True, True] Translation: X:165.80, Y:-0.15, Z:-0.94 [[ 9.99972310e-01 7.36540731e-03 1.06262183e-03 1.65804922e+02] [-7.36533648e-03 9.99972873e-01 -7.05567628e-05 -1.49460911e-01] [-1.06311269e-03 6.27282417e-05 9.99999433e-01 -9.40619092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68589822699994 meters Centerline goodness [0,1] 0.9840840396525121 Centerline is valid? [True, True] Translation: X:165.83, Y:-0.16, Z:-0.94 [[ 9.99982700e-01 5.71364971e-03 1.39772225e-03 1.65833982e+02] [-5.71352556e-03 9.99983673e-01 -9.28070118e-05 -1.60079290e-01] [-1.39822970e-03 8.48194845e-05 9.99999019e-01 -9.40624258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71589822699997 meters Centerline goodness [0,1] 0.8987248702812848 Centerline is valid? [True, False] Translation: X:165.84, Y:-0.16, Z:-0.94 [[ 9.99998073e-01 1.60663715e-03 1.12842133e-03 1.65835069e+02] [-1.60195036e-03 9.99990138e-01 -4.14210278e-03 -1.61066154e-01] [-1.13506506e-03 4.14028713e-03 9.99990785e-01 -9.41035160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74589822699994 meters Centerline goodness [0,1] 0.9713720788372142 Centerline is valid? [False, True] Translation: X:165.84, Y:-0.16, Z:-0.94 [[ 9.99997632e-01 1.86785738e-03 1.11693162e-03 1.65835224e+02] [-1.86403384e-03 9.99992433e-01 -3.41455271e-03 -1.64709340e-01] [-1.12330107e-03 3.41246263e-03 9.99993547e-01 -9.41297383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.77589822699997 meters Centerline goodness [0,1] 0.9086055408416362 Centerline is valid? [True, False] Translation: X:165.84, Y:-0.17, Z:-0.94 [[ 9.99997085e-01 2.13448939e-03 1.12874399e-03 1.65835127e+02] [-2.13143888e-03 9.99994092e-01 -2.69690610e-03 -1.68287792e-01] [-1.13449383e-03 2.69449239e-03 9.99995726e-01 -9.41278682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.80589822699994 meters Centerline goodness [0,1] 0.8745385906040268 Centerline is valid? [False, False] Translation: X:165.83, Y:-0.17, Z:-0.94 [[ 9.99996186e-01 2.49140354e-03 1.19167678e-03 1.65834464e+02] [-2.48939066e-03 9.99995477e-01 -1.68763055e-03 -1.73482400e-01] [-1.19587596e-03 1.68465756e-03 9.99997866e-01 -9.40574341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.835898227 meters Centerline goodness [0,1] 0.8990203466465712 Centerline is valid? [False, False] Translation: X:165.83, Y:-0.17, Z:-0.94 [[ 9.99995761e-01 2.63781629e-03 1.23251094e-03 1.65834245e+02] [-2.63609785e-03 9.99995554e-01 -1.39381064e-03 -1.74878194e-01] [-1.23618208e-03 1.39055571e-03 9.99998269e-01 -9.40449330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.86589822699995 meters Centerline goodness [0,1] 0.897243789632296 Centerline is valid? [False, False] Translation: X:165.83, Y:-0.18, Z:-0.94 [[ 9.99995571e-01 2.77750568e-03 1.06928796e-03 1.65834787e+02] [-2.77623093e-03 9.99995436e-01 -1.19178805e-03 -1.75741380e-01] [-1.07259328e-03 1.18881418e-03 9.99998718e-01 -9.40462265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.895898227 meters Centerline goodness [0,1] 0.9769075034796912 Centerline is valid? [False, True] Translation: X:165.84, Y:-0.18, Z:-0.94 [[ 9.99995483e-01 2.87988359e-03 8.60631385e-04 1.65835690e+02] [-2.87890156e-03 9.99995206e-01 -1.14012688e-03 -1.75729758e-01] [-8.63910692e-04 1.13764406e-03 9.99998980e-01 -9.40848579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.92589822699995 meters Centerline goodness [0,1] 0.9890165066214774 Centerline is valid? [True, True] Translation: X:165.87, Y:-0.17, Z:-0.94 [[ 9.99983574e-01 5.64061852e-03 -1.01694746e-03 1.65866796e+02] [-5.64055379e-03 9.99984090e-01 6.65086958e-05 -1.73457308e-01] [ 1.01730643e-03 -6.07714565e-05 9.99999481e-01 -9.43730844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.955898227 meters Centerline goodness [0,1] 0.9927935477113229 Centerline is valid? [True, True] Translation: X:165.90, Y:-0.17, Z:-0.94 [[ 9.99978613e-01 6.51620275e-03 -5.59712964e-04 1.65897307e+02] [-6.51618331e-03 9.99978769e-01 3.65527726e-05 -1.73426777e-01] [ 5.59939266e-04 -3.29047986e-05 9.99999843e-01 -9.42971733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.98589822699995 meters Centerline goodness [0,1] 0.9927844782380703 Centerline is valid? [True, True] Translation: X:165.93, Y:-0.18, Z:-0.94 [[ 9.99975367e-01 7.01886759e-03 1.90621733e-05 1.65926588e+02] [-7.01886756e-03 9.99975367e-01 -1.36609200e-06 -1.75747239e-01] [-1.90712922e-05 1.23226348e-06 1.00000000e+00 -9.42751517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.015898227 meters Centerline goodness [0,1] 0.9380446112153429 Centerline is valid? [True, False] Translation: X:165.93, Y:-0.18, Z:-0.94 [[ 9.99975633e-01 6.97940662e-03 1.42812819e-04 1.65925957e+02] [-6.97941525e-03 9.99975642e-01 6.00004621e-05 -1.76258447e-01] [-1.42390572e-04 -6.09957500e-05 9.99999988e-01 -9.42407753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.04589822699995 meters Centerline goodness [0,1] 0.9933408719688404 Centerline is valid? [False, True] Translation: X:165.93, Y:-0.18, Z:-0.94 [[ 9.99975830e-01 6.94951335e-03 2.10174516e-04 1.65925498e+02] [-6.94953096e-03 9.99975848e-01 8.32082804e-05 -1.76523248e-01] [-2.09591183e-04 -8.46668835e-05 9.99999974e-01 -9.42019391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.075898227 meters Centerline goodness [0,1] 0.9703419180152384 Centerline is valid? [True, True] Translation: X:165.96, Y:-0.18, Z:-0.94 [[ 9.99977528e-01 6.66484421e-03 7.23160073e-04 1.65955142e+02] [-6.66481119e-03 9.99977789e-01 -4.80620901e-05 -1.84608754e-01] [-7.23464337e-04 4.32412847e-05 9.99999737e-01 -9.42053122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.10589822699995 meters Centerline goodness [0,1] 0.9810727535685091 Centerline is valid? [True, True] Translation: X:165.99, Y:-0.18, Z:-0.94 [[ 9.99977147e-01 6.69958826e-03 9.05626303e-04 1.65985452e+02] [-6.69953638e-03 9.99977556e-01 -6.03141970e-05 -1.83782395e-01] [-9.06010058e-04 5.42455423e-05 9.99999588e-01 -9.41973751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.135898227 meters Centerline goodness [0,1] 0.986964935037319 Centerline is valid? [True, True] Translation: X:166.02, Y:-0.18, Z:-0.94 [[ 9.99981990e-01 5.95284284e-03 7.63308556e-04 1.66015849e+02] [-5.95280576e-03 9.99982281e-01 -5.08359159e-05 -1.82801812e-01] [-7.63597649e-04 4.62911728e-05 9.99999707e-01 -9.42393050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.16589822699996 meters Centerline goodness [0,1] 0.9984575835475579 Centerline is valid? [True, True] Translation: X:166.05, Y:-0.17, Z:-0.94 [[ 9.99989024e-01 4.65821699e-03 5.02775457e-04 1.66047044e+02] [-4.65820074e-03 9.99989150e-01 -3.34845596e-05 -1.73776391e-01] [-5.02925980e-04 3.11421631e-05 9.99999873e-01 -9.41748821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.195898227 meters Centerline goodness [0,1] 0.8075747424838791 Centerline is valid? [True, False] Translation: X:166.09, Y:-0.17, Z:-0.94 [[ 9.99998011e-01 1.98707079e-03 -1.73500818e-04 1.66093323e+02] [-1.98729631e-03 9.99997168e-01 -1.30947938e-03 -1.74358062e-01] [ 1.70898298e-04 1.30982157e-03 9.99999128e-01 -9.43543838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.22589822699996 meters Centerline goodness [0,1] 0.9482312521208008 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.17, Z:-0.94 [[ 9.99998121e-01 1.49772012e-03 -1.23077733e-03 1.66051187e+02] [-1.50032994e-03 9.99996622e-01 -2.12228546e-03 -1.72140500e-01] [ 1.22759458e-03 2.12412805e-03 9.99996991e-01 -9.44603084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.255898227 meters Centerline goodness [0,1] 0.88870116156283 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.17, Z:-0.94 [[ 9.99998221e-01 1.42922638e-03 -1.23113089e-03 1.66051277e+02] [-1.43176458e-03 9.99996846e-01 -2.06327378e-03 -1.72677136e-01] [ 1.22817812e-03 2.06503280e-03 9.99997114e-01 -9.44726864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.28589822699996 meters Centerline goodness [0,1] 0.791246356143699 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.17, Z:-0.94 [[ 9.99998897e-01 1.06873389e-03 -1.03187545e-03 1.66049910e+02] [-1.07149350e-03 9.99995841e-01 -2.67752067e-03 -1.70010853e-01] [ 1.02900960e-03 2.67862336e-03 9.99995883e-01 -9.43472958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.315898227 meters Centerline goodness [0,1] 0.8006600521315059 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.17, Z:-0.94 [[ 9.99999180e-01 8.43030112e-04 -9.63694058e-04 1.66049453e+02] [-8.46076105e-04 9.99994634e-01 -3.16472098e-03 -1.67697406e-01] [ 9.61020932e-04 3.16553375e-03 9.99994528e-01 -9.43040568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.34589822699996 meters Centerline goodness [0,1] 0.5505436379665001 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.17, Z:-0.94 [[ 9.99999344e-01 6.09717724e-04 -9.69281320e-04 1.66049550e+02] [-6.13212165e-04 9.99993300e-01 -3.60898758e-03 -1.65630843e-01] [ 9.67074362e-04 3.60957959e-03 9.99993018e-01 -9.43151365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.375898227 meters Centerline goodness [0,1] 0.8466756268637909 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.16, Z:-0.94 [[ 9.99999354e-01 4.33924057e-04 -1.05079690e-03 1.66050166e+02] [-4.38008992e-04 9.99992337e-01 -3.89035958e-03 -1.64384454e-01] [ 1.04910073e-03 3.89081732e-03 9.99991880e-01 -9.43691267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.40589822699997 meters Centerline goodness [0,1] 0.7266706041174485 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.16, Z:-0.94 [[ 9.99999322e-01 1.91768747e-05 -1.16440105e-03 1.66050852e+02] [-2.42897398e-05 9.99990359e-01 -4.39112751e-03 -1.62377537e-01] [ 1.16430562e-03 4.39115281e-03 9.99989681e-01 -9.44167660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43589822699994 meters Centerline goodness [0,1] 0.6654680797375725 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.16, Z:-0.94 [[ 9.99999288e-01 -1.40403390e-04 -1.18488622e-03 1.66050773e+02] [ 1.34860916e-04 9.99989056e-01 -4.67642719e-03 -1.61049549e-01] [ 1.18552984e-03 4.67626406e-03 9.99988363e-01 -9.43889480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.46589822699997 meters Centerline goodness [0,1] 0.580700023096143 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.16, Z:-0.94 [[ 9.99999290e-01 -3.11074323e-04 -1.14998141e-03 1.66050470e+02] [ 3.05310575e-04 9.99987409e-01 -5.00881837e-03 -1.59484885e-01] [ 1.15152504e-03 5.00846371e-03 9.99986795e-01 -9.43547389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49589822699994 meters Centerline goodness [0,1] 0.5789286088688541 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.16, Z:-0.94 [[ 9.99999218e-01 -5.12669455e-04 -1.14096123e-03 1.66050137e+02] [ 5.06385465e-04 9.99984741e-01 -5.50111802e-03 -1.57073632e-01] [ 1.14376407e-03 5.50053595e-03 9.99984218e-01 -9.42989256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.52589822699997 meters Centerline goodness [0,1] 0.6780144222706691 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.16, Z:-0.94 [[ 9.99999203e-01 -5.55068152e-04 -1.13439640e-03 1.66050020e+02] [ 5.48729207e-04 9.99984278e-01 -5.58063835e-03 -1.56661957e-01] [ 1.13747620e-03 5.58001142e-03 9.99983785e-01 -9.42816618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55589822699994 meters Centerline goodness [0,1] 0.5408120639959898 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.16, Z:-0.94 [[ 9.99999142e-01 -6.03739244e-04 -1.16216406e-03 1.66049979e+02] [ 5.97175471e-04 9.99983917e-01 -5.63997395e-03 -1.56367844e-01] [ 1.16555044e-03 5.63927509e-03 9.99983420e-01 -9.42598699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.585898227 meters Centerline goodness [0,1] 0.7331270913567776 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.16, Z:-0.94 [[ 9.99994006e-01 3.35096173e-03 -8.70916894e-04 1.66049255e+02] [-3.35157425e-03 9.99994136e-01 -7.02802855e-04 -1.61021511e-01] [ 8.68556722e-04 7.05717585e-04 9.99999374e-01 -9.43068081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61589822699995 meters Centerline goodness [0,1] 0.4826407098953198 Centerline is valid? [False, False] Translation: X:166.06, Y:-0.16, Z:-0.95 [[ 9.99997694e-01 1.08958140e-03 -1.85061024e-03 1.66056328e+02] [-1.09469882e-03 9.99995574e-01 -2.76649957e-03 -1.62507364e-01] [ 1.84758772e-03 2.76851906e-03 9.99994461e-01 -9.47872193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.645898227 meters Centerline goodness [0,1] 0.7422198619224641 Centerline is valid? [False, False] Translation: X:166.03, Y:-0.16, Z:-0.95 [[ 9.99986380e-01 -1.55599726e-04 -5.21680376e-03 1.66034957e+02] [ 1.89871625e-04 9.99978401e-01 6.56966890e-03 -1.64330749e-01] [ 5.21566885e-03 -6.57056995e-03 9.99964812e-01 -9.45674833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67589822699995 meters Centerline goodness [0,1] 0.545427840026858 Centerline is valid? [False, False] Translation: X:166.06, Y:-0.16, Z:-0.94 [[ 9.99986116e-01 1.14812433e-03 -5.14297161e-03 1.66056971e+02] [-1.16203044e-03 9.99995675e-01 -2.70173356e-03 -1.63693381e-01] [ 5.13984744e-03 2.70767233e-03 9.99983125e-01 -9.44705442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.705898227 meters Centerline goodness [0,1] 0.6243135610983022 Centerline is valid? [False, False] Translation: X:166.06, Y:-0.16, Z:-0.94 [[ 9.99984369e-01 1.32158303e-03 -5.43275770e-03 1.66057893e+02] [-1.33880322e-03 9.99994088e-01 -3.16728127e-03 -1.60512121e-01] [ 5.42853976e-03 3.17450516e-03 9.99980227e-01 -9.44520106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73589822699995 meters Centerline goodness [0,1] 0.8091537314373333 Centerline is valid? [False, False] Translation: X:166.06, Y:-0.16, Z:-0.94 [[ 9.99983518e-01 1.29579611e-03 -5.59318739e-03 1.66058466e+02] [-1.31607696e-03 9.99992568e-01 -3.62383624e-03 -1.57820251e-01] [ 5.58845006e-03 3.63113757e-03 9.99977792e-01 -9.44499738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.765898227 meters Centerline goodness [0,1] 0.8326516772976753 Centerline is valid? [False, False] Translation: X:166.06, Y:-0.16, Z:-0.94 [[ 9.99968933e-01 5.64704555e-03 -5.49943055e-03 1.66058348e+02] [-5.64191476e-03 9.99983635e-01 9.48035345e-04 -1.59325331e-01] [ 5.50469415e-03 -9.16978574e-04 9.99984429e-01 -9.44787346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79589822699995 meters Centerline goodness [0,1] 0.8326516772976753 Centerline is valid? [False, False] Translation: X:166.06, Y:-0.16, Z:-0.94 [[ 9.99968933e-01 5.64704555e-03 -5.49943055e-03 1.66058348e+02] [-5.64191476e-03 9.99983635e-01 9.48035345e-04 -1.59325331e-01] [ 5.50469415e-03 -9.16978574e-04 9.99984429e-01 -9.44787346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.825898227 meters Centerline goodness [0,1] 0.8314749113025849 Centerline is valid? [False, False] Translation: X:166.06, Y:-0.16, Z:-0.94 [[ 9.99968385e-01 5.56973920e-03 -5.67513829e-03 1.66058747e+02] [-5.56741224e-03 9.99984411e-01 4.25744200e-04 -1.56490743e-01] [ 5.67742110e-03 -3.94134906e-04 9.99983806e-01 -9.44468715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85589822699995 meters Centerline goodness [0,1] 0.93691663300236 Centerline is valid? [False, False] Translation: X:166.06, Y:-0.15, Z:-0.94 [[ 9.99968632e-01 5.56714747e-03 -5.63391283e-03 1.66058138e+02] [-5.56745111e-03 9.99984501e-01 -3.82119707e-05 -1.53854073e-01] [ 5.63361278e-03 6.95773063e-05 9.99984129e-01 -9.43651985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.885898227 meters Centerline goodness [0,1] 0.8825670417939171 Centerline is valid? [False, False] Translation: X:166.10, Y:-0.16, Z:-0.94 [[ 9.99983934e-01 4.50668121e-03 -3.43831306e-03 1.66097249e+02] [-4.50611684e-03 9.99989833e-01 1.71871776e-04 -1.57277962e-01] [ 3.43905267e-03 -1.56375574e-04 9.99994074e-01 -9.41787963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91589822699996 meters Centerline goodness [0,1] 0.9121001683501684 Centerline is valid? [False, False] Translation: X:166.10, Y:-0.16, Z:-0.94 [[ 9.99983665e-01 4.62446812e-03 -3.35923567e-03 1.66096814e+02] [-4.62256792e-03 9.99989152e-01 5.73207232e-04 -1.59411470e-01] [ 3.36185001e-03 -5.57669574e-04 9.99994193e-01 -9.41512576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.945898227 meters Centerline goodness [0,1] 0.680782513477089 Centerline is valid? [False, False] Translation: X:166.10, Y:-0.16, Z:-0.94 [[ 9.99993328e-01 5.46207099e-04 -3.61197138e-03 1.66097399e+02] [-5.57709529e-04 9.99994775e-01 -3.18428944e-03 -1.62058692e-01] [ 3.61021322e-03 3.18628263e-03 9.99988407e-01 -9.41208739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97589822699996 meters Centerline goodness [0,1] 0.6064506676713132 Centerline is valid? [False, False] Translation: X:166.10, Y:-0.17, Z:-0.94 [[ 9.99992949e-01 7.46514481e-04 -3.68035263e-03 1.66097613e+02] [-7.54653890e-04 9.99997272e-01 -2.21069172e-03 -1.67320651e-01] [ 3.67869228e-03 2.21345353e-03 9.99990784e-01 -9.41329042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.005898227 meters Centerline goodness [0,1] 0.687641723356009 Centerline is valid? [False, False] Translation: X:166.10, Y:-0.17, Z:-0.94 [[ 9.99993659e-01 1.07602455e-03 -3.39461498e-03 1.66096620e+02] [-1.07968373e-03 9.99998838e-01 -1.07629027e-03 -1.73304978e-01] [ 3.39345292e-03 1.07994856e-03 9.99993659e-01 -9.41303017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03589822699996 meters Centerline goodness [0,1] 0.7682833602310372 Centerline is valid? [False, False] Translation: X:166.05, Y:-0.17, Z:-0.94 [[ 9.99998814e-01 6.23405661e-04 -1.40853486e-03 1.66049776e+02] [-6.25450644e-04 9.99998750e-01 -1.45187790e-03 -1.74451851e-01] [ 1.40762799e-03 1.45275715e-03 9.99997954e-01 -9.41673602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.065898227 meters Centerline goodness [0,1] 0.6350349635664938 Centerline is valid? [False, False] Translation: X:166.07, Y:-0.19, Z:-0.95 [[ 9.99990438e-01 -2.26874438e-03 3.73856154e-03 1.66071764e+02] [ 2.24459187e-03 9.99976667e-01 6.45195586e-03 -1.85525208e-01] [-3.75311214e-03 -6.44350263e-03 9.99972197e-01 -9.46195139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09589822699996 meters Centerline goodness [0,1] 0.5130378233233338 Centerline is valid? [False, False] Translation: X:166.08, Y:-0.19, Z:-0.95 [[ 9.99985518e-01 -4.55439943e-03 2.86714239e-03 1.66077363e+02] [ 4.54268817e-03 9.99981367e-01 4.07799477e-03 -1.86940847e-01] [-2.88566178e-03 -4.06491118e-03 9.99987575e-01 -9.49292436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.125898227 meters Centerline goodness [0,1] 0.6183119581872757 Centerline is valid? [False, False] Translation: X:166.08, Y:-0.19, Z:-0.95 [[ 9.99987048e-01 -4.30955761e-03 2.70760174e-03 1.66078207e+02] [ 4.29690617e-03 9.99979905e-01 4.66113518e-03 -1.89791715e-01] [-2.72763476e-03 -4.64944050e-03 9.99985471e-01 -9.49879818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15589822699997 meters Centerline goodness [0,1] 0.5792631755622693 Centerline is valid? [False, False] Translation: X:166.08, Y:-0.19, Z:-0.95 [[ 9.99989836e-01 -3.84313749e-03 2.35753976e-03 1.66079851e+02] [ 3.83022341e-03 9.99977769e-01 5.45805313e-03 -1.93295265e-01] [-2.37846339e-03 -5.44896775e-03 9.99982326e-01 -9.50750404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18589822699994 meters Centerline goodness [0,1] 0.6672692113670758 Centerline is valid? [False, False] Translation: X:166.08, Y:-0.19, Z:-0.95 [[ 9.99990660e-01 -3.69843448e-03 2.23661473e-03 1.66080243e+02] [ 3.68617849e-03 9.99978304e-01 5.45922675e-03 -1.92928306e-01] [-2.25675680e-03 -5.45093120e-03 9.99982597e-01 -9.50716960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21589822699997 meters Centerline goodness [0,1] 0.8907487860976233 Centerline is valid? [False, False] Translation: X:166.06, Y:-0.19, Z:-0.95 [[ 9.99998689e-01 -2.34401796e-04 -1.60221080e-03 1.66057517e+02] [ 2.30784452e-04 9.99997425e-01 -2.25753251e-03 -1.88493376e-01] [ 1.60273584e-03 2.25715978e-03 9.99996168e-01 -9.46271585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24589822699994 meters Centerline goodness [0,1] 0.8815350858686021 Centerline is valid? [False, False] Translation: X:166.08, Y:-0.19, Z:-0.95 [[ 9.99977536e-01 6.38974114e-03 2.02441061e-03 1.66078781e+02] [-6.37727064e-03 9.99961012e-01 -6.10776598e-03 -1.88281824e-01] [-2.06335873e-03 6.09471857e-03 9.99979298e-01 -9.48585433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.27589822699997 meters Centerline goodness [0,1] 0.977001757692552 Centerline is valid? [False, True] Translation: X:166.08, Y:-0.19, Z:-0.95 [[ 9.99976671e-01 6.54670730e-03 1.94882310e-03 1.66078982e+02] [-6.53422208e-03 9.99958519e-01 -6.34541518e-03 -1.86554168e-01] [-1.99028383e-03 6.33253310e-03 9.99977969e-01 -9.48474459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.30589822699994 meters Centerline goodness [0,1] 0.9820802820152339 Centerline is valid? [True, True] Translation: X:166.11, Y:-0.19, Z:-0.95 [[ 9.99955195e-01 9.26358864e-03 1.94785842e-03 1.66107938e+02] [-9.26333220e-03 9.99957085e-01 -1.40634818e-04 -1.90254419e-01] [-1.94907761e-03 1.22584857e-04 9.99998093e-01 -9.49661317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.335898227 meters Centerline goodness [0,1] 0.9948329168607852 Centerline is valid? [True, True] Translation: X:166.14, Y:-0.19, Z:-0.95 [[ 9.99916002e-01 1.29215107e-02 1.01169199e-03 1.66138614e+02] [-1.29214434e-02 9.99916512e-01 -7.30034983e-05 -1.86550733e-01] [-1.01255085e-03 5.99248453e-05 9.99999486e-01 -9.51279502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.36589822699995 meters Centerline goodness [0,1] 0.9984974180987048 Centerline is valid? [True, True] Translation: X:166.17, Y:-0.18, Z:-0.95 [[ 9.99897601e-01 1.42337287e-02 1.47916550e-03 1.66169659e+02] [-1.42335864e-02 9.99898692e-01 -1.06731443e-04 -1.82486596e-01] [-1.48053483e-03 8.56666836e-05 9.99998900e-01 -9.49986936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.395898227 meters Centerline goodness [0,1] 0.9976186462109079 Centerline is valid? [True, True] Translation: X:166.20, Y:-0.19, Z:-0.95 [[ 9.99883682e-01 1.50751725e-02 2.31561213e-03 1.66199579e+02] [-1.50748268e-02 9.99886354e-01 -1.66657719e-04 -1.90187482e-01] [-2.31786137e-03 1.31730882e-04 9.99997305e-01 -9.48717889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.42589822699995 meters Centerline goodness [0,1] 0.9974749082267066 Centerline is valid? [True, True] Translation: X:166.23, Y:-0.20, Z:-0.95 [[ 9.99858962e-01 1.63012953e-02 4.04023800e-03 1.66230005e+02] [-1.63002493e-02 9.99867100e-01 -2.91696951e-04 -1.97569911e-01] [-4.04445609e-03 2.25798924e-04 9.99991796e-01 -9.46533738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.455898227 meters Centerline goodness [0,1] 0.996718897886213 Centerline is valid? [True, True] Translation: X:166.26, Y:-0.20, Z:-0.95 [[ 9.99859091e-01 1.63525461e-02 3.79381119e-03 1.66261866e+02] [-1.63516264e-02 9.99866266e-01 -2.73320562e-04 -2.04005227e-01] [-3.79777332e-03 2.11247066e-04 9.99992766e-01 -9.47494414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.48589822699995 meters Centerline goodness [0,1] 0.9955487433598589 Centerline is valid? [True, True] Translation: X:166.29, Y:-0.21, Z:-0.95 [[ 9.99863407e-01 1.62832857e-02 2.83225443e-03 1.66292901e+02] [-1.62827715e-02 9.99867406e-01 -2.04543062e-04 -2.10817820e-01] [-2.83520952e-03 1.58398172e-04 9.99995968e-01 -9.50122363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.515898227 meters Centerline goodness [0,1] 0.9947980031044175 Centerline is valid? [True, True] Translation: X:166.32, Y:-0.22, Z:-0.95 [[ 9.99866128e-01 1.62536018e-02 1.88338720e-03 1.66323494e+02] [-1.62533736e-02 9.99867896e-01 -1.36387090e-04 -2.16940193e-01] [-1.88535517e-03 1.05757436e-04 9.99998217e-01 -9.52017344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.54589822699995 meters Centerline goodness [0,1] 0.9970290400870365 Centerline is valid? [True, True] Translation: X:166.35, Y:-0.22, Z:-0.95 [[ 9.99854298e-01 1.69679368e-02 1.86345123e-03 1.66354570e+02] [-1.69677146e-02 9.99856029e-01 -1.34980870e-04 -2.24865439e-01] [-1.86547329e-03 1.03342694e-04 9.99998255e-01 -9.51650920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.575898227 meters Centerline goodness [0,1] 0.9977089288717 Centerline is valid? [True, True] Translation: X:166.39, Y:-0.23, Z:-0.95 [[ 9.99825933e-01 1.84965431e-02 2.44558175e-03 1.66386254e+02] [-1.84961648e-02 9.99828916e-01 -1.77192658e-04 -2.28468704e-01] [-2.44844080e-03 1.31927932e-04 9.99996994e-01 -9.50463166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.60589822699995 meters Centerline goodness [0,1] 0.9982020404749958 Centerline is valid? [True, True] Translation: X:166.42, Y:-0.23, Z:-0.95 [[ 9.99772076e-01 2.11329284e-02 3.03251411e-03 1.66416315e+02] [-2.11323578e-02 9.99776663e-01 -2.20086196e-04 -2.32982182e-01] [-3.03648790e-03 1.55951860e-04 9.99995378e-01 -9.49028852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.635898227 meters Centerline goodness [0,1] 0.9992200674536257 Centerline is valid? [True, True] Translation: X:166.45, Y:-0.23, Z:-0.95 [[ 9.99681160e-01 2.50265441e-02 3.35424420e-03 1.66447521e+02] [-2.50258679e-02 9.99686774e-01 -2.43434091e-04 -2.29038294e-01] [-3.35928588e-03 1.59413602e-04 9.99994345e-01 -9.47904009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.66589822699996 meters Centerline goodness [0,1] 0.9999366460414335 Centerline is valid? [True, True] Translation: X:166.48, Y:-0.22, Z:-0.95 [[ 9.99389895e-01 3.48995532e-02 1.36370165e-03 1.66477564e+02] [-3.48994505e-02 9.99390824e-01 -9.90622111e-05 -2.23954277e-01] [-1.36632815e-03 5.14093344e-05 9.99999065e-01 -9.50569138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.695898227 meters Centerline goodness [0,1] 0.9999366273051817 Centerline is valid? [True, True] Translation: X:166.51, Y:-0.22, Z:-0.95 [[ 9.99198785e-01 4.00218304e-02 2.04262304e-04 1.66508549e+02] [-4.00218282e-02 9.99198806e-01 -1.47983735e-05 -2.20407697e-01] [-2.04690908e-04 6.61156594e-06 9.99999979e-01 -9.52610487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.72589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.54, Y:-0.21, Z:-0.95 [[ 9.98745269e-01 5.00787757e-02 6.43906579e-05 1.66539035e+02] [-5.00787755e-02 9.98745271e-01 -4.59021213e-06 -2.09975278e-01] [-6.45397373e-05 1.35984735e-06 9.99999998e-01 -9.53454287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.755898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.57, Y:-0.20, Z:-0.95 [[ 9.98513224e-01 5.45020754e-02 9.30184127e-04 1.66569966e+02] [-5.45020361e-02 9.98513657e-01 -6.75983207e-05 -2.02511804e-01] [-9.32485803e-04 1.68008883e-05 9.99999565e-01 -9.51876735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.78589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.60, Y:-0.20, Z:-0.95 [[ 9.98312597e-01 5.80206992e-02 2.35726346e-03 1.66600409e+02] [-5.80204568e-02 9.98315380e-01 -1.71126479e-04 -1.99157660e-01] [-2.36322124e-03 3.40682165e-05 9.99997207e-01 -9.50185159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.815898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.63, Y:-0.20, Z:-0.95 [[ 9.98159293e-01 6.05572926e-02 3.29240033e-03 1.66629588e+02] [-6.05568339e-02 9.98164722e-01 -2.38934458e-04 -1.99061231e-01] [-3.30082708e-03 3.91173105e-05 9.99994551e-01 -9.50239703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.84589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.66, Y:-0.19, Z:-0.95 [[ 9.97929462e-01 6.41941958e-02 3.98664967e-03 1.66659452e+02] [-6.41935523e-02 9.97937425e-01 -2.89300692e-04 -1.92458158e-01] [-3.99699833e-03 3.27844796e-05 9.99992011e-01 -9.50324275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.69, Y:-0.19, Z:-0.95 [[ 9.97820646e-01 6.58706998e-02 3.87407773e-03 1.66689958e+02] [-6.58701053e-02 9.97828167e-01 -2.80997655e-04 -1.88680579e-01] [-3.88417339e-03 2.51993538e-05 9.99992456e-01 -9.50435066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.90589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.72, Y:-0.19, Z:-0.95 [[ 9.97723073e-01 6.73544988e-02 3.47004850e-03 1.66719521e+02] [-6.73540307e-02 9.97729107e-01 -2.51722983e-04 -1.85393500e-01] [-3.47912306e-03 1.74280748e-05 9.99993948e-01 -9.50955435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.75, Y:-0.18, Z:-0.95 [[ 9.97622071e-01 6.88507151e-02 3.12770929e-03 1.66749003e+02] [-6.88503423e-02 9.97626974e-01 -2.26836544e-04 -1.82099242e-01] [-3.13590502e-03 1.09532877e-05 9.99995083e-01 -9.51882064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.96589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.78, Y:-0.18, Z:-0.95 [[ 9.97522247e-01 7.03304129e-02 1.73226845e-03 1.66777461e+02] [-7.03303002e-02 9.97523751e-01 -1.25922757e-04 -1.75027144e-01] [-1.73683512e-03 3.77979138e-06 9.99998492e-01 -9.54125259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.81, Y:-0.17, Z:-0.96 [[ 9.97527096e-01 7.02707752e-02 1.30831222e-03 1.66805583e+02] [-7.02707108e-02 9.97527954e-01 -9.51462685e-05 -1.74405219e-01] [-1.31176402e-03 2.97495105e-06 9.99999140e-01 -9.55659587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.02589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.83, Y:-0.18, Z:-0.96 [[ 9.97587314e-01 6.94008458e-02 1.75333802e-03 1.66833979e+02] [-6.94007295e-02 9.97588854e-01 -1.27161690e-04 -1.76174375e-01] [-1.75793560e-03 5.17195087e-06 9.99998455e-01 -9.55684967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.86, Y:-0.18, Z:-0.95 [[ 9.97712059e-01 6.75622390e-02 2.44773941e-03 1.66862430e+02] [-6.75620075e-02 9.97715061e-01 -1.77257433e-04 -1.80290231e-01] [-2.45412238e-03 1.14776900e-05 9.99996989e-01 -9.53952541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.89, Y:-0.19, Z:-0.95 [[ 9.98032814e-01 6.25211245e-02 4.64869974e-03 1.66890500e+02] [-6.25202375e-02 9.98043640e-01 -3.36016728e-04 -1.90123055e-01] [-4.66061335e-03 4.47179088e-05 9.99989138e-01 -9.52525106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.92, Y:-0.19, Z:-0.95 [[ 9.98158158e-01 6.04935563e-02 4.56300339e-03 1.66919500e+02] [-6.04926814e-02 9.98168586e-01 -3.29620088e-04 -1.94808035e-01] [-4.57458653e-03 5.29846692e-05 9.99989535e-01 -9.52679986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.95, Y:-0.20, Z:-0.95 [[ 9.98255094e-01 5.89065787e-02 4.09661025e-03 1.66949339e+02] [-5.89058605e-02 9.98263498e-01 -2.95856181e-04 -1.99385753e-01] [-4.10692436e-03 5.40255875e-05 9.99991565e-01 -9.53570299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.98, Y:-0.20, Z:-0.95 [[ 9.98330793e-01 5.76174430e-02 3.98221496e-03 1.66978094e+02] [-5.76167545e-02 9.98338734e-01 -2.87510774e-04 -2.04165886e-01] [-3.99216508e-03 5.75885571e-05 9.99992030e-01 -9.54485015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.01, Y:-0.21, Z:-0.96 [[ 9.98394230e-01 5.65860715e-02 2.64145705e-03 1.67007446e+02] [-5.65857649e-02 9.98397724e-01 -1.90719651e-04 -2.08915188e-01] [-2.64801678e-03 4.09445320e-05 9.99996493e-01 -9.55938170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.04, Y:-0.21, Z:-0.96 [[ 9.98358604e-01 5.72452723e-02 1.75406569e-03 1.67036370e+02] [-5.72451381e-02 9.98360144e-01 -1.26679113e-04 -2.11926252e-01] [-1.75844106e-03 2.60594497e-05 9.99998454e-01 -9.58392262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.265898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.07, Y:-0.21, Z:-0.96 [[ 9.98267134e-01 5.88444363e-02 2.46588188e-04 1.67065963e+02] [-5.88444337e-02 9.98267165e-01 -1.79694750e-05 -2.13315741e-01] [-2.47218295e-04 3.42799410e-06 9.99999969e-01 -9.60907671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29589822699995 meters Centerline goodness [0,1] 0.9998103985843094 Centerline is valid? [True, True] Translation: X:167.10, Y:-0.21, Z:-0.96 [[ 9.98109374e-01 6.14574960e-02 -8.08932169e-04 1.67095716e+02] [-6.14574691e-02 9.98109701e-01 5.80961748e-05 -2.13000920e-01] [ 8.10973491e-04 -8.27141291e-06 9.99999671e-01 -9.62496759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.325898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.13, Y:-0.21, Z:-0.96 [[ 9.97734244e-01 6.72769773e-02 -4.31608336e-04 1.67125251e+02] [-6.72769704e-02 9.97734338e-01 3.05354555e-05 -2.09874426e-01] [ 4.32684790e-04 -1.42896837e-06 9.99999906e-01 -9.62727561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35589822699995 meters Centerline goodness [0,1] 0.9997685185185186 Centerline is valid? [True, True] Translation: X:167.15, Y:-0.21, Z:-0.96 [[ 9.97597713e-01 6.92653851e-02 1.05296514e-03 1.67152857e+02] [-6.92653432e-02 9.97598269e-01 -7.62351444e-05 -2.11037090e-01] [-1.05571666e-03 3.11801402e-06 9.99999443e-01 -9.59346957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.385898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.18, Y:-0.21, Z:-0.96 [[ 9.97493090e-01 7.07100779e-02 2.76036291e-03 1.67181746e+02] [-7.07097984e-02 9.97496910e-01 -1.98846581e-04 -2.13177585e-01] [-2.76751393e-03 3.16338577e-06 9.99996170e-01 -9.56253150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.21, Y:-0.22, Z:-0.96 [[ 9.97356825e-01 7.26137931e-02 2.56907620e-03 1.67209626e+02] [-7.26135574e-02 9.97360134e-01 -1.85046180e-04 -2.17755653e-01] [-2.57573109e-03 -1.99269183e-06 9.99996683e-01 -9.55974465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.445898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.24, Y:-0.22, Z:-0.96 [[ 9.97261421e-01 7.39188908e-02 2.37837574e-03 1.67238088e+02] [-7.39186929e-02 9.97264257e-01 -1.71158450e-04 -2.20803463e-01] [-2.38452095e-03 -5.11670609e-06 9.99997157e-01 -9.55295932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.27, Y:-0.22, Z:-0.96 [[ 9.97077458e-01 7.63645753e-02 2.23500346e-03 1.67265807e+02] [-7.63644066e-02 9.97079962e-01 -1.60834397e-04 -2.20733466e-01] [-2.24075922e-03 -1.03103612e-05 9.99997489e-01 -9.57721330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.505898227 meters Centerline goodness [0,1] 0.9999788699657693 Centerline is valid? [True, True] Translation: X:167.29, Y:-0.22, Z:-0.96 [[ 9.96789168e-01 8.00422345e-02 2.14354952e-03 1.67294625e+02] [-8.00420883e-02 9.96791473e-01 -1.54046353e-04 -2.18707357e-01] [-2.14900210e-03 -1.80224439e-05 9.99997691e-01 -9.57220559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53589822699996 meters Centerline goodness [0,1] 0.9999156740803204 Centerline is valid? [True, True] Translation: X:167.33, Y:-0.21, Z:-0.95 [[ 9.95861649e-01 9.08408624e-02 2.74127434e-03 1.67325552e+02] [-9.08406652e-02 9.95865420e-01 -1.96599276e-04 -2.09018407e-01] [-2.74779957e-03 -5.32335059e-05 9.99996223e-01 -9.53378403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.565898227 meters Centerline goodness [0,1] 0.9999368819692825 Centerline is valid? [True, True] Translation: X:167.36, Y:-0.20, Z:-0.95 [[ 9.95317996e-01 9.66289277e-02 2.22203868e-03 1.67355991e+02] [-9.66288126e-02 9.95320475e-01 -1.59354464e-04 -2.02696938e-01] [-2.22703885e-03 -5.61045934e-05 9.99997519e-01 -9.53775726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59589822699996 meters Centerline goodness [0,1] 0.9996842836395782 Centerline is valid? [True, True] Translation: X:167.39, Y:-0.19, Z:-0.96 [[ 9.94812937e-01 1.01709054e-01 1.57786019e-03 1.67385977e+02] [-1.01709002e-01 9.94814187e-01 -1.13250278e-04 -1.88517650e-01] [-1.58119628e-03 -4.78197442e-05 9.99998749e-01 -9.57273147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.625898227 meters Centerline goodness [0,1] 0.9998316994151555 Centerline is valid? [True, True] Translation: X:167.42, Y:-0.18, Z:-0.96 [[ 9.94160621e-01 1.07890622e-01 2.06730210e-03 1.67417017e+02] [-1.07890547e-01 9.94162767e-01 -1.48114076e-04 -1.83277358e-01] [-2.07121489e-03 -7.57931728e-05 9.99997852e-01 -9.57672688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65589822699997 meters Centerline goodness [0,1] 0.9995385228536069 Centerline is valid? [True, True] Translation: X:167.44, Y:-0.18, Z:-0.96 [[ 9.94069341e-01 1.08706009e-01 3.02481606e-03 1.67444586e+02] [-1.08705851e-01 9.94073936e-01 -2.17098534e-04 -1.80820911e-01] [-3.03049072e-03 -1.13004207e-04 9.99995402e-01 -9.56404960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68589822699994 meters Centerline goodness [0,1] 0.9997672006941652 Centerline is valid? [True, True] Translation: X:167.47, Y:-0.19, Z:-0.95 [[ 9.94161253e-01 1.07838597e-01 3.77365971e-03 1.67472537e+02] [-1.07838347e-01 9.94168405e-01 -2.70340388e-04 -1.90659053e-01] [-3.78080639e-03 -1.38183285e-04 9.99992843e-01 -9.54452332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71589822699997 meters Centerline goodness [0,1] 0.9997672006941652 Centerline is valid? [True, True] Translation: X:167.50, Y:-0.19, Z:-0.95 [[ 9.94168792e-01 1.07769073e-01 3.77366424e-03 1.67499982e+02] [-1.07768822e-01 9.94175944e-01 -2.70277239e-04 -1.92489342e-01] [-3.78081374e-03 -1.37982154e-04 9.99992843e-01 -9.54691132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74589822699994 meters Centerline goodness [0,1] 0.9998106498916497 Centerline is valid? [True, True] Translation: X:167.53, Y:-0.20, Z:-0.96 [[ 9.94785632e-01 1.01945617e-01 2.93890186e-03 1.67528613e+02] [-1.01945441e-01 9.94789969e-01 -2.10094683e-04 -2.00424237e-01] [-2.94500832e-03 -9.06084730e-05 9.99995659e-01 -9.57185086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.77589822699997 meters Centerline goodness [0,1] 0.99991544949164 Centerline is valid? [True, True] Translation: X:167.56, Y:-0.21, Z:-0.96 [[ 9.95149424e-01 9.83409147e-02 2.58633433e-03 1.67557537e+02] [-9.83407660e-02 9.95152782e-01 -1.84927728e-04 -2.12138747e-01] [-2.59198376e-03 -7.03113774e-05 9.99996638e-01 -9.58077760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.80589822699994 meters Centerline goodness [0,1] 0.9998938811893796 Centerline is valid? [True, True] Translation: X:167.59, Y:-0.22, Z:-0.96 [[ 9.95483459e-01 9.48915363e-02 2.87727426e-03 1.67585514e+02] [-9.48913379e-02 9.95487615e-01 -2.05707516e-04 -2.20550908e-01] [-2.88381079e-03 -6.82499739e-05 9.99995839e-01 -9.57865797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.835898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.61, Y:-0.23, Z:-0.96 [[ 9.95843785e-01 9.09805007e-02 4.20760778e-03 1.67614270e+02] [-9.09800429e-02 9.95852671e-01 -3.00479251e-04 -2.32895685e-01] [-4.21749520e-03 -8.35779419e-05 9.99991103e-01 -9.55543721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.86589822699995 meters Centerline goodness [0,1] 0.9999158939422612 Centerline is valid? [True, True] Translation: X:167.64, Y:-0.23, Z:-0.96 [[ 9.95805753e-01 9.13993135e-02 4.13126726e-03 1.67641646e+02] [-9.13988755e-02 9.95814319e-01 -2.95092596e-04 -2.34624840e-01] [-4.14094636e-03 -8.37382774e-05 9.99991423e-01 -9.55639101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.895898227 meters Centerline goodness [0,1] 0.9998524607440193 Centerline is valid? [True, True] Translation: X:167.67, Y:-0.23, Z:-0.96 [[ 9.95628256e-01 9.33452198e-02 3.32347212e-03 1.67670503e+02] [-9.33449477e-02 9.95633800e-01 -2.37233420e-04 -2.34109223e-01] [-3.33110578e-03 -7.40330345e-05 9.99994449e-01 -9.56362723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.92589822699995 meters Centerline goodness [0,1] 0.999852077257935 Centerline is valid? [True, True] Translation: X:167.70, Y:-0.23, Z:-0.96 [[ 9.95351624e-01 9.62865534e-02 2.01105498e-03 1.67699745e+02] [-9.62864598e-02 9.95353654e-01 -1.43539189e-04 -2.31648678e-01] [-2.01553182e-03 -5.07653995e-05 9.99997968e-01 -9.58612166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.955898227 meters Centerline goodness [0,1] 0.9998098377281948 Centerline is valid? [True, True] Translation: X:167.73, Y:-0.23, Z:-0.96 [[ 9.94738978e-01 1.02441982e-01 -7.72771242e-05 1.67730945e+02] [-1.02441982e-01 9.94738981e-01 5.47390044e-06 -2.26711274e-01] [ 7.74313250e-05 2.47131961e-06 9.99999997e-01 -9.62293329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.98589822699995 meters Centerline goodness [0,1] 0.9996617121593335 Centerline is valid? [True, True] Translation: X:167.76, Y:-0.22, Z:-0.96 [[ 9.94553633e-01 1.04225586e-01 -3.12444712e-04 1.67759987e+02] [-1.04225584e-01 9.94553682e-01 2.18321310e-05 -2.21067220e-01] [ 3.13018506e-04 1.08515075e-05 9.99999951e-01 -9.64591045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.015898227 meters Centerline goodness [0,1] 0.9996636818430235 Centerline is valid? [True, True] Translation: X:167.79, Y:-0.23, Z:-0.96 [[ 9.94478348e-01 1.04941854e-01 -1.48842071e-04 1.67788694e+02] [-1.04941853e-01 9.94478359e-01 1.01819059e-05 -2.26183359e-01] [ 1.49088726e-04 5.49407779e-06 9.99999989e-01 -9.64351102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.04589822699995 meters Centerline goodness [0,1] 0.9998300439761212 Centerline is valid? [True, True] Translation: X:167.82, Y:-0.24, Z:-0.97 [[ 9.94768097e-01 1.02155608e-01 -8.15347922e-04 1.67818400e+02] [-1.02155595e-01 9.94768431e-01 5.76696478e-05 -2.35258007e-01] [ 8.16973651e-04 2.59244260e-05 9.99999666e-01 -9.66243160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.075898227 meters Centerline goodness [0,1] 0.9998101626273492 Centerline is valid? [True, True] Translation: X:167.85, Y:-0.24, Z:-0.97 [[ 9.95086626e-01 9.90026648e-02 -1.03897976e-03 1.67846639e+02] [-9.90026420e-02 9.95087168e-01 7.35245194e-05 -2.42437384e-01] [ 1.04115455e-03 2.96984750e-05 9.99999458e-01 -9.68223943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.10589822699995 meters Centerline goodness [0,1] 0.9998097533134631 Centerline is valid? [True, True] Translation: X:167.88, Y:-0.25, Z:-0.97 [[ 9.95412910e-01 9.56571754e-02 -1.68602847e-03 1.67875283e+02] [-9.56571100e-02 9.95414337e-01 1.19569805e-04 -2.50327564e-01] [ 1.68973462e-03 4.22592835e-05 9.99998572e-01 -9.70251363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.135898227 meters Centerline goodness [0,1] 0.9999577488592192 Centerline is valid? [True, True] Translation: X:167.90, Y:-0.26, Z:-0.97 [[ 9.95675197e-01 9.28741355e-02 -2.30146071e-03 1.67903102e+02] [-9.28740068e-02 9.95677856e-01 1.62966937e-04 -2.63203913e-01] [ 2.30664888e-03 5.14837404e-05 9.99997338e-01 -9.69687677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.16589822699996 meters Centerline goodness [0,1] 0.9999372909698997 Centerline is valid? [True, True] Translation: X:167.93, Y:-0.27, Z:-0.97 [[ 9.95951102e-01 8.98813088e-02 -1.65915424e-03 1.67930823e+02] [-8.98812381e-02 9.95952483e-01 1.17293397e-04 -2.72854340e-01] [ 1.66298127e-03 3.23083495e-05 9.99998617e-01 -9.69708201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.195898227 meters Centerline goodness [0,1] 0.9999789109620819 Centerline is valid? [True, True] Translation: X:167.96, Y:-0.28, Z:-0.97 [[ 9.95843495e-01 9.10735889e-02 -1.15511456e-03 1.67959608e+02] [-9.10735556e-02 9.95844165e-01 8.15035820e-05 -2.75422226e-01] [ 1.15773692e-03 2.40355783e-05 9.99999330e-01 -9.67956023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.22589822699996 meters Centerline goodness [0,1] 0.9998945036396244 Centerline is valid? [True, True] Translation: X:167.99, Y:-0.28, Z:-0.97 [[ 9.95512214e-01 9.46294452e-02 -8.36748722e-04 1.67988694e+02] [-9.46294291e-02 9.95512565e-01 5.89869833e-05 -2.76477471e-01] [ 8.38575772e-04 2.04587915e-05 9.99999648e-01 -9.66043469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.255898227 meters Centerline goodness [0,1] 0.9997906679784807 Centerline is valid? [True, True] Translation: X:168.02, Y:-0.27, Z:-0.97 [[ 9.95022598e-01 9.96491938e-02 -2.61602563e-04 1.68018610e+02] [-9.96491924e-02 9.95022632e-01 1.84547172e-05 -2.69985692e-01] [ 2.62139468e-04 7.70562345e-06 9.99999966e-01 -9.65908166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.28589822699996 meters Centerline goodness [0,1] 0.9996841174240829 Centerline is valid? [True, True] Translation: X:168.05, Y:-0.26, Z:-0.96 [[ 9.93725370e-01 1.11835046e-01 1.67657840e-03 1.68049704e+02] [-1.11835004e-01 9.93726782e-01 -1.18816968e-04 -2.60556017e-01] [-1.67934876e-03 -6.94287174e-05 9.99998587e-01 -9.61408405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.315898227 meters Centerline goodness [0,1] 0.9985976840539679 Centerline is valid? [True, True] Translation: X:168.08, Y:-0.25, Z:-0.96 [[ 9.93031453e-01 1.17805585e-01 3.22131533e-03 1.68080321e+02] [-1.17805463e-01 9.93036666e-01 -2.28281866e-04 -2.48962056e-01] [-3.22577712e-03 -1.52797470e-04 9.99994785e-01 -9.59407949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.34589822699996 meters Centerline goodness [0,1] 0.9896668560725635 Centerline is valid? [True, True] Translation: X:168.11, Y:-0.24, Z:-0.96 [[ 9.91868853e-01 1.27161786e-01 5.10481889e-03 1.68111840e+02] [-1.27161603e-01 9.91881947e-01 -3.61640510e-04 -2.35640402e-01] [-5.10936455e-03 -2.90436996e-04 9.99986905e-01 -9.57416920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.375898227 meters Centerline goodness [0,1] 0.9361855495251018 Centerline is valid? [True, False] Translation: X:168.11, Y:-0.23, Z:-0.96 [[ 9.91881949e-01 1.27065456e-01 4.95674379e-03 1.68112499e+02] [-1.27062420e-01 9.91894293e-01 -9.24036158e-04 -2.32646036e-01] [-5.03397895e-03 2.86718925e-04 9.99987288e-01 -9.57559854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.40589822699997 meters Centerline goodness [0,1] 0.9742839090143218 Centerline is valid? [False, True] Translation: X:168.11, Y:-0.23, Z:-0.96 [[ 9.92383823e-01 1.23108706e-01 4.31208876e-03 1.68113436e+02] [-1.23081728e-01 9.92378121e-01 -6.04594222e-03 -2.27021617e-01] [-5.02353066e-03 5.46915592e-03 9.99972426e-01 -9.58077200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43589822699994 meters Centerline goodness [0,1] 0.9777141037886024 Centerline is valid? [True, True] Translation: X:168.14, Y:-0.23, Z:-0.96 [[ 9.92333376e-01 1.23553651e-01 2.99436864e-03 1.68141507e+02] [-1.23553645e-01 9.92337877e-01 -1.87940339e-04 -2.31492367e-01] [-2.99464613e-03 -1.83465687e-04 9.99995499e-01 -9.61310068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.46589822699997 meters Centerline goodness [0,1] 0.9736380356425597 Centerline is valid? [True, True] Translation: X:168.17, Y:-0.23, Z:-0.97 [[ 9.92389667e-01 1.23131695e-01 1.15547689e-03 1.68169994e+02] [-1.23131694e-01 9.92390337e-01 -7.27043560e-05 -2.29442494e-01] [-1.15563631e-03 -7.01247743e-05 9.99999330e-01 -9.65923316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49589822699994 meters Centerline goodness [0,1] 0.9708731743196385 Centerline is valid? [True, True] Translation: X:168.20, Y:-0.23, Z:-0.97 [[ 9.92535777e-01 1.21949557e-01 1.01823128e-03 1.68197648e+02] [-1.21949555e-01 9.92536298e-01 -6.41775972e-05 -2.28591464e-01] [-1.01845793e-03 -6.04742896e-05 9.99999480e-01 -9.67168261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.52589822699997 meters Centerline goodness [0,1] 0.9903838025192324 Centerline is valid? [True, True] Translation: X:168.23, Y:-0.23, Z:-0.97 [[ 9.92689562e-01 1.20688705e-01 1.29242841e-03 1.68226170e+02] [-1.20688701e-01 9.92690400e-01 -8.11376951e-05 -2.33944103e-01] [-1.29277368e-03 -7.54369638e-05 9.99999162e-01 -9.66378813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55589822699994 meters Centerline goodness [0,1] 0.9914592998734711 Centerline is valid? [True, True] Translation: X:168.26, Y:-0.24, Z:-0.97 [[ 9.92870833e-01 1.19183876e-01 1.64727358e-03 1.68256184e+02] [-1.19183869e-01 9.92872195e-01 -1.02926069e-04 -2.35095154e-01] [-1.64779926e-03 -9.41361468e-05 9.99998638e-01 -9.65779967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.585898227 meters Centerline goodness [0,1] 0.9969872488490018 Centerline is valid? [True, True] Translation: X:168.28, Y:-0.24, Z:-0.96 [[ 9.93414641e-01 1.14523923e-01 3.40922048e-03 1.68284954e+02] [-1.14523864e-01 9.93420475e-01 -2.12983221e-04 -2.39238328e-01] [-3.41118110e-03 -1.78856454e-04 9.99994166e-01 -9.63253653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61589822699995 meters Centerline goodness [0,1] 0.9987107682553101 Centerline is valid? [True, True] Translation: X:168.31, Y:-0.24, Z:-0.96 [[ 9.93678209e-01 1.12205660e-01 3.67505966e-03 1.68314196e+02] [-1.12205577e-01 9.93684988e-01 -2.29402220e-04 -2.44694138e-01] [-3.67759184e-03 -1.84410202e-04 9.99993221e-01 -9.63525986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.645898227 meters Centerline goodness [0,1] 0.9992181061262442 Centerline is valid? [True, True] Translation: X:168.34, Y:-0.25, Z:-0.96 [[ 9.93931714e-01 1.09950109e-01 3.27424250e-03 1.68343355e+02] [-1.09950031e-01 9.93937095e-01 -2.04334689e-04 -2.51245157e-01] [-3.27685770e-03 -1.56908336e-04 9.99994619e-01 -9.64623486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67589822699995 meters Centerline goodness [0,1] 0.9979402244734962 Centerline is valid? [True, True] Translation: X:168.37, Y:-0.25, Z:-0.97 [[ 9.94066725e-01 1.08749443e-01 2.21486258e-03 1.68371193e+02] [-1.08749403e-01 9.94069187e-01 -1.38517395e-04 -2.47591675e-01] [-2.21679033e-03 -1.03169450e-04 9.99997538e-01 -9.67737631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.705898227 meters Centerline goodness [0,1] 0.998500432973578 Centerline is valid? [True, True] Translation: X:168.40, Y:-0.25, Z:-0.97 [[ 9.94055622e-01 1.08873181e-01 -2.25163917e-04 1.68399819e+02] [-1.08873181e-01 9.94055647e-01 1.35532916e-05 -2.52244291e-01] [ 2.25301054e-04 1.10415863e-05 9.99999975e-01 -9.71584631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73589822699995 meters Centerline goodness [0,1] 0.9991628026790315 Centerline is valid? [True, True] Translation: X:168.43, Y:-0.26, Z:-0.97 [[ 9.93910789e-01 1.10186270e-01 -5.74000093e-04 1.68429171e+02] [-1.10186268e-01 9.93910954e-01 3.54663198e-05 -2.57463091e-01] [ 5.74412882e-04 2.79965704e-05 9.99999835e-01 -9.71459510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.765898227 meters Centerline goodness [0,1] 0.9924476412100698 Centerline is valid? [True, True] Translation: X:168.46, Y:-0.24, Z:-0.97 [[ 9.93730788e-01 1.11799130e-01 -2.74513367e-04 1.68458447e+02] [-1.11799130e-01 9.93730826e-01 1.65537840e-05 -2.44278730e-01] [ 2.74643094e-04 1.42403509e-05 9.99999962e-01 -9.72704716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79589822699995 meters Centerline goodness [0,1] 0.9969213783732138 Centerline is valid? [True, True] Translation: X:168.49, Y:-0.24, Z:-0.97 [[ 9.93319790e-01 1.15382285e-01 1.65007640e-03 1.68488478e+02] [-1.15382273e-01 9.93321157e-01 -1.02594400e-04 -2.44123487e-01] [-1.65089338e-03 -8.84805188e-05 9.99998633e-01 -9.67436220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.825898227 meters Centerline goodness [0,1] 0.9949782815976269 Centerline is valid? [True, True] Translation: X:168.52, Y:-0.24, Z:-0.97 [[ 9.93157992e-01 1.16765406e-01 1.74420748e-03 1.68517993e+02] [-1.16765394e-01 9.93159519e-01 -1.08690429e-04 -2.42421679e-01] [-1.74496755e-03 -9.57163067e-05 9.99998473e-01 -9.68003034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85589822699995 meters Centerline goodness [0,1] 0.9934622603707531 Centerline is valid? [True, True] Translation: X:168.55, Y:-0.24, Z:-0.97 [[ 9.93089619e-01 1.17353404e-01 1.08967815e-03 1.68545899e+02] [-1.17353399e-01 9.93090215e-01 -6.81966584e-05 -2.40321219e-01] [-1.09015182e-03 -6.01520421e-05 9.99999404e-01 -9.69890981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.885898227 meters Centerline goodness [0,1] 0.9931890515595162 Centerline is valid? [True, True] Translation: X:168.57, Y:-0.24, Z:-0.97 [[ 9.93078630e-01 1.17449784e-01 6.19572456e-04 1.68574392e+02] [-1.17449782e-01 9.93078822e-01 -3.88823252e-05 -2.39855814e-01] [-6.19851005e-04 -3.41554438e-05 9.99999807e-01 -9.71098069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91589822699996 meters Centerline goodness [0,1] 0.9976287262872628 Centerline is valid? [True, True] Translation: X:168.60, Y:-0.25, Z:-0.97 [[ 9.93156169e-01 1.16789150e-01 1.05785242e-03 1.68602898e+02] [-1.16789146e-01 9.93156730e-01 -6.60287002e-05 -2.47472622e-01] [-1.05832469e-03 -5.79688703e-05 9.99999438e-01 -9.70016177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.945898227 meters Centerline goodness [0,1] 0.9945767557227839 Centerline is valid? [True, True] Translation: X:168.63, Y:-0.24, Z:-0.97 [[ 9.93233323e-01 1.16129386e-01 1.23775312e-03 1.68631373e+02] [-1.16129380e-01 9.93234092e-01 -7.72181498e-05 -2.43449755e-01] [-1.23834589e-03 -6.70438630e-05 9.99999231e-01 -9.70215764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97589822699996 meters Centerline goodness [0,1] 0.994658007751126 Centerline is valid? [True, True] Translation: X:168.66, Y:-0.25, Z:-0.97 [[ 9.93455773e-01 1.14204255e-01 1.73628952e-03 1.68659911e+02] [-1.14204241e-01 9.93457286e-01 -1.07766700e-04 -2.47314293e-01] [-1.73723690e-03 -9.12301774e-05 9.99998487e-01 -9.69390991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.005898227 meters Centerline goodness [0,1] 0.9970141668254876 Centerline is valid? [True, True] Translation: X:168.69, Y:-0.25, Z:-0.97 [[ 9.93566498e-01 1.13239204e-01 1.58017930e-03 1.68688254e+02] [-1.13239191e-01 9.93567751e-01 -9.81562108e-05 -2.53303513e-01] [-1.58113032e-03 -8.14135020e-05 9.99998747e-01 -9.68289608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03589822699996 meters Centerline goodness [0,1] 0.9978787684000772 Centerline is valid? [True, True] Translation: X:168.72, Y:-0.26, Z:-0.97 [[ 9.93634530e-01 1.12639130e-01 1.68754984e-03 1.68716876e+02] [-1.12639114e-01 9.93635959e-01 -1.04719548e-04 -2.59855450e-01] [-1.68860572e-03 -8.60311597e-05 9.99998571e-01 -9.68080993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.065898227 meters Centerline goodness [0,1] 0.9971101923725953 Centerline is valid? [True, True] Translation: X:168.75, Y:-0.26, Z:-0.97 [[ 9.93536294e-01 1.13500819e-01 1.78801053e-03 1.68745017e+02] [-1.13500803e-01 9.93537898e-01 -1.10935510e-04 -2.60500066e-01] [-1.78904750e-03 -9.27221757e-05 9.99998395e-01 -9.68484237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09589822699996 meters Centerline goodness [0,1] 0.9855308183008745 Centerline is valid? [True, True] Translation: X:168.77, Y:-0.25, Z:-0.97 [[ 9.93417522e-01 1.14542100e-01 1.31679694e-03 1.68773661e+02] [-1.14542092e-01 9.93418392e-01 -8.16773557e-05 -2.54762688e-01] [-1.31748580e-03 -6.96889599e-05 9.99999130e-01 -9.70429346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.125898227 meters Centerline goodness [0,1] 0.9945861022058979 Centerline is valid? [True, True] Translation: X:168.80, Y:-0.26, Z:-0.97 [[ 9.93265127e-01 1.15862305e-01 5.59721449e-04 1.68802757e+02] [-1.15862304e-01 9.93265284e-01 -3.47368045e-05 -2.62964172e-01] [-5.59976571e-04 -3.03477602e-05 9.99999843e-01 -9.70751852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15589822699997 meters Centerline goodness [0,1] 0.9908407554797549 Centerline is valid? [True, True] Translation: X:168.83, Y:-0.26, Z:-0.97 [[ 9.93099654e-01 1.17272810e-01 4.07568568e-04 1.68831357e+02] [-1.17272809e-01 9.93099737e-01 -2.54561120e-05 -2.63560110e-01] [-4.07741548e-04 -2.25162550e-05 9.99999917e-01 -9.71639265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18589822699994 meters Centerline goodness [0,1] 0.9924303464653746 Centerline is valid? [True, True] Translation: X:168.86, Y:-0.27, Z:-0.97 [[ 9.93174667e-01 1.16623490e-01 1.74442000e-03 1.68860327e+02] [-1.16623479e-01 9.93176194e-01 -1.07855402e-04 -2.65271530e-01] [-1.74509489e-03 -9.63210763e-05 9.99998473e-01 -9.68936127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21589822699997 meters Centerline goodness [0,1] 0.9932485178386817 Centerline is valid? [True, True] Translation: X:168.89, Y:-0.27, Z:-0.97 [[ 9.93319233e-01 1.15350485e-01 3.34168186e-03 1.68890488e+02] [-1.15350444e-01 9.93324837e-01 -2.05813912e-04 -2.69044854e-01] [-3.34311632e-03 -1.81025568e-04 9.99994395e-01 -9.66774153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24589822699994 meters Centerline goodness [0,1] 0.9941882422055306 Centerline is valid? [True, True] Translation: X:168.92, Y:-0.27, Z:-0.97 [[ 9.93628079e-01 1.12636199e-01 4.04063583e-03 1.68919384e+02] [-1.12636116e-01 9.93636273e-01 -2.48848368e-04 -2.74647659e-01] [-4.04295167e-03 -2.07858801e-04 9.99991806e-01 -9.65680596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.27589822699997 meters Centerline goodness [0,1] 0.9937913120604819 Centerline is valid? [True, True] Translation: X:168.95, Y:-0.28, Z:-0.97 [[ 9.93696847e-01 1.12046213e-01 3.49611656e-03 1.68947053e+02] [-1.12046147e-01 9.93702981e-01 -2.15492993e-04 -2.77614972e-01] [-3.49824662e-03 -1.77591683e-04 9.99993865e-01 -9.66820417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.30589822699994 meters Centerline goodness [0,1] 0.9955739093604405 Centerline is valid? [True, True] Translation: X:168.98, Y:-0.28, Z:-0.97 [[ 9.93718048e-01 1.11889705e-01 2.26588391e-03 1.68975652e+02] [-1.11889677e-01 9.93720625e-01 -1.39651119e-04 -2.82268733e-01] [-2.26728110e-03 -1.14755181e-04 9.99997423e-01 -9.68649516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.335898227 meters Centerline goodness [0,1] 0.9930640987570526 Centerline is valid? [True, True] Translation: X:169.00, Y:-0.28, Z:-0.97 [[ 9.93729584e-01 1.11803137e-01 1.25373478e-03 1.69002971e+02] [-1.11803128e-01 9.93730373e-01 -7.76076516e-05 -2.82665775e-01] [-1.25455111e-03 -6.30504508e-05 9.99999211e-01 -9.70264412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.36589822699995 meters Centerline goodness [0,1] 0.9942556447724271 Centerline is valid? [True, True] Translation: X:169.03, Y:-0.28, Z:-0.97 [[ 9.93739023e-01 1.11716881e-01 1.44648583e-03 1.69031402e+02] [-1.11716869e-01 9.93740073e-01 -8.91477633e-05 -2.84966660e-01] [-1.44739024e-03 -7.30072562e-05 9.99998950e-01 -9.70697461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.395898227 meters Centerline goodness [0,1] 0.9955202009629475 Centerline is valid? [True, True] Translation: X:169.06, Y:-0.29, Z:-0.97 [[ 9.93858988e-01 1.10606027e-01 3.25879507e-03 1.69059339e+02] [-1.10605964e-01 9.93864317e-01 -2.00208369e-04 -2.88778553e-01] [-3.26094439e-03 -1.61463282e-04 9.99994670e-01 -9.67732549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.42589822699995 meters Centerline goodness [0,1] 0.9965216291424235 Centerline is valid? [True, True] Translation: X:169.09, Y:-0.29, Z:-0.97 [[ 9.93942713e-01 1.09813989e-01 4.33257371e-03 1.69087775e+02] [-1.09813872e-01 9.93952133e-01 -2.65691018e-04 -2.91926824e-01] [-4.33554747e-03 -2.11695042e-04 9.99990579e-01 -9.66445360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.455898227 meters Centerline goodness [0,1] 0.9962766179977409 Centerline is valid? [True, True] Translation: X:169.12, Y:-0.30, Z:-0.97 [[ 9.94054396e-01 1.08797992e-01 4.34222566e-03 1.69116296e+02] [-1.08797865e-01 9.94063858e-01 -2.66089494e-04 -2.95638748e-01] [-4.34539959e-03 -2.07917451e-04 9.99990537e-01 -9.66643422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.48589822699995 meters Centerline goodness [0,1] 0.996932904645063 Centerline is valid? [True, True] Translation: X:169.15, Y:-0.30, Z:-0.97 [[ 9.94203506e-01 1.07451200e-01 3.69170761e-03 1.69145502e+02] [-1.07451100e-01 9.94210345e-01 -2.26059432e-04 -3.00080479e-01] [-3.69462425e-03 -1.71928963e-04 9.99993160e-01 -9.68268232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.515898227 meters Centerline goodness [0,1] 0.9975608217507412 Centerline is valid? [True, True] Translation: X:169.17, Y:-0.31, Z:-0.97 [[ 9.94353262e-01 1.06081837e-01 2.86956878e-03 1.69173876e+02] [-1.06081771e-01 9.94357394e-01 -1.75772731e-04 -3.05348932e-01] [-2.87202323e-03 -1.29628749e-04 9.99995867e-01 -9.70769193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.54589822699995 meters Centerline goodness [0,1] 0.9979492166853422 Centerline is valid? [True, True] Translation: X:169.20, Y:-0.31, Z:-0.97 [[ 9.94578184e-01 1.03979444e-01 1.58493452e-03 1.69203432e+02] [-1.03979422e-01 9.94579444e-01 -9.69329147e-05 -3.12482056e-01] [-1.58642232e-03 -6.83932122e-05 9.99998739e-01 -9.73878667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.575898227 meters Centerline goodness [0,1] 0.9980101608806097 Centerline is valid? [True, True] Translation: X:169.23, Y:-0.32, Z:-0.97 [[ 9.94678781e-01 1.03012989e-01 1.56418377e-03 1.69232565e+02] [-1.03012965e-01 9.94680009e-01 -9.61524925e-05 -3.16546729e-01] [-1.56576728e-03 -6.54903638e-05 9.99998772e-01 -9.74034202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.60589822699995 meters Centerline goodness [0,1] 0.9980101608806097 Centerline is valid? [True, True] Translation: X:169.26, Y:-0.32, Z:-0.97 [[ 9.94685496e-01 1.02948126e-01 1.56419339e-03 1.69260036e+02] [-1.02948102e-01 9.94686724e-01 -9.59951671e-05 -3.18085462e-01] [-1.56576492e-03 -6.55457404e-05 9.99998772e-01 -9.74308746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.635898227 meters Centerline goodness [0,1] 0.9980583343885864 Centerline is valid? [True, True] Translation: X:169.29, Y:-0.32, Z:-0.97 [[ 9.94762327e-01 1.02197096e-01 1.91477666e-03 1.69288013e+02] [-1.02197059e-01 9.94764167e-01 -1.17149421e-04 -3.22325776e-01] [-1.91672354e-03 -7.91487135e-05 9.99998160e-01 -9.74786246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.66589822699996 meters Centerline goodness [0,1] 0.9979740596085966 Centerline is valid? [True, True] Translation: X:169.32, Y:-0.33, Z:-0.97 [[ 9.94850742e-01 1.01306720e-01 2.99152700e-03 1.69315644e+02] [-1.01306629e-01 9.94855233e-01 -1.82558672e-04 -3.28061685e-01] [-2.99463071e-03 -1.21442884e-04 9.99995509e-01 -9.73414951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.695898227 meters Centerline goodness [0,1] 0.9979185938945421 Centerline is valid? [True, True] Translation: X:169.34, Y:-0.33, Z:-0.97 [[ 9.94850179e-01 1.01311379e-01 3.02079678e-03 1.69343578e+02] [-1.01311286e-01 9.94854758e-01 -1.84172577e-04 -3.30597356e-01] [-3.02391283e-03 -1.22816686e-04 9.99995420e-01 -9.73787478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.72589822699996 meters Centerline goodness [0,1] 0.9975052854122621 Centerline is valid? [True, True] Translation: X:169.37, Y:-0.33, Z:-0.97 [[ 9.94750477e-01 1.02297962e-01 2.57210401e-03 1.69372565e+02] [-1.02297899e-01 9.94753796e-01 -1.56678543e-04 -3.32835721e-01] [-2.57463813e-03 -1.07264780e-04 9.99996680e-01 -9.74744916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.755898227 meters Centerline goodness [0,1] 0.9954082062515798 Centerline is valid? [True, True] Translation: X:169.40, Y:-0.33, Z:-0.98 [[ 9.94598174e-01 1.03785822e-01 1.72487043e-03 1.69401736e+02] [-1.03785795e-01 9.94599667e-01 -1.05048307e-04 -3.34563387e-01] [-1.72645808e-03 -7.45361947e-05 9.99998507e-01 -9.76411490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.78589822699996 meters Centerline goodness [0,1] 0.9799287385886867 Centerline is valid? [True, True] Translation: X:169.43, Y:-0.33, Z:-0.98 [[ 9.94239336e-01 1.07182299e-01 3.11496764e-04 1.69431629e+02] [-1.07182298e-01 9.94239385e-01 -1.89032630e-05 -3.34737944e-01] [-3.11728446e-04 -1.45925713e-05 9.99999951e-01 -9.79616180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.815898227 meters Centerline goodness [0,1] 0.9596789443825773 Centerline is valid? [True, True] Translation: X:169.46, Y:-0.33, Z:-0.98 [[ 9.94098686e-01 1.08478794e-01 -3.92335205e-04 1.69459739e+02] [-1.08478793e-01 9.94098763e-01 2.33871877e-05 -3.34994039e-01] [ 3.92556956e-04 1.93108769e-05 9.99999923e-01 -9.81358590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.84589822699996 meters Centerline goodness [0,1] 0.9502020266125109 Centerline is valid? [True, True] Translation: X:169.49, Y:-0.34, Z:-0.98 [[ 9.94016266e-01 1.09228652e-01 -8.73918853e-04 1.69488397e+02] [-1.09228648e-01 9.94016650e-01 5.25731377e-05 -3.37090546e-01] [ 8.74432384e-04 4.31984209e-05 9.99999617e-01 -9.82725985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.875898227 meters Centerline goodness [0,1] 0.94694662945107 Centerline is valid? [True, False] Translation: X:169.49, Y:-0.33, Z:-0.98 [[ 9.94436777e-01 1.05329041e-01 -1.13564254e-03 1.69488104e+02] [-1.05333124e-01 9.94426814e-01 -4.49929824e-03 -3.34602094e-01] [ 6.55406626e-04 4.59388841e-03 9.99989233e-01 -9.82954894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.90589822699997 meters Centerline goodness [0,1] 0.9914150384843102 Centerline is valid? [False, True] Translation: X:169.49, Y:-0.34, Z:-0.98 [[ 9.94802433e-01 1.01813601e-01 -1.45262024e-03 1.69487827e+02] [-1.01822195e-01 9.94767990e-01 -8.29979157e-03 -3.35497271e-01] [ 5.99988448e-04 8.40456183e-03 9.99964501e-01 -9.83000920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93589822699994 meters Centerline goodness [0,1] 0.9881956873774823 Centerline is valid? [True, True] Translation: X:169.52, Y:-0.34, Z:-0.98 [[ 9.94698582e-01 1.02831875e-01 -5.79901665e-04 1.69517020e+02] [-1.02831875e-01 9.94698751e-01 2.90265870e-05 -3.42429054e-01] [ 5.79812320e-04 3.07596707e-05 9.99999831e-01 -9.83169930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.96589822699997 meters Centerline goodness [0,1] 0.9934655775962661 Centerline is valid? [True, True] Translation: X:169.55, Y:-0.35, Z:-0.98 [[ 9.94552826e-01 1.04232551e-01 5.02161226e-04 1.69546273e+02] [-1.04232551e-01 9.94552952e-01 -2.55814562e-05 -3.47500721e-01] [-5.02092350e-04 -2.68994361e-05 9.99999874e-01 -9.81263728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99589822699994 meters Centerline goodness [0,1] 0.9906534204280524 Centerline is valid? [True, True] Translation: X:169.58, Y:-0.35, Z:-0.98 [[ 9.94352256e-01 1.06116709e-01 1.68364193e-03 1.69575237e+02] [-1.06116716e-01 9.94353677e-01 -8.52505384e-05 -3.47408272e-01] [-1.68318205e-03 -9.38934873e-05 9.99998579e-01 -9.79095618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.02589822699997 meters Centerline goodness [0,1] 0.9564339781328848 Centerline is valid? [True, True] Translation: X:169.61, Y:-0.34, Z:-0.98 [[ 9.94080986e-01 1.08584634e-01 3.51720719e-03 1.69605357e+02] [-1.08584683e-01 9.94087187e-01 -1.77402744e-04 -3.38739547e-01] [-3.51567381e-03 -2.05562135e-04 9.99993799e-01 -9.77651489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05589822699994 meters Centerline goodness [0,1] 0.9340172876804297 Centerline is valid? [True, False] Translation: X:169.60, Y:-0.33, Z:-0.98 [[ 9.94419792e-01 1.05435008e-01 3.56869433e-03 1.69603725e+02] [-1.05418248e-01 9.94417344e-01 -4.59781119e-03 -3.34350020e-01] [-4.03354179e-03 4.19594895e-03 9.99983062e-01 -9.76976828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.085898227 meters Centerline goodness [0,1] 0.9337236484636606 Centerline is valid? [False, False] Translation: X:169.60, Y:-0.33, Z:-0.98 [[ 9.94347808e-01 1.06103030e-01 3.81883076e-03 1.69603087e+02] [-1.06085464e-01 9.94346644e-01 -4.54160012e-03 -3.32966279e-01] [-4.27911909e-03 4.11080769e-03 9.99982395e-01 -9.76931311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11589822699995 meters Centerline goodness [0,1] 0.8671067798386252 Centerline is valid? [False, False] Translation: X:169.60, Y:-0.33, Z:-0.98 [[ 9.94343593e-01 1.06143291e-01 3.79759064e-03 1.69603333e+02] [-1.06125198e-01 9.94341737e-01 -4.68534998e-03 -3.32109522e-01] [-4.27342133e-03 4.25582767e-03 9.99981813e-01 -9.77191840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.145898227 meters Centerline goodness [0,1] 0.7510155970447705 Centerline is valid? [False, False] Translation: X:169.60, Y:-0.33, Z:-0.98 [[ 9.94343209e-01 1.06147430e-01 3.78230208e-03 1.69603629e+02] [-1.06129015e-01 9.94340897e-01 -4.77628272e-03 -3.31589982e-01] [-4.26788778e-03 4.34785229e-03 9.99981440e-01 -9.77594956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17589822699995 meters Centerline goodness [0,1] 0.8206010745466756 Centerline is valid? [False, False] Translation: X:169.60, Y:-0.33, Z:-0.98 [[ 9.94331885e-01 1.06250880e-01 3.85399763e-03 1.69603381e+02] [-1.06232820e-01 9.94330539e-01 -4.62251193e-03 -3.32289893e-01] [-4.32329350e-03 4.18688996e-03 9.99981889e-01 -9.77623362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.205898227 meters Centerline goodness [0,1] 0.8666821728374178 Centerline is valid? [False, False] Translation: X:169.60, Y:-0.33, Z:-0.98 [[ 9.94328865e-01 1.06276159e-01 3.93521299e-03 1.69602845e+02] [-1.06257839e-01 9.94327950e-01 -4.60429190e-03 -3.32348676e-01] [-4.40221872e-03 4.16003311e-03 9.99981657e-01 -9.77186874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23589822699995 meters Centerline goodness [0,1] 0.8534695757778802 Centerline is valid? [False, False] Translation: X:169.60, Y:-0.33, Z:-0.98 [[ 9.94327422e-01 1.06287272e-01 3.99927738e-03 1.69602333e+02] [-1.06268717e-01 9.94326820e-01 -4.59735740e-03 -3.32345033e-01] [-4.46522934e-03 4.14628046e-03 9.99981435e-01 -9.76721598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.265898227 meters Centerline goodness [0,1] 0.7160509393519102 Centerline is valid? [False, False] Translation: X:169.60, Y:-0.33, Z:-0.98 [[ 9.94334676e-01 1.06224339e-01 3.86558530e-03 1.69602915e+02] [-1.06206091e-01 9.94333245e-01 -4.65439680e-03 -3.32244323e-01] [-4.33809019e-03 4.21747943e-03 9.99981697e-01 -9.76969625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29589822699995 meters Centerline goodness [0,1] 0.8498076882658315 Centerline is valid? [False, False] Translation: X:169.60, Y:-0.33, Z:-0.98 [[ 9.94768807e-01 1.02096952e-01 3.35142195e-03 1.69603845e+02] [-1.02060394e-01 9.94730936e-01 -9.69742888e-03 -3.27473767e-01] [-4.32384102e-03 9.30465232e-03 9.99947363e-01 -9.77816103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.325898227 meters Centerline goodness [0,1] 0.8421052631578947 Centerline is valid? [False, False] Translation: X:169.60, Y:-0.33, Z:-0.98 [[ 9.94778595e-01 1.02005307e-01 3.23473688e-03 1.69604502e+02] [-1.01969073e-01 9.94738515e-01 -9.87902605e-03 -3.26666290e-01] [-4.22543044e-03 9.49760054e-03 9.99945969e-01 -9.78236227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35589822699995 meters Centerline goodness [0,1] 0.8364076647715308 Centerline is valid? [False, False] Translation: X:169.60, Y:-0.33, Z:-0.98 [[ 9.94784085e-01 1.01952797e-01 3.20162768e-03 1.69604482e+02] [-1.01916636e-01 9.94743309e-01 -9.93725473e-03 -3.26466068e-01] [-4.19792863e-03 9.55912374e-03 9.99945499e-01 -9.78044434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.385898227 meters Centerline goodness [0,1] 0.8680004211856376 Centerline is valid? [False, False] Translation: X:169.60, Y:-0.33, Z:-0.98 [[ 9.94780792e-01 1.01981800e-01 3.29969896e-03 1.69603708e+02] [-1.01945553e-01 9.94742313e-01 -9.73832387e-03 -3.27534928e-01] [-4.27548197e-03 9.35110790e-03 9.99947137e-01 -9.77348521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41589822699996 meters Centerline goodness [0,1] 0.8811128061700144 Centerline is valid? [False, False] Translation: X:169.58, Y:-0.33, Z:-0.98 [[ 9.95311174e-01 9.66559124e-02 3.64718234e-03 1.69584381e+02] [-9.66427429e-02 9.95312517e-01 -3.62952202e-03 -3.29710784e-01] [-3.98090100e-03 3.26003011e-03 9.99986762e-01 -9.79776294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.445898227 meters Centerline goodness [0,1] 0.9174180198061614 Centerline is valid? [False, False] Translation: X:169.58, Y:-0.33, Z:-0.98 [[ 9.95709461e-01 9.24794359e-02 3.19730426e-03 1.69584788e+02] [-9.24507646e-02 9.95683640e-01 -8.18201053e-03 -3.27967663e-01] [-3.94017126e-03 7.85131208e-03 9.99961415e-01 -9.80139394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47589822699996 meters Centerline goodness [0,1] 0.9266022423025435 Centerline is valid? [False, False] Translation: X:169.59, Y:-0.33, Z:-0.98 [[ 9.95698821e-01 9.25983692e-02 3.06588720e-03 1.69585296e+02] [-9.25728718e-02 9.95676790e-01 -7.61530489e-03 -3.31035260e-01] [-3.75779754e-03 7.29873211e-03 9.99966303e-01 -9.80461298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.505898227 meters Centerline goodness [0,1] 0.963281150566374 Centerline is valid? [False, True] Translation: X:169.56, Y:-0.34, Z:-0.98 [[ 9.95857112e-01 9.09317535e-02 -1.69383129e-04 1.69563887e+02] [-9.09310755e-02 9.95854218e-01 2.43235640e-03 -3.36148782e-01] [ 3.89859336e-04 -2.40687723e-03 9.99997027e-01 -9.77233261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53589822699996 meters Centerline goodness [0,1] 0.9057015244605674 Centerline is valid? [True, False] Translation: X:169.56, Y:-0.34, Z:-0.98 [[ 9.96217696e-01 8.68911204e-02 -4.84250421e-04 1.69563662e+02] [-8.68918967e-02 9.96215896e-01 -1.92011059e-03 -3.35237280e-01] [ 3.15577407e-04 1.95492559e-03 9.99998039e-01 -9.77148268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.565898227 meters Centerline goodness [0,1] 0.9389565510556703 Centerline is valid? [False, False] Translation: X:169.56, Y:-0.34, Z:-0.98 [[ 9.96536928e-01 8.31487621e-02 -6.59479138e-04 1.69562647e+02] [-8.31510754e-02 9.96523340e-01 -5.20875124e-03 -3.39821021e-01] [ 2.24085135e-04 5.24554936e-03 9.99986217e-01 -9.76647052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59589822699996 meters Centerline goodness [0,1] 0.980269571483067 Centerline is valid? [False, True] Translation: X:169.56, Y:-0.34, Z:-0.98 [[ 9.96510478e-01 8.34646246e-02 -7.23900108e-04 1.69562737e+02] [-8.34669878e-02 9.96501132e-01 -4.33070398e-03 -3.44193437e-01] [ 3.59906695e-04 4.37601365e-03 9.99990360e-01 -9.76652565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.625898227 meters Centerline goodness [0,1] 0.9732621449373232 Centerline is valid? [True, True] Translation: X:169.59, Y:-0.35, Z:-0.98 [[ 9.96545217e-01 8.30432397e-02 -1.20454783e-03 1.69590175e+02] [-8.30432666e-02 9.96545942e-01 2.77655679e-05 -3.48913383e-01] [ 1.20269299e-03 7.23599427e-05 9.99999274e-01 -9.77684240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65589822699997 meters Centerline goodness [0,1] 0.9692668398707306 Centerline is valid? [True, True] Translation: X:169.62, Y:-0.35, Z:-0.98 [[ 9.96508315e-01 8.34767618e-02 -1.67555740e-03 1.69618453e+02] [-8.34768144e-02 9.96509719e-01 3.86690460e-05 -3.51765394e-01] [ 1.67293720e-03 1.01336168e-04 9.99998596e-01 -9.78632721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68589822699994 meters Centerline goodness [0,1] 0.9261220426577426 Centerline is valid? [True, False] Translation: X:169.62, Y:-0.35, Z:-0.98 [[ 9.96774580e-01 8.02340733e-02 -1.71158052e-03 1.69617792e+02] [-8.02401545e-02 9.96768153e-01 -3.84284075e-03 -3.51348067e-01] [ 1.39772219e-03 3.96778347e-03 9.99991151e-01 -9.79020555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71589822699997 meters Centerline goodness [0,1] 0.9589044002206475 Centerline is valid? [False, True] Translation: X:169.62, Y:-0.35, Z:-0.98 [[ 9.96761592e-01 8.03955781e-02 -1.69703158e-03 1.69617794e+02] [-8.04013395e-02 9.96755870e-01 -3.65504800e-03 -3.52094921e-01] [ 1.39767650e-03 3.77965507e-03 9.99991880e-01 -9.79126624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74589822699994 meters Centerline goodness [0,1] 0.9485261583194623 Centerline is valid? [True, False] Translation: X:169.62, Y:-0.35, Z:-0.98 [[ 9.96753419e-01 8.04940972e-02 -1.82239548e-03 1.69618297e+02] [-8.05001863e-02 9.96748239e-01 -3.55921249e-03 -3.52433892e-01] [ 1.52997389e-03 3.69436040e-03 9.99992005e-01 -9.79315645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.77589822699997 meters Centerline goodness [0,1] 0.9427154291553134 Centerline is valid? [False, False] Translation: X:169.62, Y:-0.35, Z:-0.98 [[ 9.96746227e-01 8.05789452e-02 -1.99818698e-03 1.69618859e+02] [-8.05851007e-02 9.96742533e-01 -3.21947768e-03 -3.54273456e-01] [ 1.73225584e-03 3.37002633e-03 9.99992821e-01 -9.79449837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.80589822699994 meters Centerline goodness [0,1] 0.9882418692633435 Centerline is valid? [False, True] Translation: X:169.62, Y:-0.35, Z:-0.98 [[ 9.97078922e-01 7.63458963e-02 -2.21962061e-03 1.69618257e+02] [-7.63606466e-02 9.97051544e-01 -7.56774368e-03 -3.53775520e-01] [ 1.63530998e-03 7.71512938e-03 9.99968901e-01 -9.79029302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.835898227 meters Centerline goodness [0,1] 0.9429272075621974 Centerline is valid? [True, False] Translation: X:169.64, Y:-0.36, Z:-0.98 [[ 9.97324062e-01 7.30988316e-02 1.12951634e-03 1.69639723e+02] [-7.30989368e-02 9.97324693e-01 5.21308998e-05 -3.60241908e-01] [-1.12268383e-03 -1.34557844e-04 9.99999361e-01 -9.81106219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.86589822699995 meters Centerline goodness [0,1] 0.9978273250785749 Centerline is valid? [False, True] Translation: X:169.64, Y:-0.36, Z:-0.98 [[ 9.97622233e-01 6.89119104e-02 1.01468486e-03 1.69638834e+02] [-6.89074535e-02 9.97615371e-01 -3.91593187e-03 -3.62024287e-01] [-1.28211956e-03 3.83670134e-03 9.99991818e-01 -9.80759278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.895898227 meters Centerline goodness [0,1] 0.9985194898585056 Centerline is valid? [True, True] Translation: X:169.67, Y:-0.37, Z:-0.98 [[ 9.97972046e-01 6.36108665e-02 2.33520391e-03 1.69668096e+02] [-6.36109565e-02 9.97974772e-01 -3.57670783e-05 -3.68711688e-01] [-2.33274976e-03 -1.12850010e-04 9.99997273e-01 -9.79549548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.92589822699995 meters Centerline goodness [0,1] 0.9994851884424806 Centerline is valid? [True, True] Translation: X:169.70, Y:-0.39, Z:-0.98 [[ 9.98424530e-01 5.60153778e-02 3.27646570e-03 1.69698853e+02] [-5.60155149e-02 9.98429897e-01 -4.99995154e-05 -3.88094411e-01] [-3.27412206e-03 -1.33612171e-04 9.99994631e-01 -9.77384487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.955898227 meters Centerline goodness [0,1] 0.999288256227758 Centerline is valid? [True, True] Translation: X:169.73, Y:-0.38, Z:-0.98 [[ 9.98540336e-01 5.39575200e-02 2.40504207e-03 1.69729226e+02] [-5.39575880e-02 9.98543228e-01 -3.66799448e-05 -3.82006945e-01] [-2.40351763e-03 -9.31438646e-05 9.99997107e-01 -9.79891869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.98589822699995 meters Centerline goodness [0,1] 0.9993296323452393 Centerline is valid? [True, True] Translation: X:169.76, Y:-0.39, Z:-0.98 [[ 9.98614369e-01 5.25962298e-02 1.72604913e-03 1.69761051e+02] [-5.25962630e-02 9.98615858e-01 -2.61784953e-05 -3.87010209e-01] [-1.72503693e-03 -6.46415127e-05 9.99998510e-01 -9.80944714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.015898227 meters Centerline goodness [0,1] 0.9994705184683158 Centerline is valid? [True, True] Translation: X:169.79, Y:-0.39, Z:-0.98 [[ 9.98652661e-01 5.18512446e-02 2.07640984e-03 1.69791910e+02] [-5.18512922e-02 9.98654817e-01 -3.09430386e-05 -3.86003039e-01] [-2.07522112e-03 -7.67631853e-05 9.99997844e-01 -9.80969724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.04589822699995 meters Centerline goodness [0,1] 0.9995094902964384 Centerline is valid? [True, True] Translation: X:169.82, Y:-0.39, Z:-0.98 [[ 9.98657307e-01 5.17118959e-02 3.07625191e-03 1.69823832e+02] [-5.17119967e-02 9.98662039e-01 -4.67904138e-05 -3.88055788e-01] [-3.07455562e-03 -1.12351540e-04 9.99995267e-01 -9.78462219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.075898227 meters Centerline goodness [0,1] 0.9994748009495599 Centerline is valid? [True, True] Translation: X:169.86, Y:-0.38, Z:-0.98 [[ 9.98651040e-01 5.18669905e-02 2.43218563e-03 1.69855464e+02] [-5.18670536e-02 9.98653998e-01 -3.71831729e-05 -3.84298325e-01] [-2.43084048e-03 -8.90172882e-05 9.99997042e-01 -9.79598547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.10589822699995 meters Centerline goodness [0,1] 0.9994309200126462 Centerline is valid? [True, True] Translation: X:169.89, Y:-0.38, Z:-0.98 [[ 9.98664763e-01 5.16454633e-02 1.19882074e-03 1.69887730e+02] [-5.16454791e-02 9.98665482e-01 -1.78383583e-05 -3.82885724e-01] [-1.19814216e-03 -4.40991317e-05 9.99999281e-01 -9.82808592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.135898227 meters Centerline goodness [0,1] 0.9995772921334066 Centerline is valid? [True, True] Translation: X:169.92, Y:-0.39, Z:-0.98 [[ 9.98735983e-01 5.02636106e-02 6.93630336e-05 1.69918935e+02] [-5.02636107e-02 9.98735986e-01 -9.20117690e-07 -3.86564733e-01] [-6.93216061e-05 -2.56748187e-06 9.99999998e-01 -9.84627579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.16589822699996 meters Centerline goodness [0,1] 0.9996848805697359 Centerline is valid? [True, True] Translation: X:169.95, Y:-0.39, Z:-0.98 [[ 9.99004947e-01 4.45795934e-02 1.33269727e-03 1.69948608e+02] [-4.45796045e-02 9.99005835e-01 -2.13442200e-05 -3.87875091e-01] [-1.33232387e-03 -3.80881359e-05 9.99999112e-01 -9.83000470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.195898227 meters Centerline goodness [0,1] 0.9997900130191928 Centerline is valid? [True, True] Translation: X:169.98, Y:-0.39, Z:-0.98 [[ 9.99159021e-01 4.09295042e-02 2.45505970e-03 1.69979046e+02] [-4.09295314e-02 9.99162035e-01 -3.91601056e-05 -3.92685146e-01] [-2.45460525e-03 -6.13572704e-05 9.99996986e-01 -9.81120055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.22589822699996 meters Centerline goodness [0,1] 0.9999155583702766 Centerline is valid? [True, True] Translation: X:170.01, Y:-0.40, Z:-0.98 [[ 9.99307067e-01 3.71499130e-02 2.29549234e-03 1.70010630e+02] [-3.71499273e-02 9.99309703e-01 -3.64107895e-05 -3.98584144e-01] [-2.29526043e-03 -4.88918143e-05 9.99997365e-01 -9.81011529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.255898227 meters Centerline goodness [0,1] 0.9999790017428554 Centerline is valid? [True, True] Translation: X:170.04, Y:-0.41, Z:-0.98 [[ 9.99568128e-01 2.93652677e-02 1.11255157e-03 1.70040291e+02] [-2.93652662e-02 9.99568747e-01 -1.77036084e-05 -4.06944251e-01] [-1.11259165e-03 -1.49744103e-05 9.99999381e-01 -9.83877256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.28589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.07, Y:-0.41, Z:-0.98 [[ 9.99660061e-01 2.60425780e-02 1.24327636e-03 1.70072205e+02] [-2.60425748e-02 9.99660834e-01 -1.87745926e-05 -4.11258205e-01] [-1.24334362e-03 -1.36099073e-05 9.99999227e-01 -9.83209884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.315898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.10, Y:-0.41, Z:-0.98 [[ 9.99728033e-01 2.32479535e-02 1.84181829e-03 1.70103636e+02] [-2.32479392e-02 9.99729730e-01 -2.91834553e-05 -4.13462557e-01] [-1.84199895e-03 -1.36429611e-05 9.99998303e-01 -9.82095660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.34589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.14, Y:-0.42, Z:-0.98 [[ 9.99775157e-01 2.09987472e-02 2.94748669e-03 1.70135968e+02] [-2.09986997e-02 9.99779502e-01 -4.70677618e-05 -4.15779474e-01] [-2.94782514e-03 -1.48362090e-05 9.99995655e-01 -9.80567811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.375898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.17, Y:-0.42, Z:-0.98 [[ 9.99855207e-01 1.66061506e-02 3.71485239e-03 1.70167831e+02] [-1.66060412e-02 9.99862108e-01 -6.02708594e-05 -4.20812137e-01] [-3.71534101e-03 -1.42685934e-06 9.99993098e-01 -9.80143207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.40589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.20, Y:-0.43, Z:-0.98 [[ 9.99892962e-01 1.42432512e-02 3.34569622e-03 1.70199839e+02] [-1.42431481e-02 9.99898560e-01 -5.46395230e-05 -4.25408214e-01] [-3.34613508e-03 6.98042786e-06 9.99994402e-01 -9.80759296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43589822699994 meters Centerline goodness [0,1] 0.9999575947756764 Centerline is valid? [True, True] Translation: X:170.23, Y:-0.43, Z:-0.98 [[ 9.99931394e-01 1.13166803e-02 3.02340572e-03 1.70231646e+02] [-1.13165814e-02 9.99935964e-01 -4.98022155e-05 -4.30220874e-01] [-3.02377571e-03 1.55841817e-05 9.99995428e-01 -9.80564597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.46589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.26, Y:-0.44, Z:-0.98 [[ 9.99984252e-01 4.92457529e-03 2.69166702e-03 1.70262630e+02] [-4.92447278e-03 9.99987874e-01 -4.47089560e-05 -4.42810755e-01] [-2.69185456e-03 3.14532109e-05 9.99996376e-01 -9.82324826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.29, Y:-0.45, Z:-0.98 [[ 9.99996354e-01 1.15676412e-03 2.44008755e-03 1.70294792e+02] [-1.15666654e-03 9.99999330e-01 -4.14006373e-05 -4.50180056e-01] [-2.44013381e-03 3.85781187e-05 9.99997022e-01 -9.82832439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.52589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.33, Y:-0.45, Z:-0.98 [[ 9.99996327e-01 1.17984250e-03 2.44008339e-03 1.70325623e+02] [-1.17974440e-03 9.99999303e-01 -4.16435119e-05 -4.50753404e-01] [-2.44013083e-03 3.87646843e-05 9.99997022e-01 -9.83082194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.36, Y:-0.46, Z:-0.98 [[ 9.99995894e-01 -1.90093338e-03 2.14419755e-03 1.70356128e+02] [ 1.90101554e-03 9.99998192e-01 -3.62790001e-05 -4.58066009e-01] [-2.14412471e-03 4.03550040e-05 9.99997701e-01 -9.84054150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.585898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.39, Y:-0.46, Z:-0.98 [[ 9.99988283e-01 -4.49569698e-03 1.79524104e-03 1.70387494e+02] [ 4.49575947e-03 9.99989894e-01 -3.07746141e-05 -4.61851728e-01] [-1.79508454e-03 3.88452255e-05 9.99998388e-01 -9.84364103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.42, Y:-0.47, Z:-0.98 [[ 9.99979098e-01 -6.29190160e-03 1.48843116e-03 1.70417596e+02] [ 6.29194677e-03 9.99980205e-01 -2.56704195e-05 -4.65662013e-01] [-1.48824018e-03 3.50350126e-05 9.99998892e-01 -9.84387926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.645898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.45, Y:-0.47, Z:-0.99 [[ 9.99960002e-01 -8.88167306e-03 1.05347480e-03 1.70447736e+02] [ 8.88169713e-03 9.99960557e-01 -1.81688887e-05 -4.72684722e-01] [-1.05327188e-03 2.75248061e-05 9.99999445e-01 -9.85116024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.48, Y:-0.48, Z:-0.99 [[ 9.99950510e-01 -9.89655934e-03 1.01738176e-03 1.70477087e+02] [ 9.89658240e-03 9.99951027e-01 -1.76283576e-05 -4.77549600e-01] [-1.01715747e-03 2.76960875e-05 9.99999482e-01 -9.85962792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.705898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.51, Y:-0.48, Z:-0.99 [[ 9.99939404e-01 -1.09305874e-02 1.30808347e-03 1.70506549e+02] [ 1.09306263e-02 9.99940259e-01 -2.26230115e-05 -4.81570521e-01] [-1.30775804e-03 3.69198122e-05 9.99999144e-01 -9.85749599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.54, Y:-0.49, Z:-0.99 [[ 9.99927782e-01 -1.19298697e-02 1.45245760e-03 1.70536313e+02] [ 1.19299188e-02 9.99928836e-01 -2.51687979e-05 -4.85055916e-01] [-1.45205397e-03 4.24946815e-05 9.99998945e-01 -9.85692475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.765898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.57, Y:-0.49, Z:-0.99 [[ 9.99908451e-01 -1.33781731e-02 2.02830444e-03 1.70565254e+02] [ 1.33782716e-02 9.99910506e-01 -3.50265793e-05 -4.91190671e-01] [-2.02765433e-03 6.21585804e-05 9.99997942e-01 -9.85302019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.60, Y:-0.49, Z:-0.98 [[ 9.99903251e-01 -1.38114903e-02 1.65271909e-03 1.70595261e+02] [ 1.38115562e-02 9.99904616e-01 -2.84667890e-05 -4.89397279e-01] [-1.65216828e-03 5.12906575e-05 9.99998634e-01 -9.84967387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.825898227 meters Centerline goodness [0,1] 0.9999369787618427 Centerline is valid? [True, True] Translation: X:170.62, Y:-0.50, Z:-0.99 [[ 9.99903589e-01 -1.37829794e-02 1.68595011e-03 1.70624202e+02] [ 1.37830481e-02 9.99905009e-01 -2.91678063e-05 -4.95567454e-01] [-1.68538794e-03 5.24025257e-05 9.99998578e-01 -9.86485785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85589822699995 meters Centerline goodness [0,1] 0.9999580598485961 Centerline is valid? [True, True] Translation: X:170.65, Y:-0.50, Z:-0.99 [[ 9.99904097e-01 -1.37596245e-02 1.57121925e-03 1.70653330e+02] [ 1.37596841e-02 9.99905331e-01 -2.71349838e-05 -4.97282790e-01] [-1.57069714e-03 4.87518620e-05 9.99998765e-01 -9.86770592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.885898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.68, Y:-0.50, Z:-0.99 [[ 9.99902679e-01 -1.39090215e-02 1.08198057e-03 1.70683221e+02] [ 1.39090498e-02 9.99903264e-01 -1.86583399e-05 -4.96928686e-01] [-1.08161638e-03 3.37058457e-05 9.99999414e-01 -9.87615711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91589822699996 meters Centerline goodness [0,1] 0.9999788882555366 Centerline is valid? [True, True] Translation: X:170.71, Y:-0.50, Z:-0.99 [[ 9.99893187e-01 -1.45752367e-02 1.08454283e-03 1.70713158e+02] [ 1.45752656e-02 9.99893775e-01 -1.86812187e-05 -4.96645732e-01] [-1.08415534e-03 3.44867230e-05 9.99999412e-01 -9.87544484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.945898227 meters Centerline goodness [0,1] 0.9999788962751925 Centerline is valid? [True, True] Translation: X:170.74, Y:-0.50, Z:-0.99 [[ 9.99874779e-01 -1.57947078e-02 9.76423428e-04 1.70742122e+02] [ 1.57947327e-02 9.99875255e-01 -1.78071453e-05 -4.99630196e-01] [-9.76020366e-04 3.32272626e-05 9.99999523e-01 -9.88187344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97589822699996 meters Centerline goodness [0,1] 0.9999579115722133 Centerline is valid? [True, True] Translation: X:170.77, Y:-0.50, Z:-0.99 [[ 9.99844054e-01 -1.76339914e-02 9.54103543e-04 1.70771008e+02] [ 1.76340159e-02 9.99844509e-01 -1.72777338e-05 -5.02669649e-01] [-9.53650513e-04 3.40997164e-05 9.99999545e-01 -9.88198318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.005898227 meters Centerline goodness [0,1] 0.9999368979008035 Centerline is valid? [True, True] Translation: X:170.80, Y:-0.51, Z:-0.99 [[ 9.99761293e-01 -2.18431525e-02 4.84220103e-04 1.70800195e+02] [ 2.18431590e-02 9.99761410e-01 -8.27140063e-06 -5.10987536e-01] [-4.83923900e-04 1.88463229e-05 9.99999883e-01 -9.88533222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03589822699996 meters Centerline goodness [0,1] 0.9998745871828101 Centerline is valid? [True, True] Translation: X:170.83, Y:-0.52, Z:-0.99 [[ 9.99716853e-01 -2.37905969e-02 4.69525710e-04 1.70828564e+02] [ 2.37906033e-02 9.99716964e-01 -8.10485392e-06 -5.18330377e-01] [-4.69199998e-04 1.92728590e-05 9.99999890e-01 -9.89737878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.065898227 meters Centerline goodness [0,1] 0.9997694548655502 Centerline is valid? [True, True] Translation: X:170.86, Y:-0.52, Z:-0.99 [[ 9.99670586e-01 -2.56592139e-02 5.68955745e-04 1.70858367e+02] [ 2.56592235e-02 9.99670748e-01 -9.65702111e-06 -5.17290024e-01] [-5.68520623e-04 2.42528026e-05 9.99999838e-01 -9.89032151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09589822699996 meters Centerline goodness [0,1] 0.999663596989193 Centerline is valid? [True, True] Translation: X:170.89, Y:-0.52, Z:-0.99 [[ 9.99578555e-01 -2.89895903e-02 1.52154520e-03 1.70888280e+02] [ 2.89896625e-02 9.99579711e-01 -2.54012731e-05 -5.24477164e-01] [-1.52016934e-03 6.94996496e-05 9.99998842e-01 -9.87910381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.125898227 meters Centerline goodness [0,1] 0.99934914969557 Centerline is valid? [True, True] Translation: X:170.92, Y:-0.53, Z:-0.99 [[ 9.99547637e-01 -3.00248298e-02 1.74080262e-03 1.70916139e+02] [ 3.00249263e-02 9.99549150e-01 -2.93183316e-05 -5.27660428e-01] [-1.73913750e-03 8.15725394e-05 9.99998484e-01 -9.87815843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15589822699997 meters Centerline goodness [0,1] 0.9989014471321432 Centerline is valid? [True, True] Translation: X:170.94, Y:-0.53, Z:-0.99 [[ 9.99534706e-01 -3.04784152e-02 1.19932185e-03 1.70943959e+02] [ 3.04784614e-02 9.99535424e-01 -2.02726495e-05 -5.32039492e-01] [-1.19814680e-03 5.68167015e-05 9.99999281e-01 -9.89301663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18589822699994 meters Centerline goodness [0,1] 0.999350036691477 Centerline is valid? [True, True] Translation: X:170.97, Y:-0.53, Z:-0.99 [[ 9.99548468e-01 -3.00440691e-02 4.62509002e-04 1.70972948e+02] [ 3.00440764e-02 9.99548575e-01 -8.84209920e-06 -5.31628621e-01] [-4.62034561e-04 2.27337625e-05 9.99999893e-01 -9.90812760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21589822699997 meters Centerline goodness [0,1] 0.9995802463953659 Centerline is valid? [True, True] Translation: X:171.00, Y:-0.53, Z:-0.99 [[ 9.99567022e-01 -2.94213333e-02 -3.92248437e-04 1.71002246e+02] [ 2.94213378e-02 9.99567099e-01 5.70716807e-06 -5.31490920e-01] [ 3.91910720e-04 -1.72451708e-05 9.99999923e-01 -9.91979519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24589822699994 meters Centerline goodness [0,1] 0.9993654419696681 Centerline is valid? [True, True] Translation: X:171.03, Y:-0.53, Z:-0.99 [[ 9.99566430e-01 -2.94339653e-02 -7.70295762e-04 1.71030555e+02] [ 2.94339825e-02 9.99566726e-01 1.09553331e-05 -5.30358152e-01] [ 7.69639554e-04 -3.36234551e-05 9.99999703e-01 -9.92535139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.27589822699997 meters Centerline goodness [0,1] 0.9991227703747023 Centerline is valid? [True, True] Translation: X:171.06, Y:-0.53, Z:-0.99 [[ 9.99552701e-01 -2.98957778e-02 -8.00742838e-04 1.71057907e+02] [ 2.98957972e-02 9.99553021e-01 1.22992461e-05 -5.31034426e-01] [ 8.00017227e-04 -3.62325902e-05 9.99999679e-01 -9.93096560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.30589822699994 meters Centerline goodness [0,1] 0.9989331213522163 Centerline is valid? [True, True] Translation: X:171.09, Y:-0.53, Z:-0.99 [[ 9.99523637e-01 -3.08513424e-02 -8.33478397e-04 1.71086724e+02] [ 3.08513631e-02 9.99523983e-01 1.19783058e-05 -5.30620825e-01] [ 8.32712101e-04 -3.76865445e-05 9.99999653e-01 -9.92576000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.335898227 meters Centerline goodness [0,1] 0.9986902976404233 Centerline is valid? [True, True] Translation: X:171.11, Y:-0.53, Z:-0.99 [[ 9.99507213e-01 -3.13863047e-02 -4.80929025e-04 1.71114887e+02] [ 3.13863117e-02 9.99507328e-01 6.91837067e-06 -5.31936701e-01] [ 4.80474943e-04 -2.20095497e-05 9.99999884e-01 -9.92171100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.36589822699995 meters Centerline goodness [0,1] 0.9995175870965035 Centerline is valid? [True, True] Translation: X:171.14, Y:-0.52, Z:-0.99 [[ 9.99511732e-01 -3.11928020e-02 1.81832686e-03 1.71144126e+02] [ 3.11929076e-02 9.99513382e-01 -2.97199436e-05 -5.23774379e-01] [-1.81651498e-03 8.64243340e-05 9.99998346e-01 -9.86882139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.395898227 meters Centerline goodness [0,1] 0.9995389677067834 Centerline is valid? [True, True] Translation: X:171.17, Y:-0.52, Z:-0.98 [[ 9.99512920e-01 -3.10324213e-02 3.30341189e-03 1.71172688e+02] [ 3.10327636e-02 9.99518366e-01 -5.24189182e-05 -5.20333344e-01] [-3.30019417e-03 1.54907387e-04 9.99994542e-01 -9.84167557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.42589822699995 meters Centerline goodness [0,1] 0.9957371747758342 Centerline is valid? [True, True] Translation: X:171.20, Y:-0.53, Z:-0.98 [[ 9.99506697e-01 -3.11544547e-02 3.97020438e-03 1.71199850e+02] [ 3.11549460e-02 9.99514565e-01 -6.19562360e-05 -5.27010870e-01] [-3.96634690e-03 1.85617176e-04 9.99992117e-01 -9.83835206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.455898227 meters Centerline goodness [0,1] 0.9954867015135294 Centerline is valid? [True, True] Translation: X:171.23, Y:-0.53, Z:-0.98 [[ 9.99495350e-01 -3.15337745e-02 3.82954754e-03 1.71228568e+02] [ 3.15342331e-02 9.99502671e-01 -5.94165413e-05 -5.25483437e-01] [-3.82576937e-03 1.80148402e-04 9.99992665e-01 -9.84923050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.48589822699995 meters Centerline goodness [0,1] 0.9947094408026473 Centerline is valid? [True, True] Translation: X:171.26, Y:-0.52, Z:-0.99 [[ 9.99482761e-01 -3.20624445e-02 2.49183560e-03 1.71255990e+02] [ 3.20626404e-02 9.99485861e-01 -3.87065887e-05 -5.24942682e-01] [-2.48931342e-03 1.18581397e-04 9.99996895e-01 -9.87160828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.515898227 meters Centerline goodness [0,1] 0.9995976962818667 Centerline is valid? [True, True] Translation: X:171.28, Y:-0.50, Z:-0.99 [[ 9.99464424e-01 -3.27134305e-02 8.34880977e-04 1.71284831e+02] [ 3.27134534e-02 9.99464772e-01 -1.37762830e-05 -5.04261782e-01] [-8.33983455e-04 4.10807447e-05 9.99999651e-01 -9.87512448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.54589822699995 meters Centerline goodness [0,1] 0.9979311363972219 Centerline is valid? [True, True] Translation: X:171.31, Y:-0.51, Z:-0.99 [[ 9.99444045e-01 -3.33284197e-02 9.03580711e-04 1.71312933e+02] [ 3.33284458e-02 9.99444453e-01 -1.38707515e-05 -5.12141394e-01] [-9.02616439e-04 4.39779808e-05 9.99999592e-01 -9.88742461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.575898227 meters Centerline goodness [0,1] 0.9975586455790256 Centerline is valid? [True, True] Translation: X:171.34, Y:-0.50, Z:-0.99 [[ 9.99330370e-01 -3.65465377e-02 1.77820066e-03 1.71343561e+02] [ 3.65466424e-02 9.99331948e-01 -2.64256654e-05 -5.03384942e-01] [-1.77604696e-03 9.13952337e-05 9.99998419e-01 -9.85792685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.60589822699995 meters Centerline goodness [0,1] 0.9956622019086312 Centerline is valid? [True, True] Translation: X:171.37, Y:-0.50, Z:-0.99 [[ 9.99227754e-01 -3.92327903e-02 2.16413966e-03 1.71373380e+02] [ 3.92329516e-02 9.99230091e-01 -3.21189309e-05 -5.03400365e-01] [-2.16121336e-03 1.16999714e-04 9.99997658e-01 -9.85671155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.635898227 meters Centerline goodness [0,1] 0.9929669404085071 Centerline is valid? [True, True] Translation: X:171.40, Y:-0.50, Z:-0.99 [[ 9.99093307e-01 -4.25203790e-02 2.14036153e-03 1.71403669e+02] [ 4.25205441e-02 9.99095592e-01 -3.16820229e-05 -5.04576733e-01] [-2.13707863e-03 1.22662634e-04 9.99997709e-01 -9.85820989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.66589822699996 meters Centerline goodness [0,1] 0.9806843849612632 Centerline is valid? [True, True] Translation: X:171.43, Y:-0.51, Z:-0.99 [[ 9.98932847e-01 -4.61686736e-02 1.27338839e-03 1.71434162e+02] [ 4.61687350e-02 9.98933655e-01 -1.88388210e-05 -5.10215985e-01] [-1.27116076e-03 7.76094483e-05 9.99999189e-01 -9.88006691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.695898227 meters Centerline goodness [0,1] 0.876913359300979 Centerline is valid? [True, False] Translation: X:171.44, Y:-0.52, Z:-0.99 [[ 9.98902735e-01 -4.68213167e-02 1.04385554e-03 1.71435702e+02] [ 4.68206610e-02 9.98903104e-01 6.44039596e-04 -5.15932842e-01] [-1.07286532e-03 -5.94458908e-04 9.99999248e-01 -9.89190619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.72589822699996 meters Centerline goodness [0,1] 0.8679857488230055 Centerline is valid? [False, False] Translation: X:171.44, Y:-0.52, Z:-0.99 [[ 9.98906491e-01 -4.67421324e-02 9.97155970e-04 1.71435756e+02] [ 4.67409242e-02 9.98906322e-01 1.20237191e-03 -5.19008508e-01] [-1.05226683e-03 -1.15444911e-03 9.99998780e-01 -9.88952799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.755898227 meters Centerline goodness [0,1] 0.7354296727699334 Centerline is valid? [False, False] Translation: X:171.44, Y:-0.52, Z:-0.99 [[ 9.98910284e-01 -4.66644535e-02 8.20452764e-04 1.71436204e+02] [ 4.66631575e-02 9.98909504e-01 1.53363338e-03 -5.20802217e-01] [-8.91124228e-04 -1.49367724e-03 9.99998487e-01 -9.88712721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.78589822699996 meters Centerline goodness [0,1] 0.8807345305983488 Centerline is valid? [False, False] Translation: X:171.40, Y:-0.52, Z:-0.99 [[ 9.99090297e-01 -4.26400319e-02 6.37697915e-04 1.71396631e+02] [ 4.26447021e-02 9.99008354e-01 -1.27959858e-02 -5.17230286e-01] [-9.14443011e-05 1.28115397e-02 9.99917925e-01 -9.91093742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.815898227 meters Centerline goodness [0,1] 0.9027374184038746 Centerline is valid? [False, False] Translation: X:171.40, Y:-0.52, Z:-0.99 [[ 9.99276283e-01 -3.80382757e-02 -1.71861886e-05 1.71398346e+02] [ 3.80368887e-02 9.99243507e-01 -8.09988186e-03 -5.18671752e-01] [ 3.25278726e-04 8.09336612e-03 9.99967195e-01 -9.91382641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.84589822699996 meters Centerline goodness [0,1] 0.9700639085099226 Centerline is valid? [False, True] Translation: X:171.40, Y:-0.52, Z:-0.99 [[ 9.99437302e-01 -3.35411619e-02 -2.62718028e-04 1.71398736e+02] [ 3.35401352e-02 9.99432110e-01 -3.24289383e-03 -5.21401015e-01] [ 3.71339260e-04 3.23225747e-03 9.99994707e-01 -9.91520754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.875898227 meters Centerline goodness [0,1] 0.982699687545872 Centerline is valid? [True, True] Translation: X:171.43, Y:-0.52, Z:-0.99 [[ 9.99540247e-01 -3.03184343e-02 -2.95231613e-04 1.71427766e+02] [ 3.03184379e-02 9.99540290e-01 7.81142319e-06 -5.21007090e-01] [ 2.94859062e-04 -1.67587932e-05 9.99999956e-01 -9.91717942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.90589822699997 meters Centerline goodness [0,1] 0.9967362237055442 Centerline is valid? [True, True] Translation: X:171.46, Y:-0.52, Z:-0.99 [[ 9.99658792e-01 -2.61193023e-02 -2.85291563e-04 1.71458156e+02] [ 2.61193054e-02 9.99658833e-01 7.39005908e-06 -5.15841152e-01] [ 2.85001207e-04 -1.48391550e-05 9.99999959e-01 -9.92720944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93589822699994 meters Centerline goodness [0,1] 0.9966690559514273 Centerline is valid? [True, True] Translation: X:171.49, Y:-0.52, Z:-0.99 [[ 9.99688033e-01 -2.49670188e-02 -6.95721748e-04 1.71487124e+02] [ 2.49670375e-02 9.99688275e-01 1.81955627e-05 -5.16488082e-01] [ 6.95050586e-04 -3.55599972e-05 9.99999758e-01 -9.94092901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.96589822699997 meters Centerline goodness [0,1] 0.9986718667650469 Centerline is valid? [True, True] Translation: X:171.52, Y:-0.51, Z:-0.99 [[ 9.99707932e-01 -2.41408315e-02 -1.12765077e-03 1.71515995e+02] [ 2.41408787e-02 9.99708566e-01 2.82574126e-05 -5.14923944e-01] [ 1.12663998e-03 -5.54716400e-05 9.99999364e-01 -9.94091709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99589822699994 meters Centerline goodness [0,1] 0.9962825278810409 Centerline is valid? [True, True] Translation: X:171.54, Y:-0.52, Z:-0.99 [[ 9.99729564e-01 -2.32453141e-02 -6.74565472e-04 1.71543457e+02] [ 2.32453311e-02 9.99729791e-01 1.73362436e-05 -5.18970429e-01] [ 6.73980212e-04 -3.30120530e-05 9.99999772e-01 -9.94217926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.02589822699997 meters Centerline goodness [0,1] 0.9970876024053471 Centerline is valid? [True, True] Translation: X:171.57, Y:-0.52, Z:-0.99 [[ 9.99753599e-01 -2.21957546e-02 3.00289458e-04 1.71571003e+02] [ 2.21957582e-02 9.99753644e-01 -8.67711900e-06 -5.19631946e-01] [-3.00022884e-04 1.53401331e-05 9.99999955e-01 -9.92241414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05589822699994 meters Centerline goodness [0,1] 0.9985923482572431 Centerline is valid? [True, True] Translation: X:171.60, Y:-0.52, Z:-0.99 [[ 9.99770191e-01 -2.14132379e-02 1.01882399e-03 1.71599906e+02] [ 2.14132772e-02 9.99770709e-01 -2.76603188e-05 -5.18065861e-01] [-1.01799809e-03 4.94703227e-05 9.99999481e-01 -9.90257737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.085898227 meters Centerline goodness [0,1] 0.9995600712265633 Centerline is valid? [True, True] Translation: X:171.63, Y:-0.51, Z:-0.99 [[ 9.99784178e-01 -2.06019227e-02 2.67559907e-03 1.71629175e+02] [ 2.06021880e-02 9.99787750e-01 -7.16591180e-05 -5.11490526e-01] [-2.67355486e-03 1.26766848e-04 9.99996418e-01 -9.86633794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11589822699995 meters Centerline goodness [0,1] 0.9997269423848432 Centerline is valid? [True, True] Translation: X:171.66, Y:-0.51, Z:-0.99 [[ 9.99778185e-01 -2.08399075e-02 3.04600901e-03 1.71657841e+02] [ 2.08402551e-02 9.99782815e-01 -8.24156346e-05 -5.09288727e-01] [-3.04362993e-03 1.45876958e-04 9.99995358e-01 -9.86008869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.145898227 meters Centerline goodness [0,1] 0.9995163596601901 Centerline is valid? [True, True] Translation: X:171.69, Y:-0.51, Z:-0.99 [[ 9.99770718e-01 -2.11027384e-02 3.63120953e-03 1.71686696e+02] [ 2.11032306e-02 9.99777297e-01 -9.72886054e-05 -5.08560869e-01] [-3.62834779e-03 1.73896551e-04 9.99993402e-01 -9.85778357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17589822699995 meters Centerline goodness [0,1] 0.9994545034932757 Centerline is valid? [True, True] Translation: X:171.72, Y:-0.51, Z:-0.99 [[ 9.99767456e-01 -2.12454840e-02 3.69644294e-03 1.71715574e+02] [ 2.12459887e-02 9.99774274e-01 -9.73305989e-05 -5.10643612e-01] [-3.69354072e-03 1.75842550e-04 9.99993163e-01 -9.86033758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.205898227 meters Centerline goodness [0,1] 0.9970597567424643 Centerline is valid? [True, True] Translation: X:171.74, Y:-0.52, Z:-0.99 [[ 9.99739612e-01 -2.24739142e-02 3.95368541e-03 1.71743789e+02] [ 2.24745005e-02 9.99747411e-01 -1.03936045e-04 -5.16935990e-01] [-3.95035090e-03 1.92766086e-04 9.99992179e-01 -9.86512734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23589822699995 meters Centerline goodness [0,1] 0.9969735182849937 Centerline is valid? [True, True] Translation: X:171.77, Y:-0.52, Z:-0.99 [[ 9.99710706e-01 -2.36830968e-02 4.19709370e-03 1.71773312e+02] [ 2.36837671e-02 9.99719494e-01 -1.10069684e-04 -5.17230289e-01] [-4.19330960e-03 2.09440831e-04 9.99991186e-01 -9.86390994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.265898227 meters Centerline goodness [0,1] 0.9970803226348512 Centerline is valid? [True, True] Translation: X:171.80, Y:-0.52, Z:-0.99 [[ 9.99673442e-01 -2.51832896e-02 4.33715515e-03 1.71802481e+02] [ 2.51840199e-02 9.99682826e-01 -1.13843966e-04 -5.16392454e-01] [-4.33291255e-03 2.23033791e-04 9.99990588e-01 -9.85973509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29589822699995 meters Centerline goodness [0,1] 0.9981867633726201 Centerline is valid? [True, True] Translation: X:171.83, Y:-0.51, Z:-0.98 [[ 9.99533315e-01 -3.02134738e-02 4.50539242e-03 1.71832788e+02] [ 3.02143104e-02 9.99543437e-01 -1.17735053e-04 -5.10444103e-01] [-4.49977823e-03 2.53807433e-04 9.99989844e-01 -9.84714152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.325898227 meters Centerline goodness [0,1] 0.9767143996976442 Centerline is valid? [True, True] Translation: X:171.86, Y:-0.52, Z:-0.99 [[ 9.99419330e-01 -3.37615088e-02 4.60036055e-03 1.71862022e+02] [ 3.37624184e-02 9.99429880e-01 -1.20173965e-04 -5.22506351e-01] [-4.59368053e-03 2.75423481e-04 9.99989411e-01 -9.86437552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35589822699995 meters Centerline goodness [0,1] 0.9440799815556161 Centerline is valid? [True, False] Translation: X:171.86, Y:-0.52, Z:-0.99 [[ 9.99414277e-01 -3.39168547e-02 4.55528794e-03 1.71862349e+02] [ 3.39160549e-02 9.99424653e-01 2.52718170e-04 -5.24961800e-01] [-4.56123847e-03 -9.80727509e-05 9.99989593e-01 -9.86724026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.385898227 meters Centerline goodness [0,1] 0.8990565638617422 Centerline is valid? [False, False] Translation: X:171.86, Y:-0.53, Z:-0.99 [[ 9.99408580e-01 -3.40912116e-02 4.50325085e-03 1.71862750e+02] [ 3.40886440e-02 9.99418605e-01 6.45713847e-04 -5.27650118e-01] [-4.52264585e-03 -4.91822244e-04 9.99989652e-01 -9.87078706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41589822699996 meters Centerline goodness [0,1] 0.8990565638617422 Centerline is valid? [False, False] Translation: X:171.86, Y:-0.53, Z:-0.99 [[ 9.99408580e-01 -3.40912116e-02 4.50325085e-03 1.71862750e+02] [ 3.40886440e-02 9.99418605e-01 6.45713847e-04 -5.27650118e-01] [-4.52264585e-03 -4.91822244e-04 9.99989652e-01 -9.87078706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.445898227 meters Centerline goodness [0,1] 0.7933257249133485 Centerline is valid? [False, False] Translation: X:171.86, Y:-0.53, Z:-0.99 [[ 9.99408138e-01 -3.41315068e-02 4.29125937e-03 1.71863789e+02] [ 3.41268643e-02 9.99416847e-01 1.15048156e-03 -5.30615786e-01] [-4.32802457e-03 -1.00335341e-03 9.99990131e-01 -9.87723589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47589822699996 meters Centerline goodness [0,1] 0.714480788218735 Centerline is valid? [False, False] Translation: X:171.86, Y:-0.53, Z:-0.99 [[ 9.99389405e-01 -3.46931695e-02 4.14754124e-03 1.71864761e+02] [ 3.46866802e-02 9.99396913e-01 1.62644858e-03 -5.34937276e-01] [-4.20146657e-03 -1.48159104e-03 9.99990076e-01 -9.88471116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.505898227 meters Centerline goodness [0,1] 0.5988684051193185 Centerline is valid? [False, False] Translation: X:171.86, Y:-0.54, Z:-0.99 [[ 9.99388041e-01 -3.47274032e-02 4.18944552e-03 1.71864452e+02] [ 3.47197572e-02 9.99395311e-01 1.88419693e-03 -5.36521067e-01] [-4.25234547e-03 -1.73758735e-03 9.99989449e-01 -9.88146820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53589822699996 meters Centerline goodness [0,1] 0.614644877435575 Centerline is valid? [False, False] Translation: X:171.86, Y:-0.54, Z:-0.99 [[ 9.99387827e-01 -3.47190713e-02 4.30773584e-03 1.71864031e+02] [ 3.47106464e-02 9.99395372e-01 2.01536060e-03 -5.37254518e-01] [-4.37510271e-03 -1.86460255e-03 9.99988691e-01 -9.88062894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.565898227 meters Centerline goodness [0,1] 0.6742106378470014 Centerline is valid? [False, False] Translation: X:171.86, Y:-0.54, Z:-0.99 [[ 9.99388445e-01 -3.47120112e-02 4.22049024e-03 1.71864246e+02] [ 3.47039661e-02 9.99395705e-01 1.96475657e-03 -5.36910986e-01] [-4.28614047e-03 -1.81708726e-03 9.99989164e-01 -9.87935542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59589822699996 meters Centerline goodness [0,1] 0.7039777596622144 Centerline is valid? [False, False] Translation: X:171.87, Y:-0.54, Z:-0.99 [[ 9.99409115e-01 -3.42298588e-02 3.12050913e-03 1.71867980e+02] [ 3.42237014e-02 9.99412185e-01 2.00568489e-03 -5.35652577e-01] [-3.18732915e-03 -1.89770439e-03 9.99993120e-01 -9.88621936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.625898227 meters Centerline goodness [0,1] 0.6382769719516783 Centerline is valid? [False, False] Translation: X:171.87, Y:-0.54, Z:-0.99 [[ 9.99548127e-01 -2.99186468e-02 2.90103967e-03 1.71868332e+02] [ 2.98981734e-02 9.99529403e-01 6.86095423e-03 -5.38854516e-01] [-3.10494492e-03 -6.77111816e-03 9.99972255e-01 -9.88737269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65589822699997 meters Centerline goodness [0,1] 0.6629731258247629 Centerline is valid? [False, False] Translation: X:171.87, Y:-0.53, Z:-0.99 [[ 9.99653417e-01 -2.63152542e-02 -7.43703541e-04 1.71867882e+02] [ 2.63068999e-02 9.99607702e-01 -9.61191281e-03 -5.32979671e-01] [ 9.96351717e-04 9.58901695e-03 9.99953528e-01 -9.85939751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68589822699994 meters Centerline goodness [0,1] 0.6412925340690578 Centerline is valid? [False, False] Translation: X:171.87, Y:-0.54, Z:-0.99 [[ 9.99757294e-01 -2.20200555e-02 -6.85877377e-04 1.71867144e+02] [ 2.20166379e-02 9.99746813e-01 -4.64516617e-03 -5.36800450e-01] [ 7.87990538e-04 4.62893805e-03 9.99988976e-01 -9.85640248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71589822699997 meters Centerline goodness [0,1] 0.6217257480265499 Centerline is valid? [False, False] Translation: X:171.87, Y:-0.54, Z:-0.99 [[ 9.99836409e-01 -1.80824313e-02 -4.24771146e-04 1.71865925e+02] [ 1.80826046e-02 9.99836413e-01 4.07678582e-04 -5.42213863e-01] [ 4.17329839e-04 -4.15292859e-04 9.99999827e-01 -9.85449787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74589822699994 meters Centerline goodness [0,1] 0.681108566385813 Centerline is valid? [False, False] Translation: X:171.87, Y:-0.54, Z:-0.99 [[ 9.99838724e-01 -1.79537579e-02 -4.34590440e-04 1.71866031e+02] [ 1.79541318e-02 9.99838431e-01 8.72297457e-04 -5.44593797e-01] [ 4.18859206e-04 -8.79959471e-04 9.99999525e-01 -9.85604810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.77589822699997 meters Centerline goodness [0,1] 0.6748305966820316 Centerline is valid? [False, False] Translation: X:171.87, Y:-0.55, Z:-0.99 [[ 9.99841492e-01 -1.77985426e-02 -4.51308055e-04 1.71866218e+02] [ 1.77991446e-02 9.99840648e-01 1.36677769e-03 -5.47087277e-01] [ 4.26909488e-04 -1.37459394e-03 9.99998964e-01 -9.85881748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.80589822699994 meters Centerline goodness [0,1] 0.6225301026971173 Centerline is valid? [False, False] Translation: X:171.87, Y:-0.55, Z:-0.99 [[ 9.99843623e-01 -1.76767519e-02 -5.11517843e-04 1.71866498e+02] [ 1.76776503e-02 9.99842102e-01 1.80861041e-03 -5.49403512e-01] [ 4.79466718e-04 -1.81737002e-03 9.99998234e-01 -9.86055052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.835898227 meters Centerline goodness [0,1] 0.6366077234493319 Centerline is valid? [False, False] Translation: X:171.87, Y:-0.55, Z:-0.99 [[ 9.99846995e-01 -1.74848682e-02 -5.15138698e-04 1.71866127e+02] [ 1.74860604e-02 9.99844206e-01 2.40862821e-03 -5.52455861e-01] [ 4.72943896e-04 -2.41726743e-03 9.99996967e-01 -9.85454079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.86589822699995 meters Centerline goodness [0,1] 0.510874137640922 Centerline is valid? [False, False] Translation: X:171.87, Y:-0.55, Z:-0.99 [[ 9.99847847e-01 -1.74345086e-02 -5.65894137e-04 1.71866167e+02] [ 1.74358362e-02 9.99845025e-01 2.43272794e-03 -5.52471713e-01] [ 5.23393021e-04 -2.44222463e-03 9.99996881e-01 -9.85225565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.895898227 meters Centerline goodness [0,1] 0.8139094141947574 Centerline is valid? [False, False] Translation: X:171.87, Y:-0.55, Z:-0.99 [[ 9.99848009e-01 -1.74227622e-02 -6.37852503e-04 1.71866451e+02] [ 1.74241919e-02 9.99845521e-01 2.30908331e-03 -5.51688336e-01] [ 5.97523358e-04 -2.31984641e-03 9.99997131e-01 -9.85314293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.92589822699995 meters Centerline goodness [0,1] 0.8908143377679858 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.55, Z:-0.98 [[ 9.99915031e-01 -1.30289491e-02 4.21540540e-04 1.71886624e+02] [ 1.30308047e-02 9.99903822e-01 -4.74807320e-03 -5.50212363e-01] [-3.59637594e-04 4.75316277e-03 9.99988639e-01 -9.84941632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.955898227 meters Centerline goodness [0,1] 0.9067034951662595 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.55, Z:-0.98 [[ 9.99962508e-01 -8.64315684e-03 5.27033820e-04 1.71885866e+02] [ 8.64316732e-03 9.99962647e-01 -1.76145127e-05 -5.52480166e-01] [-5.26861889e-04 2.21690938e-05 9.99999861e-01 -9.84515379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.98589822699995 meters Centerline goodness [0,1] 0.8839287596163979 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.55, Z:-0.98 [[ 9.99961986e-01 -8.70649173e-03 4.72137705e-04 1.71885777e+02] [ 8.70673276e-03 9.99961965e-01 -5.10898008e-04 -5.49769888e-01] [-4.67671618e-04 5.14989364e-04 9.99999758e-01 -9.83996389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.015898227 meters Centerline goodness [0,1] 0.932764433206911 Centerline is valid? [False, False] Translation: X:171.88, Y:-0.55, Z:-0.98 [[ 9.99989730e-01 -4.48783606e-03 6.32053924e-04 1.71884946e+02] [ 4.48526009e-03 9.99981862e-01 4.01963691e-03 -5.51353001e-01] [-6.50081931e-04 -4.01676070e-03 9.99991721e-01 -9.83610655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.04589822699995 meters Centerline goodness [0,1] 0.9309807554638481 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.54, Z:-0.98 [[ 9.99988374e-01 -4.79414587e-03 5.17939273e-04 1.71885234e+02] [ 4.79270241e-03 9.99984725e-01 2.75312902e-03 -5.44608683e-01] [-5.31130264e-04 -2.75061468e-03 9.99996076e-01 -9.83416401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.075898227 meters Centerline goodness [0,1] 0.9543349193650259 Centerline is valid? [False, True] Translation: X:171.89, Y:-0.54, Z:-0.98 [[ 9.99987234e-01 -5.03848887e-03 3.80747186e-04 1.71885973e+02] [ 5.03765639e-03 9.99984985e-01 2.15664574e-03 -5.41716871e-01] [-3.91607704e-04 -2.15470014e-03 9.99997602e-01 -9.83890551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.10589822699995 meters Centerline goodness [0,1] 0.9387673115551327 Centerline is valid? [True, False] Translation: X:171.89, Y:-0.54, Z:-0.98 [[ 9.99986146e-01 -5.25527718e-03 2.99601944e-04 1.71886577e+02] [ 5.25475726e-03 9.99984731e-01 1.71053321e-03 -5.39625958e-01] [-3.08586696e-04 -1.70893518e-03 9.99998492e-01 -9.84474057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.135898227 meters Centerline goodness [0,1] 0.9146128428009177 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.54, Z:-0.99 [[ 9.99984997e-01 -5.47540994e-03 1.62985206e-04 1.71887357e+02] [ 5.47517373e-03 9.99984009e-01 1.41602851e-03 -5.38450883e-01] [-1.70735936e-04 -1.41511489e-03 9.99998984e-01 -9.85030202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.16589822699996 meters Centerline goodness [0,1] 0.7997018104366347 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.53, Z:-0.99 [[ 9.99947291e-01 -1.02664699e-02 1.20810230e-04 1.71887664e+02] [ 1.02668839e-02 9.99938629e-01 -4.16287766e-03 -5.32268093e-01] [-7.80647579e-05 4.16389858e-03 9.99991328e-01 -9.85028205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.195898227 meters Centerline goodness [0,1] 0.7734835720303286 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.53, Z:-0.98 [[ 9.99945695e-01 -1.04204351e-02 1.44834517e-04 1.71887515e+02] [ 1.04209623e-02 9.99936425e-01 -4.30695669e-03 -5.31810249e-01] [-9.99449468e-05 4.30823212e-03 9.99990715e-01 -9.84896559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.22589822699996 meters Centerline goodness [0,1] 0.7310002114611969 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.54, Z:-0.98 [[ 9.99978082e-01 -6.60204354e-03 4.97559640e-04 1.71886233e+02] [ 6.60186307e-03 9.99978141e-01 3.63495779e-04 -5.35161772e-01] [-4.99948579e-04 -3.60202992e-04 9.99999810e-01 -9.84776698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.255898227 meters Centerline goodness [0,1] 0.734350951909089 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.53, Z:-0.98 [[ 9.99977285e-01 -6.71683563e-03 5.59728092e-04 1.71886031e+02] [ 6.71675356e-03 9.99977431e-01 1.48379549e-04 -5.34125732e-01] [-5.60712101e-04 -1.44616623e-04 9.99999832e-01 -9.84746205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.28589822699996 meters Centerline goodness [0,1] 0.6395586777208193 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.53, Z:-0.98 [[ 9.99976553e-01 -6.82584374e-03 5.48259789e-04 1.71886168e+02] [ 6.82589847e-03 9.99976698e-01 -9.80212381e-05 -5.32964183e-01] [-5.47577936e-04 1.01761305e-04 9.99999845e-01 -9.84886030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.315898227 meters Centerline goodness [0,1] 0.6546464984121678 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.53, Z:-0.99 [[ 9.99975685e-01 -6.95980500e-03 4.35460360e-04 1.71886732e+02] [ 6.95999460e-03 9.99975684e-01 -4.35404412e-04 -5.31303615e-01] [-4.32419442e-04 4.38424627e-04 9.99999810e-01 -9.85200614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.34589822699996 meters Centerline goodness [0,1] 0.6707358070345002 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.53, Z:-0.99 [[ 9.99975280e-01 -7.03085350e-03 7.56541102e-05 1.71888375e+02] [ 7.03092282e-03 9.99974823e-01 -9.58686959e-04 -5.28362506e-01] [-6.89118179e-05 9.59195179e-04 9.99999538e-01 -9.85964222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.375898227 meters Centerline goodness [0,1] 0.7066062176165804 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.53, Z:-0.99 [[ 9.99975412e-01 -7.01008987e-03 -1.87159927e-04 1.71889454e+02] [ 7.00985117e-03 9.99974653e-01 -1.24694169e-03 -5.26614305e-01] [ 1.95896356e-04 1.24559907e-03 9.99999205e-01 -9.86328793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.40589822699997 meters Centerline goodness [0,1] 0.7749481229956612 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.53, Z:-0.99 [[ 9.99996186e-01 -2.76092661e-03 -6.80806021e-05 1.71888754e+02] [ 2.76112317e-03 9.99991447e-01 3.07935840e-03 -5.26891997e-01] [ 5.95781372e-05 -3.07953464e-03 9.99995256e-01 -9.85936957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43589822699994 meters Centerline goodness [0,1] 0.8187111232119295 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.53, Z:-0.99 [[ 9.99995952e-01 -2.84488865e-03 4.86700767e-05 1.71887940e+02] [ 2.84474406e-03 9.99992173e-01 2.74994427e-03 -5.25149234e-01] [-5.64929810e-05 -2.74979469e-03 9.99996218e-01 -9.85216681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.46589822699997 meters Centerline goodness [0,1] 0.7800366184733885 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.52, Z:-0.98 [[ 9.99995685e-01 -2.92644153e-03 2.57651060e-04 1.71886862e+02] [ 2.92577791e-03 9.99992496e-01 2.53941983e-03 -5.24146772e-01] [-2.65080590e-04 -2.53865504e-03 9.99996742e-01 -9.84554816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49589822699994 meters Centerline goodness [0,1] 0.9117163801820021 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.52, Z:-0.98 [[ 9.99995436e-01 -2.99732694e-03 3.80752064e-04 1.71886343e+02] [ 2.99637927e-03 9.99992471e-01 2.46560667e-03 -5.23907613e-01] [-3.88139427e-04 -2.46445454e-03 9.99996888e-01 -9.84369278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.52589822699997 meters Centerline goodness [0,1] 0.7131914359264142 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.52, Z:-0.98 [[ 9.99994901e-01 -3.18484202e-03 2.36083490e-04 1.71887000e+02] [ 3.18427991e-03 9.99992182e-01 2.34429847e-03 -5.23683735e-01] [-2.43547864e-04 -2.34353476e-03 9.99997224e-01 -9.84652182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55589822699994 meters Centerline goodness [0,1] 0.6576518116927972 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.52, Z:-0.98 [[ 9.99994584e-01 -3.28962049e-03 9.68672918e-05 1.71887437e+02] [ 3.28940801e-03 9.99992348e-01 2.11761170e-03 -5.22599532e-01] [-1.03832689e-04 -2.11728159e-03 9.99997753e-01 -9.84605179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.585898227 meters Centerline goodness [0,1] 0.8581787521079258 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.52, Z:-0.98 [[ 9.99994183e-01 -3.41092893e-03 -5.06318209e-06 1.71887731e+02] [ 3.41093250e-03 9.99992534e-01 1.81593196e-03 -5.21123836e-01] [-1.13087057e-06 -1.81593867e-03 9.99998351e-01 -9.84487536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61589822699995 meters Centerline goodness [0,1] 0.9689573056642287 Centerline is valid? [False, True] Translation: X:171.89, Y:-0.52, Z:-0.98 [[ 9.99993478e-01 -3.61161088e-03 4.90123034e-06 1.71887587e+02] [ 3.61160139e-03 9.99992625e-01 1.30635594e-03 -5.18668755e-01] [-9.61924350e-06 -1.30632972e-03 9.99999147e-01 -9.84252504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.645898227 meters Centerline goodness [0,1] 0.6362490282184354 Centerline is valid? [True, False] Translation: X:171.91, Y:-0.51, Z:-0.99 [[ 9.99990540e-01 -2.36023766e-03 3.65352036e-03 1.71909797e+02] [ 2.39052360e-03 9.99962635e-01 -8.30747004e-03 -5.12547110e-01] [-3.63377624e-03 8.31612528e-03 9.99958818e-01 -9.87935470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67589822699995 meters Centerline goodness [0,1] 0.9572956015109803 Centerline is valid? [False, True] Translation: X:171.89, Y:-0.51, Z:-0.98 [[ 9.99996361e-01 -2.48091579e-03 1.05939634e-03 1.71886110e+02] [ 2.47833787e-03 9.99993982e-01 2.42780192e-03 -5.12214412e-01] [-1.06541313e-03 -2.42516755e-03 9.99996492e-01 -9.84228609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.705898227 meters Centerline goodness [0,1] 0.6303549826888584 Centerline is valid? [True, False] Translation: X:171.95, Y:-0.51, Z:-0.98 [[ 9.99996532e-01 -1.39810595e-03 -2.23201806e-03 1.71947877e+02] [ 1.38540568e-03 9.99982901e-01 -5.68148213e-03 -5.11047862e-01] [ 2.23992321e-03 5.67837018e-03 9.99981369e-01 -9.80550580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73589822699995 meters Centerline goodness [0,1] 0.5843249111305051 Centerline is valid? [False, False] Translation: X:171.90, Y:-0.51, Z:-0.98 [[ 9.99997662e-01 5.96591811e-04 -2.07837026e-03 1.71903616e+02] [-6.02593830e-04 9.99995647e-01 -2.88842032e-03 -5.09040201e-01] [ 2.07663801e-03 2.88966598e-03 9.99993669e-01 -9.81162172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.765898227 meters Centerline goodness [0,1] 0.5664358018114012 Centerline is valid? [False, False] Translation: X:171.90, Y:-0.51, Z:-0.98 [[ 9.99998261e-01 3.00085247e-04 -1.84078684e-03 1.71902643e+02] [-3.05884924e-04 9.99994988e-01 -3.15117906e-03 -5.08280776e-01] [ 1.83983199e-03 3.15173665e-03 9.99993341e-01 -9.80783305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79589822699995 meters Centerline goodness [0,1] 0.5075481192602843 Centerline is valid? [False, False] Translation: X:171.95, Y:-0.51, Z:-0.98 [[ 9.99998538e-01 4.80154096e-04 -1.64111788e-03 1.71945541e+02] [-4.81989563e-04 9.99999259e-01 -1.11821247e-03 -5.13153438e-01] [ 1.64057975e-03 1.11900184e-03 9.99998028e-01 -9.81191890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.825898227 meters Centerline goodness [0,1] 0.4747293561525313 Centerline is valid? [False, False] Translation: X:171.95, Y:-0.51, Z:-0.98 [[ 9.99998194e-01 4.37407453e-04 -1.84933380e-03 1.71946608e+02] [-4.39299863e-04 9.99999380e-01 -1.02301058e-03 -5.13769989e-01] [ 1.84888518e-03 1.02382114e-03 9.99997767e-01 -9.81894750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85589822699995 meters Centerline goodness [0,1] 0.4373903670985059 Centerline is valid? [False, False] Translation: X:171.95, Y:-0.51, Z:-0.98 [[ 9.99997778e-01 3.95329314e-04 -2.07082657e-03 1.71947881e+02] [-3.97129028e-04 9.99999544e-01 -8.68740885e-04 -5.14710787e-01] [ 2.07048219e-03 8.69561340e-04 9.99997478e-01 -9.82895902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.885898227 meters Centerline goodness [0,1] 0.3944384620257174 Centerline is valid? [False, False] Translation: X:171.95, Y:-0.52, Z:-0.98 [[ 9.99997863e-01 2.88169755e-04 -2.04714916e-03 1.71948050e+02] [-2.89339569e-04 9.99999795e-01 -5.71162488e-04 -5.16756537e-01] [ 2.04698415e-03 5.71753589e-04 9.99997741e-01 -9.83346064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91589822699996 meters Centerline goodness [0,1] 0.5716338129344405 Centerline is valid? [False, False] Translation: X:171.95, Y:-0.52, Z:-0.98 [[ 9.99998081e-01 2.47476604e-04 -1.94322093e-03 1.71947395e+02] [-2.48584083e-04 9.99999807e-01 -5.69698105e-04 -5.16947017e-01] [ 1.94307957e-03 5.70180066e-04 9.99997950e-01 -9.82790926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.945898227 meters Centerline goodness [0,1] 0.5991677052747206 Centerline is valid? [False, False] Translation: X:171.95, Y:-0.52, Z:-0.98 [[ 9.99998303e-01 1.72910272e-04 -1.83404579e-03 1.71946747e+02] [-1.74259284e-04 9.99999714e-01 -7.35404498e-04 -5.16141181e-01] [ 1.83391811e-03 7.35722850e-04 9.99998048e-01 -9.82298473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97589822699996 meters Centerline goodness [0,1] 0.400708024275118 Centerline is valid? [False, False] Translation: X:171.95, Y:-0.51, Z:-0.98 [[ 9.99998300e-01 7.91139976e-05 -1.84241853e-03 1.71946516e+02] [-8.11276569e-05 9.99999399e-01 -1.09289434e-03 -5.14306807e-01] [ 1.84233096e-03 1.09304195e-03 9.99997706e-01 -9.81763573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.005898227 meters Centerline goodness [0,1] 0.4174580215080812 Centerline is valid? [False, False] Translation: X:171.95, Y:-0.51, Z:-0.98 [[ 9.99989398e-01 4.19966587e-03 -1.88845698e-03 1.71946725e+02] [-4.19416498e-03 9.99986978e-01 2.90749065e-03 -5.12952285e-01] [ 1.90064288e-03 -2.89953932e-03 9.99993990e-01 -9.81804212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03589822699996 meters Centerline goodness [0,1] 0.4228101067102277 Centerline is valid? [False, False] Translation: X:171.91, Y:-0.50, Z:-0.98 [[ 9.99989154e-01 3.57860129e-03 -2.98078713e-03 1.71905942e+02] [-3.57999354e-03 9.99993485e-01 -4.61868542e-04 -5.04058230e-01] [ 2.97911487e-03 4.72534731e-04 9.99995451e-01 -9.82547015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.065898227 meters Centerline goodness [0,1] 0.4260136693362405 Centerline is valid? [False, False] Translation: X:171.91, Y:-0.51, Z:-0.98 [[ 9.99966094e-01 7.66680084e-03 -3.00503509e-03 1.71906080e+02] [-7.65501879e-03 9.99963044e-01 3.91285513e-03 -5.05027069e-01] [ 3.03492312e-03 -3.88971886e-03 9.99987830e-01 -9.82599811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09589822699996 meters Centerline goodness [0,1] 0.8908294169947923 Centerline is valid? [False, False] Translation: X:171.91, Y:-0.50, Z:-0.98 [[ 9.99968189e-01 7.37913754e-03 -3.02793064e-03 1.71906058e+02] [-7.36958924e-03 9.99967875e-01 3.15254162e-03 -5.01344926e-01] [ 3.05109641e-03 -3.13012673e-03 9.99990447e-01 -9.82332631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.125898227 meters Centerline goodness [0,1] 0.6159671952801373 Centerline is valid? [False, False] Translation: X:171.92, Y:-0.50, Z:-0.98 [[ 9.99971729e-01 7.21644405e-03 2.11290832e-03 1.71924650e+02] [-7.24398306e-03 9.99884913e-01 1.33298430e-02 -5.01477904e-01] [-2.01647109e-03 -1.33447720e-02 9.99908921e-01 -9.84846458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15589822699997 meters Centerline goodness [0,1] 0.7395990605603087 Centerline is valid? [False, False] Translation: X:171.93, Y:-0.49, Z:-0.98 [[ 9.99994283e-01 2.77067180e-03 1.93859345e-03 1.71925032e+02] [-2.78576396e-03 9.99965494e-01 7.82620919e-03 -4.94932923e-01] [-1.91684270e-03 -7.83156491e-03 9.99967496e-01 -9.84554827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18589822699994 meters Centerline goodness [0,1] 0.7488448290346972 Centerline is valid? [False, False] Translation: X:171.93, Y:-0.49, Z:-0.98 [[ 9.99997204e-01 -1.59259034e-03 1.74808285e-03 1.71925712e+02] [ 1.58829566e-03 9.99995724e-01 2.45543741e-03 -4.88816870e-01] [-1.75198588e-03 -2.45265407e-03 9.99995458e-01 -9.84563341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21589822699997 meters Centerline goodness [0,1] 0.6843823234014061 Centerline is valid? [False, False] Translation: X:171.93, Y:-0.49, Z:-0.99 [[ 9.99997025e-01 -1.86201892e-03 1.57555778e-03 1.71926619e+02] [ 1.85883997e-03 9.99996239e-01 2.01673439e-03 -4.86912959e-01] [-1.57930705e-03 -2.01379968e-03 9.99996725e-01 -9.85101315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24589822699994 meters Centerline goodness [0,1] 0.5180121068450239 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.48, Z:-0.99 [[ 9.99994210e-01 -3.39778320e-03 -1.84584295e-04 1.71886447e+02] [ 3.39749292e-03 9.99993026e-01 -1.55080633e-03 -4.76542758e-01] [ 1.89852311e-04 1.55017022e-03 9.99998780e-01 -9.85941028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.27589822699997 meters Centerline goodness [0,1] 0.6797329176847249 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.47, Z:-0.99 [[ 9.99993380e-01 -3.63792062e-03 -7.38776269e-05 1.71885963e+02] [ 3.63776681e-03 9.99991413e-01 -1.98517204e-03 -4.74572705e-01] [ 8.10988908e-05 1.98489014e-03 9.99998027e-01 -9.85707772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.30589822699994 meters Centerline goodness [0,1] 0.48520499108734405 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.47, Z:-0.99 [[ 9.99992561e-01 -3.85706937e-03 1.05122227e-06 1.71885474e+02] [ 3.85706101e-03 9.99989746e-01 -2.37277214e-03 -4.72833563e-01] [ 8.10073523e-06 2.37275854e-03 9.99997185e-01 -9.85267417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.335898227 meters Centerline goodness [0,1] 0.48520499108734405 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.47, Z:-0.99 [[ 9.99992561e-01 -3.85706937e-03 1.05122227e-06 1.71885474e+02] [ 3.85706101e-03 9.99989746e-01 -2.37277214e-03 -4.72833563e-01] [ 8.10073523e-06 2.37275854e-03 9.99997185e-01 -9.85267417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.36589822699995 meters Centerline goodness [0,1] 0.5460970596870937 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.47, Z:-0.99 [[ 9.99991121e-01 -4.21371004e-03 -4.84700141e-05 1.71885793e+02] [ 4.21354085e-03 9.99986384e-01 -3.07862071e-03 -4.69519803e-01] [ 6.14417691e-05 3.07838915e-03 9.99995260e-01 -9.85458220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.395898227 meters Centerline goodness [0,1] 0.5995354729729729 Centerline is valid? [False, False] Translation: X:171.88, Y:-0.47, Z:-0.98 [[ 9.99997529e-01 -2.17754604e-03 4.48544109e-04 1.71881458e+02] [ 2.17800650e-03 9.99997099e-01 -1.02864103e-03 -4.68696179e-01] [-4.46302894e-04 1.02961542e-03 9.99999370e-01 -9.82592487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.42589822699995 meters Centerline goodness [0,1] 0.580726823859238 Centerline is valid? [False, False] Translation: X:171.88, Y:-0.47, Z:-0.98 [[ 9.99997235e-01 -2.34016574e-03 2.31756392e-04 1.71882628e+02] [ 2.34050430e-03 9.99996178e-01 -1.47147408e-03 -4.66464571e-01] [-2.28312013e-04 1.47201244e-03 9.99998891e-01 -9.83356034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.455898227 meters Centerline goodness [0,1] 0.6423563593490116 Centerline is valid? [False, False] Translation: X:171.88, Y:-0.46, Z:-0.98 [[ 9.99996950e-01 -2.46917564e-03 5.04444620e-05 1.71883438e+02] [ 2.46926409e-03 9.99995266e-01 -1.83581746e-03 -4.64644840e-01] [-4.59112674e-05 1.83593642e-03 9.99998314e-01 -9.83655463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.48589822699995 meters Centerline goodness [0,1] 0.49493912278128205 Centerline is valid? [False, False] Translation: X:171.88, Y:-0.46, Z:-0.98 [[ 9.99996572e-01 -2.61812847e-03 -2.76638938e-05 1.71883716e+02] [ 2.61805942e-03 9.99994029e-01 -2.25546144e-03 -4.62528564e-01] [ 3.35688165e-05 2.25538128e-03 9.99997456e-01 -9.83633170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.515898227 meters Centerline goodness [0,1] 0.6095777009326208 Centerline is valid? [False, False] Translation: X:171.88, Y:-0.46, Z:-0.98 [[ 9.99995849e-01 -2.87302950e-03 -2.19012897e-04 1.71884045e+02] [ 2.87228786e-03 9.99990382e-01 -3.31454586e-03 -4.56791944e-01] [ 2.28533579e-04 3.31390303e-03 9.99994483e-01 -9.83005853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.54589822699995 meters Centerline goodness [0,1] 0.7236065435534194 Centerline is valid? [False, False] Translation: X:171.88, Y:-0.45, Z:-0.98 [[ 9.99999613e-01 -6.98814754e-04 5.34379500e-04 1.71878724e+02] [ 6.99510106e-04 9.99998908e-01 -1.30215549e-03 -4.54535014e-01] [-5.33468951e-04 1.30252879e-03 9.99999009e-01 -9.79710177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.575898227 meters Centerline goodness [0,1] 0.6679801087277171 Centerline is valid? [False, False] Translation: X:171.88, Y:-0.45, Z:-0.98 [[ 9.99999543e-01 -8.79850289e-04 3.74207917e-04 1.71879233e+02] [ 8.80601767e-04 9.99997587e-01 -2.01277995e-03 -4.50742692e-01] [-3.72436069e-04 2.01310856e-03 9.99997904e-01 -9.79648027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.60589822699995 meters Centerline goodness [0,1] 0.7042693216334797 Centerline is valid? [False, False] Translation: X:171.88, Y:-0.45, Z:-0.98 [[ 9.99999380e-01 -1.07956727e-03 2.74578938e-04 1.71879502e+02] [ 1.08030276e-03 9.99995791e-01 -2.69270455e-03 -4.47223292e-01] [-2.71670827e-04 2.69299950e-03 9.99996337e-01 -9.79500719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.635898227 meters Centerline goodness [0,1] 0.6907342326227404 Centerline is valid? [False, False] Translation: X:171.88, Y:-0.44, Z:-0.98 [[ 9.99999111e-01 -1.33333284e-03 2.33817268e-05 1.71880314e+02] [ 1.33341067e-03 9.99992177e-01 -3.72385135e-03 -4.41663031e-01] [-1.84164105e-05 3.72387922e-03 9.99993066e-01 -9.79421857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.66589822699996 meters Centerline goodness [0,1] 0.8712711241734019 Centerline is valid? [False, False] Translation: X:171.88, Y:-0.44, Z:-0.98 [[ 9.99998875e-01 -1.48289258e-03 -2.24172415e-04 1.71881186e+02] [ 1.48192379e-03 9.99989821e-01 -4.26169734e-03 -4.38834694e-01] [ 2.30489772e-04 4.26136034e-03 9.99990894e-01 -9.79500281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.695898227 meters Centerline goodness [0,1] 0.892204346361186 Centerline is valid? [False, False] Translation: X:171.88, Y:-0.44, Z:-0.98 [[ 9.99998659e-01 -1.59426098e-03 -3.74533989e-04 1.71881743e+02] [ 1.59245972e-03 9.99987396e-01 -4.76139978e-03 -4.36153454e-01] [ 3.82120183e-04 4.76079696e-03 9.99988594e-01 -9.79553865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.72589822699996 meters Centerline goodness [0,1] 0.8235885618518907 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.44, Z:-0.98 [[ 9.99999239e-01 3.43588214e-04 -1.18478678e-03 1.71887582e+02] [-3.46904476e-04 9.99996020e-01 -2.79996845e-03 -4.35999932e-01] [ 1.18382002e-03 2.80037733e-03 9.99995378e-01 -9.83244506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.755898227 meters Centerline goodness [0,1] 0.7346312981748682 Centerline is valid? [False, False] Translation: X:171.89, Y:-0.43, Z:-0.98 [[ 9.99989298e-01 4.50494898e-03 -1.05336410e-03 1.71886606e+02] [-4.50381038e-03 9.99989274e-01 1.08080935e-03 -4.33925017e-01] [ 1.05822179e-03 -1.07605363e-03 9.99998861e-01 -9.82263404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.78589822699996 meters Centerline goodness [0,1] 0.9795837005329641 Centerline is valid? [False, True] Translation: X:171.89, Y:-0.43, Z:-0.98 [[ 9.99989355e-01 4.49793804e-03 -1.02877479e-03 1.71886227e+02] [-4.49750719e-03 9.99989798e-01 4.20726105e-04 -4.30078851e-01] [ 1.03065670e-03 -4.16094704e-04 9.99999382e-01 -9.81671040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.815898227 meters Centerline goodness [0,1] 0.9874884541103367 Centerline is valid? [True, True] Translation: X:171.92, Y:-0.43, Z:-0.98 [[ 9.99966750e-01 8.15449924e-03 -4.86016270e-05 1.71916283e+02] [-8.15449909e-03 9.99966752e-01 3.25779786e-06 -4.27628188e-01] [ 4.86265767e-05 -2.86136761e-06 9.99999999e-01 -9.79837754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.84589822699996 meters Centerline goodness [0,1] 0.9904084288292826 Centerline is valid? [True, True] Translation: X:171.95, Y:-0.43, Z:-0.98 [[ 9.99933001e-01 1.15429551e-02 8.68197129e-04 1.71946342e+02] [-1.15429088e-02 9.99933377e-01 -5.84050639e-05 -4.26599105e-01] [-8.68813453e-04 4.83796306e-05 9.99999621e-01 -9.79678886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.875898227 meters Centerline goodness [0,1] 0.9984048358660063 Centerline is valid? [True, True] Translation: X:171.98, Y:-0.42, Z:-0.98 [[ 9.99852928e-01 1.69039716e-02 2.89435095e-03 1.71977378e+02] [-1.69034783e-02 9.99857107e-01 -1.94804041e-04 -4.17222696e-01] [-2.89723033e-03 1.45850793e-04 9.99995792e-01 -9.77173688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.90589822699997 meters Centerline goodness [0,1] 0.9983891213389121 Centerline is valid? [True, True] Translation: X:172.01, Y:-0.42, Z:-0.98 [[ 9.99812853e-01 1.88830368e-02 4.20589417e-03 1.72007401e+02] [-1.88820127e-02 9.99821679e-01 -2.83078258e-04 -4.16614545e-01] [-4.21048955e-03 2.03609534e-04 9.99991115e-01 -9.75428234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93589822699994 meters Centerline goodness [0,1] 0.9992821552233764 Centerline is valid? [True, True] Translation: X:172.04, Y:-0.41, Z:-0.97 [[ 9.99765075e-01 2.08923872e-02 5.77095142e-03 1.72038931e+02] [-2.08904927e-02 9.99781694e-01 -3.88377187e-04 -4.11656902e-01] [-5.77780571e-03 2.67727929e-04 9.99983273e-01 -9.72294121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.96589822699997 meters Centerline goodness [0,1] 0.9994530346060797 Centerline is valid? [True, True] Translation: X:172.07, Y:-0.40, Z:-0.97 [[ 9.99708102e-01 2.31885531e-02 6.78242641e-03 1.72070688e+02] [-2.31859877e-02 9.99731065e-01 -4.56628899e-04 -4.04428951e-01] [-6.79119094e-03 2.99238354e-04 9.99976895e-01 -9.70393216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99589822699994 meters Centerline goodness [0,1] 0.9996640913671482 Centerline is valid? [True, True] Translation: X:172.10, Y:-0.40, Z:-0.97 [[ 9.99603382e-01 2.74987258e-02 6.07438908e-03 1.72100842e+02] [-2.74967466e-02 9.99621809e-01 -4.09123452e-04 -4.01963956e-01] [-6.08334218e-03 2.41935249e-04 9.99981467e-01 -9.72434818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.02589822699997 meters Centerline goodness [0,1] 0.9997483960246571 Centerline is valid? [True, True] Translation: X:172.13, Y:-0.40, Z:-0.97 [[ 9.99564855e-01 2.90224547e-02 5.27235799e-03 1.72131122e+02] [-2.90209853e-02 9.99578739e-01 -3.55014167e-04 -4.01547465e-01] [-5.28044034e-03 2.01850661e-04 9.99986038e-01 -9.74613798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05589822699994 meters Centerline goodness [0,1] 0.9995605867213492 Centerline is valid? [True, True] Translation: X:172.16, Y:-0.40, Z:-0.98 [[ 9.99535771e-01 3.00092683e-02 5.26177095e-03 1.72161214e+02] [-3.00078180e-02 9.99549601e-01 -3.54383134e-04 -4.01374442e-01] [-5.27003583e-03 1.96324354e-04 9.99986094e-01 -9.75101448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.085898227 meters Centerline goodness [0,1] 0.9998524358623015 Centerline is valid? [True, True] Translation: X:172.19, Y:-0.39, Z:-0.97 [[ 9.99443754e-01 3.26733788e-02 6.68075978e-03 1.72192340e+02] [-3.26711002e-02 9.99466056e-01 -4.49952803e-04 -3.92344533e-01] [-6.69189411e-03 2.31434747e-04 9.99977582e-01 -9.72241460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11589822699995 meters Centerline goodness [0,1] 0.9996657265225112 Centerline is valid? [True, True] Translation: X:172.22, Y:-0.40, Z:-0.97 [[ 9.99380499e-01 3.44396716e-02 7.24754581e-03 1.72221980e+02] [-3.44370363e-02 9.99406750e-01 -4.88126150e-04 -3.96394076e-01] [-7.26005711e-03 2.38239757e-04 9.99973617e-01 -9.71960913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.145898227 meters Centerline goodness [0,1] 0.9996631649860003 Centerline is valid? [True, True] Translation: X:172.25, Y:-0.39, Z:-0.97 [[ 9.99299308e-01 3.66207685e-02 7.73378930e-03 1.72253351e+02] [-3.66178330e-02 9.99329207e-01 -5.20878043e-04 -3.92957257e-01] [-7.74767648e-03 2.37318464e-04 9.99969958e-01 -9.71401654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17589822699995 meters Centerline goodness [0,1] 0.9997269366493027 Centerline is valid? [True, True] Translation: X:172.28, Y:-0.39, Z:-0.97 [[ 9.99217947e-01 3.87594272e-02 7.82317403e-03 1.72284218e+02] [-3.87564882e-02 9.99248546e-01 -5.26980126e-04 -3.86668684e-01] [-7.83772072e-03 2.23369247e-04 9.99969260e-01 -9.72242178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.205898227 meters Centerline goodness [0,1] 0.999559397423524 Centerline is valid? [True, True] Translation: X:172.31, Y:-0.38, Z:-0.98 [[ 9.99051421e-01 4.31169667e-02 6.09798834e-03 1.72313747e+02] [-4.31152620e-02 9.99070020e-01 -4.10784340e-04 -3.84889397e-01] [-6.11002910e-03 1.47478314e-04 9.99981323e-01 -9.75666614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23589822699995 meters Centerline goodness [0,1] 0.9995589254584025 Centerline is valid? [True, True] Translation: X:172.34, Y:-0.38, Z:-0.98 [[ 9.98954919e-01 4.54145021e-02 5.15691806e-03 1.72343923e+02] [-4.54133137e-02 9.98968223e-01 -3.47367836e-04 -3.82224635e-01] [-5.16737281e-03 1.12812070e-04 9.99986643e-01 -9.77502206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.265898227 meters Centerline goodness [0,1] 0.9996862777905591 Centerline is valid? [True, True] Translation: X:172.37, Y:-0.38, Z:-0.98 [[ 9.98845507e-01 4.78405906e-02 4.35106985e-03 1.72374061e+02] [-4.78397679e-02 9.98854980e-01 -2.93022236e-04 -3.77081033e-01] [-4.36010614e-03 8.45297719e-05 9.99990491e-01 -9.79205520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29589822699995 meters Centerline goodness [0,1] 0.9998300150861611 Centerline is valid? [True, True] Translation: X:172.40, Y:-0.37, Z:-0.98 [[ 9.98785222e-01 4.91444830e-02 3.59155924e-03 1.72402915e+02] [-4.91439307e-02 9.98791678e-01 -2.41918229e-04 -3.74066460e-01] [-3.59910843e-03 6.51210131e-05 9.99993521e-01 -9.80559757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.325898227 meters Centerline goodness [0,1] 0.9997464235149927 Centerline is valid? [True, True] Translation: X:172.43, Y:-0.38, Z:-0.98 [[ 9.98790273e-01 4.90886234e-02 2.88066162e-03 1.72430703e+02] [-4.90882679e-02 9.98794425e-01 -1.94019887e-04 -3.79499083e-01] [-2.88671294e-03 5.23784861e-05 9.99995832e-01 -9.82581223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35589822699995 meters Centerline goodness [0,1] 0.9998111663624347 Centerline is valid? [True, True] Translation: X:172.46, Y:-0.39, Z:-0.98 [[ 9.98810941e-01 4.86835035e-02 2.57308538e-03 1.72458165e+02] [-4.86832189e-02 9.98814254e-01 -1.73186319e-04 -3.86550110e-01] [-2.57846567e-03 4.77143119e-05 9.99996675e-01 -9.84178282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.385898227 meters Centerline goodness [0,1] 0.9998105821442101 Centerline is valid? [True, True] Translation: X:172.49, Y:-0.39, Z:-0.98 [[ 9.98801930e-01 4.88914604e-02 2.08095823e-03 1.72487263e+02] [-4.88912748e-02 9.98804097e-01 -1.39961937e-04 -3.86219460e-01] [-2.08531255e-03 3.80535521e-05 9.99997825e-01 -9.84128472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41589822699996 meters Centerline goodness [0,1] 0.9997454661151766 Centerline is valid? [True, True] Translation: X:172.52, Y:-0.39, Z:-0.98 [[ 9.98757240e-01 4.98171618e-02 1.49203443e-03 1.72515825e+02] [-4.98170674e-02 9.98758354e-01 -1.00389501e-04 -3.85801164e-01] [-1.49518297e-03 2.59359612e-05 9.99998882e-01 -9.84114570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.445898227 meters Centerline goodness [0,1] 0.9998534859869812 Centerline is valid? [True, True] Translation: X:172.54, Y:-0.39, Z:-0.99 [[ 9.98678838e-01 5.13756056e-02 1.06098363e-03 1.72543210e+02] [-5.13755587e-02 9.98679401e-01 -7.15098755e-05 -3.86907265e-01] [-1.06325636e-03 1.69067727e-05 9.99999435e-01 -9.85544081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47589822699996 meters Centerline goodness [0,1] 0.999811372162723 Centerline is valid? [True, True] Translation: X:172.57, Y:-0.38, Z:-0.98 [[ 9.98493825e-01 5.48474679e-02 1.35504071e-03 1.72572457e+02] [-5.48473949e-02 9.98494745e-01 -9.10609714e-05 -3.82128309e-01] [-1.35799549e-03 1.66033647e-05 9.99999078e-01 -9.83852272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.505898227 meters Centerline goodness [0,1] 0.9997251701830789 Centerline is valid? [True, True] Translation: X:172.60, Y:-0.38, Z:-0.98 [[ 9.98415565e-01 5.62422651e-02 1.77968774e-03 1.72601034e+02] [-5.62421416e-02 9.98417151e-01 -1.19410067e-04 -3.81486661e-01] [-1.78358666e-03 1.91274197e-05 9.99998409e-01 -9.83580995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53589822699996 meters Centerline goodness [0,1] 0.9997488856802059 Centerline is valid? [True, True] Translation: X:172.63, Y:-0.38, Z:-0.98 [[ 9.98336726e-01 5.76323547e-02 1.51423934e-03 1.72629744e+02] [-5.76322669e-02 9.98337874e-01 -1.01581816e-04 -3.81525076e-01] [-1.51757689e-03 1.41438113e-05 9.99998848e-01 -9.84454644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.565898227 meters Centerline goodness [0,1] 0.9999160052076771 Centerline is valid? [True, True] Translation: X:172.66, Y:-0.38, Z:-0.99 [[ 9.98236338e-01 5.93639267e-02 -3.72069549e-04 1.72657196e+02] [-5.93639218e-02 9.98236407e-01 2.44306570e-05 -3.82489161e-01] [ 3.72863669e-04 -2.30006204e-06 9.99999930e-01 -9.88523762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59589822699996 meters Centerline goodness [0,1] 0.999874419188748 Centerline is valid? [True, True] Translation: X:172.69, Y:-0.38, Z:-0.99 [[ 9.98202484e-01 5.99084487e-02 -1.66722026e-03 1.72685737e+02] [-5.99083469e-02 9.98203876e-01 1.10958275e-04 -3.82611397e-01] [ 1.67087307e-03 -1.08784157e-05 9.99998604e-01 -9.90475390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.625898227 meters Centerline goodness [0,1] 0.9999365804160325 Centerline is valid? [True, True] Translation: X:172.71, Y:-0.38, Z:-0.99 [[ 9.98178317e-01 6.03057769e-02 -1.80570752e-03 1.72714423e+02] [-6.03056583e-02 9.98179950e-01 1.20096836e-04 -3.82172941e-01] [ 1.80966358e-03 -1.09836769e-05 9.99998362e-01 -9.89456718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65589822699997 meters Centerline goodness [0,1] 0.9999369893512003 Centerline is valid? [True, True] Translation: X:172.74, Y:-0.38, Z:-0.99 [[ 9.98148761e-01 6.08118240e-02 -9.85953521e-04 1.72742550e+02] [-6.08117892e-02 9.98149248e-01 6.52660734e-05 -3.83583751e-01] [ 9.88097715e-04 -5.18765264e-06 9.99999512e-01 -9.89165821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68589822699994 meters Centerline goodness [0,1] 0.9998110950192053 Centerline is valid? [True, True] Translation: X:172.77, Y:-0.38, Z:-0.98 [[ 9.98158876e-01 6.06474340e-02 8.64227772e-04 1.72771078e+02] [-6.06474066e-02 9.98159250e-01 -5.79086717e-05 -3.84965148e-01] [-8.66148957e-04 5.38888156e-06 9.99999625e-01 -9.84541076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71589822699997 meters Centerline goodness [0,1] 0.9999166388796266 Centerline is valid? [True, True] Translation: X:172.80, Y:-0.39, Z:-0.98 [[ 9.98217305e-01 5.96689990e-02 1.35001909e-03 1.72799096e+02] [-5.96689315e-02 9.98218218e-01 -9.02998149e-05 -3.89307644e-01] [-1.35300175e-03 9.58464137e-06 9.99999085e-01 -9.84559377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74589822699994 meters Centerline goodness [0,1] 0.9998749322549715 Centerline is valid? [True, True] Translation: X:172.83, Y:-0.39, Z:-0.99 [[ 9.98287940e-01 5.84778736e-02 1.23603859e-03 1.72827122e+02] [-5.84778161e-02 9.98288705e-01 -8.26207963e-05 -3.93935187e-01] [-1.23875485e-03 1.01985071e-05 9.99999233e-01 -9.85065764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.77589822699997 meters Centerline goodness [0,1] 0.9998742481084819 Centerline is valid? [True, True] Translation: X:172.86, Y:-0.40, Z:-0.99 [[ 9.98359420e-01 5.72412401e-02 1.38178482e-03 1.72855884e+02] [-5.72411674e-02 9.98360376e-01 -9.21241358e-05 -3.99189522e-01] [-1.38479252e-03 1.28780223e-05 9.99999041e-01 -9.85373461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.80589822699994 meters Centerline goodness [0,1] 0.9998952243247208 Centerline is valid? [True, True] Translation: X:172.88, Y:-0.41, Z:-0.98 [[ 9.98420326e-01 5.60333875e-02 4.13670421e-03 1.72884735e+02] [-5.60327291e-02 9.98428895e-01 -2.74965365e-04 -4.05826298e-01] [-4.14561225e-03 4.27401832e-05 9.99991406e-01 -9.80418467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.835898227 meters Centerline goodness [0,1] 0.9998742718243159 Centerline is valid? [True, True] Translation: X:172.91, Y:-0.41, Z:-0.98 [[ 9.98383473e-01 5.65136408e-02 6.05384923e-03 1.72913443e+02] [-5.65122423e-02 9.98401825e-01 -4.01955750e-04 -4.09510113e-01] [-6.06689010e-03 5.91893833e-05 9.99981595e-01 -9.77566748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.86589822699995 meters Centerline goodness [0,1] 0.9999790624149411 Centerline is valid? [True, True] Translation: X:172.94, Y:-0.41, Z:-0.98 [[ 9.98323630e-01 5.74175133e-02 7.29097069e-03 1.72942825e+02] [-5.74155120e-02 9.98350252e-01 -4.83685125e-04 -4.12951100e-01] [-7.30671442e-03 6.42594747e-05 9.99973304e-01 -9.75166110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.895898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.97, Y:-0.42, Z:-0.97 [[ 9.98227796e-01 5.90147398e-02 7.65036278e-03 1.72971966e+02] [-5.90125846e-02 9.98257110e-01 -5.07342183e-04 -4.15510599e-01] [-7.66696971e-03 5.49753885e-05 9.99970607e-01 -9.74630533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.92589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.00, Y:-0.41, Z:-0.98 [[ 9.97930563e-01 6.40958817e-02 5.12917277e-03 1.73001282e+02] [-6.40949801e-02 9.97943745e-01 -3.40139407e-04 -4.14360873e-01] [-5.14042741e-03 1.06812831e-05 9.99986788e-01 -9.79301931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.955898227 meters Centerline goodness [0,1] 0.9999790079140164 Centerline is valid? [True, True] Translation: X:173.03, Y:-0.41, Z:-0.98 [[ 9.97740770e-01 6.70505164e-02 4.19333667e-03 1.73030655e+02] [-6.70499404e-02 9.97749582e-01 -2.77947661e-04 -4.14170843e-01] [-4.20253644e-03 -3.84326041e-06 9.99991169e-01 -9.80682008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.98589822699995 meters Centerline goodness [0,1] 0.9999791083441274 Centerline is valid? [True, True] Translation: X:173.06, Y:-0.41, Z:-0.98 [[ 9.97365494e-01 7.24064380e-02 4.40211659e-03 1.73058700e+02] [-7.24058563e-02 9.97375209e-01 -2.91599007e-04 -4.11416599e-01] [-4.41167560e-03 -2.79082332e-05 9.99990268e-01 -9.81220532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.015898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.09, Y:-0.41, Z:-0.98 [[ 9.97235945e-01 7.41342981e-02 4.95742136e-03 1.73087752e+02] [-7.41335835e-02 9.97248266e-01 -3.28009736e-04 -4.14620309e-01] [-4.96809663e-03 -4.04083118e-05 9.99987658e-01 -9.79639492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.04589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.12, Y:-0.42, Z:-0.98 [[ 9.97111744e-01 7.57636377e-02 5.29539589e-03 1.73116657e+02] [-7.57628467e-02 9.97125804e-01 -3.50109032e-04 -4.17042687e-01] [-5.30670142e-03 -5.20964404e-05 9.99985918e-01 -9.79470699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.075898227 meters Centerline goodness [0,1] 0.9999788699657693 Centerline is valid? [True, True] Translation: X:173.14, Y:-0.42, Z:-0.98 [[ 9.97000809e-01 7.72362798e-02 4.89333989e-03 1.73144921e+02] [-7.72356229e-02 9.97012815e-01 -3.23354151e-04 -4.19396325e-01] [-4.90369725e-03 -5.55558051e-05 9.99987975e-01 -9.80740586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.10589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.17, Y:-0.42, Z:-0.98 [[ 9.96929431e-01 7.82021176e-02 4.01723713e-03 1.73172161e+02] [-7.82016832e-02 9.96937524e-01 -2.65343360e-04 -4.21623775e-01] [-4.02568485e-03 -4.96261003e-05 9.99991896e-01 -9.83123445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.135898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.20, Y:-0.43, Z:-0.98 [[ 9.96841306e-01 7.93774293e-02 2.57569033e-03 1.73200025e+02] [-7.93772549e-02 9.96844633e-01 -1.70021794e-04 -4.30773561e-01] [-2.58105898e-03 -3.49664808e-05 9.99996668e-01 -9.84774868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.16589822699996 meters Centerline goodness [0,1] 0.9999789526856373 Centerline is valid? [True, True] Translation: X:173.23, Y:-0.43, Z:-0.99 [[ 9.96806412e-01 7.98310984e-02 1.99314531e-03 1.73227234e+02] [-7.98309948e-02 9.96808404e-01 -1.31616625e-04 -4.34302338e-01] [-1.99729109e-03 -2.79184770e-05 9.99998005e-01 -9.85440488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.195898227 meters Centerline goodness [0,1] 0.999978950470457 Centerline is valid? [True, True] Translation: X:173.26, Y:-0.44, Z:-0.99 [[ 9.96725824e-01 8.08401126e-02 1.58376514e-03 1.73256123e+02] [-8.08400486e-02 9.96727082e-01 -1.04506044e-04 -4.39309043e-01] [-1.58702989e-03 -2.38677781e-05 9.99998740e-01 -9.85886081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.22589822699996 meters Centerline goodness [0,1] 0.999978950470457 Centerline is valid? [True, True] Translation: X:173.28, Y:-0.44, Z:-0.99 [[ 9.96729518e-01 8.07945524e-02 1.58376990e-03 1.73284396e+02] [-8.07944885e-02 9.96730776e-01 -1.04433833e-04 -4.41076070e-01] [-1.58702988e-03 -2.38675942e-05 9.99998740e-01 -9.86097529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.255898227 meters Centerline goodness [0,1] 0.9999789074035014 Centerline is valid? [True, True] Translation: X:173.31, Y:-0.44, Z:-0.99 [[ 9.96461027e-01 8.40531663e-02 6.97491448e-04 1.73312344e+02] [-8.40531547e-02 9.96461271e-01 -4.60680205e-05 -4.44774668e-01] [-6.98895378e-04 -1.27213696e-05 9.99999756e-01 -9.87263388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.28589822699996 meters Centerline goodness [0,1] 0.999958038730252 Centerline is valid? [True, True] Translation: X:173.34, Y:-0.45, Z:-0.99 [[ 9.96244876e-01 8.65800664e-02 1.97707859e-04 1.73341879e+02] [-8.65800655e-02 9.96244896e-01 -1.31517571e-05 -4.47500148e-01] [-1.98104126e-04 -4.01518877e-06 9.99999980e-01 -9.87835368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.315898227 meters Centerline goodness [0,1] 0.999936460870486 Centerline is valid? [True, True] Translation: X:173.37, Y:-0.45, Z:-0.99 [[ 9.95949737e-01 8.99115729e-02 -1.73506527e-04 1.73370723e+02] [-8.99115723e-02 9.95949752e-01 1.11258497e-05 -4.50651634e-01] [ 1.73804125e-04 4.51945754e-06 9.99999985e-01 -9.87405901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.34589822699996 meters Centerline goodness [0,1] 0.9997688735738449 Centerline is valid? [True, True] Translation: X:173.40, Y:-0.44, Z:-0.99 [[ 9.95206735e-01 9.77933686e-02 1.06115186e-04 1.73400191e+02] [-9.77933685e-02 9.95206741e-01 -6.80113903e-06 -4.44202568e-01] [-1.06271654e-04 -3.60882208e-06 9.99999994e-01 -9.86760291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.375898227 meters Centerline goodness [0,1] 0.9997678982128162 Centerline is valid? [True, True] Translation: X:173.43, Y:-0.45, Z:-0.98 [[ 9.94809697e-01 1.01750243e-01 7.45502219e-04 1.73430657e+02] [-1.01750235e-01 9.94809976e-01 -4.89460631e-05 -4.45347263e-01] [-7.46613318e-04 -2.71630074e-05 9.99999721e-01 -9.84220869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.40589822699997 meters Centerline goodness [0,1] 0.9988013122476447 Centerline is valid? [True, True] Translation: X:173.46, Y:-0.43, Z:-0.99 [[ 9.94434875e-01 1.05345705e-01 1.24987074e-03 1.73460932e+02] [-1.05345685e-01 9.94435659e-01 -8.21319719e-05 -4.33920715e-01] [-1.25156829e-03 -4.99935920e-05 9.99999216e-01 -9.85096178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43589822699994 meters Centerline goodness [0,1] 0.9993273778244877 Centerline is valid? [True, True] Translation: X:173.49, Y:-0.44, Z:-0.98 [[ 9.94169306e-01 1.07819625e-01 1.52315346e-03 1.73489969e+02] [-1.07819598e-01 9.94170470e-01 -1.00182172e-04 -4.38414345e-01] [-1.52507580e-03 -6.46277531e-05 9.99998835e-01 -9.84614791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.46589822699997 meters Centerline goodness [0,1] 0.9991179435483871 Centerline is valid? [True, True] Translation: X:173.52, Y:-0.44, Z:-0.98 [[ 9.93894176e-01 1.10307379e-01 2.57872992e-03 1.73518873e+02] [-1.10307310e-01 9.93897514e-01 -1.69360252e-04 -4.44467150e-01] [-2.58167495e-03 -1.16126594e-04 9.99996661e-01 -9.83071047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49589822699994 meters Centerline goodness [0,1] 0.9987238929771577 Centerline is valid? [True, True] Translation: X:173.55, Y:-0.44, Z:-0.98 [[ 9.93928304e-01 1.09987810e-01 3.03441120e-03 1.73546811e+02] [-1.09987713e-01 9.93932927e-01 -1.99238945e-04 -4.40291485e-01] [-3.03791506e-03 -1.35718722e-04 9.99995376e-01 -9.83409463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.52589822699997 meters Centerline goodness [0,1] 0.9984618626211547 Centerline is valid? [True, True] Translation: X:173.58, Y:-0.45, Z:-0.98 [[ 9.94030515e-01 1.09059177e-01 3.07094503e-03 1.73575117e+02] [-1.09059074e-01 9.94035250e-01 -2.01396669e-04 -4.45660038e-01] [-3.07459177e-03 -1.34719988e-04 9.99995264e-01 -9.82911986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55589822699994 meters Centerline goodness [0,1] 0.9993281263122533 Centerline is valid? [True, True] Translation: X:173.60, Y:-0.46, Z:-0.98 [[ 9.94170520e-01 1.07772717e-01 3.16520244e-03 1.73603167e+02] [-1.07772602e-01 9.94175550e-01 -2.07433860e-04 -4.55901947e-01] [-3.16912259e-03 -1.34897474e-04 9.99994969e-01 -9.82906438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.585898227 meters Centerline goodness [0,1] 0.9996423462088698 Centerline is valid? [True, True] Translation: X:173.63, Y:-0.47, Z:-0.98 [[ 9.94419920e-01 1.05437394e-01 3.46095569e-03 1.73632011e+02] [-1.05437243e-01 9.94425933e-01 -2.26535113e-04 -4.68538378e-01] [-3.46554936e-03 -1.39642596e-04 9.99993985e-01 -9.81964286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61589822699995 meters Centerline goodness [0,1] 0.9996628384785586 Centerline is valid? [True, True] Translation: X:173.66, Y:-0.47, Z:-0.98 [[ 9.94428446e-01 1.05342107e-01 3.88655477e-03 1.73659932e+02] [-1.05341916e-01 9.94436029e-01 -2.54403661e-04 -4.69712043e-01] [-3.89172951e-03 -1.56430890e-04 9.99992415e-01 -9.82034744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.645898227 meters Centerline goodness [0,1] 0.9995183346945614 Centerline is valid? [True, True] Translation: X:173.69, Y:-0.47, Z:-0.98 [[ 9.94289574e-01 1.06638334e-01 4.06299436e-03 1.73689117e+02] [-1.06638137e-01 9.94297861e-01 -2.65647293e-04 -4.71327237e-01] [-4.06815478e-03 -1.69139816e-04 9.99991711e-01 -9.82126707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67589822699995 meters Centerline goodness [0,1] 0.9994752419134779 Centerline is valid? [True, True] Translation: X:173.72, Y:-0.47, Z:-0.98 [[ 9.94136189e-01 1.08064843e-01 3.90213717e-03 1.73718436e+02] [-1.08064673e-01 9.94143833e-01 -2.54888701e-04 -4.73438255e-01] [-3.90683012e-03 -1.68289098e-04 9.99992354e-01 -9.82711838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.705898227 meters Centerline goodness [0,1] 0.9994344483777047 Centerline is valid? [True, True] Translation: X:173.75, Y:-0.47, Z:-0.98 [[ 9.93949642e-01 1.09765833e-01 3.94592042e-03 1.73747693e+02] [-1.09765673e-01 9.93957459e-01 -2.57694898e-04 -4.73405296e-01] [-3.95036313e-03 -1.76990860e-04 9.99992182e-01 -9.83241718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73589822699995 meters Centerline goodness [0,1] 0.9979965356762736 Centerline is valid? [True, True] Translation: X:173.78, Y:-0.47, Z:-0.98 [[ 9.93458521e-01 1.14098765e-01 4.65166534e-03 1.73777523e+02] [-1.14098591e-01 9.93469385e-01 -3.03479034e-04 -4.69262458e-01] [-4.65591369e-03 -2.29254630e-04 9.99989135e-01 -9.82339479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.765898227 meters Centerline goodness [0,1] 0.9971304693881826 Centerline is valid? [True, True] Translation: X:173.81, Y:-0.47, Z:-0.98 [[ 9.93223062e-01 1.16135154e-01 4.53606747e-03 1.73807040e+02] [-1.16135010e-01 9.93233392e-01 -2.96001265e-04 -4.71140652e-01] [-4.53974984e-03 -2.32800958e-04 9.99989668e-01 -9.82810926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79589822699995 meters Centerline goodness [0,1] 0.9968583097706566 Centerline is valid? [True, True] Translation: X:173.84, Y:-0.47, Z:-0.98 [[ 9.93073074e-01 1.17438057e-01 3.76473871e-03 1.73836824e+02] [-1.17437967e-01 9.93080190e-01 -2.45613456e-04 -4.72586419e-01] [-3.76753180e-03 -1.98211153e-04 9.99992883e-01 -9.84228256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.825898227 meters Centerline goodness [0,1] 0.9896283854713416 Centerline is valid? [True, True] Translation: X:173.86, Y:-0.47, Z:-0.99 [[ 9.93032462e-01 1.17823642e-01 2.02938216e-03 1.73864831e+02] [-1.17823616e-01 9.93034530e-01 -1.32747322e-04 -4.71232061e-01] [-2.03088733e-03 -1.07286745e-04 9.99997932e-01 -9.87924697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85589822699995 meters Centerline goodness [0,1] 0.9952101068836412 Centerline is valid? [True, True] Translation: X:173.89, Y:-0.48, Z:-0.99 [[ 9.93035279e-01 1.17805580e-01 1.66719910e-03 1.73893019e+02] [-1.17805563e-01 9.93036675e-01 -1.08822131e-04 -4.78449206e-01] [-1.66840970e-03 -8.83411133e-05 9.99998604e-01 -9.88172402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.885898227 meters Centerline goodness [0,1] 0.988304338713058 Centerline is valid? [True, True] Translation: X:173.92, Y:-0.48, Z:-0.99 [[ 9.93037309e-01 1.17791068e-01 1.47214060e-03 1.73921022e+02] [-1.17791055e-01 9.93038397e-01 -9.62701527e-05 -4.76887885e-01] [-1.47323190e-03 -7.78051402e-05 9.99998912e-01 -9.89252278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91589822699996 meters Centerline goodness [0,1] 0.995366372501527 Centerline is valid? [True, True] Translation: X:173.95, Y:-0.48, Z:-0.99 [[ 9.93070531e-01 1.17515193e-01 1.04898852e-03 1.73949702e+02] [-1.17515186e-01 9.93071083e-01 -6.84632305e-05 -4.84773683e-01] [-1.04976564e-03 -5.52832652e-05 9.99999447e-01 -9.89524852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.945898227 meters Centerline goodness [0,1] 0.9922710184193393 Centerline is valid? [True, True] Translation: X:173.98, Y:-0.49, Z:-0.99 [[ 9.93030549e-01 1.17851960e-01 -1.11553963e-03 1.73978636e+02] [-1.17851953e-01 9.93031174e-01 7.20539187e-05 -4.87192098e-01] [ 1.11625732e-03 5.99167818e-05 9.99999375e-01 -9.93724766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97589822699996 meters Centerline goodness [0,1] 0.9985802076711168 Centerline is valid? [True, True] Translation: X:174.01, Y:-0.50, Z:-0.99 [[ 9.93090055e-01 1.17334785e-01 -2.16603458e-03 1.74006774e+02] [-1.17334758e-01 9.93092410e-01 1.40100984e-04 -4.98215203e-01] [ 2.16751122e-03 1.15018249e-04 9.99997644e-01 -9.94537569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.005898227 meters Centerline goodness [0,1] 0.9946311809312917 Centerline is valid? [True, True] Translation: X:174.03, Y:-0.49, Z:-1.00 [[ 9.93220923e-01 1.16217983e-01 -2.36172303e-03 1.74034892e+02] [-1.16217948e-01 9.93223724e-01 1.52559467e-04 -4.93979955e-01] [ 2.36344949e-03 1.22949349e-04 9.99997199e-01 -9.96566995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03589822699996 meters Centerline goodness [0,1] 0.9817634933322115 Centerline is valid? [True, True] Translation: X:174.06, Y:-0.49, Z:-1.00 [[ 9.93466041e-01 1.14118242e-01 -1.50044833e-03 1.74064240e+02] [-1.14118225e-01 9.93467172e-01 9.70062004e-05 -4.90830792e-01] [ 1.50171634e-03 7.48561345e-05 9.99998870e-01 -9.96348174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.065898227 meters Centerline goodness [0,1] 0.9993939393939394 Centerline is valid? [True, True] Translation: X:174.09, Y:-0.51, Z:-0.99 [[ 9.94106648e-01 1.08399646e-01 1.22055415e-03 1.74093629e+02] [-1.08399631e-01 9.94107396e-01 -7.91029088e-05 -5.11732545e-01] [-1.22193664e-03 -5.36708918e-05 9.99999252e-01 -9.89891523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09589822699996 meters Centerline goodness [0,1] 0.999288375402905 Centerline is valid? [True, True] Translation: X:174.12, Y:-0.52, Z:-0.99 [[ 9.94443913e-01 1.05257059e-01 1.50163338e-03 1.74122725e+02] [-1.05257031e-01 9.94445045e-01 -9.73744949e-05 -5.15498582e-01] [-1.50354123e-03 -6.12239977e-05 9.99998868e-01 -9.89608204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.125898227 meters Centerline goodness [0,1] 0.999831212945967 Centerline is valid? [True, True] Translation: X:174.15, Y:-0.53, Z:-0.99 [[ 9.94703528e-01 1.02775213e-01 1.46497022e-03 1.74152086e+02] [-1.02775185e-01 9.94704606e-01 -9.49013771e-05 -5.29185052e-01] [-1.46696614e-03 -5.61638506e-05 9.99998922e-01 -9.89015605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15589822699997 meters Centerline goodness [0,1] 0.9997077122218047 Centerline is valid? [True, True] Translation: X:174.18, Y:-0.54, Z:-0.99 [[ 9.94928975e-01 1.00554761e-01 2.25274909e-03 1.74180337e+02] [-1.00554688e-01 9.94931522e-01 -1.45981411e-04 -5.36709184e-01] [-2.25601021e-03 -8.12833469e-05 9.99997452e-01 -9.88180459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18589822699994 meters Centerline goodness [0,1] 0.9997673680871312 Centerline is valid? [True, True] Translation: X:174.21, Y:-0.54, Z:-0.99 [[ 9.94946812e-01 1.00353297e-01 3.17134535e-03 1.74209235e+02] [-1.00353152e-01 9.94951860e-01 -2.05342199e-04 -5.42460720e-01] [-3.17594272e-03 -1.13949934e-04 9.99994950e-01 -9.86836389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21589822699997 meters Centerline goodness [0,1] 0.9997485752598055 Centerline is valid? [True, True] Translation: X:174.24, Y:-0.55, Z:-0.99 [[ 9.94893158e-01 1.00870130e-01 3.58065830e-03 1.74236744e+02] [-1.00869949e-01 9.94899593e-01 -2.31676130e-04 -5.45404937e-01] [-3.58576468e-03 -1.30687824e-04 9.99993563e-01 -9.86216313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24589822699994 meters Centerline goodness [0,1] 0.9997894027461882 Centerline is valid? [True, True] Translation: X:174.27, Y:-0.55, Z:-0.99 [[ 9.94864489e-01 1.01155706e-01 3.48880451e-03 1.74265728e+02] [-1.01155537e-01 9.94870598e-01 -2.25497770e-04 -5.50912188e-01] [-3.49371941e-03 -1.28572169e-04 9.99993889e-01 -9.86462193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.27589822699997 meters Centerline goodness [0,1] 0.9998297980979938 Centerline is valid? [True, True] Translation: X:174.29, Y:-0.56, Z:-0.99 [[ 9.94896858e-01 1.00844203e-01 3.26937638e-03 1.74293997e+02] [-1.00844053e-01 9.94902223e-01 -2.11183273e-04 -5.60099540e-01] [-3.27400644e-03 -1.19591589e-04 9.99994633e-01 -9.87534446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.30589822699994 meters Centerline goodness [0,1] 0.9999140708915145 Centerline is valid? [True, True] Translation: X:174.32, Y:-0.57, Z:-0.99 [[ 9.94975965e-01 1.00062963e-01 3.19891268e-03 1.74322495e+02] [-1.00062816e-01 9.94981100e-01 -2.06498818e-04 -5.70869851e-01] [-3.20352055e-03 -1.14630851e-04 9.99994862e-01 -9.87615863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.335898227 meters Centerline goodness [0,1] 0.9997697299560394 Centerline is valid? [True, True] Translation: X:174.35, Y:-0.57, Z:-0.99 [[ 9.95063869e-01 9.91848849e-02 3.20234682e-03 1.74350647e+02] [-9.91847330e-02 9.95069016e-01 -2.06614903e-04 -5.72860630e-01] [-3.20704917e-03 -1.12028890e-04 9.99994851e-01 -9.88452512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.36589822699995 meters Centerline goodness [0,1] 0.9997900218377289 Centerline is valid? [True, True] Translation: X:174.38, Y:-0.58, Z:-0.99 [[ 9.95193427e-01 9.78565863e-02 3.75922918e-03 1.74379879e+02] [-9.78563692e-02 9.95200519e-01 -2.42100453e-04 -5.82764143e-01] [-3.76487795e-03 -1.26927739e-04 9.99992905e-01 -9.87649259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.395898227 meters Centerline goodness [0,1] 0.9998532248595152 Centerline is valid? [True, True] Translation: X:174.41, Y:-0.59, Z:-0.99 [[ 9.95320773e-01 9.65117239e-02 4.69535576e-03 1.74408280e+02] [-9.65113707e-02 9.95331836e-01 -3.02265361e-04 -5.88492384e-01] [-4.70260922e-03 -1.52304228e-04 9.99988931e-01 -9.86293899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.42589822699995 meters Centerline goodness [0,1] 0.999937159614579 Centerline is valid? [True, True] Translation: X:174.44, Y:-0.60, Z:-0.99 [[ 9.95666459e-01 9.28217365e-02 5.69454403e-03 1.74438063e+02] [-9.28211587e-02 9.95682730e-01 -3.66249095e-04 -6.03987334e-01] [-5.70395502e-03 -1.63912235e-04 9.99983719e-01 -9.85503898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.455898227 meters Centerline goodness [0,1] 0.9999368647010544 Centerline is valid? [True, True] Translation: X:174.47, Y:-0.61, Z:-0.99 [[ 9.95884456e-01 9.04726325e-02 5.37145581e-03 1.74468442e+02] [-9.04720839e-02 9.95898932e-01 -3.45526681e-04 -6.13513375e-01] [-5.38068781e-03 -1.41862150e-04 9.99985514e-01 -9.86611873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.48589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.50, Y:-0.62, Z:-0.99 [[ 9.96102481e-01 8.80665256e-02 4.91259342e-03 1.74498726e+02] [-8.80660372e-02 9.96114588e-01 -3.16069168e-04 -6.23558831e-01] [-4.92134109e-03 -1.17795353e-04 9.99987883e-01 -9.88078806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.53, Y:-0.63, Z:-0.99 [[ 9.96285639e-01 8.59815363e-02 4.70122596e-03 1.74529171e+02] [-8.59810675e-02 9.96296725e-01 -3.02107516e-04 -6.31842123e-01] [-4.70979170e-03 -1.03231047e-04 9.99988904e-01 -9.88683205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.54589822699995 meters Centerline goodness [0,1] 0.9999578867574909 Centerline is valid? [True, True] Translation: X:174.56, Y:-0.64, Z:-0.99 [[ 9.96437947e-01 8.41950263e-02 4.75545562e-03 1.74560294e+02] [-8.41945221e-02 9.96449290e-01 -3.06486331e-04 -6.39211259e-01] [-4.76437500e-03 -9.49887026e-05 9.99988646e-01 -9.88581829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.575898227 meters Centerline goodness [0,1] 0.9999788820138111 Centerline is valid? [True, True] Translation: X:174.59, Y:-0.65, Z:-0.99 [[ 9.96670012e-01 8.14252660e-02 4.33736905e-03 1.74591993e+02] [-8.14248197e-02 9.96679447e-01 -2.79659856e-04 -6.51637779e-01] [-4.34573797e-03 -7.44409007e-05 9.99990554e-01 -9.89067933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.60589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.62, Y:-0.66, Z:-0.99 [[ 9.96727169e-01 8.07430008e-02 3.93926481e-03 1.74623973e+02] [-8.07426253e-02 9.96734952e-01 -2.54511394e-04 -6.57875055e-01] [-3.94695294e-03 -6.43881618e-05 9.99992209e-01 -9.89844192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.635898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.66, Y:-0.66, Z:-0.99 [[ 9.96786984e-01 7.99928105e-02 4.10588853e-03 1.74655095e+02] [-7.99923931e-02 9.96795439e-01 -2.66058375e-04 -6.62413137e-01] [-4.11401371e-03 -6.32363235e-05 9.99991535e-01 -9.90462152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.66589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.69, Y:-0.67, Z:-0.99 [[ 9.96805246e-01 7.97224390e-02 4.86150416e-03 1.74685971e+02] [-7.97218457e-02 9.96817098e-01 -3.15997485e-04 -6.65611254e-01] [-4.87122256e-03 -7.25801335e-05 9.99988133e-01 -9.89406432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.695898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.72, Y:-0.67, Z:-0.99 [[ 9.96837086e-01 7.92764110e-02 5.57438402e-03 1.74716860e+02] [-7.92756184e-02 9.96852669e-01 -3.63351460e-04 -6.67305753e-01] [-5.58564479e-03 -7.97105301e-05 9.99984397e-01 -9.88930348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.72589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.75, Y:-0.67, Z:-0.99 [[ 9.96898893e-01 7.84650300e-02 5.98637782e-03 1.74748331e+02] [-7.84640954e-02 9.96916863e-01 -3.91184121e-04 -6.70854844e-01] [-5.99861528e-03 -7.97447040e-05 9.99982005e-01 -9.89078909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.755898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.78, Y:-0.68, Z:-0.99 [[ 9.97173254e-01 7.49846080e-02 4.77601539e-03 1.74780086e+02] [-7.49839709e-02 9.97184690e-01 -3.12585312e-04 -6.80550821e-01] [-4.78600852e-03 -4.64228868e-05 9.99988546e-01 -9.91701612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.78589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.81, Y:-0.69, Z:-0.99 [[ 9.97355629e-01 7.25353546e-02 4.51353610e-03 1.74811401e+02] [-7.25347575e-02 9.97365841e-01 -2.96052888e-04 -6.87779498e-01] [-4.52312103e-03 -3.21182317e-05 9.99989770e-01 -9.92233273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.815898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.84, Y:-0.69, Z:-0.99 [[ 9.97542972e-01 6.99078867e-02 4.57231350e-03 1.74843022e+02] [-6.99072428e-02 9.97553451e-01 -3.00677980e-04 -6.93853905e-01] [-4.58214687e-03 -1.96986238e-05 9.99989502e-01 -9.92017264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.84589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.87, Y:-0.70, Z:-0.99 [[ 9.97698987e-01 6.76001057e-02 5.19198698e-03 1.74873576e+02] [-6.75992387e-02 9.97712496e-01 -3.42486825e-04 -6.98958020e-01] [-5.20326243e-03 -9.27560853e-06 9.99986463e-01 -9.91574597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.91, Y:-0.71, Z:-0.99 [[ 9.97980836e-01 6.32773031e-02 5.49856392e-03 1.74905330e+02] [-6.32762597e-02 9.97995983e-01 -3.63692631e-04 -7.07473047e-01] [-5.51055819e-03 1.50297177e-05 9.99984817e-01 -9.92072497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.90589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.94, Y:-0.71, Z:-0.99 [[ 9.98100358e-01 6.13995996e-02 5.07596225e-03 1.74937284e+02] [-6.13986841e-02 9.98113264e-01 -3.36138783e-04 -7.11162431e-01] [-5.08702404e-03 2.38428371e-05 9.99987061e-01 -9.91711042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.97, Y:-0.72, Z:-0.99 [[ 9.98201261e-01 5.97425844e-02 5.00670388e-03 1.74968443e+02] [-5.97416685e-02 9.98213816e-01 -3.32425089e-04 -7.15291707e-01] [-5.01762092e-03 3.27182993e-05 9.99987411e-01 -9.92201232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.96589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.00, Y:-0.72, Z:-0.99 [[ 9.98289283e-01 5.82434196e-02 5.11974695e-03 1.74999078e+02] [-5.82424378e-02 9.98302410e-01 -3.40780975e-04 -7.18502428e-01] [-5.13090397e-03 4.20114522e-05 9.99986836e-01 -9.92524845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.03, Y:-0.72, Z:-0.99 [[ 9.98443703e-01 5.54988259e-02 5.48192439e-03 1.75030443e+02] [-5.54976538e-02 9.98458751e-01 -3.65815501e-04 -7.21722592e-01] [-5.49377771e-03 6.10122414e-05 9.99984907e-01 -9.92102821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.02589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.06, Y:-0.73, Z:-0.99 [[ 9.98544489e-01 5.36359682e-02 5.66452854e-03 1.75061016e+02] [-5.36346810e-02 9.98560553e-01 -3.79012307e-04 -7.25821319e-01] [-5.67670344e-03 7.46454689e-05 9.99983885e-01 -9.92234417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.09, Y:-0.73, Z:-0.99 [[ 9.98675257e-01 5.10923391e-02 6.10773239e-03 1.75092836e+02] [-5.10907920e-02 9.98693929e-01 -4.09162014e-04 -7.27930270e-01] [-6.12066030e-03 9.65710945e-05 9.99981264e-01 -9.91946669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.085898227 meters Centerline goodness [0,1] 0.9999580554506942 Centerline is valid? [True, True] Translation: X:175.12, Y:-0.74, Z:-0.99 [[ 9.98833364e-01 4.78586994e-02 6.43860544e-03 1.75123382e+02] [-4.78569054e-02 9.98854108e-01 -4.32498574e-04 -7.35358354e-01] [-6.45192632e-03 1.23862274e-04 9.99979178e-01 -9.91919827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11589822699995 meters Centerline goodness [0,1] 0.9999372017081135 Centerline is valid? [True, True] Translation: X:175.16, Y:-0.74, Z:-0.99 [[ 9.98994362e-01 4.43776540e-02 6.39435133e-03 1.75155513e+02] [-4.43758062e-02 9.99014816e-01 -4.30638146e-04 -7.40516335e-01] [-6.40716243e-03 1.46450585e-04 9.99979463e-01 -9.92448859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.145898227 meters Centerline goodness [0,1] 0.9999372017081135 Centerline is valid? [True, True] Translation: X:175.19, Y:-0.74, Z:-0.99 [[ 9.98986075e-01 4.45638187e-02 6.39434114e-03 1.75187935e+02] [-4.45619737e-02 9.99006529e-01 -4.30789630e-04 -7.42889216e-01] [-6.40718617e-03 1.45408380e-04 9.99979463e-01 -9.92691504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17589822699995 meters Centerline goodness [0,1] 0.9997907117892049 Centerline is valid? [True, True] Translation: X:175.22, Y:-0.76, Z:-0.99 [[ 9.99260260e-01 3.78343269e-02 6.89177639e-03 1.75217096e+02] [-3.78320133e-02 9.99284005e-01 -4.65809811e-04 -7.57151144e-01] [-6.90446551e-03 2.04735457e-04 9.99976143e-01 -9.92536834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.205898227 meters Centerline goodness [0,1] 0.9998112811910254 Centerline is valid? [True, True] Translation: X:175.25, Y:-0.76, Z:-0.99 [[ 9.99341925e-01 3.55228205e-02 7.33798377e-03 1.75248612e+02] [-3.55201360e-02 9.99368838e-01 -4.95875805e-04 -7.61318480e-01] [-7.35096722e-03 2.34903300e-04 9.99972954e-01 -9.91810956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23589822699995 meters Centerline goodness [0,1] 0.999853767574004 Centerline is valid? [True, True] Translation: X:175.28, Y:-0.77, Z:-0.99 [[ 9.99406394e-01 3.36293264e-02 7.47845871e-03 1.75279732e+02] [-3.36264767e-02 9.99434342e-01 -5.06498441e-04 -7.66350948e-01] [-7.49126166e-03 2.54723563e-04 9.99971908e-01 -9.92084049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.265898227 meters Centerline goodness [0,1] 0.9999368633723378 Centerline is valid? [True, True] Translation: X:175.31, Y:-0.76, Z:-0.99 [[ 9.99432794e-01 3.29315305e-02 7.04307410e-03 1.75312209e+02] [-3.29289824e-02 9.99457580e-01 -4.77480137e-04 -7.62226589e-01] [-7.05497795e-03 2.45288045e-04 9.99975083e-01 -9.92472684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29589822699995 meters Centerline goodness [0,1] 0.9997283233370253 Centerline is valid? [True, True] Translation: X:175.34, Y:-0.77, Z:-0.99 [[ 9.99408573e-01 3.38412981e-02 6.10499204e-03 1.75342855e+02] [-3.38393952e-02 9.99427198e-01 -4.14754967e-04 -7.67466057e-01] [-6.11553093e-03 2.07920431e-04 9.99981278e-01 -9.94475025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.325898227 meters Centerline goodness [0,1] 0.9998518393091479 Centerline is valid? [True, True] Translation: X:175.38, Y:-0.76, Z:-1.00 [[ 9.99369945e-01 3.50387734e-02 5.65656812e-03 1.75375900e+02] [-3.50371538e-02 9.99385936e-01 -3.85198300e-04 -7.62797172e-01] [-5.66659150e-03 1.86765557e-04 9.99983927e-01 -9.95499051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35589822699995 meters Centerline goodness [0,1] 0.9997886281969985 Centerline is valid? [True, True] Translation: X:175.41, Y:-0.76, Z:-1.00 [[ 9.99326773e-01 3.62842605e-02 5.42713875e-03 1.75408541e+02] [-3.62827863e-02 9.99341494e-01 -3.69881494e-04 -7.61597756e-01] [-5.43698582e-03 1.72720764e-04 9.99985205e-01 -9.96375415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.385898227 meters Centerline goodness [0,1] 0.9997266553123488 Centerline is valid? [True, True] Translation: X:175.44, Y:-0.76, Z:-1.00 [[ 9.99260547e-01 3.80222858e-02 5.71530990e-03 1.75439943e+02] [-3.80206735e-02 9.99276876e-01 -3.90534073e-04 -7.59499618e-01] [-5.72602603e-03 1.72945359e-04 9.99983591e-01 -9.96381982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41589822699996 meters Centerline goodness [0,1] 0.9998536881048429 Centerline is valid? [True, True] Translation: X:175.47, Y:-0.76, Z:-1.00 [[ 9.99233198e-01 3.87923866e-02 5.30729741e-03 1.75472138e+02] [-3.87910034e-02 9.99247280e-01 -3.63345453e-04 -7.58268331e-01] [-5.31739754e-03 1.57191447e-04 9.99985850e-01 -9.97416568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.445898227 meters Centerline goodness [0,1] 0.9999162759544541 Centerline is valid? [True, True] Translation: X:175.50, Y:-0.76, Z:-1.00 [[ 9.99217821e-01 3.92717353e-02 4.63435346e-03 1.75504258e+02] [-3.92706831e-02 9.99228559e-01 -3.17870840e-04 -7.58807107e-01] [-4.64326166e-03 1.35627982e-04 9.99989211e-01 -9.98639088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47589822699996 meters Centerline goodness [0,1] 0.9999571505088377 Centerline is valid? [True, True] Translation: X:175.54, Y:-0.76, Z:-1.00 [[ 9.99219804e-01 3.93010965e-02 3.89968524e-03 1.75537009e+02] [-3.93003503e-02 9.99227407e-01 -2.67808965e-04 -7.56655469e-01] [-3.90719756e-03 1.14341025e-04 9.99992360e-01 -9.99758042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.505898227 meters Centerline goodness [0,1] 0.9998320809369884 Centerline is valid? [True, True] Translation: X:175.57, Y:-0.76, Z:-1.01 [[ 9.99207741e-01 3.97864627e-02 9.62888472e-04 1.75568354e+02] [-3.97864182e-02 9.99208205e-01 -6.53054848e-05 -7.61431797e-01] [-9.64724335e-04 2.69438625e-05 9.99999534e-01 -1.00632981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53589822699996 meters Centerline goodness [0,1] 0.9998541575515136 Centerline is valid? [True, True] Translation: X:175.60, Y:-0.76, Z:-1.01 [[ 9.99190377e-01 4.02174686e-02 1.07072030e-03 1.75600472e+02] [-4.02174134e-02 9.99190950e-01 -7.30878241e-05 -7.56741216e-01] [-1.07279344e-03 2.99670495e-05 9.99999424e-01 -1.00590023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.565898227 meters Centerline goodness [0,1] 0.9999371424979572 Centerline is valid? [True, True] Translation: X:175.63, Y:-0.76, Z:-1.00 [[ 9.99182149e-01 4.03795404e-02 2.12725090e-03 1.75632226e+02] [-4.03793193e-02 9.99184412e-01 -1.46811196e-04 -7.56403711e-01] [-2.13144411e-03 6.07941833e-05 9.99997727e-01 -1.00433726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59589822699996 meters Centerline goodness [0,1] 0.9999361525528337 Centerline is valid? [True, True] Translation: X:175.67, Y:-0.75, Z:-1.00 [[ 9.99181820e-01 4.02702073e-02 3.74171542e-03 1.75665829e+02] [-4.02695177e-02 9.99188820e-01 -2.59470456e-04 -7.52013994e-01] [-3.74912915e-03 1.08581087e-04 9.99992966e-01 -1.00151795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.625898227 meters Centerline goodness [0,1] 0.9998114827925683 Centerline is valid? [True, True] Translation: X:175.70, Y:-0.76, Z:-1.00 [[ 9.99255362e-01 3.82814099e-02 4.82236464e-03 1.75696194e+02] [-3.82802335e-02 9.99266987e-01 -3.36044621e-04 -7.59323644e-01] [-4.83169404e-03 1.51193145e-04 9.99988316e-01 -1.00156114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65589822699997 meters Centerline goodness [0,1] 0.9998532525523574 Centerline is valid? [True, True] Translation: X:175.73, Y:-0.76, Z:-1.00 [[ 9.99325218e-01 3.64450262e-02 4.56819934e-03 1.75728466e+02] [-3.64439493e-02 9.99335648e-01 -3.18800803e-04 -7.59694383e-01] [-4.57678315e-03 1.52102457e-04 9.99989515e-01 -1.00272680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68589822699994 meters Centerline goodness [0,1] 0.9998947479212714 Centerline is valid? [True, True] Translation: X:175.76, Y:-0.75, Z:-1.00 [[ 9.99380915e-01 3.48695043e-02 4.68029017e-03 1.75760909e+02] [-3.48683556e-02 9.99391861e-01 -3.26831282e-04 -7.53831359e-01] [-4.68884034e-03 1.63434923e-04 9.99988994e-01 -1.00267448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71589822699997 meters Centerline goodness [0,1] 0.9999153026870222 Centerline is valid? [True, True] Translation: X:175.79, Y:-0.75, Z:-1.00 [[ 9.99427948e-01 3.34605010e-02 4.91650765e-03 1.75791610e+02] [-3.34592149e-02 9.99440025e-01 -3.43643137e-04 -7.54901245e-01] [-4.92525300e-03 1.78944069e-04 9.99987855e-01 -1.00232860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74589822699994 meters Centerline goodness [0,1] 0.9994150702960162 Centerline is valid? [True, True] Translation: X:175.82, Y:-0.76, Z:-1.00 [[ 9.99525673e-01 3.02932970e-02 5.54485795e-03 1.75821139e+02] [-3.02916113e-02 9.99541029e-01 -3.87764198e-04 -7.60346710e-01] [-5.55405968e-03 2.19617589e-04 9.99984552e-01 -1.00045012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.77589822699997 meters Centerline goodness [0,1] 0.9996854752469019 Centerline is valid? [True, True] Translation: X:175.85, Y:-0.76, Z:-1.00 [[ 9.99595025e-01 2.77089553e-02 6.48076446e-03 1.75852943e+02] [-2.77065984e-02 9.99615996e-01 -4.53191732e-04 -7.55296920e-01] [-6.49083328e-03 2.73448263e-04 9.99978897e-01 -9.99053660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.80589822699994 meters Centerline goodness [0,1] 0.9993490130197396 Centerline is valid? [True, True] Translation: X:175.88, Y:-0.76, Z:-1.00 [[ 9.99672067e-01 2.44144960e-02 7.72598096e-03 1.75882767e+02] [-2.44110465e-02 9.99701860e-01 -5.40475073e-04 -7.59360774e-01] [-7.73687296e-03 3.51698553e-04 9.99970008e-01 -9.97502378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.835898227 meters Centerline goodness [0,1] 0.9982500527092557 Centerline is valid? [True, True] Translation: X:175.91, Y:-0.76, Z:-1.00 [[ 9.99745462e-01 2.09004822e-02 8.49598673e-03 1.75913083e+02] [-2.08961843e-02 9.99781474e-01 -5.94341713e-04 -7.62686170e-01] [-8.50655217e-03 4.16656726e-04 9.99963732e-01 -9.96913268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.86589822699995 meters Centerline goodness [0,1] 0.9680344212404239 Centerline is valid? [True, True] Translation: X:175.94, Y:-0.77, Z:-1.00 [[ 9.99887887e-01 1.25077405e-02 8.23227078e-03 1.75941811e+02] [-1.25034213e-02 9.99921663e-01 -5.75924390e-04 -7.73568505e-01] [-8.23882940e-03 4.72928271e-04 9.99965948e-01 -9.97437245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.895898227 meters Centerline goodness [0,1] 0.9383460859329017 Centerline is valid? [True, False] Translation: X:175.94, Y:-0.77, Z:-0.99 [[ 9.99981114e-01 5.04689771e-03 3.50733166e-03 1.75939232e+02] [-5.07891567e-03 9.99944958e-01 9.18071864e-03 -7.72813143e-01] [-3.46080446e-03 -9.19835869e-03 9.99951705e-01 -9.93619439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.92589822699995 meters Centerline goodness [0,1] 0.9067004861551469 Centerline is valid? [False, False] Translation: X:175.94, Y:-0.77, Z:-0.99 [[ 9.99994361e-01 4.36935924e-04 3.32986750e-03 1.75939959e+02] [-4.50041926e-04 9.99992152e-01 3.93616053e-03 -7.68202582e-01] [-3.32812152e-03 -3.93763692e-03 9.99986709e-01 -9.93882617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.955898227 meters Centerline goodness [0,1] 0.9496210908314655 Centerline is valid? [False, False] Translation: X:175.92, Y:-0.76, Z:-0.99 [[ 9.99997801e-01 -1.16868514e-03 -1.74108226e-03 1.75919356e+02] [ 1.15402726e-03 9.99964086e-01 -8.39618043e-03 -7.60951207e-01] [ 1.75083222e-03 8.39415271e-03 9.99963236e-01 -9.90237891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.98589822699995 meters Centerline goodness [0,1] 0.8149383550076 Centerline is valid? [False, False] Translation: X:175.94, Y:-0.76, Z:-0.99 [[ 9.99992820e-01 -3.68820285e-03 8.69673393e-04 1.75943167e+02] [ 3.68827933e-03 9.99993195e-01 -8.63514539e-05 -7.62531176e-01] [-8.69348993e-04 8.95584323e-05 9.99999618e-01 -9.94018618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.015898227 meters Centerline goodness [0,1] 0.8716699360880845 Centerline is valid? [False, False] Translation: X:175.94, Y:-0.76, Z:-0.99 [[ 9.99992698e-01 -3.76566706e-03 6.51496249e-04 1.75944079e+02] [ 3.76585276e-03 9.99992869e-01 -2.84034155e-04 -7.61533103e-01] [-6.50422025e-04 2.86485520e-04 9.99999747e-01 -9.94344090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.04589822699995 meters Centerline goodness [0,1] 0.8799520817132889 Centerline is valid? [False, False] Translation: X:175.94, Y:-0.76, Z:-0.99 [[ 9.99992682e-01 -3.79266834e-03 5.01209883e-04 1.75944748e+02] [ 3.79292394e-03 9.99992677e-01 -5.09992390e-04 -7.60242363e-01] [-4.99271981e-04 5.11889709e-04 9.99999744e-01 -9.94641149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.075898227 meters Centerline goodness [0,1] 0.9268437579563779 Centerline is valid? [False, False] Translation: X:175.95, Y:-0.76, Z:-0.99 [[ 9.99992548e-01 -3.84087862e-03 3.90583826e-04 1.75945178e+02] [ 3.84117405e-03 9.99992335e-01 -7.58468546e-04 -7.58887501e-01] [-3.87667646e-04 7.59963194e-04 9.99999636e-01 -9.94761257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.10589822699995 meters Centerline goodness [0,1] 0.8802234872443602 Centerline is valid? [False, False] Translation: X:175.95, Y:-0.76, Z:-1.00 [[ 9.99998013e-01 -1.97196658e-03 -2.91710652e-04 1.75950456e+02] [ 1.97225210e-03 9.99997573e-01 9.81721600e-04 -7.58872401e-01] [ 2.89774022e-04 -9.82294977e-04 9.99999476e-01 -9.98426357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.135898227 meters Centerline goodness [0,1] 0.8889638310429138 Centerline is valid? [False, False] Translation: X:175.95, Y:-0.76, Z:-1.00 [[ 9.99997703e-01 -2.10094590e-03 -4.23472112e-04 1.75950992e+02] [ 2.10116622e-03 9.99997657e-01 5.20507463e-04 -7.56507498e-01] [ 4.22377562e-04 -5.21396053e-04 9.99999775e-01 -9.98621328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.16589822699996 meters Centerline goodness [0,1] 0.9792723123732252 Centerline is valid? [False, True] Translation: X:175.95, Y:-0.75, Z:-1.00 [[ 9.99997276e-01 -2.26634174e-03 -5.58682116e-04 1.75951547e+02] [ 2.26631742e-03 9.99997431e-01 -4.41587153e-05 -7.53576066e-01] [ 5.58780760e-04 4.28924440e-05 9.99999843e-01 -9.98790320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.195898227 meters Centerline goodness [0,1] 0.9810841690999111 Centerline is valid? [True, True] Translation: X:175.98, Y:-0.75, Z:-1.00 [[ 9.99998895e-01 -1.05135062e-03 -1.05105653e-03 1.75981220e+02] [ 1.05141675e-03 9.99999445e-01 6.23617053e-05 -7.53280629e-01] [ 1.05099038e-03 -6.34667348e-05 9.99999446e-01 -9.99989008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.22589822699996 meters Centerline goodness [0,1] 0.9818385318776002 Centerline is valid? [True, True] Translation: X:176.01, Y:-0.75, Z:-1.00 [[ 9.99996452e-01 9.81010682e-05 -2.66202004e-03 1.76010836e+02] [-9.76816682e-05 9.99999983e-01 1.57679072e-04 -7.52121944e-01] [ 2.66203546e-03 -1.57418482e-04 9.99996444e-01 -1.00381780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.255898227 meters Centerline goodness [0,1] 0.9684305915576068 Centerline is valid? [True, True] Translation: X:176.04, Y:-0.76, Z:-1.01 [[ 9.99994745e-01 -9.39064193e-04 -3.10290915e-03 1.76039624e+02] [ 9.39638403e-04 9.99999542e-01 1.83602746e-04 -7.55884191e-01] [ 3.10273531e-03 -1.86517393e-04 9.99995169e-01 -1.00544767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.28589822699996 meters Centerline goodness [0,1] 0.9408776573038504 Centerline is valid? [True, False] Translation: X:176.00, Y:-0.75, Z:-1.01 [[ 9.99995750e-01 -1.33437186e-03 -2.59230443e-03 1.75995386e+02] [ 1.33382630e-03 9.99999088e-01 -2.12168402e-04 -7.53872399e-01] [ 2.59258517e-03 2.08709816e-04 9.99996617e-01 -1.00623151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.315898227 meters Centerline goodness [0,1] 0.662587229405478 Centerline is valid? [False, False] Translation: X:176.03, Y:-0.76, Z:-1.00 [[ 9.99989304e-01 -4.55056990e-03 -8.27661694e-04 1.76034380e+02] [ 4.54961022e-03 9.99988980e-01 -1.15772217e-03 -7.58672688e-01] [ 8.32920869e-04 1.15394425e-03 9.99998987e-01 -1.00496977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.34589822699996 meters Centerline goodness [0,1] 0.7176051169130754 Centerline is valid? [False, False] Translation: X:176.03, Y:-0.76, Z:-1.00 [[ 9.99989327e-01 -4.55022585e-03 -8.00299881e-04 1.76034237e+02] [ 4.54965079e-03 9.99989392e-01 -7.18911133e-04 -7.61186510e-01] [ 8.03562599e-04 7.15262376e-04 9.99999421e-01 -1.00493269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.375898227 meters Centerline goodness [0,1] 0.67200033864584 Centerline is valid? [False, False] Translation: X:176.03, Y:-0.76, Z:-1.00 [[ 9.99960044e-01 -8.89932776e-03 -8.44566971e-04 1.76034403e+02] [ 8.89459817e-03 9.99945603e-01 -5.44763837e-03 -7.58825463e-01] [ 8.93001348e-04 5.43990862e-03 9.99984805e-01 -1.00477511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.40589822699997 meters Centerline goodness [0,1] 0.6396266599849662 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.77, Z:-1.00 [[ 9.99975561e-01 -6.94505181e-03 8.01811057e-04 1.76072659e+02] [ 6.94528628e-03 9.99975839e-01 -2.90015137e-04 -7.66733685e-01] [-7.99777515e-04 2.95576857e-04 9.99999636e-01 -1.00374141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43589822699994 meters Centerline goodness [0,1] 0.538691409107057 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.77, Z:-1.00 [[ 9.99975459e-01 -6.92873738e-03 1.03626513e-03 1.76071181e+02] [ 6.92889640e-03 9.99975984e-01 -1.49945824e-04 -7.67547458e-01] [-1.03520131e-03 1.57122318e-04 9.99999452e-01 -1.00257132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.46589822699997 meters Centerline goodness [0,1] 0.6152041393468379 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.77, Z:-1.00 [[ 9.99974831e-01 -7.01382231e-03 1.06966437e-03 1.76070886e+02] [ 7.01422099e-03 9.99975332e-01 -3.69424404e-04 -7.66448538e-01] [-1.06704691e-03 3.76917969e-04 9.99999360e-01 -1.00224290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49589822699994 meters Centerline goodness [0,1] 0.6350207398628629 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.76, Z:-1.00 [[ 9.99973941e-01 -7.14578846e-03 1.02722101e-03 1.76070944e+02] [ 7.14655665e-03 9.99974185e-01 -7.46121958e-04 -7.64546123e-01] [-1.02186286e-03 7.53443608e-04 9.99999194e-01 -1.00206558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.52589822699997 meters Centerline goodness [0,1] 0.6332885398731785 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.76, Z:-1.00 [[ 9.99972986e-01 -7.29461139e-03 9.03352380e-04 1.76071512e+02] [ 7.29577503e-03 9.99972551e-01 -1.29161667e-03 -7.61649417e-01] [-8.93905742e-04 1.29817243e-03 9.99998758e-01 -1.00227619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55589822699994 meters Centerline goodness [0,1] 0.6718439626389416 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.75, Z:-1.00 [[ 9.99972561e-01 -7.35951957e-03 8.45373474e-04 1.76071818e+02] [ 7.36164718e-03 9.99969672e-01 -2.54184712e-03 -7.54384334e-01] [-8.26641062e-04 2.54800071e-03 9.99996412e-01 -1.00233782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.585898227 meters Centerline goodness [0,1] 0.8957697804893658 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.75, Z:-1.00 [[ 9.99970880e-01 -7.58949950e-03 7.98920348e-04 1.76071909e+02] [ 7.59215236e-03 9.99965495e-01 -3.37162165e-03 -7.50130514e-01] [-7.73303860e-04 3.37758900e-03 9.99993997e-01 -1.00215729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61589822699995 meters Centerline goodness [0,1] 0.7220168564246636 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.75, Z:-1.00 [[ 9.99968956e-01 -7.85555284e-03 6.14395460e-04 1.76072512e+02] [ 7.85807973e-03 9.99960201e-01 -4.22461174e-03 -7.45829787e-01] [-5.81184347e-04 4.22930856e-03 9.99990888e-01 -1.00213478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.645898227 meters Centerline goodness [0,1] 0.6872863112574396 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.74, Z:-1.00 [[ 9.99991844e-01 -4.02051617e-03 3.83911889e-04 1.76073758e+02] [ 4.02068716e-03 9.99991818e-01 -4.45648806e-04 -7.43762379e-01] [-3.82117009e-04 4.47188760e-04 9.99999827e-01 -1.00313775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67589822699995 meters Centerline goodness [0,1] 0.8231588231588232 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.74, Z:-1.00 [[ 9.99991057e-01 -4.21901449e-03 2.93280445e-04 1.76074481e+02] [ 4.21922732e-03 9.99990833e-01 -7.28897853e-04 -7.42551514e-01] [-2.90202526e-04 7.30128752e-04 9.99999691e-01 -1.00383715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.705898227 meters Centerline goodness [0,1] 0.5762444533237997 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.74, Z:-1.00 [[ 9.99990319e-01 -4.39076052e-03 2.89031008e-04 1.76074741e+02] [ 4.39099994e-03 9.99990013e-01 -8.33000697e-04 -7.42311977e-01] [-2.85370615e-04 8.34261768e-04 9.99999611e-01 -1.00427378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73589822699995 meters Centerline goodness [0,1] 0.523706261316266 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.74, Z:-1.00 [[ 9.99989533e-01 -4.56447670e-03 3.14334679e-04 1.76074773e+02] [ 4.56475879e-03 9.99989174e-01 -9.02612717e-04 -7.42348901e-01] [-3.10211322e-04 9.04038132e-04 9.99999543e-01 -1.00446847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.765898227 meters Centerline goodness [0,1] 0.6059276447632107 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.74, Z:-1.00 [[ 9.99988513e-01 -4.77762963e-03 3.85567962e-04 1.76074455e+02] [ 4.77805447e-03 9.99987971e-01 -1.10856851e-03 -7.41690633e-01] [-3.80266994e-04 1.11039805e-03 9.99999311e-01 -1.00430729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79589822699995 meters Centerline goodness [0,1] 0.5890388104523367 Centerline is valid? [False, False] Translation: X:176.10, Y:-0.73, Z:-1.01 [[ 9.99969557e-01 -6.67644434e-03 4.03869483e-03 1.76096526e+02] [ 6.73172147e-03 9.99881676e-01 -1.38317389e-02 -7.33935412e-01] [-3.94587012e-03 1.38585052e-02 9.99896181e-01 -1.00701785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.825898227 meters Centerline goodness [0,1] 0.7176213214413429 Centerline is valid? [False, False] Translation: X:176.07, Y:-0.73, Z:-1.01 [[ 9.99983751e-01 -5.39975257e-03 1.82774184e-03 1.76074899e+02] [ 5.40243264e-03 9.99984334e-01 -1.46457857e-03 -7.34283047e-01] [-1.81980485e-03 1.47442903e-03 9.99997257e-01 -1.00564562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85589822699995 meters Centerline goodness [0,1] 0.4377608228301648 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.73, Z:-1.01 [[ 9.99997488e-01 -1.42340963e-03 1.73170072e-03 1.76075491e+02] [ 1.41855433e-03 9.99995069e-01 2.80178182e-03 -7.34821974e-01] [-1.73568026e-03 -2.79931827e-03 9.99994576e-01 -1.00626211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.885898227 meters Centerline goodness [0,1] 0.535095830531271 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.73, Z:-1.01 [[ 9.99997386e-01 -1.78307553e-03 1.43145997e-03 1.76076752e+02] [ 1.78039706e-03 9.99996666e-01 1.87024484e-03 -7.30245981e-01] [-1.43478998e-03 -1.86769139e-03 9.99997227e-01 -1.00667901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91589822699996 meters Centerline goodness [0,1] 0.6421551089129749 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.72, Z:-1.01 [[ 9.99996611e-01 -2.32548758e-03 1.17081808e-03 1.76077737e+02] [ 2.32533900e-03 9.99997288e-01 1.28250240e-04 -7.21284148e-01] [-1.17111315e-03 -1.25527257e-04 9.99999306e-01 -1.00679202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.945898227 meters Centerline goodness [0,1] 0.7562904990322309 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.72, Z:-1.01 [[ 9.99995899e-01 -2.60969543e-03 1.17934833e-03 1.76077545e+02] [ 2.61044481e-03 9.99996392e-01 -6.34324795e-04 -7.17532927e-01] [-1.17768868e-03 6.37400817e-04 9.99999103e-01 -1.00643308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97589822699996 meters Centerline goodness [0,1] 0.79112620740898 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.71, Z:-1.01 [[ 9.99995042e-01 -2.87059389e-03 1.29455587e-03 1.76076827e+02] [ 2.87218265e-03 9.99995122e-01 -1.22708069e-03 -7.14728018e-01] [-1.29102711e-03 1.23079280e-03 9.99998409e-01 -1.00580699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.005898227 meters Centerline goodness [0,1] 0.905514010658415 Centerline is valid? [False, False] Translation: X:176.03, Y:-0.71, Z:-1.01 [[ 9.99995895e-01 -2.54841962e-03 1.30976093e-03 1.76033005e+02] [ 2.55155645e-03 9.99993867e-01 -2.39889540e-03 -7.09145522e-01] [-1.30363950e-03 2.40222748e-03 9.99996265e-01 -1.00593550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03589822699996 meters Centerline goodness [0,1] 0.905514010658415 Centerline is valid? [False, False] Translation: X:176.03, Y:-0.71, Z:-1.01 [[ 9.99995895e-01 -2.54841962e-03 1.30976093e-03 1.76033005e+02] [ 2.55155645e-03 9.99993867e-01 -2.39889540e-03 -7.09145522e-01] [-1.30363950e-03 2.40222748e-03 9.99996265e-01 -1.00593550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.065898227 meters Centerline goodness [0,1] 0.6888776392668059 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.71, Z:-1.01 [[ 9.99994900e-01 -2.44862551e-03 2.05018329e-03 1.76075132e+02] [ 2.45039230e-03 9.99996628e-01 -8.59706752e-04 -7.10448018e-01] [-2.04807127e-03 8.64726121e-04 9.99997529e-01 -1.00591863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09589822699996 meters Centerline goodness [0,1] 0.5708989611260054 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.71, Z:-1.01 [[ 9.99994899e-01 -2.53821865e-03 1.93911810e-03 1.76075729e+02] [ 2.54015268e-03 9.99996278e-01 -9.95565510e-04 -7.09855419e-01] [-1.93658392e-03 1.00048609e-03 9.99997624e-01 -1.00631901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.125898227 meters Centerline goodness [0,1] 0.7330925187396906 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.71, Z:-1.01 [[ 9.99994836e-01 -2.63301434e-03 1.84284985e-03 1.76076249e+02] [ 2.63519984e-03 9.99995826e-01 -1.18451123e-03 -7.08921454e-01] [-1.83972332e-03 1.18936139e-03 9.99997600e-01 -1.00661251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15589822699997 meters Centerline goodness [0,1] 0.7264865772516425 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.71, Z:-1.01 [[ 9.99994693e-01 -2.75427548e-03 1.73996834e-03 1.76076726e+02] [ 2.75681484e-03 9.99995136e-01 -1.45872160e-03 -7.07551008e-01] [-1.73594216e-03 1.46351063e-03 9.99997422e-01 -1.00682038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18589822699994 meters Centerline goodness [0,1] 0.7286582139152891 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.70, Z:-1.01 [[ 9.99994017e-01 -3.05790433e-03 1.61729324e-03 1.76077318e+02] [ 3.06139016e-03 9.99992987e-01 -2.15728606e-03 -7.04157664e-01] [-1.61068512e-03 2.16222432e-03 9.99996365e-01 -1.00709629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21589822699997 meters Centerline goodness [0,1] 0.696407513477089 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.70, Z:-1.01 [[ 9.99993768e-01 -3.19309475e-03 1.50583747e-03 1.76077802e+02] [ 3.19691471e-03 9.99991661e-01 -2.54122343e-03 -7.02185380e-01] [-1.49771054e-03 2.54602163e-03 9.99995637e-01 -1.00723317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24589822699994 meters Centerline goodness [0,1] 0.7343441555714225 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.70, Z:-1.01 [[ 9.99999035e-01 -1.18475735e-03 7.25013388e-04 1.76083594e+02] [ 1.18528111e-03 9.99999037e-01 -7.22413245e-04 -6.99564972e-01] [-7.24156805e-04 7.23271893e-04 9.99999476e-01 -1.01107050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.27589822699997 meters Centerline goodness [0,1] 0.8158177112920533 Centerline is valid? [False, False] Translation: X:176.08, Y:-0.70, Z:-1.01 [[ 9.99998926e-01 -1.31024505e-03 6.57308720e-04 1.76083807e+02] [ 1.31110393e-03 9.99998285e-01 -1.30792930e-03 -6.96424966e-01] [-6.55593885e-04 1.30878969e-03 9.99998929e-01 -1.01100782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.30589822699994 meters Centerline goodness [0,1] 0.577276629604037 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.70, Z:-1.01 [[ 9.99999993e-01 9.80767746e-05 -6.80880356e-05 1.76088668e+02] [-9.80895660e-05 9.99999978e-01 -1.87888487e-04 -6.95163047e-01] [ 6.80696066e-05 1.87895165e-04 9.99999980e-01 -1.01383658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.335898227 meters Centerline goodness [0,1] 0.8002649953730967 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.69, Z:-1.01 [[ 9.99999989e-01 -8.38158247e-05 -1.24442030e-04 1.76088707e+02] [ 8.36923064e-05 9.99999504e-01 -9.92250979e-04 -6.90895849e-01] [ 1.24525134e-04 9.92240553e-04 9.99999500e-01 -1.01355351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.36589822699995 meters Centerline goodness [0,1] 0.8769768220232617 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.69, Z:-1.01 [[ 9.99992476e-01 3.87888606e-03 -4.68172300e-05 1.76088257e+02] [-3.87875111e-03 9.99989092e-01 2.60204704e-03 -6.87568995e-01] [ 5.69097633e-05 -2.60184587e-03 9.99996614e-01 -1.01314584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.395898227 meters Centerline goodness [0,1] 0.9428917828549928 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99993248e-01 3.67445561e-03 -4.16208032e-05 1.76087945e+02] [-3.67436362e-03 9.99991192e-01 2.02874311e-03 -6.84743460e-01] [ 4.90749631e-05 -2.02857649e-03 9.99997941e-01 -1.01262705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.42589822699995 meters Centerline goodness [0,1] 0.8774209723586068 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99994018e-01 3.45862105e-03 3.06871088e-05 1.76087516e+02] [-3.45866497e-03 9.99992786e-01 1.56997748e-03 -6.82692700e-01] [-2.52569303e-05 -1.57007422e-03 9.99998767e-01 -1.01230227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.455898227 meters Centerline goodness [0,1] 0.901664682415356 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99994757e-01 3.23810199e-03 3.28242830e-05 1.76087285e+02] [-3.23813795e-03 9.99994082e-01 1.16229991e-03 -6.80918406e-01] [-2.90604431e-05 -1.16240011e-03 9.99999324e-01 -1.01191282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.48589822699995 meters Centerline goodness [0,1] 0.8145105372638833 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99995986e-01 2.83316684e-03 3.17964321e-05 1.76087022e+02] [-2.83318063e-03 9.99995889e-01 4.42187553e-04 -6.77794956e-01] [-3.05435103e-05 -4.42275863e-04 9.99999902e-01 -1.01140509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.515898227 meters Centerline goodness [0,1] 0.7220011727257497 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99996545e-01 2.62844608e-03 2.51579666e-05 1.76086937e+02] [-2.62844942e-03 9.99996537e-01 1.33538301e-04 -6.76602137e-01] [-2.48068812e-05 -1.33603967e-04 9.99999991e-01 -1.01119800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.54589822699995 meters Centerline goodness [0,1] 0.8111557302945567 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99996947e-01 2.47008274e-03 7.41292956e-05 1.76086712e+02] [-2.47007966e-03 9.99996948e-01 -4.16100441e-05 -6.76038480e-01] [-7.42318496e-05 4.14268118e-05 9.99999996e-01 -1.01106494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.575898227 meters Centerline goodness [0,1] 0.645882475733222 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99998141e-01 1.92332818e-03 1.34753411e-04 1.76086418e+02] [-1.92327718e-03 9.99998079e-01 -3.77552092e-04 -6.75534761e-01] [-1.35479308e-04 3.77292222e-04 9.99999920e-01 -1.01090629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.60589822699995 meters Centerline goodness [0,1] 0.6433648543811461 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99998445e-01 1.75086071e-03 2.09452992e-04 1.76086257e+02] [-1.75078611e-03 9.99998404e-01 -3.55802885e-04 -6.76135569e-01] [-2.10075619e-04 3.55435624e-04 9.99999915e-01 -1.01104399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.635898227 meters Centerline goodness [0,1] 0.5253163233294991 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99998641e-01 1.63447733e-03 2.17439770e-04 1.76086361e+02] [-1.63442120e-03 9.99998631e-01 -2.58062350e-04 -6.77062677e-01] [-2.17861270e-04 2.57706612e-04 9.99999943e-01 -1.01128691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.66589822699996 meters Centerline goodness [0,1] 0.6300871940329866 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99998797e-01 1.53282949e-03 2.37936090e-04 1.76086510e+02] [-1.53279978e-03 9.99998817e-01 -1.25024315e-04 -6.78092605e-01] [-2.38127450e-04 1.24659456e-04 9.99999964e-01 -1.01168141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.695898227 meters Centerline goodness [0,1] 0.5266750418760469 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99998899e-01 1.47318558e-03 1.77648464e-04 1.76087097e+02] [-1.47318515e-03 9.99998915e-01 -2.59002644e-06 -6.78961407e-01] [-1.77652087e-04 2.32831451e-06 9.99999984e-01 -1.01232118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.72589822699996 meters Centerline goodness [0,1] 0.46061241610738257 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99999186e-01 1.27570681e-03 1.89468737e-05 1.76088291e+02] [-1.27570368e-03 9.99999173e-01 -1.64470259e-04 -6.78464236e-01] [-1.91566738e-05 1.64445954e-04 9.99999986e-01 -1.01342607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.755898227 meters Centerline goodness [0,1] 0.46903047325407055 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99999350e-01 1.13543814e-03 -1.00233813e-04 1.76088903e+02] [-1.13548667e-03 9.99999238e-01 -4.85430526e-04 -6.76888947e-01] [ 9.96825605e-05 4.85544025e-04 9.99999877e-01 -1.01377255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.78589822699996 meters Centerline goodness [0,1] 0.4120284995808885 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99999451e-01 1.00754540e-03 -2.87929562e-04 1.76089675e+02] [-1.00779172e-03 9.99999125e-01 -8.56607682e-04 -6.75012865e-01] [ 2.87066239e-04 8.56897384e-04 9.99999592e-01 -1.01402949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.815898227 meters Centerline goodness [0,1] 0.45461079869772947 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.68, Z:-1.01 [[ 9.99986913e-01 5.11222778e-03 -1.97863385e-04 1.76089843e+02] [-5.11151583e-03 9.99981001e-01 3.44536463e-03 -6.75486620e-01] [ 2.15473115e-04 -3.44430816e-03 9.99994045e-01 -1.01476525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.84589822699996 meters Centerline goodness [0,1] 0.5504879172425347 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.67, Z:-1.01 [[ 9.99987565e-01 4.98420237e-03 -1.63088563e-04 1.76089686e+02] [-4.98367621e-03 9.99982833e-01 3.08157739e-03 -6.73699296e-01] [ 1.78444968e-04 -3.08072629e-03 9.99995239e-01 -1.01469785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.875898227 meters Centerline goodness [0,1] 0.4771691407066695 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.67, Z:-1.01 [[ 9.99988310e-01 4.83287126e-03 -1.51480094e-04 1.76089450e+02] [-4.83244055e-03 9.99984610e-01 2.72524410e-03 -6.72048715e-01] [ 1.64648517e-04 -2.72448022e-03 9.99996275e-01 -1.01433585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.90589822699997 meters Centerline goodness [0,1] 0.4505311173526493 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.67, Z:-1.01 [[ 9.99988676e-01 4.75809405e-03 -8.72377830e-05 1.76089185e+02] [-4.75785630e-03 9.99985434e-01 2.54849064e-03 -6.71123886e-01] [ 9.93624704e-05 -2.54804672e-03 9.99996749e-01 -1.01424486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93589822699994 meters Centerline goodness [0,1] 0.5072613451931791 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.67, Z:-1.02 [[ 9.99998058e-01 1.81089320e-03 -7.77380356e-04 1.76094003e+02] [-1.81135429e-03 9.99998184e-01 -5.92830311e-04 -6.70701145e-01] [ 7.76305391e-04 5.94237271e-04 9.99999522e-01 -1.01732117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.96589822699997 meters Centerline goodness [0,1] 0.4778205557415467 Centerline is valid? [False, False] Translation: X:176.10, Y:-0.67, Z:-1.02 [[ 9.99998695e-01 -2.57660333e-05 -1.61528561e-03 1.76099826e+02] [ 2.21076871e-05 9.99997435e-01 -2.26480627e-03 -6.70850687e-01] [ 1.61533982e-03 2.26476761e-03 9.99996131e-01 -1.02097054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99589822699994 meters Centerline goodness [0,1] 0.39625878808168735 Centerline is valid? [False, False] Translation: X:176.10, Y:-0.67, Z:-1.02 [[ 9.99998605e-01 1.24950602e-04 -1.66585238e-03 1.76100215e+02] [-1.27804257e-04 9.99998525e-01 -1.71303326e-03 -6.73635349e-01] [ 1.66563588e-03 1.71324377e-03 9.99997145e-01 -1.02139901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.02589822699997 meters Centerline goodness [0,1] 0.3855994305096101 Centerline is valid? [False, False] Translation: X:176.10, Y:-0.68, Z:-1.02 [[ 9.99998565e-01 3.03303491e-04 -1.66648576e-03 1.76100301e+02] [-3.05240081e-04 9.99999278e-01 -1.16194875e-03 -6.76404854e-01] [ 1.66613213e-03 1.16245576e-03 9.99997936e-01 -1.02158710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05589822699994 meters Centerline goodness [0,1] 0.38304956964252057 Centerline is valid? [False, False] Translation: X:176.10, Y:-0.68, Z:-1.02 [[ 9.99998532e-01 4.73306863e-04 -1.64671403e-03 1.76100246e+02] [-4.74621554e-04 9.99999569e-01 -7.98073356e-04 -6.78095816e-01] [ 1.64633559e-03 7.98853751e-04 9.99998326e-01 -1.02158968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.085898227 meters Centerline goodness [0,1] 0.45905800902129446 Centerline is valid? [False, False] Translation: X:176.10, Y:-0.68, Z:-1.02 [[ 9.99998448e-01 7.03960711e-04 -1.61510502e-03 1.76099833e+02] [-7.05028165e-04 9.99999533e-01 -6.60444888e-04 -6.78315360e-01] [ 1.61463934e-03 6.61582557e-04 9.99998478e-01 -1.02105033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11589822699995 meters Centerline goodness [0,1] 0.4874664091367148 Centerline is valid? [False, False] Translation: X:176.10, Y:-0.68, Z:-1.02 [[ 9.99998177e-01 7.69946177e-04 -1.74708016e-03 1.76100037e+02] [-7.71505515e-04 9.99999305e-01 -8.92041169e-04 -6.76823509e-01] [ 1.74639212e-03 8.93387425e-04 9.99998076e-01 -1.02061588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.145898227 meters Centerline goodness [0,1] 0.5975983541168073 Centerline is valid? [False, False] Translation: X:176.10, Y:-0.67, Z:-1.02 [[ 9.99997851e-01 8.57450811e-04 -1.88764201e-03 1.76100221e+02] [-8.59816712e-04 9.99998845e-01 -1.25290824e-03 -6.74548646e-01] [ 1.88656552e-03 1.25452857e-03 9.99997434e-01 -1.02005808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17589822699995 meters Centerline goodness [0,1] 0.6958542872839454 Centerline is valid? [False, False] Translation: X:176.10, Y:-0.68, Z:-1.02 [[ 9.99984849e-01 5.21684166e-03 -1.75651477e-03 1.76099869e+02] [-5.21106411e-03 9.99981050e-01 3.27787702e-03 -6.75792521e-01] [ 1.77358165e-03 -3.26867405e-03 9.99993085e-01 -1.02012347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.205898227 meters Centerline goodness [0,1] 0.6316736025429223 Centerline is valid? [False, False] Translation: X:176.12, Y:-0.67, Z:-1.02 [[ 9.99937346e-01 1.11893392e-02 3.19153159e-04 1.76123136e+02] [-1.11888384e-02 9.99936232e-01 -1.53000529e-03 -6.72746440e-01] [-3.36252556e-04 1.52633848e-03 9.99998779e-01 -1.02226312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23589822699995 meters Centerline goodness [0,1] 0.6951819075712882 Centerline is valid? [False, False] Translation: X:176.12, Y:-0.67, Z:-1.02 [[ 9.99938297e-01 1.11078332e-02 1.34572397e-04 1.76123711e+02] [-1.11075156e-02 9.99935962e-01 -2.16700725e-03 -6.69225799e-01] [-1.58634535e-04 2.16537877e-03 9.99997643e-01 -1.02218732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.265898227 meters Centerline goodness [0,1] 0.7185717568894553 Centerline is valid? [False, False] Translation: X:176.12, Y:-0.67, Z:-1.02 [[ 9.99939755e-01 1.09766235e-02 -3.10398005e-06 1.76124235e+02] [-1.09765902e-02 9.99935947e-01 -2.75969236e-03 -6.66050619e-01] [-2.71883228e-05 2.75956018e-03 9.99996192e-01 -1.02227137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29589822699995 meters Centerline goodness [0,1] 0.881732429359498 Centerline is valid? [False, False] Translation: X:176.12, Y:-0.66, Z:-1.02 [[ 9.99942882e-01 1.06876813e-02 -8.34012354e-05 1.76124503e+02] [-1.06879123e-02 9.99936401e-01 -3.60022486e-03 -6.61808804e-01] [ 4.49178755e-05 3.60091060e-03 9.99993516e-01 -1.02223109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.325898227 meters Centerline goodness [0,1] 0.8197049262315579 Centerline is valid? [False, False] Translation: X:176.12, Y:-0.66, Z:-1.02 [[ 9.99944301e-01 1.05534916e-02 -1.34685918e-04 1.76124673e+02] [-1.05539246e-02 9.99937192e-01 -3.77172958e-03 -6.61150074e-01] [ 9.48725420e-05 3.77294096e-03 9.99992878e-01 -1.02225280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35589822699995 meters Centerline goodness [0,1] 0.85352446192228 Centerline is valid? [False, False] Translation: X:176.09, Y:-0.66, Z:-1.03 [[ 9.99983952e-01 5.60061876e-03 8.53454824e-04 1.76085902e+02] [-5.60687082e-03 9.99956093e-01 7.50828467e-03 -6.59238838e-01] [-8.11366311e-04 -7.51294939e-03 9.99971448e-01 -1.02532131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.385898227 meters Centerline goodness [0,1] 0.8588112399456805 Centerline is valid? [False, False] Translation: X:176.13, Y:-0.66, Z:-1.02 [[ 9.99999019e-01 1.31256535e-03 4.88931438e-04 1.76129151e+02] [-1.31453337e-03 9.99990948e-01 4.04680024e-03 -6.59791109e-01] [-4.83615322e-04 -4.04743899e-03 9.99991692e-01 -1.02425410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41589822699996 meters Centerline goodness [0,1] 0.6828006728343146 Centerline is valid? [False, False] Translation: X:176.13, Y:-0.66, Z:-1.02 [[ 9.99999119e-01 1.25121499e-03 4.43682392e-04 1.76129199e+02] [-1.25298969e-03 9.99991125e-01 4.02247836e-03 -6.59866562e-01] [-4.38645469e-04 -4.02303075e-03 9.99991811e-01 -1.02409106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.445898227 meters Centerline goodness [0,1] 0.8492438168449198 Centerline is valid? [False, False] Translation: X:176.13, Y:-0.66, Z:-1.02 [[ 9.99999244e-01 1.17015220e-03 3.77512885e-04 1.76129305e+02] [-1.17162448e-03 9.99991616e-01 3.92360119e-03 -6.59586245e-01] [-3.72918509e-04 -3.92404053e-03 9.99992231e-01 -1.02389301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47589822699996 meters Centerline goodness [0,1] 0.7158962560133864 Centerline is valid? [False, False] Translation: X:176.13, Y:-0.66, Z:-1.02 [[ 9.99999363e-01 1.06131816e-03 3.85005447e-04 1.76128952e+02] [-1.06272442e-03 9.99992697e-01 3.67092393e-03 -6.58474191e-01] [-3.81106617e-04 -3.67133075e-03 9.99993188e-01 -1.02335463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.505898227 meters Centerline goodness [0,1] 0.8718299196702696 Centerline is valid? [False, False] Translation: X:176.13, Y:-0.66, Z:-1.02 [[ 9.99999262e-01 1.12450009e-03 4.58910307e-04 1.76127989e+02] [-1.12597701e-03 9.99994147e-01 3.23084205e-03 -6.55780698e-01] [-4.55274539e-04 -3.23135639e-03 9.99994676e-01 -1.02207919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53589822699996 meters Centerline goodness [0,1] 0.8744837081229921 Centerline is valid? [False, False] Translation: X:176.15, Y:-0.65, Z:-1.02 [[ 9.99987688e-01 3.15324018e-03 -3.83151671e-03 1.76146490e+02] [-3.16205421e-03 9.99992364e-01 -2.29652553e-03 -6.54214397e-01] [ 3.82424596e-03 2.30861272e-03 9.99990023e-01 -1.01594807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.565898227 meters Centerline goodness [0,1] 0.9130681579279317 Centerline is valid? [False, False] Translation: X:176.14, Y:-0.65, Z:-1.01 [[ 9.99977063e-01 6.03975326e-03 -3.06517231e-03 1.76141753e+02] [-6.03750993e-03 9.99981500e-01 7.40603045e-04 -6.54075480e-01] [ 3.06958866e-03 -7.22080049e-04 9.99995028e-01 -1.01332763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59589822699996 meters Centerline goodness [0,1] 0.8912884563169656 Centerline is valid? [False, False] Translation: X:176.14, Y:-0.65, Z:-1.01 [[ 9.99976821e-01 6.01874893e-03 -3.18313790e-03 1.76142073e+02] [-6.01744948e-03 9.99981808e-01 4.17647768e-04 -6.52181249e-01] [ 3.18559371e-03 -3.98483715e-04 9.99994847e-01 -1.01321822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.625898227 meters Centerline goodness [0,1] 0.976726128016789 Centerline is valid? [False, True] Translation: X:176.14, Y:-0.65, Z:-1.01 [[ 9.99974021e-01 6.30419230e-03 -3.49502934e-03 1.76143167e+02] [-6.30370097e-03 9.99980120e-01 1.51576767e-04 -6.49881388e-01] [ 3.49591542e-03 -1.29541209e-04 9.99993881e-01 -1.01331045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65589822699997 meters Centerline goodness [0,1] 0.9983021350651555 Centerline is valid? [True, True] Translation: X:176.17, Y:-0.64, Z:-1.01 [[ 9.99954249e-01 8.69720667e-03 -3.98223267e-03 1.76174189e+02] [-8.69620235e-03 9.99962151e-01 2.69446766e-04 -6.40409635e-01] [ 3.98442538e-03 -2.34804137e-04 9.99992035e-01 -1.01311285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68589822699994 meters Centerline goodness [0,1] 0.9771530473093465 Centerline is valid? [True, True] Translation: X:176.20, Y:-0.65, Z:-1.01 [[ 9.99930540e-01 1.11952159e-02 -3.68533451e-03 1.76201964e+02] [-1.11943730e-02 9.99937310e-01 2.49263331e-04 -6.53987886e-01] [ 3.68789404e-03 -2.07991008e-04 9.99993178e-01 -1.01312410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71589822699997 meters Centerline goodness [0,1] 0.9888524727052586 Centerline is valid? [True, True] Translation: X:176.23, Y:-0.65, Z:-1.01 [[ 9.99898408e-01 1.38409009e-02 -3.40644754e-03 1.76231503e+02] [-1.38401963e-02 9.99904193e-01 2.30329750e-04 -6.52347010e-01] [ 3.40930915e-03 -1.83160447e-04 9.99994172e-01 -1.01269065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74589822699994 meters Centerline goodness [0,1] 0.999140929472405 Centerline is valid? [True, True] Translation: X:176.26, Y:-0.64, Z:-1.01 [[ 9.99813852e-01 1.87462152e-02 -4.56525814e-03 1.76262589e+02] [-1.87450015e-02 9.99824249e-01 3.08504798e-04 -6.39883150e-01] [ 4.57023910e-03 -2.22871600e-04 9.99989532e-01 -1.01483109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.77589822699997 meters Centerline goodness [0,1] 0.9996001851773916 Centerline is valid? [True, True] Translation: X:176.29, Y:-0.64, Z:-1.02 [[ 9.99766348e-01 2.08787111e-02 -5.59718098e-03 1.76293245e+02] [-2.08769207e-02 9.99781982e-01 3.78111471e-04 -6.35588425e-01] [ 5.60385518e-03 -2.61171221e-04 9.99984264e-01 -1.01635411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.80589822699994 meters Centerline goodness [0,1] 0.999515197504321 Centerline is valid? [True, True] Translation: X:176.32, Y:-0.64, Z:-1.02 [[ 9.99727523e-01 2.25642289e-02 -5.97797741e-03 1.76321990e+02] [-2.25622177e-02 9.99745359e-01 4.03664022e-04 -6.37000950e-01] [ 5.98556354e-03 -2.68677605e-04 9.99982050e-01 -1.01681316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.835898227 meters Centerline goodness [0,1] 0.9997060120535058 Centerline is valid? [True, True] Translation: X:176.35, Y:-0.63, Z:-1.02 [[ 9.99701339e-01 2.37027085e-02 -5.95106191e-03 1.76350888e+02] [-2.37007370e-02 9.99719017e-01 4.01590468e-04 -6.33584783e-01] [ 5.95890855e-03 -2.60425975e-04 9.99982212e-01 -1.01612393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.86589822699995 meters Centerline goodness [0,1] 0.9998528360593701 Centerline is valid? [True, True] Translation: X:176.38, Y:-0.64, Z:-1.02 [[ 9.99666469e-01 2.52506954e-02 -5.41791549e-03 1.76378774e+02] [-2.52490854e-02 9.99681124e-01 3.65371196e-04 -6.39032864e-01] [ 5.42541372e-03 -2.28451922e-04 9.99985256e-01 -1.01582441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.895898227 meters Centerline goodness [0,1] 0.9998945548104096 Centerline is valid? [True, True] Translation: X:176.41, Y:-0.64, Z:-1.01 [[ 9.99656909e-01 2.57520355e-02 -4.78515855e-03 1.76407612e+02] [-2.57507863e-02 9.99668342e-01 3.22488794e-04 -6.38256003e-01] [ 4.79187625e-03 -1.99156555e-04 9.99988499e-01 -1.01449261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.92589822699995 meters Centerline goodness [0,1] 0.9998107812631402 Centerline is valid? [True, True] Translation: X:176.44, Y:-0.64, Z:-1.01 [[ 9.99639155e-01 2.64500305e-02 -4.68563626e-03 1.76436308e+02] [-2.64488414e-02 9.99650118e-01 3.15568889e-04 -6.40249670e-01] [ 4.69234365e-03 -1.91525367e-04 9.99988973e-01 -1.01395890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.955898227 meters Centerline goodness [0,1] 0.9998107812631402 Centerline is valid? [True, True] Translation: X:176.46, Y:-0.64, Z:-1.01 [[ 9.99640361e-01 2.64044024e-02 -4.68565065e-03 1.76464597e+02] [-2.64032138e-02 9.99651325e-01 3.15355194e-04 -6.42070724e-01] [ 4.69234364e-03 -1.91525544e-04 9.99988973e-01 -1.01392060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.98589822699995 meters Centerline goodness [0,1] 0.9998115538432547 Centerline is valid? [True, True] Translation: X:176.49, Y:-0.65, Z:-1.01 [[ 9.99574092e-01 2.88018150e-02 -4.69995609e-03 1.76493543e+02] [-2.88006463e-02 9.99585125e-01 3.16179552e-04 -6.47772375e-01] [ 4.70711274e-03 -1.80683116e-04 9.99988905e-01 -1.01328544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.015898227 meters Centerline goodness [0,1] 0.9999788574569749 Centerline is valid? [True, True] Translation: X:176.52, Y:-0.65, Z:-1.01 [[ 9.99524471e-01 3.04583450e-02 -4.80843975e-03 1.76522483e+02] [-3.04571417e-02 9.99536021e-01 3.23287493e-04 -6.46448949e-01] [ 4.81605554e-03 -1.76682429e-04 9.99988387e-01 -1.01271171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.04589822699995 meters Centerline goodness [0,1] 0.9999788054766648 Centerline is valid? [True, True] Translation: X:176.55, Y:-0.65, Z:-1.01 [[ 9.99456840e-01 3.25915849e-02 -4.87985868e-03 1.76552655e+02] [-3.25903716e-02 9.99468739e-01 3.27985962e-04 -6.46869287e-01] [ 4.88795578e-03 -1.68771406e-04 9.99988040e-01 -1.01292573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.075898227 meters Centerline goodness [0,1] 0.9999371832991332 Centerline is valid? [True, True] Translation: X:176.58, Y:-0.65, Z:-1.01 [[ 9.99376186e-01 3.49418863e-02 -5.12868270e-03 1.76581297e+02] [-3.49405777e-02 9.99389332e-01 3.44564317e-04 -6.48027719e-01] [ 5.13759050e-03 -1.65150237e-04 9.99986789e-01 -1.01302789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.10589822699995 meters Centerline goodness [0,1] 0.9999790057104467 Centerline is valid? [True, True] Translation: X:176.61, Y:-0.65, Z:-1.02 [[ 9.99209749e-01 3.93045321e-02 -5.91870812e-03 1.76610596e+02] [-3.93028666e-02 9.99227265e-01 3.97484738e-04 -6.50126506e-01] [ 5.92975748e-03 -1.64548429e-04 9.99982405e-01 -1.01543176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.135898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.64, Y:-0.65, Z:-1.02 [[ 9.99129420e-01 4.12921183e-02 -5.94664910e-03 1.76639272e+02] [-4.12904736e-02 9.99147105e-01 3.99122812e-04 -6.51665872e-01] [ 5.95805786e-03 -1.53235385e-04 9.99982239e-01 -1.01519038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.16589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.67, Y:-0.65, Z:-1.01 [[ 9.99044374e-01 4.34076290e-02 -5.11047042e-03 1.76668622e+02] [-4.34064430e-02 9.99057437e-01 3.42818251e-04 -6.51192503e-01] [ 5.12053441e-03 -1.20663302e-04 9.99986883e-01 -1.01379436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.195898227 meters Centerline goodness [0,1] 0.9999790965530216 Centerline is valid? [True, True] Translation: X:176.70, Y:-0.65, Z:-1.01 [[ 9.98958483e-01 4.54294538e-02 -4.25613320e-03 1.76697747e+02] [-4.54286503e-02 9.98967545e-01 2.85335181e-04 -6.51950623e-01] [ 4.26470155e-03 -9.16876130e-05 9.99990902e-01 -1.01234613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.22589822699996 meters Centerline goodness [0,1] 0.9999580290439016 Centerline is valid? [True, True] Translation: X:176.73, Y:-0.65, Z:-1.01 [[ 9.98739874e-01 5.00761061e-02 -3.32366131e-03 1.76726880e+02] [-5.00756421e-02 9.98745403e-01 2.22727509e-04 -6.51831286e-01] [ 3.33064478e-03 -5.60123700e-05 9.99994452e-01 -1.01235377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.255898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.75, Y:-0.65, Z:-1.01 [[ 9.98601891e-01 5.27322591e-02 -3.68394925e-03 1.76754944e+02] [-5.27317077e-02 9.98608685e-01 2.46706611e-04 -6.51492693e-01] [ 3.69183311e-03 -5.21007530e-05 9.99993184e-01 -1.01364882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.28589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.78, Y:-0.65, Z:-1.01 [[ 9.98469492e-01 5.51497325e-02 -4.14492154e-03 1.76783427e+02] [-5.51490562e-02 9.98478094e-01 2.77368085e-04 -6.50579954e-01] [ 4.15391014e-03 -4.83550598e-05 9.99991371e-01 -1.01499238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.315898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.81, Y:-0.65, Z:-1.02 [[ 9.98314954e-01 5.78510780e-02 -4.52828554e-03 1.76812088e+02] [-5.78502996e-02 9.98325223e-01 3.02807934e-04 -6.48244204e-01] [ 4.53821944e-03 -4.03350135e-05 9.99989701e-01 -1.01563213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.34589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.84, Y:-0.65, Z:-1.02 [[ 9.97992873e-01 6.31422875e-02 -4.82468891e-03 1.76841144e+02] [-6.31414667e-02 9.98004535e-01 3.22397089e-04 -6.46267470e-01] [ 4.83541830e-03 -1.71120628e-05 9.99988309e-01 -1.01611848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.375898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.87, Y:-0.65, Z:-1.02 [[ 9.97853379e-01 6.53546773e-02 -4.17128861e-03 1.76868488e+02] [-6.53540841e-02 9.97862098e-01 2.78513696e-04 -6.47154796e-01] [ 4.18057298e-03 -5.30508550e-06 9.99991261e-01 -1.01569049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.40589822699997 meters Centerline goodness [0,1] 0.9999789065136686 Centerline is valid? [True, True] Translation: X:176.90, Y:-0.65, Z:-1.01 [[ 9.97749901e-01 6.69461134e-02 -3.65406052e-03 1.76896820e+02] [-6.69456697e-02 9.97756593e-01 2.43743907e-04 -6.48899788e-01] [ 3.66218068e-03 1.42806986e-06 9.99993294e-01 -1.01489359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.92, Y:-0.65, Z:-1.02 [[ 9.97668626e-01 6.81398133e-02 -3.77880680e-03 1.76924061e+02] [-6.81393485e-02 9.97675782e-01 2.51762957e-04 -6.51393012e-01] [ 3.78717911e-03 6.30943018e-06 9.99992829e-01 -1.01561327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.46589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.95, Y:-0.66, Z:-1.02 [[ 9.97534104e-01 7.00433963e-02 -4.43099194e-03 1.76952970e+02] [-7.00427772e-02 9.97543945e-01 2.94941468e-04 -6.57209700e-01] [ 4.44076789e-03 1.61448086e-05 9.99990140e-01 -1.01649363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.98, Y:-0.66, Z:-1.02 [[ 9.97422405e-01 7.16035975e-02 -4.63366346e-03 1.76980420e+02] [-7.16029384e-02 9.97433168e-01 3.08179580e-04 -6.59800510e-01] [ 4.64383639e-03 2.43987012e-05 9.99989217e-01 -1.01673183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.52589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.01, Y:-0.66, Z:-1.02 [[ 9.97292938e-01 7.33589187e-02 -5.02640013e-03 1.77008727e+02] [-7.33581668e-02 9.97305604e-01 3.34043618e-04 -6.63663210e-01] [ 5.03736209e-03 3.55881576e-05 9.99987312e-01 -1.01597683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.04, Y:-0.67, Z:-1.02 [[ 9.97063199e-01 7.63983437e-02 -5.31690201e-03 1.77036741e+02] [-7.63975471e-02 9.97077374e-01 3.53049896e-04 -6.66770247e-01] [ 5.32833513e-03 5.41852138e-05 9.99985803e-01 -1.01678650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.585898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.06, Y:-0.67, Z:-1.02 [[ 9.96969208e-01 7.76207791e-02 -5.23579486e-03 1.77064310e+02] [-7.76200251e-02 9.96982954e-01 3.47360860e-04 -6.68077431e-01] [ 5.24696065e-03 6.00944472e-05 9.99986233e-01 -1.01667168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.09, Y:-0.67, Z:-1.02 [[ 9.96849587e-01 7.91456387e-02 -5.18345060e-03 1.77093185e+02] [-7.91449217e-02 9.96863061e-01 3.43631469e-04 -6.71291993e-01] [ 5.19438737e-03 6.76949040e-05 9.99986507e-01 -1.01594132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.645898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.12, Y:-0.67, Z:-1.02 [[ 9.96704054e-01 8.09406597e-02 -5.44403435e-03 1.77122242e+02] [-8.09398969e-02 9.96718919e-01 3.60650051e-04 -6.73105513e-01] [ 5.45536328e-03 8.11782105e-05 9.99985116e-01 -1.01611782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.15, Y:-0.68, Z:-1.02 [[ 9.96413659e-01 8.44029255e-02 -5.99726742e-03 1.77151079e+02] [-8.44020639e-02 9.96431701e-01 3.97068999e-04 -6.75324426e-01] [ 6.00938116e-03 1.10536774e-04 9.99981937e-01 -1.01775963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.705898227 meters Centerline goodness [0,1] 0.9999790391548588 Centerline is valid? [True, True] Translation: X:177.18, Y:-0.68, Z:-1.02 [[ 9.96274349e-01 8.60131280e-02 -6.25799753e-03 1.77179659e+02] [-8.60122233e-02 9.96293996e-01 4.14057007e-04 -6.78497181e-01] [ 6.27041971e-03 1.25749906e-04 9.99980333e-01 -1.01722951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.21, Y:-0.68, Z:-1.02 [[ 9.96127064e-01 8.77472019e-02 -5.59473275e-03 1.77207201e+02] [-8.77465078e-02 9.96142768e-01 3.69873606e-04 -6.78698932e-01] [ 5.60560794e-03 1.22477151e-04 9.99984281e-01 -1.01651954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.765898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.24, Y:-0.68, Z:-1.01 [[ 9.95764851e-01 9.18643290e-02 -3.64769555e-03 1.77236799e+02] [-9.18640620e-02 9.95771528e-01 2.41047531e-04 -6.83693532e-01] [ 3.65441504e-03 9.50654713e-05 9.99993318e-01 -1.01256470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79589822699995 meters Centerline goodness [0,1] 0.999978795139846 Centerline is valid? [True, True] Translation: X:177.27, Y:-0.69, Z:-1.01 [[ 9.95538062e-01 9.43237986e-02 -2.64331922e-03 1.77266335e+02] [-9.43236672e-02 9.95541569e-01 1.74621150e-04 -6.86581116e-01] [ 2.64800510e-03 7.54855610e-05 9.99996491e-01 -1.01114905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.825898227 meters Centerline goodness [0,1] 0.9998954390514231 Centerline is valid? [True, True] Translation: X:177.30, Y:-0.68, Z:-1.01 [[ 9.95299467e-01 9.68257769e-02 -1.93396719e-03 1.77295637e+02] [-9.68257114e-02 9.95301344e-01 1.27714955e-04 -6.80021653e-01] [ 1.93724624e-03 6.01431216e-05 9.99998122e-01 -1.01036949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.32, Y:-0.69, Z:-1.01 [[ 9.95098352e-01 9.88785225e-02 -1.51921979e-03 1.77324181e+02] [-9.88784845e-02 9.95099510e-01 1.00279076e-04 -6.89697584e-01] [ 1.52169031e-03 5.04306069e-05 9.99998841e-01 -1.00914626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.885898227 meters Centerline goodness [0,1] 0.9999580281631025 Centerline is valid? [True, True] Translation: X:177.35, Y:-0.69, Z:-1.01 [[ 9.94859640e-01 1.01263342e-01 1.79204268e-04 1.77352577e+02] [-1.01263342e-01 9.94859656e-01 -1.17475299e-05 -6.90499171e-01] [-1.79472691e-04 -6.45967966e-06 9.99999984e-01 -1.00636703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91589822699996 meters Centerline goodness [0,1] 0.999978948697977 Centerline is valid? [True, True] Translation: X:177.38, Y:-0.70, Z:-1.01 [[ 9.94807774e-01 1.01767930e-01 8.83744227e-04 1.77380696e+02] [-1.01767918e-01 9.94808166e-01 -5.81444563e-05 -6.99185650e-01] [-8.85073215e-04 -3.20942531e-05 9.99999608e-01 -1.00562383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.945898227 meters Centerline goodness [0,1] 0.9996399525584547 Centerline is valid? [True, True] Translation: X:177.41, Y:-0.69, Z:-1.00 [[ 9.94772399e-01 1.02110728e-01 1.12847104e-03 1.77409074e+02] [-1.02110709e-01 9.94773038e-01 -7.41802086e-05 -6.94438336e-01] [-1.13014716e-03 -4.14365544e-05 9.99999361e-01 -1.00440743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97589822699996 meters Centerline goodness [0,1] 0.9998739045457411 Centerline is valid? [True, True] Translation: X:177.44, Y:-0.71, Z:-1.01 [[ 9.94693384e-01 1.02883727e-01 -1.01659050e-04 1.77437363e+02] [-1.02883727e-01 9.94693389e-01 6.74849604e-06 -7.07664259e-01] [ 1.01813895e-04 3.74637760e-06 9.99999995e-01 -1.00668538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.005898227 meters Centerline goodness [0,1] 0.9998529226373072 Centerline is valid? [True, True] Translation: X:177.47, Y:-0.71, Z:-1.01 [[ 9.94628891e-01 1.03499160e-01 -1.13701179e-03 1.77465688e+02] [-1.03499142e-01 9.94629540e-01 7.47801695e-05 -7.14363392e-01] [ 1.13864520e-03 4.33012272e-05 9.99999351e-01 -1.00844669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03589822699996 meters Centerline goodness [0,1] 0.9998322077268342 Centerline is valid? [True, True] Translation: X:177.49, Y:-0.71, Z:-1.01 [[ 9.94525010e-01 1.04473659e-01 -2.29308531e-03 1.77493996e+02] [-1.04473589e-01 9.94527650e-01 1.50625697e-04 -7.12447689e-01] [ 2.29627316e-03 8.97658296e-05 9.99997360e-01 -1.01003698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.065898227 meters Centerline goodness [0,1] 0.9997486279274372 Centerline is valid? [True, True] Translation: X:177.52, Y:-0.72, Z:-1.01 [[ 9.94360562e-01 1.06002880e-01 -3.23462944e-03 1.77523385e+02] [-1.06002749e-01 9.94365814e-01 2.12314475e-04 -7.16816731e-01] [ 3.23891088e-03 1.31762473e-04 9.99994746e-01 -1.01143620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09589822699996 meters Centerline goodness [0,1] 0.999725216656098 Centerline is valid? [True, True] Translation: X:177.55, Y:-0.72, Z:-1.01 [[ 9.94077894e-01 1.08611455e-01 -3.56268721e-03 1.77553343e+02] [-1.08611314e-01 9.94084266e-01 2.33787272e-04 -7.21104295e-01] [ 3.56700327e-03 1.54545379e-04 9.99993626e-01 -1.01222414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.125898227 meters Centerline goodness [0,1] 0.9997260678087532 Centerline is valid? [True, True] Translation: X:177.58, Y:-0.72, Z:-1.01 [[ 9.93975010e-01 1.09549311e-01 -3.55361100e-03 1.77582379e+02] [-1.09549177e-01 9.93981350e-01 2.33073318e-04 -7.24148954e-01] [ 3.55775608e-03 1.57626107e-04 9.99993659e-01 -1.01261503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15589822699997 meters Centerline goodness [0,1] 0.9995578854291669 Centerline is valid? [True, True] Translation: X:177.61, Y:-0.73, Z:-1.01 [[ 9.93861966e-01 1.10565140e-01 -3.70705734e-03 1.77610876e+02] [-1.10565001e-01 9.93868865e-01 2.42962564e-04 -7.25234796e-01] [ 3.71119206e-03 1.68399548e-04 9.99993099e-01 -1.01352039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18589822699994 meters Centerline goodness [0,1] 0.9987176792095859 Centerline is valid? [True, True] Translation: X:177.64, Y:-0.72, Z:-1.02 [[ 9.93671184e-01 1.12215499e-01 -5.02596870e-03 1.77639500e+02] [-1.12215267e-01 9.93683866e-01 3.29149813e-04 -7.22044606e-01] [ 5.03115972e-03 2.36923733e-04 9.99987316e-01 -1.01693737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21589822699997 meters Centerline goodness [0,1] 0.9990522923993851 Centerline is valid? [True, True] Translation: X:177.67, Y:-0.73, Z:-1.02 [[ 9.93621074e-01 1.12615296e-01 -5.91233232e-03 1.77668066e+02] [-1.12614983e-01 9.93638624e-01 3.86915160e-04 -7.26372366e-01] [ 5.91829432e-03 2.81370149e-04 9.99982447e-01 -1.01830432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24589822699994 meters Centerline goodness [0,1] 0.9992728206005647 Centerline is valid? [True, True] Translation: X:177.70, Y:-0.73, Z:-1.02 [[ 9.93641955e-01 1.12411565e-01 -6.26932471e-03 1.77697194e+02] [-1.12411211e-01 9.93661689e-01 4.09984755e-04 -7.29527993e-01] [ 6.27567480e-03 2.97364329e-04 9.99980264e-01 -1.01860415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.27589822699997 meters Centerline goodness [0,1] 0.999470809872571 Centerline is valid? [True, True] Translation: X:177.73, Y:-0.73, Z:-1.02 [[ 9.93708210e-01 1.11833557e-01 -6.10320947e-03 1.77725820e+02] [-1.11833212e-01 9.93726911e-01 3.98842451e-04 -7.31997347e-01] [ 6.10952746e-03 2.86208502e-04 9.99981296e-01 -1.01790560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.30589822699994 meters Centerline goodness [0,1] 0.9996003449653983 Centerline is valid? [True, True] Translation: X:177.76, Y:-0.74, Z:-1.02 [[ 9.94082692e-01 1.08528994e-01 -4.58908568e-03 1.77755960e+02] [-1.08528764e-01 9.94093264e-01 2.99834067e-04 -7.41004705e-01] [ 4.59451985e-03 1.99987940e-04 9.99989425e-01 -1.01519675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.335898227 meters Centerline goodness [0,1] 0.9997477454751844 Centerline is valid? [True, True] Translation: X:177.79, Y:-0.75, Z:-1.01 [[ 9.94352300e-01 1.06053587e-01 -4.01751208e-03 1.77785589e+02] [-1.06053391e-01 9.94360402e-01 2.62406460e-04 -7.48112028e-01] [ 4.02268407e-03 1.65146313e-04 9.99991895e-01 -1.01413638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.36589822699995 meters Centerline goodness [0,1] 0.9998950880211502 Centerline is valid? [True, True] Translation: X:177.82, Y:-0.75, Z:-1.01 [[ 9.94614470e-01 1.03583961e-01 -3.52408497e-03 1.77815014e+02] [-1.03583795e-01 9.94620704e-01 2.30093417e-04 -7.54874129e-01] [ 3.52896186e-03 1.36183854e-04 9.99993764e-01 -1.01332566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.395898227 meters Centerline goodness [0,1] 0.9999785642322779 Centerline is valid? [True, True] Translation: X:177.84, Y:-0.77, Z:-1.01 [[ 9.94819695e-01 1.01618780e-01 -2.71999207e-03 1.77843070e+02] [-1.01618674e-01 9.94823408e-01 1.77502447e-04 -7.66461323e-01] [ 2.72394937e-03 9.98190578e-05 9.99996285e-01 -1.01212646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.42589822699995 meters Centerline goodness [0,1] 0.9999158709460312 Centerline is valid? [True, True] Translation: X:177.87, Y:-0.77, Z:-1.01 [[ 9.95024289e-01 9.96161470e-02 -1.81297304e-03 1.77871048e+02] [-9.96160967e-02 9.95025939e-01 1.18240154e-04 -7.67396939e-01] [ 1.81573383e-03 6.29494724e-05 9.99998350e-01 -1.01066270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.455898227 meters Centerline goodness [0,1] 0.9999374661274857 Centerline is valid? [True, True] Translation: X:177.90, Y:-0.78, Z:-1.01 [[ 9.95067471e-01 9.91832909e-02 -1.84479124e-03 1.77899196e+02] [-9.91832383e-02 9.95069179e-01 1.20209296e-04 -7.78182654e-01] [ 1.84761765e-03 6.33560083e-05 9.99998291e-01 -1.01136979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.48589822699995 meters Centerline goodness [0,1] 0.9999158532480646 Centerline is valid? [True, True] Translation: X:177.93, Y:-0.78, Z:-1.01 [[ 9.95093579e-01 9.89013551e-02 -2.70021280e-03 1.77927409e+02] [-9.89012417e-02 9.95097238e-01 1.75795060e-04 -7.84464957e-01] [ 2.70436067e-03 9.21218637e-05 9.99996339e-01 -1.01289416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.96, Y:-0.80, Z:-1.02 [[ 9.95128277e-01 9.84943850e-02 -4.30901479e-03 1.77955940e+02] [-9.84940936e-02 9.95137596e-01 2.80292563e-04 -7.97240999e-01] [ 4.31566987e-03 1.45485451e-04 9.99990677e-01 -1.01645870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.54589822699995 meters Centerline goodness [0,1] 0.9998731769181991 Centerline is valid? [True, True] Translation: X:177.98, Y:-0.80, Z:-1.02 [[ 9.95232836e-01 9.74070354e-02 -4.84472684e-03 1.77983532e+02] [-9.74066556e-02 9.95244615e-01 3.14858498e-04 -8.03025135e-01] [ 4.85235773e-03 1.58551123e-04 9.99988215e-01 -1.01731667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.575898227 meters Centerline goodness [0,1] 0.9999578911908371 Centerline is valid? [True, True] Translation: X:178.01, Y:-0.81, Z:-1.02 [[ 9.95262705e-01 9.71195009e-02 -4.46659610e-03 1.78011658e+02] [-9.71191761e-02 9.95272717e-01 2.90061520e-04 -8.12276261e-01] [ 4.47365187e-03 1.45104721e-04 9.99989983e-01 -1.01738583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.60589822699995 meters Centerline goodness [0,1] 0.9999788717515318 Centerline is valid? [True, True] Translation: X:178.04, Y:-0.82, Z:-1.02 [[ 9.95305098e-01 9.67035538e-02 -4.02310867e-03 1.78039470e+02] [-9.67032878e-02 9.95313220e-01 2.61036151e-04 -8.19284198e-01] [ 4.02949637e-03 1.29237224e-04 9.99991873e-01 -1.01656743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.635898227 meters Centerline goodness [0,1] 0.9999789393875574 Centerline is valid? [True, True] Translation: X:178.07, Y:-0.83, Z:-1.02 [[ 9.95295722e-01 9.68455247e-02 -2.71494145e-03 1.78066697e+02] [-9.68454045e-02 9.95299421e-01 1.76019937e-04 -8.30575431e-01] [ 2.71922640e-03 8.77377135e-05 9.99996299e-01 -1.01569727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.66589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.09, Y:-0.84, Z:-1.01 [[ 9.95216453e-01 9.76720022e-02 -2.09555470e-03 1.78094808e+02] [-9.76719326e-02 9.95218657e-01 1.35767261e-04 -8.36716630e-01] [ 2.09879579e-03 6.95590655e-05 9.99997795e-01 -1.01492441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.695898227 meters Centerline goodness [0,1] 0.9999579540437699 Centerline is valid? [True, True] Translation: X:178.12, Y:-0.84, Z:-1.02 [[ 9.95035469e-01 9.94930634e-02 -2.35489288e-03 1.78124314e+02] [-9.94929809e-02 9.95038252e-01 1.52475548e-04 -8.41846415e-01] [ 2.35837876e-03 8.25767346e-05 9.99997216e-01 -1.01529105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.72589822699996 meters Centerline goodness [0,1] 0.9998738647830474 Centerline is valid? [True, True] Translation: X:178.15, Y:-0.84, Z:-1.02 [[ 9.94815882e-01 1.01645908e-01 -3.07728485e-03 1.78152292e+02] [-1.01645778e-01 9.94820635e-01 1.99168115e-04 -8.44408077e-01] [ 3.08159109e-03 1.14657407e-04 9.99995245e-01 -1.01661441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.755898227 meters Centerline goodness [0,1] 0.9997884403824998 Centerline is valid? [True, True] Translation: X:178.18, Y:-0.85, Z:-1.02 [[ 9.94208262e-01 1.07350166e-01 -5.08671297e-03 1.78182519e+02] [-1.07349884e-01 9.94221250e-01 3.29156176e-04 -8.45421710e-01] [ 5.09265309e-03 2.18808258e-04 9.99987008e-01 -1.01942423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.78589822699996 meters Centerline goodness [0,1] 0.999601677148847 Centerline is valid? [True, True] Translation: X:178.21, Y:-0.85, Z:-1.02 [[ 9.93861221e-01 1.10521370e-01 -4.99006258e-03 1.78212772e+02] [-1.10521139e-01 9.93873721e-01 3.22855379e-04 -8.46800085e-01] [ 4.99517448e-03 2.30633961e-04 9.99987497e-01 -1.01989108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.815898227 meters Centerline goodness [0,1] 0.9989095331963259 Centerline is valid? [True, True] Translation: X:178.24, Y:-0.85, Z:-1.02 [[ 9.93572411e-01 1.13110330e-01 -4.46287016e-03 1.78243134e+02] [-1.13110171e-01 9.93582410e-01 2.88697259e-04 -8.48132118e-01] [ 4.46688393e-03 2.17954377e-04 9.99990000e-01 -1.01880649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.84589822699996 meters Centerline goodness [0,1] 0.9989095331963259 Centerline is valid? [True, True] Translation: X:178.27, Y:-0.85, Z:-1.02 [[ 9.93577503e-01 1.13065591e-01 -4.46288021e-03 1.78271443e+02] [-1.13065432e-01 9.93587502e-01 2.88541825e-04 -8.49875370e-01] [ 4.46688615e-03 2.17908815e-04 9.99990000e-01 -1.01876818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.875898227 meters Centerline goodness [0,1] 0.9980676328502416 Centerline is valid? [True, True] Translation: X:178.30, Y:-0.85, Z:-1.02 [[ 9.93319282e-01 1.15327923e-01 -4.03417546e-03 1.78301139e+02] [-1.15327813e-01 9.93327452e-01 2.60739092e-04 -8.51604914e-01] [ 4.03732773e-03 2.06255465e-04 9.99991829e-01 -1.01719885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.90589822699997 meters Centerline goodness [0,1] 0.9917660301842741 Centerline is valid? [True, True] Translation: X:178.33, Y:-0.85, Z:-1.02 [[ 9.92889332e-01 1.18969545e-01 -4.12562442e-03 1.78330706e+02] [-1.18969461e-01 9.92897878e-01 2.66635470e-04 -8.52278149e-01] [ 4.12804523e-03 2.26083800e-04 9.99991454e-01 -1.01844377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93589822699994 meters Centerline goodness [0,1] 0.9990956656546734 Centerline is valid? [True, True] Translation: X:178.36, Y:-0.87, Z:-1.02 [[ 9.92697940e-01 1.20523331e-01 -4.99264431e-03 1.78359115e+02] [-1.20523228e-01 9.92710455e-01 3.22539743e-04 -8.65482971e-01] [ 4.99512377e-03 2.81545072e-04 9.99987485e-01 -1.01923524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.96589822699997 meters Centerline goodness [0,1] 0.9707482557767394 Centerline is valid? [True, True] Translation: X:178.39, Y:-0.85, Z:-1.02 [[ 9.92511026e-01 1.22035691e-01 -5.39934470e-03 1.78388240e+02] [-1.22035594e-01 9.92525663e-01 3.48567686e-04 -8.53544216e-01] [ 5.40152588e-03 3.12954968e-04 9.99985363e-01 -1.02109615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99589822699994 meters Centerline goodness [0,1] 0.9300014830194275 Centerline is valid? [True, False] Translation: X:178.39, Y:-0.85, Z:-1.02 [[ 9.92923405e-01 1.18619642e-01 -5.70022876e-03 1.78387803e+02] [-1.18642196e-01 9.92929820e-01 -3.79510338e-03 -8.52100278e-01] [ 5.20975331e-03 4.44453462e-03 9.99976552e-01 -1.02118338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.02589822699997 meters Centerline goodness [0,1] 0.8720588852073984 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.85, Z:-1.02 [[ 9.92911120e-01 1.18724183e-01 -5.66361985e-03 1.78387705e+02] [-1.18746808e-01 9.92917140e-01 -3.84029114e-03 -8.51588663e-01] [ 5.16756979e-03 4.48560456e-03 9.99976588e-01 -1.02121959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05589822699994 meters Centerline goodness [0,1] 0.9511926450027539 Centerline is valid? [False, True] Translation: X:178.39, Y:-0.85, Z:-1.02 [[ 9.92907426e-01 1.18755997e-01 -5.64415427e-03 1.78387727e+02] [-1.18779505e-01 9.92912481e-01 -4.02907199e-03 -8.50431175e-01] [ 5.12567476e-03 4.67090535e-03 9.99975955e-01 -1.02127847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.085898227 meters Centerline goodness [0,1] 0.8887709615792825 Centerline is valid? [True, False] Translation: X:178.39, Y:-0.85, Z:-1.02 [[ 9.92895305e-01 1.18852312e-01 -5.74820123e-03 1.78388589e+02] [-1.18877321e-01 9.92899968e-01 -4.22327781e-03 -8.49136479e-01] [ 5.20544248e-03 4.87660347e-03 9.99974561e-01 -1.02211883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11589822699995 meters Centerline goodness [0,1] 0.9613507960965588 Centerline is valid? [False, True] Translation: X:178.39, Y:-0.85, Z:-1.02 [[ 9.92893481e-01 1.18862956e-01 -5.84235843e-03 1.78389035e+02] [-1.18888334e-01 9.92898722e-01 -4.20619131e-03 -8.49237689e-01] [ 5.30090989e-03 4.87088819e-03 9.99974087e-01 -1.02236698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.145898227 meters Centerline goodness [0,1] 0.892707335249654 Centerline is valid? [True, False] Translation: X:178.39, Y:-0.85, Z:-1.02 [[ 9.93372031e-01 1.14772278e-01 -6.27155810e-03 1.78389235e+02] [-1.14826423e-01 9.93343986e-01 -9.08943588e-03 -8.45220246e-01] [ 5.18659926e-03 9.74933196e-03 9.99939023e-01 -1.02276495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17589822699995 meters Centerline goodness [0,1] 0.739592822490096 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.85, Z:-1.02 [[ 9.93365560e-01 1.14824149e-01 -6.34664015e-03 1.78389303e+02] [-1.14878661e-01 9.93338576e-01 -9.02037866e-03 -8.45447857e-01] [ 5.26860518e-03 9.68962702e-03 9.99939175e-01 -1.02251094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.205898227 meters Centerline goodness [0,1] 0.7246739061942069 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.02 [[ 9.93361994e-01 1.14859668e-01 -6.26135585e-03 1.78388416e+02] [-1.14913819e-01 9.93333689e-01 -9.11021890e-03 -8.44718698e-01] [ 5.17321899e-03 9.76926153e-03 9.99938898e-01 -1.02148355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23589822699995 meters Centerline goodness [0,1] 0.5827318448685844 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.02 [[ 9.93368689e-01 1.14806239e-01 -6.17861348e-03 1.78387946e+02] [-1.14860605e-01 9.93337980e-01 -9.31118414e-03 -8.43652991e-01] [ 5.06846940e-03 9.95911807e-03 9.99937561e-01 -1.02107363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.265898227 meters Centerline goodness [0,1] 0.6700526711813394 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.02 [[ 9.93375539e-01 1.14752393e-01 -6.07678675e-03 1.78387529e+02] [-1.14806847e-01 9.93342088e-01 -9.53331935e-03 -8.42423253e-01] [ 4.94235683e-03 1.01678230e-02 9.99936092e-01 -1.02085738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29589822699995 meters Centerline goodness [0,1] 0.671340119634799 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.02 [[ 9.93386980e-01 1.14657018e-01 -6.00637239e-03 1.78387348e+02] [-1.14712038e-01 9.93350482e-01 -9.79630659e-03 -8.41111832e-01] [ 4.84321761e-03 1.04205266e-02 9.99933976e-01 -1.02088058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.325898227 meters Centerline goodness [0,1] 0.7263982525780774 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.02 [[ 9.93390911e-01 1.14621610e-01 -6.03200909e-03 1.78387359e+02] [-1.14676762e-01 9.93354830e-01 -9.76844519e-03 -8.41377550e-01] [ 4.87225045e-03 1.03956159e-02 9.99934094e-01 -1.02079873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35589822699995 meters Centerline goodness [0,1] 0.8107289592951841 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.02 [[ 9.93390908e-01 1.14620678e-01 -6.05017452e-03 1.78387271e+02] [-1.14675024e-01 9.93357006e-01 -9.56547279e-03 -8.42579097e-01] [ 4.91358227e-03 1.01960576e-02 9.99935947e-01 -1.02066236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.385898227 meters Centerline goodness [0,1] 0.8692278497026947 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.85, Z:-1.02 [[ 9.94211843e-01 1.07387046e-01 -3.29131268e-03 1.78388739e+02] [-1.07378323e-01 9.94214507e-01 2.72200306e-03 -8.46751979e-01] [ 3.56457868e-03 -2.35283205e-03 9.99990879e-01 -1.02317305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41589822699996 meters Centerline goodness [0,1] 0.8548946664437385 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.02 [[ 9.94664933e-01 1.03090201e-01 -3.75248872e-03 1.78388968e+02] [-1.03097905e-01 9.94669359e-01 -1.92044204e-03 -8.44747131e-01] [ 3.53450679e-03 2.29707007e-03 9.99991115e-01 -1.02343371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.445898227 meters Centerline goodness [0,1] 0.9323098248414332 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.02 [[ 9.95096167e-01 9.88305851e-02 -4.01657544e-03 1.78388599e+02] [-9.88555650e-02 9.95079993e-01 -6.58666592e-03 -8.42497175e-01] [ 3.34584982e-03 6.95142684e-03 9.99970241e-01 -1.02355818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47589822699996 meters Centerline goodness [0,1] 0.9121620202105086 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.02 [[ 9.95085139e-01 9.89434986e-02 -3.96868289e-03 1.78388165e+02] [-9.89669401e-02 9.95071259e-01 -6.22361934e-03 -8.44373838e-01] [ 3.33333561e-03 6.58579952e-03 9.99972758e-01 -1.02320782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.505898227 meters Centerline goodness [0,1] 0.8892620266980102 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.85, Z:-1.02 [[ 9.95070574e-01 9.90989153e-02 -3.73590057e-03 1.78387032e+02] [-9.91200138e-02 9.95057617e-01 -5.96335427e-03 -8.45535125e-01] [ 3.12647438e-03 6.30426087e-03 9.99975240e-01 -1.02260009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53589822699996 meters Centerline goodness [0,1] 0.8468491245812528 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.02 [[ 9.95070535e-01 9.91008153e-02 -3.69565125e-03 1.78386985e+02] [-9.91220143e-02 9.95056722e-01 -6.07833448e-03 -8.44907669e-01] [ 3.07501471e-03 6.41469194e-03 9.99974698e-01 -1.02272251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.565898227 meters Centerline goodness [0,1] 0.7938419214897894 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.02 [[ 9.95071354e-01 9.90897967e-02 -3.76986426e-03 1.78387535e+02] [-9.91120785e-02 9.95056513e-01 -6.27145922e-03 -8.43868218e-01] [ 3.12979037e-03 6.61418851e-03 9.99973228e-01 -1.02318947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59589822699996 meters Centerline goodness [0,1] 0.7136470538381676 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.02 [[ 9.95054345e-01 9.92561582e-02 -3.88148318e-03 1.78388598e+02] [-9.92801298e-02 9.95037853e-01 -6.56705852e-03 -8.41793598e-01] [ 3.21040169e-03 6.91993427e-03 9.99970903e-01 -1.02422960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.625898227 meters Centerline goodness [0,1] 0.6770794207253453 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.03 [[ 9.94782510e-01 1.01920949e-01 -4.45857242e-03 1.78394071e+02] [-1.01937338e-01 9.94784246e-01 -3.61692221e-03 -8.42673797e-01] [ 4.06667746e-03 4.05254595e-03 9.99983519e-01 -1.02730985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65589822699997 meters Centerline goodness [0,1] 0.6450064959557437 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.03 [[ 9.94788425e-01 1.01862250e-01 -4.48022048e-03 1.78394336e+02] [-1.01879936e-01 9.94789003e-01 -3.91390460e-03 -8.41107480e-01] [ 4.05819493e-03 4.34995157e-03 9.99982304e-01 -1.02756061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68589822699994 meters Centerline goodness [0,1] 0.6224699325315342 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.84, Z:-1.03 [[ 9.94797745e-01 1.01770140e-01 -4.50387432e-03 1.78394578e+02] [-1.01789142e-01 9.94797079e-01 -4.21208178e-03 -8.39646775e-01] [ 4.05177687e-03 4.64861496e-03 9.99980987e-01 -1.02777506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71589822699997 meters Centerline goodness [0,1] 0.601871384114121 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.83, Z:-1.03 [[ 9.95197856e-01 9.77698221e-02 -4.72114118e-03 1.78394148e+02] [-9.78098313e-02 9.95163009e-01 -9.15542288e-03 -8.34941692e-01] [ 3.80318099e-03 9.57323124e-03 9.99946943e-01 -1.02784825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74589822699994 meters Centerline goodness [0,1] 0.6048982000590144 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.83, Z:-1.03 [[ 9.95202034e-01 9.77301860e-02 -4.66062925e-03 1.78394005e+02] [-9.77699358e-02 9.95166143e-01 -9.24054920e-03 -8.34638478e-01] [ 3.73501984e-03 9.65188279e-03 9.99946444e-01 -1.02793220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.77589822699997 meters Centerline goodness [0,1] 0.5800884955752212 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.83, Z:-1.03 [[ 9.95208376e-01 9.76606604e-02 -4.76284299e-03 1.78394413e+02] [-9.77019434e-02 9.95171493e-01 -9.38245756e-03 -8.33959900e-01] [ 3.82354857e-03 9.80283936e-03 9.99944641e-01 -1.02803679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.80589822699994 meters Centerline goodness [0,1] 0.5624462213267855 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.83, Z:-1.03 [[ 9.95219186e-01 9.75429414e-02 -4.91398946e-03 1.78395232e+02] [-9.75867915e-02 9.95180184e-01 -9.65506297e-03 -8.32649316e-01] [ 3.94852170e-03 1.00884444e-02 9.99941315e-01 -1.02849218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.835898227 meters Centerline goodness [0,1] 0.5160322123818986 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.83, Z:-1.03 [[ 9.95240419e-01 9.73133971e-02 -5.15855862e-03 1.78396704e+02] [-9.73620610e-02 9.95196602e-01 -1.02153115e-02 -8.29943492e-01] [ 4.13969334e-03 1.06689388e-02 9.99934516e-01 -1.02948707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.86589822699995 meters Centerline goodness [0,1] 0.5016671590765205 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.83, Z:-1.03 [[ 9.95249747e-01 9.72163294e-02 -5.18912708e-03 1.78397012e+02] [-9.72666473e-02 9.95202612e-01 -1.05338036e-02 -8.28387102e-01] [ 4.14017511e-03 1.09884943e-02 9.99931054e-01 -1.02978470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.895898227 meters Centerline goodness [0,1] 0.4855434966932338 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.83, Z:-1.03 [[ 9.95262156e-01 9.70912570e-02 -5.15061259e-03 1.78396889e+02] [-9.71426979e-02 9.95210656e-01 -1.09108048e-02 -8.26491778e-01] [ 4.06660079e-03 1.13594555e-02 9.99927210e-01 -1.02969288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.92589822699995 meters Centerline goodness [0,1] 0.46875392933484217 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.83, Z:-1.03 [[ 9.94854073e-01 1.01194602e-01 -5.00262363e-03 1.78397341e+02] [-1.01225486e-01 9.94843163e-01 -6.36250362e-03 -8.28427909e-01] [ 4.33297489e-03 6.83615565e-03 9.99967246e-01 -1.02914739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.955898227 meters Centerline goodness [0,1] 0.6693259798762261 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.82, Z:-1.03 [[ 9.94884365e-01 1.00895366e-01 -5.02249492e-03 1.78397574e+02] [-1.00930285e-01 9.94866964e-01 -7.26651206e-03 -8.23892485e-01] [ 4.26355687e-03 7.73626108e-03 9.99960985e-01 -1.02923531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.98589822699995 meters Centerline goodness [0,1] 0.6319612590799031 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.82, Z:-1.03 [[ 9.94905210e-01 1.00689041e-01 -5.03398938e-03 1.78397648e+02] [-1.00726123e-01 9.94883980e-01 -7.75337340e-03 -8.21542913e-01] [ 4.22755566e-03 8.22092582e-03 9.99957271e-01 -1.02919851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.015898227 meters Centerline goodness [0,1] 0.6703067794470395 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.82, Z:-1.03 [[ 9.94919390e-01 1.00551669e-01 -4.97694764e-03 1.78397373e+02] [-1.00590151e-01 9.94894132e-01 -8.20287243e-03 -8.19261750e-01] [ 4.12672348e-03 8.66182874e-03 9.99953970e-01 -1.02899988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.04589822699995 meters Centerline goodness [0,1] 0.6460879425475621 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.82, Z:-1.03 [[ 9.94936682e-01 1.00384045e-01 -4.90323267e-03 1.78397057e+02] [-1.00423912e-01 9.94906667e-01 -8.70408694e-03 -8.16718514e-01] [ 4.00450742e-03 9.15241718e-03 9.99950097e-01 -1.02874252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.075898227 meters Centerline goodness [0,1] 0.6368863334807607 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.81, Z:-1.03 [[ 9.94978310e-01 9.99717357e-02 -4.88006346e-03 1.78397123e+02] [-1.00015831e-01 9.94937276e-01 -9.83107577e-03 -8.11116268e-01] [ 3.87252734e-03 1.02697908e-02 9.99939766e-01 -1.02871046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.10589822699995 meters Centerline goodness [0,1] 0.6520828484989527 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.81, Z:-1.03 [[ 9.94996530e-01 9.97858204e-02 -4.96952814e-03 1.78397449e+02] [-9.98322659e-02 9.94952083e-01 -1.01917654e-02 -8.09482659e-01] [ 3.92744870e-03 1.06368905e-02 9.99935714e-01 -1.02871526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.135898227 meters Centerline goodness [0,1] 0.6377017053746403 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.81, Z:-1.03 [[ 9.95005755e-01 9.96882676e-02 -5.07898805e-03 1.78397934e+02] [-9.97366665e-02 9.94959657e-01 -1.03864435e-02 -8.08543669e-01] [ 4.01798165e-03 1.08411324e-02 9.99933161e-01 -1.02884118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.16589822699996 meters Centerline goodness [0,1] 0.5679286372392998 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.81, Z:-1.03 [[ 9.95032419e-01 9.94209319e-02 -5.09539700e-03 1.78398119e+02] [-9.94716747e-02 9.94980435e-01 -1.09233957e-02 -8.06081708e-01] [ 3.98380613e-03 1.13759805e-02 9.99927356e-01 -1.02895565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.195898227 meters Centerline goodness [0,1] 0.4102283028016106 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.80, Z:-1.03 [[ 9.95048212e-01 9.92599217e-02 -5.15019987e-03 1.78398476e+02] [-9.93128211e-02 9.94992069e-01 -1.13025110e-02 -8.04265600e-01] [ 4.00252166e-03 1.17580243e-02 9.99922861e-01 -1.02918374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.22589822699996 meters Centerline goodness [0,1] 0.6387371230762815 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.81, Z:-1.03 [[ 9.94644444e-01 1.03235434e-01 -4.98743317e-03 1.78399075e+02] [-1.03267389e-01 9.94631457e-01 -6.64154505e-03 -8.07202739e-01] [ 4.27501514e-03 7.12101509e-03 9.99965507e-01 -1.02902719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.255898227 meters Centerline goodness [0,1] 0.5999072786277238 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.81, Z:-1.03 [[ 9.94658744e-01 1.03094394e-01 -5.05266311e-03 1.78399184e+02] [-1.03127833e-01 9.94644340e-01 -6.87652966e-03 -8.06176325e-01] [ 4.31667110e-03 7.36087055e-03 9.99963591e-01 -1.02885685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.28589822699996 meters Centerline goodness [0,1] 0.6643349276247867 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.81, Z:-1.03 [[ 9.94658130e-01 1.03096137e-01 -5.13712732e-03 1.78399458e+02] [-1.03129675e-01 9.94644962e-01 -6.75793438e-03 -8.06900979e-01] [ 4.41290087e-03 7.25162465e-03 9.99963969e-01 -1.02891617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.315898227 meters Centerline goodness [0,1] 0.6698690878378378 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.81, Z:-1.03 [[ 9.94655511e-01 1.03115136e-01 -5.26150470e-03 1.78399785e+02] [-1.03148716e-01 9.94644254e-01 -6.56886814e-03 -8.07993868e-01] [ 4.55597569e-03 7.07647835e-03 9.99964583e-01 -1.02886798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.34589822699996 meters Centerline goodness [0,1] 0.6296428872231112 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.81, Z:-1.03 [[ 9.94649997e-01 1.03169029e-01 -5.24733346e-03 1.78399585e+02] [-1.03200972e-01 9.94641004e-01 -6.23164795e-03 -8.09872664e-01] [ 4.57629996e-03 6.73983853e-03 9.99966815e-01 -1.02874892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.375898227 meters Centerline goodness [0,1] 0.7089971685754131 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.81, Z:-1.03 [[ 9.95058871e-01 9.91269526e-02 -5.62935803e-03 1.78399207e+02] [-9.91794570e-02 9.95019590e-01 -9.97250358e-03 -8.12430331e-01] [ 4.61277763e-03 1.04815448e-02 9.99934428e-01 -1.02857366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.40589822699997 meters Centerline goodness [0,1] 0.8178431539509536 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.82, Z:-1.03 [[ 9.95515117e-01 9.43988074e-02 -6.20616402e-03 1.78381718e+02] [-9.44186878e-02 9.95528081e-01 -2.99177247e-03 -8.15343606e-01] [ 5.89599080e-03 3.56433258e-03 9.99976266e-01 -1.03174409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43589822699994 meters Centerline goodness [0,1] 0.7825976392803408 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.82, Z:-1.03 [[ 9.95897031e-01 9.02535801e-02 -6.58751697e-03 1.78382014e+02] [-9.03004938e-02 9.95888468e-01 -7.20969263e-03 -8.15375972e-01] [ 5.90973161e-03 7.77496752e-03 9.99952311e-01 -1.03230405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.46589822699997 meters Centerline goodness [0,1] 0.8634135992362364 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.83, Z:-1.03 [[ 9.96201174e-01 8.65380848e-02 -9.71496675e-03 1.78378381e+02] [-8.64551353e-02 9.96218132e-01 8.65694199e-03 -8.26007288e-01] [ 1.04273812e-02 -7.78414701e-03 9.99915335e-01 -1.02829047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49589822699994 meters Centerline goodness [0,1] 0.7660197652611838 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.82, Z:-1.03 [[ 9.96539437e-01 8.25126236e-02 -1.00408047e-02 1.78378604e+02] [-8.24755983e-02 9.96584863e-01 4.04802167e-03 -8.23563748e-01] [ 1.03405269e-02 -3.20589186e-03 9.99941396e-01 -1.02871217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.52589822699997 meters Centerline goodness [0,1] 0.790242353688221 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.82, Z:-1.03 [[ 9.96851470e-01 7.86433658e-02 -1.01177180e-02 1.78378055e+02] [-7.86534390e-02 9.96901838e-01 -6.00957044e-04 -8.20342895e-01] [ 1.00391104e-02 1.39485823e-03 9.99948634e-01 -1.02896222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55589822699994 meters Centerline goodness [0,1] 0.6734179360606767 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.82, Z:-1.03 [[ 9.96819413e-01 7.90909204e-02 -9.78180291e-03 1.78377231e+02] [-7.91025484e-02 9.96866157e-01 -8.07007996e-04 -8.18084909e-01] [ 9.68732127e-03 1.57820678e-03 9.99951831e-01 -1.02908767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.585898227 meters Centerline goodness [0,1] 0.6106000506371846 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.82, Z:-1.03 [[ 9.96815756e-01 7.91461432e-02 -9.70754590e-03 1.78377168e+02] [-7.91621491e-02 9.96860937e-01 -1.27520108e-03 -8.15327919e-01] [ 9.57614605e-03 2.03961073e-03 9.99952068e-01 -1.02926427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61589822699995 meters Centerline goodness [0,1] 0.5193547028347585 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.81, Z:-1.03 [[ 9.96815000e-01 7.91599352e-02 -9.67265726e-03 1.78377401e+02] [-7.91808894e-02 9.96858635e-01 -1.80233039e-03 -8.12314747e-01] [ 9.49959956e-03 2.56247957e-03 9.99951594e-01 -1.02972667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.645898227 meters Centerline goodness [0,1] 0.5067493461570911 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.81, Z:-1.03 [[ 9.96821854e-01 7.90711145e-02 -9.69277633e-03 1.78377844e+02] [-7.90984854e-02 9.96863738e-01 -2.47318703e-03 -8.08725590e-01] [ 9.46681959e-03 3.23201081e-03 9.99949965e-01 -1.03023706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67589822699995 meters Centerline goodness [0,1] 0.4237149850421539 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.80, Z:-1.03 [[ 9.96835710e-01 7.88666356e-02 -9.93076864e-03 1.78379431e+02] [-7.89064125e-02 9.96875240e-01 -3.67881303e-03 -8.02191950e-01] [ 9.60960176e-03 4.45077352e-03 9.99943922e-01 -1.03144065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.705898227 meters Centerline goodness [0,1] 0.45946174320841604 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.80, Z:-1.03 [[ 9.96851164e-01 7.86751680e-02 -9.89818517e-03 1.78379223e+02] [-7.87187482e-02 9.96888464e-01 -4.09250663e-03 -8.00268836e-01] [ 9.54540797e-03 4.85879274e-03 9.99942637e-01 -1.03123943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73589822699995 meters Centerline goodness [0,1] 0.4415433649239082 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.80, Z:-1.03 [[ 9.96863839e-01 7.85232076e-02 -9.82817283e-03 1.78378738e+02] [-7.85684226e-02 9.96899443e-01 -4.30166632e-03 -7.99449606e-01] [ 9.45991938e-03 5.06035964e-03 9.99942450e-01 -1.03081839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.765898227 meters Centerline goodness [0,1] 0.4415433649239082 Centerline is valid? [False, False] Translation: X:178.38, Y:-0.80, Z:-1.03 [[ 9.96863839e-01 7.85232076e-02 -9.82817283e-03 1.78378738e+02] [-7.85684226e-02 9.96899443e-01 -4.30166632e-03 -7.99449606e-01] [ 9.45991938e-03 5.06035964e-03 9.99942450e-01 -1.03081839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79589822699995 meters Centerline goodness [0,1] 0.491263272301647 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.80, Z:-1.03 [[ 9.96770469e-01 7.91140290e-02 -1.37696288e-02 1.78392072e+02] [-7.91016141e-02 9.96865511e-01 1.44476608e-03 -8.02282232e-01] [ 1.38407693e-02 -3.50900302e-04 9.99904150e-01 -1.02512997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.825898227 meters Centerline goodness [0,1] 0.5463467829880044 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.80, Z:-1.02 [[ 9.97147955e-01 7.41820154e-02 -1.38919125e-02 1.78391276e+02] [-7.42456625e-02 9.97231460e-01 -4.12261374e-03 -7.96284300e-01] [ 1.35476284e-02 5.14227011e-03 9.99895004e-01 -1.02482371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85589822699995 meters Centerline goodness [0,1] 0.6538000126281228 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.79, Z:-1.02 [[ 9.97166120e-01 7.39265105e-02 -1.39499512e-02 1.78391565e+02] [-7.39959815e-02 9.97248248e-01 -4.53067353e-03 -7.94489708e-01] [ 1.35766275e-02 5.55007447e-03 9.99892430e-01 -1.02493123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.885898227 meters Centerline goodness [0,1] 0.6908921104578354 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.79, Z:-1.03 [[ 9.97181808e-01 7.36722759e-02 -1.41717044e-02 1.78392436e+02] [-7.37499174e-02 9.97264053e-01 -5.03562862e-03 -7.92157756e-01] [ 1.37619452e-02 6.06659929e-03 9.99886896e-01 -1.02512606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91589822699996 meters Centerline goodness [0,1] 0.6659515717926933 Centerline is valid? [False, False] Translation: X:178.39, Y:-0.79, Z:-1.03 [[ 9.97215259e-01 7.31685515e-02 -1.44253548e-02 1.78393558e+02] [-7.32637099e-02 9.97293445e-01 -6.18165759e-03 -7.86718414e-01] [ 1.39340089e-02 7.22129828e-03 9.99876841e-01 -1.02544008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.945898227 meters Centerline goodness [0,1] 0.5371652816251153 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.79, Z:-1.03 [[ 9.96993451e-01 7.59858494e-02 -1.51726525e-02 1.78398347e+02] [-7.60418992e-02 9.97099644e-01 -3.15120105e-03 -7.85519408e-01] [ 1.48891998e-02 4.29548412e-03 9.99879923e-01 -1.02723451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97589822699996 meters Centerline goodness [0,1] 0.5237877020496584 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.78, Z:-1.03 [[ 9.97014724e-01 7.56951809e-02 -1.52275808e-02 1.78398546e+02] [-7.57625881e-02 9.97118263e-01 -3.89875399e-03 -7.81819051e-01] [ 1.48885820e-02 5.04079607e-03 9.99876453e-01 -1.02713154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.005898227 meters Centerline goodness [0,1] 0.6003402432108877 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.78, Z:-1.03 [[ 9.97037226e-01 7.54058551e-02 -1.51897203e-02 1.78398430e+02] [-7.54832260e-02 9.97136528e-01 -4.58558279e-03 -7.78497864e-01] [ 1.48004451e-02 5.71856583e-03 9.99874114e-01 -1.02704036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03589822699996 meters Centerline goodness [0,1] 0.6083141268263803 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.77, Z:-1.03 [[ 9.97069331e-01 7.49940202e-02 -1.51210620e-02 1.78398031e+02] [-7.50884977e-02 9.97160125e-01 -5.77946051e-03 -7.72475038e-01] [ 1.46446951e-02 6.89794066e-03 9.99868967e-01 -1.02658355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.065898227 meters Centerline goodness [0,1] 0.5945855684735645 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.77, Z:-1.03 [[ 9.96758257e-01 7.90198528e-02 -1.51274599e-02 1.78398917e+02] [-7.90490836e-02 9.96869820e-01 -1.34327838e-03 -7.74055955e-01] [ 1.49739626e-02 2.53473566e-03 9.99884671e-01 -1.02637680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09589822699996 meters Centerline goodness [0,1] 0.5787602801674274 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.77, Z:-1.03 [[ 9.96778758e-01 7.87516958e-02 -1.51749305e-02 1.78399143e+02] [-7.87899785e-02 9.96889348e-01 -1.94071425e-03 -7.71253213e-01] [ 1.49748920e-02 3.13009518e-03 9.99882971e-01 -1.02641060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.125898227 meters Centerline goodness [0,1] 0.5439668935383581 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.77, Z:-1.03 [[ 9.96799090e-01 7.84882744e-02 -1.52041104e-02 1.78399408e+02] [-7.85361325e-02 9.96907940e-01 -2.57571085e-03 -7.68157879e-01] [ 1.49549353e-02 3.76153827e-03 9.99881093e-01 -1.02659549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15589822699997 meters Centerline goodness [0,1] 0.5726497526055374 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.76, Z:-1.03 [[ 9.96845852e-01 7.78707709e-02 -1.53131080e-02 1.78400093e+02] [-7.79396725e-02 9.96950234e-01 -3.95451646e-03 -7.61666226e-01] [ 1.49584654e-02 5.13554196e-03 9.99874927e-01 -1.02695933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18589822699994 meters Centerline goodness [0,1] 0.6064822635135135 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.76, Z:-1.03 [[ 9.96869087e-01 7.75426380e-02 -1.54648927e-02 1.78400698e+02] [-7.76219268e-02 9.96972284e-01 -4.59352128e-03 -7.58744223e-01] [ 1.50618756e-02 5.77955413e-03 9.99869860e-01 -1.02708329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21589822699997 meters Centerline goodness [0,1] 0.6094118638355241 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.76, Z:-1.03 [[ 9.96903461e-01 7.70705452e-02 -1.56083301e-02 1.78401242e+02] [-7.71633632e-02 9.97003657e-01 -5.43353781e-03 -7.55024542e-01] [ 1.51427965e-02 6.62110390e-03 9.99863419e-01 -1.02714888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24589822699994 meters Centerline goodness [0,1] 0.625688111946884 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.76, Z:-1.03 [[ 9.97309961e-01 7.26059131e-02 -1.00609796e-02 1.78402971e+02] [-7.25376798e-02 9.97341184e-01 6.98905532e-03 -7.55656344e-01] [ 1.05416761e-02 -6.24045437e-03 9.99924962e-01 -1.03082283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.27589822699997 meters Centerline goodness [0,1] 0.6473965426925092 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.75, Z:-1.03 [[ 9.97628915e-01 6.80539351e-02 -1.02572229e-02 1.78402741e+02] [-6.80400843e-02 9.97681151e-01 1.69371656e-03 -7.50478539e-01] [ 1.03487020e-02 -9.91798302e-04 9.99945959e-01 -1.03090237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.30589822699994 meters Centerline goodness [0,1] 0.658148791125037 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.75, Z:-1.03 [[ 9.97927304e-01 6.34965602e-02 -1.04538253e-02 1.78402707e+02] [-6.35375699e-02 9.97972815e-01 -3.63837830e-03 -7.45026851e-01] [ 1.02016090e-02 4.29504770e-03 9.99938738e-01 -1.03113337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.335898227 meters Centerline goodness [0,1] 0.6981418278346606 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.74, Z:-1.03 [[ 9.97940113e-01 6.32586270e-02 -1.06713607e-02 1.78403502e+02] [-6.33043704e-02 9.97986233e-01 -4.00433158e-03 -7.43448510e-01] [ 1.03965626e-02 4.67162688e-03 9.99935042e-01 -1.03126009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.36589822699995 meters Centerline goodness [0,1] 0.6395165196150687 Centerline is valid? [False, False] Translation: X:178.40, Y:-0.74, Z:-1.03 [[ 9.97965811e-01 6.28084574e-02 -1.09242011e-02 1.78404312e+02] [-6.28620964e-02 9.98011447e-01 -4.63773434e-03 -7.40912683e-01] [ 1.06111888e-02 5.31501849e-03 9.99929574e-01 -1.03123681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.395898227 meters Centerline goodness [0,1] 0.6147367538916009 Centerline is valid? [False, False] Translation: X:178.41, Y:-0.74, Z:-1.03 [[ 9.97743254e-01 6.61942050e-02 -1.12572512e-02 1.78405931e+02] [-6.62013175e-02 9.97806253e-01 -2.59953067e-04 -7.44604437e-01] [ 1.12153482e-02 1.00461128e-03 9.99936601e-01 -1.03103842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.42589822699995 meters Centerline goodness [0,1] 0.9159981323485716 Centerline is valid? [False, False] Translation: X:178.41, Y:-0.75, Z:-1.03 [[ 9.97744198e-01 6.61901350e-02 -1.11974115e-02 1.78405418e+02] [-6.61952109e-02 9.97806688e-01 -8.28868291e-05 -7.45700875e-01] [ 1.11673658e-02 8.23914870e-04 9.99937304e-01 -1.03055750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.455898227 meters Centerline goodness [0,1] 0.8550206097127194 Centerline is valid? [False, False] Translation: X:178.43, Y:-0.75, Z:-1.03 [[ 9.98090355e-01 6.10498780e-02 -9.41039137e-03 1.78426789e+02] [-6.09995107e-02 9.98122367e-01 5.54976081e-03 -7.47589153e-01] [ 9.73153433e-03 -4.96513347e-03 9.99940321e-01 -1.03141749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.48589822699995 meters Centerline goodness [0,1] 0.8480498431876066 Centerline is valid? [False, False] Translation: X:178.43, Y:-0.75, Z:-1.03 [[ 9.98345698e-01 5.66835390e-02 -9.63550146e-03 1.78427148e+02] [-5.66782333e-02 9.98392158e-01 8.23043008e-04 -7.45251247e-01] [ 9.66666208e-03 -2.75558248e-04 9.99953239e-01 -1.03207774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.515898227 meters Centerline goodness [0,1] 0.9856141328816757 Centerline is valid? [False, True] Translation: X:178.39, Y:-0.75, Z:-1.03 [[ 9.98591274e-01 5.21597563e-02 -9.73795491e-03 1.78386285e+02] [-5.20115334e-02 9.98535322e-01 1.49000171e-02 -7.50037781e-01] [ 1.05008732e-02 -1.43725410e-02 9.99841568e-01 -1.03406227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.54589822699995 meters Centerline goodness [0,1] 0.9650212694267785 Centerline is valid? [True, True] Translation: X:178.41, Y:-0.74, Z:-1.03 [[ 9.98647307e-01 5.13419747e-02 -8.21941184e-03 1.78414373e+02] [-5.13445879e-02 9.98680991e-01 -1.07087924e-04 -7.40106705e-01] [ 8.20307226e-03 5.28965380e-04 9.99966214e-01 -1.03123216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.575898227 meters Centerline goodness [0,1] 0.9382516188714154 Centerline is valid? [True, False] Translation: X:178.41, Y:-0.74, Z:-1.03 [[ 9.98848060e-01 4.73017467e-02 -8.06832180e-03 1.78412985e+02] [-4.73424790e-02 9.98866529e-01 -4.93433855e-03 -7.36238275e-01] [ 7.82577376e-03 5.31062884e-03 9.99955276e-01 -1.03065809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.60589822699995 meters Centerline goodness [0,1] 0.8826459831000126 Centerline is valid? [False, False] Translation: X:178.41, Y:-0.74, Z:-1.03 [[ 9.98848423e-01 4.73057121e-02 -7.99983183e-03 1.78412517e+02] [-4.73463115e-02 9.98866200e-01 -4.96407158e-03 -7.36035900e-01] [ 7.75593267e-03 5.33711760e-03 9.99955679e-01 -1.03024776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.635898227 meters Centerline goodness [0,1] 0.9756366723259763 Centerline is valid? [False, True] Translation: X:178.41, Y:-0.74, Z:-1.03 [[ 9.98849334e-01 4.73001595e-02 -7.91851674e-03 1.78412250e+02] [-4.73405285e-02 9.98866342e-01 -4.99059331e-03 -7.35960522e-01] [ 7.67348399e-03 5.35971758e-03 9.99956195e-01 -1.03023211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.66589822699996 meters Centerline goodness [0,1] 0.8572716598171601 Centerline is valid? [True, False] Translation: X:178.41, Y:-0.74, Z:-1.03 [[ 9.98642657e-01 5.14669794e-02 -7.99961385e-03 1.78413107e+02] [-5.14688930e-02 9.98674598e-01 -3.33910412e-05 -7.40234802e-01] [ 7.98729261e-03 4.45076987e-04 9.99968002e-01 -1.03026219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.695898227 meters Centerline goodness [0,1] 0.9109776764232065 Centerline is valid? [False, False] Translation: X:178.41, Y:-0.74, Z:-1.03 [[ 9.98839725e-01 4.74616816e-02 -8.16040415e-03 1.78413107e+02] [-4.75010748e-02 9.98860114e-01 -4.70316688e-03 -7.37171789e-01] [ 7.92788201e-03 5.08533789e-03 9.99955643e-01 -1.03044525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.72589822699996 meters Centerline goodness [0,1] 0.9345929001101415 Centerline is valid? [False, False] Translation: X:178.41, Y:-0.74, Z:-1.03 [[ 9.98834256e-01 4.75659117e-02 -8.22267446e-03 1.78413229e+02] [-4.76031636e-02 9.98856655e-01 -4.39553343e-03 -7.38752462e-01] [ 8.00419555e-03 4.78183468e-03 9.99956533e-01 -1.03035306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.755898227 meters Centerline goodness [0,1] 0.9555305554965932 Centerline is valid? [False, True] Translation: X:178.41, Y:-0.75, Z:-1.03 [[ 9.98974966e-01 4.37466449e-02 -1.16296665e-02 1.78411096e+02] [-4.36185045e-02 9.98987118e-01 1.10528264e-02 -7.45210340e-01] [ 1.21014111e-02 -1.05342282e-02 9.99871285e-01 -1.02676187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.78589822699996 meters Centerline goodness [0,1] 0.9755629585898625 Centerline is valid? [True, True] Translation: X:178.44, Y:-0.75, Z:-1.02 [[ 9.99133494e-01 4.02242523e-02 -1.06897107e-02 1.78440229e+02] [-4.02289088e-02 9.99190465e-01 -2.20851858e-04 -7.47497078e-01] [ 1.06721734e-02 6.50695885e-04 9.99942839e-01 -1.02438481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.815898227 meters Centerline goodness [0,1] 0.9943677479461337 Centerline is valid? [True, True] Translation: X:178.47, Y:-0.76, Z:-1.02 [[ 9.99195246e-01 3.88023366e-02 -1.01606620e-02 1.78470557e+02] [-3.88064716e-02 9.99246723e-01 -2.10048443e-04 -7.57830921e-01] [ 1.01448578e-02 6.04178847e-04 9.99948357e-01 -1.02264906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.84589822699996 meters Centerline goodness [0,1] 0.9808096077937348 Centerline is valid? [True, True] Translation: X:178.50, Y:-0.75, Z:-1.02 [[ 9.99242286e-01 3.76617614e-02 -9.82062182e-03 1.78498398e+02] [-3.76655722e-02 9.99290380e-01 -2.03309141e-04 -7.53501248e-01] [ 9.80599593e-03 5.73054432e-04 9.99951756e-01 -1.02281299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.875898227 meters Centerline goodness [0,1] 0.9877206772747552 Centerline is valid? [True, True] Translation: X:178.53, Y:-0.76, Z:-1.02 [[ 9.99246158e-01 3.74040659e-02 -1.03948285e-02 1.78527285e+02] [-3.74083275e-02 9.99300040e-01 -2.15773892e-04 -7.58028758e-01] [ 1.03794817e-02 6.04464380e-04 9.99945949e-01 -1.02310066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.90589822699997 meters Centerline goodness [0,1] 0.9551970947786247 Centerline is valid? [True, True] Translation: X:178.56, Y:-0.76, Z:-1.03 [[ 9.99155405e-01 3.91890602e-02 -1.23569314e-02 1.78556704e+02] [-3.91952237e-02 9.99231539e-01 -2.56915717e-04 -7.55772333e-01] [ 1.23373673e-02 7.41031418e-04 9.99923617e-01 -1.02631885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93589822699994 meters Centerline goodness [0,1] 0.8109436022340738 Centerline is valid? [True, False] Translation: X:178.56, Y:-0.76, Z:-1.03 [[ 9.99145673e-01 3.94038601e-02 -1.24603292e-02 1.78557025e+02] [-3.94067326e-02 9.99223253e-01 1.50024853e-05 -7.56856876e-01] [ 1.24512418e-02 4.76031192e-04 9.99922367e-01 -1.02628014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.96589822699997 meters Centerline goodness [0,1] 0.9670072191497446 Centerline is valid? [False, True] Translation: X:178.56, Y:-0.76, Z:-1.03 [[ 9.99138997e-01 3.95842375e-02 -1.24239170e-02 1.78556903e+02] [-3.95851603e-02 9.99216186e-01 1.71719365e-04 -7.57374764e-01] [ 1.24209764e-02 3.20231232e-04 9.99922805e-01 -1.02628067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99589822699994 meters Centerline goodness [0,1] 0.9128879537085745 Centerline is valid? [True, False] Translation: X:178.56, Y:-0.76, Z:-1.03 [[ 9.99132910e-01 3.97603984e-02 -1.23506794e-02 1.78556648e+02] [-3.97608925e-02 9.99209202e-01 2.05637033e-04 -7.57188970e-01] [ 1.23490888e-02 2.85615310e-04 9.99923706e-01 -1.02621386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.02589822699997 meters Centerline goodness [0,1] 0.879773452524356 Centerline is valid? [False, False] Translation: X:178.55, Y:-0.76, Z:-1.03 [[ 9.99112815e-01 4.04299003e-02 -1.17900986e-02 1.78554729e+02] [-4.04271214e-02 9.99182377e-01 4.74032308e-04 -7.57090935e-01] [ 1.17996238e-02 3.02799232e-06 9.99930382e-01 -1.02587572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05589822699994 meters Centerline goodness [0,1] 0.8331799404978489 Centerline is valid? [False, False] Translation: X:178.55, Y:-0.76, Z:-1.03 [[ 9.99109124e-01 4.05720928e-02 -1.16131013e-02 1.78554298e+02] [-4.05698089e-02 9.99176613e-01 4.32273928e-04 -7.56494208e-01] [ 1.16210775e-02 3.92524765e-05 9.99932472e-01 -1.02602934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.085898227 meters Centerline goodness [0,1] 0.6579488255033556 Centerline is valid? [False, False] Translation: X:178.59, Y:-0.75, Z:-1.03 [[ 9.99116914e-01 4.07548575e-02 -1.02193160e-02 1.78594085e+02] [-4.07760194e-02 9.99166561e-01 -1.87095224e-03 -7.52423124e-01] [ 1.01345485e-02 2.28600306e-03 9.99946031e-01 -1.02505135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11589822699995 meters Centerline goodness [0,1] 0.5314300077501519 Centerline is valid? [False, False] Translation: X:178.59, Y:-0.75, Z:-1.03 [[ 9.99114487e-01 4.08449090e-02 -1.00962701e-02 1.78593880e+02] [-4.08695937e-02 9.99161954e-01 -2.25074488e-03 -7.50064780e-01] [ 9.99587752e-03 2.66138228e-03 9.99946498e-01 -1.02533970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.145898227 meters Centerline goodness [0,1] 0.5395953087823468 Centerline is valid? [False, False] Translation: X:178.59, Y:-0.74, Z:-1.03 [[ 9.99079210e-01 4.18145484e-02 -9.60598652e-03 1.78592797e+02] [-4.18419185e-02 9.99120686e-01 -2.66610228e-03 -7.43967710e-01] [ 9.48605798e-03 3.06558026e-03 9.99950307e-01 -1.02592408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17589822699995 meters Centerline goodness [0,1] 0.5673760374547776 Centerline is valid? [False, False] Translation: X:178.59, Y:-0.74, Z:-1.03 [[ 9.99086708e-01 4.16527688e-02 -9.52873318e-03 1.78592904e+02] [-4.16869166e-02 9.99124892e-01 -3.41348280e-03 -7.40071702e-01] [ 9.37821350e-03 3.80758880e-03 9.99948774e-01 -1.02652142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.205898227 meters Centerline goodness [0,1] 0.5196183510917765 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.74, Z:-1.03 [[ 9.98965479e-01 4.42845003e-02 -1.03370363e-02 1.78598577e+02] [-4.42948253e-02 9.99018204e-01 -7.71929885e-04 -7.38474331e-01] [ 1.02927029e-02 1.22900852e-03 9.99946273e-01 -1.02963037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23589822699995 meters Centerline goodness [0,1] 0.40549188556131843 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.74, Z:-1.03 [[ 9.98972151e-01 4.41170852e-02 -1.04079183e-02 1.78599119e+02] [-4.41320250e-02 9.99024975e-01 -1.21003962e-03 -7.36348631e-01] [ 1.03443869e-02 1.66811839e-03 9.99945104e-01 -1.03014173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.265898227 meters Centerline goodness [0,1] 0.5380471380471381 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.74, Z:-1.03 [[ 9.98980063e-01 4.39558475e-02 -1.03303646e-02 1.78598270e+02] [-4.39719646e-02 9.99031869e-01 -1.33814225e-03 -7.36038388e-01] [ 1.02615443e-02 1.79102385e-03 9.99945745e-01 -1.02922297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29589822699995 meters Centerline goodness [0,1] 0.5429585749096715 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.74, Z:-1.03 [[ 9.99242213e-01 3.86380977e-02 -4.70086432e-03 1.78600067e+02] [-3.85879514e-02 9.99201837e-01 1.03275395e-02 -7.37472261e-01] [ 5.09614874e-03 -1.01383167e-02 9.99935620e-01 -1.03267069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.325898227 meters Centerline goodness [0,1] 0.4955084816578925 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.73, Z:-1.03 [[ 9.99403606e-01 3.42079902e-02 -4.71660954e-03 1.78599624e+02] [-3.41823875e-02 9.99400990e-01 5.40599396e-03 -7.34262728e-01] [ 4.89871244e-03 -5.24154488e-03 9.99974264e-01 -1.03272352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35589822699995 meters Centerline goodness [0,1] 0.5528602767465407 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.73, Z:-1.03 [[ 9.99547126e-01 2.96875930e-02 -4.91831854e-03 1.78600056e+02] [-2.96851404e-02 9.99559136e-01 5.70935556e-04 -7.31715210e-01] [ 4.93309993e-03 -4.24676018e-04 9.99987742e-01 -1.03312183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.385898227 meters Centerline goodness [0,1] 0.5984918307498952 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.73, Z:-1.03 [[ 9.99545827e-01 2.97160977e-02 -5.00929424e-03 1.78600586e+02] [-2.97129530e-02 9.99558227e-01 7.01040651e-04 -7.32419550e-01] [ 5.02791346e-03 -5.51881333e-04 9.99987208e-01 -1.03348588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41589822699996 meters Centerline goodness [0,1] 0.600432237352861 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.73, Z:-1.03 [[ 9.99660704e-01 2.55828066e-02 -4.89860296e-03 1.78600147e+02] [-2.56030696e-02 9.99663700e-01 -4.11944884e-03 -7.29012838e-01] [ 4.79156850e-03 4.24347041e-03 9.99979517e-01 -1.03396166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.445898227 meters Centerline goodness [0,1] 0.5346174967262283 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.73, Z:-1.03 [[ 9.99659237e-01 2.56386578e-02 -4.90596586e-03 1.78600343e+02] [-2.56581372e-02 9.99662973e-01 -3.94966664e-03 -7.29923708e-01] [ 4.80304826e-03 4.07419869e-03 9.99980166e-01 -1.03428287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47589822699996 meters Centerline goodness [0,1] 0.5715215656629289 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.73, Z:-1.04 [[ 9.99655514e-01 2.57279872e-02 -5.18879480e-03 1.78601788e+02] [-2.57458359e-02 9.99662729e-01 -3.40290075e-03 -7.32979044e-01] [ 5.09949498e-03 3.53531835e-03 9.99980748e-01 -1.03522583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.505898227 meters Centerline goodness [0,1] 0.5119976446341823 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.74, Z:-1.03 [[ 9.99683588e-01 2.24188988e-02 -1.14068722e-02 1.78599924e+02] [-2.22966745e-02 9.99693798e-01 1.07316442e-02 -7.39169712e-01] [ 1.16439710e-02 -1.04739133e-02 9.99877350e-01 -1.03173374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53589822699996 meters Centerline goodness [0,1] 0.6245135363790186 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.74, Z:-1.03 [[ 9.99772337e-01 1.80186138e-02 -1.14282205e-02 1.78600284e+02] [-1.79525591e-02 9.99821688e-01 5.85645919e-03 -7.36062581e-01] [ 1.15317080e-02 -5.64996009e-03 9.99917545e-01 -1.03273039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.565898227 meters Centerline goodness [0,1] 0.5111837829905876 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.74, Z:-1.03 [[ 9.99771486e-01 1.79789950e-02 -1.15642295e-02 1.78601045e+02] [-1.79117618e-02 9.99822214e-01 5.89143705e-03 -7.36491636e-01] [ 1.16680957e-02 -5.68295505e-03 9.99915776e-01 -1.03326885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59589822699996 meters Centerline goodness [0,1] 0.5218638597675449 Centerline is valid? [False, False] Translation: X:178.60, Y:-0.73, Z:-1.03 [[ 9.99842115e-01 1.38665629e-02 -1.11113927e-02 1.78599176e+02] [-1.38552831e-02 9.99903415e-01 1.09149709e-03 -7.32876293e-01] [ 1.11254548e-02 -9.37373269e-04 9.99937671e-01 -1.03293709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.625898227 meters Centerline goodness [0,1] 0.5373109349176796 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.73, Z:-1.03 [[ 9.99876581e-01 1.32850081e-02 -8.38636513e-03 1.78618957e+02] [-1.31898345e-02 9.99849116e-01 1.13037104e-02 -7.34183482e-01] [ 8.53526965e-03 -1.11917006e-02 9.99900943e-01 -1.03348143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65589822699997 meters Centerline goodness [0,1] 0.5373109349176796 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.73, Z:-1.03 [[ 9.99923550e-01 9.32358440e-03 -8.12185956e-03 1.78618039e+02] [-9.26959883e-03 9.99934861e-01 6.65942372e-03 -7.30784730e-01] [ 8.18342021e-03 -6.58362823e-03 9.99944842e-01 -1.03362603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68589822699994 meters Centerline goodness [0,1] 0.5267545600802324 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.73, Z:-1.03 [[ 9.99956612e-01 5.17525944e-03 -7.74539980e-03 1.78616512e+02] [-5.16269486e-03 9.99985326e-01 1.64131554e-03 -7.26188095e-01] [ 7.75378038e-03 -1.60125719e-03 9.99968657e-01 -1.03335554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71589822699997 meters Centerline goodness [0,1] 0.6298694473059053 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.72, Z:-1.03 [[ 9.99959437e-01 5.02950253e-03 -7.47184915e-03 1.78615151e+02] [-5.02122399e-03 9.99986759e-01 1.12631110e-03 -7.23455962e-01] [ 7.47741500e-03 -1.08874758e-03 9.99971451e-01 -1.03262070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74589822699994 meters Centerline goodness [0,1] 0.47745841538526 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.72, Z:-1.03 [[ 9.99959962e-01 4.95913884e-03 -7.44863369e-03 1.78615071e+02] [-4.95259397e-03 9.99987334e-01 8.96855978e-04 -7.22328884e-01] [ 7.45298697e-03 -8.59930011e-04 9.99971856e-01 -1.03263825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.77589822699997 meters Centerline goodness [0,1] 0.5942405089782763 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.72, Z:-1.03 [[ 9.99960432e-01 4.88117322e-03 -7.43694095e-03 1.78615104e+02] [-4.87590835e-03 9.99987849e-01 7.25901901e-04 -7.21590611e-01] [ 7.44039383e-03 -6.89611336e-04 9.99972082e-01 -1.03278500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.80589822699994 meters Centerline goodness [0,1] 0.6315590392334041 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.72, Z:-1.03 [[ 9.99960309e-01 4.82784321e-03 -7.48818201e-03 1.78615396e+02] [-4.82292064e-03 9.99988142e-01 6.75297777e-04 -7.21523713e-01] [ 7.49135344e-03 -6.39156066e-04 9.99971735e-01 -1.03299428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.835898227 meters Centerline goodness [0,1] 0.6626321851115067 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.72, Z:-1.04 [[ 9.99962437e-01 2.98525420e-03 -8.13713138e-03 1.78620425e+02] [-2.99376416e-03 9.99994984e-01 -1.03383806e-03 -7.21096632e-01] [ 8.13400430e-03 1.05815987e-03 9.99966359e-01 -1.03628462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.86589822699995 meters Centerline goodness [0,1] 0.6798320731860145 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.72, Z:-1.04 [[ 9.99960994e-01 3.00333164e-03 -8.30609696e-03 1.78620681e+02] [-3.00794116e-03 9.99995329e-01 -5.42519707e-04 -7.23963111e-01] [ 8.30442880e-03 5.67482796e-04 9.99965357e-01 -1.03579973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.895898227 meters Centerline goodness [0,1] 0.7871173281009347 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.73, Z:-1.03 [[ 9.99969817e-01 1.49263584e-03 -7.62472244e-03 1.78615900e+02] [-1.50496372e-03 9.99997569e-01 -1.61134872e-03 -7.25214309e-01] [ 7.62229875e-03 1.62277502e-03 9.99969633e-01 -1.03272327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.92589822699995 meters Centerline goodness [0,1] 0.8008515457863166 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.73, Z:-1.03 [[ 9.99968809e-01 1.57276009e-03 -7.73999904e-03 1.78616026e+02] [-1.58149942e-03 9.99998119e-01 -1.12312129e-03 -7.27895277e-01] [ 7.73821808e-03 1.13532706e-03 9.99969415e-01 -1.03225568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.955898227 meters Centerline goodness [0,1] 0.7930650415046758 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.73, Z:-1.03 [[ 9.99969186e-01 1.71983178e-03 -7.65954413e-03 1.78615389e+02] [-1.72468828e-03 9.99998316e-01 -6.27485140e-04 -7.30527117e-01] [ 7.65845206e-03 6.40676131e-04 9.99970468e-01 -1.03159518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.98589822699995 meters Centerline goodness [0,1] 0.7468389166824985 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.73, Z:-1.03 [[ 9.99969463e-01 1.80283306e-03 -7.60408450e-03 1.78615096e+02] [-1.80634077e-03 9.99998265e-01 -4.54450524e-04 -7.31342968e-01] [ 7.60325201e-03 4.68172214e-04 9.99970985e-01 -1.03142175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.015898227 meters Centerline goodness [0,1] 0.7355568665458683 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.73, Z:-1.03 [[ 9.99968327e-01 1.97906580e-03 -7.70900010e-03 1.78615713e+02] [-1.97950686e-03 9.99998040e-01 -4.95831553e-05 -7.33312293e-01] [ 7.70888686e-03 6.48416034e-05 9.99970284e-01 -1.03181558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.04589822699995 meters Centerline goodness [0,1] 0.8037322087506589 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.73, Z:-1.03 [[ 9.99966542e-01 2.08183722e-03 -7.91085749e-03 1.78616659e+02] [-2.08014905e-03 9.99997812e-01 2.21620803e-04 -7.34729827e-01] [ 7.91130156e-03 -2.05157625e-04 9.99968684e-01 -1.03227898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.075898227 meters Centerline goodness [0,1] 0.8139279298319771 Centerline is valid? [False, False] Translation: X:178.62, Y:-0.74, Z:-1.03 [[ 9.99965023e-01 2.17669132e-03 -8.07553520e-03 1.78617539e+02] [-2.17246944e-03 9.99997499e-01 5.31535067e-04 -7.36383736e-01] [ 8.07667199e-03 -5.13972623e-04 9.99967251e-01 -1.03286203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.10589822699995 meters Centerline goodness [0,1] 0.685895026932231 Centerline is valid? [False, False] Translation: X:178.64, Y:-0.74, Z:-1.03 [[ 9.99975823e-01 4.79275253e-04 -6.93708686e-03 1.78640210e+02] [-4.12770158e-04 9.99953976e-01 9.58514974e-03 -7.38348569e-01] [ 6.94136152e-03 -9.58205458e-03 9.99929998e-01 -1.03396161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.135898227 meters Centerline goodness [0,1] 0.8231900476220446 Centerline is valid? [False, False] Translation: X:178.64, Y:-0.74, Z:-1.03 [[ 9.99970264e-01 -3.75900091e-03 -6.73355303e-03 1.78639593e+02] [ 3.79239968e-03 9.99980537e-01 4.95416954e-03 -7.36239004e-01] [ 6.71479925e-03 -4.97955855e-03 9.99965057e-01 -1.03401861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.16589822699996 meters Centerline goodness [0,1] 0.8479220263119366 Centerline is valid? [False, False] Translation: X:178.64, Y:-0.74, Z:-1.03 [[ 9.99971579e-01 -3.61173697e-03 -6.61792126e-03 1.78638621e+02] [ 3.65194908e-03 9.99974883e-01 6.07427016e-03 -7.42530630e-01] [ 6.59581638e-03 -6.09826583e-03 9.99959652e-01 -1.03289125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.195898227 meters Centerline goodness [0,1] 0.9552100645867082 Centerline is valid? [False, True] Translation: X:178.64, Y:-0.74, Z:-1.03 [[ 9.99948638e-01 -7.85546821e-03 -6.40408181e-03 1.78637915e+02] [ 7.86626436e-03 9.99967679e-01 1.66238091e-03 -7.41631030e-01] [ 6.39081604e-03 -1.71267172e-03 9.99978112e-01 -1.03275199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.22589822699996 meters Centerline goodness [0,1] 0.9318219912839424 Centerline is valid? [True, False] Translation: X:178.64, Y:-0.75, Z:-1.03 [[ 9.99948244e-01 -7.72215618e-03 -6.62407935e-03 1.78638719e+02] [ 7.73762081e-03 9.99967391e-01 2.31216538e-03 -7.45112129e-01] [ 6.60600844e-03 -2.36330033e-03 9.99975387e-01 -1.03284139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.255898227 meters Centerline goodness [0,1] 0.9860779044918858 Centerline is valid? [False, True] Translation: X:178.64, Y:-0.75, Z:-1.03 [[ 9.99906694e-01 -1.18699744e-02 -6.76072591e-03 1.78639536e+02] [ 1.18601666e-02 9.99928557e-01 -1.48895410e-03 -7.47760454e-01] [ 6.77791675e-03 1.40863184e-03 9.99976038e-01 -1.03324839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.28589822699996 meters Centerline goodness [0,1] 0.9946247892074199 Centerline is valid? [True, True] Translation: X:178.67, Y:-0.75, Z:-1.03 [[ 9.99874964e-01 -1.43646879e-02 -6.61150236e-03 1.78670066e+02] [ 1.43619054e-02 9.99896753e-01 -4.68147522e-04 -7.53402765e-01] [ 6.61754454e-03 3.73135215e-04 9.99978034e-01 -1.03320025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.315898227 meters Centerline goodness [0,1] 0.9912111827236963 Centerline is valid? [True, True] Translation: X:178.70, Y:-0.75, Z:-1.03 [[ 9.99832972e-01 -1.72863320e-02 -5.93386404e-03 1.78699902e+02] [ 1.72841415e-02 9.99850530e-01 -4.20230428e-04 -7.53966876e-01] [ 5.94024135e-03 3.17598492e-04 9.99982306e-01 -1.03181948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.34589822699996 meters Centerline goodness [0,1] 0.9987201544207125 Centerline is valid? [True, True] Translation: X:178.73, Y:-0.77, Z:-1.03 [[ 9.99670223e-01 -2.53646339e-02 -4.01015901e-03 1.78731710e+02] [ 2.53636981e-02 9.99678249e-01 -2.84039942e-04 -7.74379425e-01] [ 4.01607331e-03 1.82233810e-04 9.99991919e-01 -1.02809986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.375898227 meters Centerline goodness [0,1] 0.9994090333474039 Centerline is valid? [True, True] Translation: X:178.76, Y:-0.78, Z:-1.03 [[ 9.99576097e-01 -2.88335985e-02 -4.03118540e-03 1.78761902e+02] [ 2.88326811e-02 9.99584211e-01 -2.85525761e-04 -7.81596253e-01] [ 4.03774201e-03 1.69174843e-04 9.99991834e-01 -1.02765863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.40589822699997 meters Centerline goodness [0,1] 0.9994958089115775 Centerline is valid? [True, True] Translation: X:178.79, Y:-0.79, Z:-1.03 [[ 9.99498806e-01 -3.13833752e-02 -4.14974794e-03 1.78790969e+02] [ 3.13824246e-02 9.99507407e-01 -2.94016536e-04 -7.86178719e-01] [ 4.15693103e-03 1.63640025e-04 9.99991347e-01 -1.02735351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43589822699994 meters Centerline goodness [0,1] 0.9996644787887684 Centerline is valid? [True, True] Translation: X:178.82, Y:-0.79, Z:-1.03 [[ 9.99444349e-01 -3.30196152e-02 -4.54956494e-03 1.78819039e+02] [ 3.30184889e-02 9.99454689e-01 -3.22470620e-04 -7.87878445e-01] [ 4.55773186e-03 1.72071679e-04 9.99989599e-01 -1.02797284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.46589822699997 meters Centerline goodness [0,1] 0.999268669814869 Centerline is valid? [True, True] Translation: X:178.85, Y:-0.79, Z:-1.03 [[ 9.99421064e-01 -3.37972603e-02 -3.90922767e-03 1.78847159e+02] [ 3.37964341e-02 9.99428699e-01 -2.77245983e-04 -7.86124514e-01] [ 3.91636447e-03 1.44967520e-04 9.99992321e-01 -1.02622481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49589822699994 meters Centerline goodness [0,1] 0.9994445393949752 Centerline is valid? [True, True] Translation: X:178.88, Y:-0.79, Z:-1.02 [[ 9.99426732e-01 -3.37447264e-02 -2.73893553e-03 1.78876213e+02] [ 3.37443207e-02 9.99430479e-01 -1.94201813e-04 -7.90143498e-01] [ 2.74392894e-03 1.01666964e-04 9.99996230e-01 -1.02418891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.52589822699997 meters Centerline goodness [0,1] 0.9993294075735032 Centerline is valid? [True, True] Translation: X:178.90, Y:-0.79, Z:-1.02 [[ 9.99443306e-01 -3.32961478e-02 -2.10800173e-03 1.78904169e+02] [ 3.32959056e-02 9.99445526e-01 -1.49909108e-04 -7.86627263e-01] [ 2.11182430e-03 7.96378278e-05 9.99997767e-01 -1.02296431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55589822699994 meters Centerline goodness [0,1] 0.9989697224558453 Centerline is valid? [True, True] Translation: X:178.93, Y:-0.78, Z:-1.03 [[ 9.99457154e-01 -3.27237290e-02 -3.81513229e-03 1.78931793e+02] [ 3.27229297e-02 9.99464425e-01 -2.71753194e-04 -7.84798474e-01] [ 3.82198178e-03 1.46763368e-04 9.99992685e-01 -1.02541544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.585898227 meters Centerline goodness [0,1] 0.9992025350989486 Centerline is valid? [True, True] Translation: X:178.96, Y:-0.78, Z:-1.03 [[ 9.99445001e-01 -3.28355623e-02 -5.61397931e-03 1.78959535e+02] [ 3.28338303e-02 9.99460744e-01 -4.00430704e-04 -7.84365804e-01] [ 5.62410031e-03 2.15880021e-04 9.99984161e-01 -1.02824119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61589822699995 meters Centerline goodness [0,1] 0.9994310039618983 Centerline is valid? [True, True] Translation: X:178.99, Y:-0.79, Z:-1.03 [[ 9.99410740e-01 -3.36814500e-02 -6.61306974e-03 1.78988546e+02] [ 3.36790564e-02 9.99432588e-01 -4.73008031e-04 -7.87148958e-01] [ 6.62524900e-03 2.50007358e-04 9.99978022e-01 -1.03017286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.645898227 meters Centerline goodness [0,1] 0.999408733845764 Centerline is valid? [True, True] Translation: X:179.02, Y:-0.79, Z:-1.03 [[ 9.99360791e-01 -3.51214860e-02 -6.67006030e-03 1.79016769e+02] [ 3.51190758e-02 9.99383021e-01 -4.78164815e-04 -7.86849134e-01] [ 6.68273887e-03 2.43612815e-04 9.99977641e-01 -1.03022708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67589822699995 meters Centerline goodness [0,1] 0.999581764951903 Centerline is valid? [True, True] Translation: X:179.05, Y:-0.79, Z:-1.03 [[ 9.99263256e-01 -3.81336328e-02 -4.33247381e-03 1.79047255e+02] [ 3.81326421e-02 9.99272638e-01 -3.11076173e-04 -7.91961765e-01] [ 4.34118500e-03 1.45638317e-04 9.99990566e-01 -1.02541698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.705898227 meters Centerline goodness [0,1] 0.9996433292071418 Centerline is valid? [True, True] Translation: X:179.08, Y:-0.79, Z:-1.02 [[ 9.99217217e-01 -3.93865294e-02 -3.69531567e-03 1.79075381e+02] [ 3.93858173e-02 9.99224042e-01 -2.65311971e-04 -7.92162778e-01] [ 3.70289798e-03 1.19561261e-04 9.99993137e-01 -1.02396788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73589822699995 meters Centerline goodness [0,1] 0.9996002777018071 Centerline is valid? [True, True] Translation: X:179.10, Y:-0.79, Z:-1.02 [[ 9.99148950e-01 -4.10810725e-02 -3.70415382e-03 1.79104797e+02] [ 4.10803680e-02 9.99155810e-01 -2.66130520e-04 -7.93398299e-01] [ 3.71195973e-03 1.13736028e-04 9.99993104e-01 -1.02417959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.765898227 meters Centerline goodness [0,1] 0.9995605775266793 Centerline is valid? [True, True] Translation: X:179.13, Y:-0.79, Z:-1.03 [[ 9.99010511e-01 -4.42657981e-02 -4.30564811e-03 1.79133805e+02] [ 4.42648737e-02 9.99019782e-01 -3.09784577e-04 -7.94680625e-01] [ 4.31514050e-03 1.18889079e-04 9.99990683e-01 -1.02552413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79589822699995 meters Centerline goodness [0,1] 0.999873348250095 Centerline is valid? [True, True] Translation: X:179.16, Y:-0.80, Z:-1.03 [[ 9.98936815e-01 -4.58767312e-02 -4.53488184e-03 1.79163016e+02] [ 4.58757218e-02 9.98947102e-01 -3.26406358e-04 -8.01954576e-01] [ 4.54508152e-03 1.18018350e-04 9.99989664e-01 -1.02655012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.825898227 meters Centerline goodness [0,1] 0.9998722071947349 Centerline is valid? [True, True] Translation: X:179.19, Y:-0.80, Z:-1.03 [[ 9.98843549e-01 -4.78275420e-02 -4.90826549e-03 1.79191744e+02] [ 4.78263788e-02 9.98855601e-01 -3.54151299e-04 -8.03448709e-01] [ 4.91958666e-03 1.18997176e-04 9.99987892e-01 -1.02683219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85589822699995 meters Centerline goodness [0,1] 0.9998521428722303 Centerline is valid? [True, True] Translation: X:179.22, Y:-0.81, Z:-1.03 [[ 9.98730104e-01 -5.01055103e-02 -5.25516112e-03 1.79220769e+02] [ 5.01042039e-02 9.98743923e-01 -3.80040631e-04 -8.05338540e-01] [ 5.26760237e-03 1.16252355e-04 9.99986119e-01 -1.02698670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.885898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.25, Y:-0.82, Z:-1.03 [[ 9.98369301e-01 -5.68476393e-02 -5.20425072e-03 1.79251647e+02] [ 5.68464484e-02 9.98382862e-01 -3.76584242e-04 -8.15011710e-01] [ 5.21724266e-03 8.01269768e-05 9.99986387e-01 -1.02682937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.28, Y:-0.82, Z:-1.03 [[ 9.98186751e-01 -5.99414281e-02 -5.49871204e-03 1.79280137e+02] [ 5.99401451e-02 9.98201894e-01 -3.97991978e-04 -8.18618402e-01] [ 5.51268098e-03 6.76767220e-05 9.99984803e-01 -1.02733621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.945898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.31, Y:-0.82, Z:-1.03 [[ 9.98016790e-01 -6.26725126e-02 -5.88582015e-03 1.79309305e+02] [ 6.26710872e-02 9.98034144e-01 -4.26492255e-04 -8.23068396e-01] [ 5.90097881e-03 5.67756842e-05 9.99982587e-01 -1.02748059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.34, Y:-0.83, Z:-1.03 [[ 9.97880503e-01 -6.47949947e-02 -6.00927495e-03 1.79337215e+02] [ 6.47935419e-02 9.97898595e-01 -4.36327338e-04 -8.25157571e-01] [ 6.02491885e-03 4.60403352e-05 9.99981849e-01 -1.02749094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.005898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.37, Y:-0.83, Z:-1.03 [[ 9.97731391e-01 -6.71144723e-02 -5.26493526e-03 1.79366459e+02] [ 6.71133877e-02 9.97745282e-01 -3.82608164e-04 -8.28911820e-01] [ 5.27874285e-03 2.83925345e-05 9.99986067e-01 -1.02521278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.39, Y:-0.83, Z:-1.02 [[ 9.97697394e-01 -6.76481847e-02 -4.86132584e-03 1.79393687e+02] [ 6.76472627e-02 9.97709237e-01 -3.54026031e-04 -8.27777588e-01] [ 4.87413891e-03 2.43554619e-05 9.99988121e-01 -1.02460600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.065898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.42, Y:-0.83, Z:-1.02 [[ 9.97647176e-01 -6.84354939e-02 -4.08608448e-03 1.79421334e+02] [ 6.84348475e-02 9.97655543e-01 -2.97964763e-04 -8.27860034e-01] [ 4.09689620e-03 1.76331364e-05 9.99991608e-01 -1.02311630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.45, Y:-0.83, Z:-1.02 [[ 9.97613107e-01 -6.90249676e-02 -1.90868205e-03 1.79448685e+02] [ 6.90248273e-02 9.97614933e-01 -1.39370703e-04 -8.28314821e-01] [ 1.91374977e-03 7.29159134e-06 9.99998169e-01 -1.01907922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.125898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.48, Y:-0.83, Z:-1.02 [[ 9.97639220e-01 -6.86513911e-02 -1.72423811e-03 1.79476195e+02] [ 6.86512757e-02 9.97640710e-01 -1.26080072e-04 -8.25187514e-01] [ 1.72882570e-03 7.41127890e-06 9.99998506e-01 -1.01833576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.50, Y:-0.82, Z:-1.02 [[ 9.97711285e-01 -6.75681032e-02 -2.59676438e-03 1.79504483e+02] [ 6.75678379e-02 9.97714664e-01 -1.89886622e-04 -8.21714921e-01] [ 2.60366018e-03 1.39942710e-05 9.99996610e-01 -1.01962903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.53, Y:-0.82, Z:-1.02 [[ 9.97814219e-01 -6.59845468e-02 -3.58102900e-03 1.79532734e+02] [ 6.59840282e-02 9.97820645e-01 -2.62900586e-04 -8.16797898e-01] [ 3.59057204e-03 2.60352243e-05 9.99993554e-01 -1.02175657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.56, Y:-0.81, Z:-1.02 [[ 9.98004403e-01 -6.29223484e-02 -5.29057638e-03 1.79561060e+02] [ 6.29211668e-02 9.98018424e-01 -3.89655462e-04 -8.09798461e-01] [ 5.30461074e-03 5.59886284e-05 9.99985929e-01 -1.02414570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.59, Y:-0.80, Z:-1.02 [[ 9.98063083e-01 -6.19435485e-02 -5.75147922e-03 1.79588607e+02] [ 6.19421305e-02 9.98079652e-01 -4.24517728e-04 -8.04592598e-01] [ 5.76673052e-03 6.74365958e-05 9.99983370e-01 -1.02440440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.27589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.62, Y:-0.80, Z:-1.02 [[ 9.98087968e-01 -6.15452761e-02 -5.70843277e-03 1.79617001e+02] [ 6.15438703e-02 9.98104290e-01 -4.21765293e-04 -8.01103984e-01] [ 5.72356890e-03 6.96398182e-05 9.99983618e-01 -1.02378745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.30589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.65, Y:-0.80, Z:-1.02 [[ 9.98051608e-01 -6.21827195e-02 -5.12807847e-03 1.79645239e+02] [ 6.21815896e-02 9.98064780e-01 -3.79641390e-04 -8.00713564e-01] [ 5.14176164e-03 6.00296294e-05 9.99986779e-01 -1.02205883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.335898227 meters Centerline goodness [0,1] 0.9999369708174884 Centerline is valid? [True, True] Translation: X:179.67, Y:-0.80, Z:-1.02 [[ 9.97996819e-01 -6.30607242e-02 -5.06889106e-03 1.79672754e+02] [ 6.30596267e-02 9.98009690e-01 -3.76203302e-04 -7.98028255e-01] [ 5.08252605e-03 5.58073215e-05 9.99987082e-01 -1.02234159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.36589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.70, Y:-0.80, Z:-1.02 [[ 9.97914930e-01 -6.43015358e-02 -5.57723308e-03 1.79701852e+02] [ 6.43002240e-02 9.97930513e-01 -4.14384633e-04 -7.97715565e-01] [ 5.59233664e-03 5.49032750e-05 9.99984361e-01 -1.02232461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.395898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.73, Y:-0.80, Z:-1.02 [[ 9.97827073e-01 -6.56486331e-02 -5.60264043e-03 1.79731050e+02] [ 6.56473252e-02 9.97842801e-01 -4.17219113e-04 -7.96279326e-01] [ 5.61794428e-03 4.85141677e-05 9.99984218e-01 -1.02270878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.42589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.76, Y:-0.79, Z:-1.02 [[ 9.97701113e-01 -6.75652054e-02 -5.23760363e-03 1.79760184e+02] [ 6.75640844e-02 9.97714860e-01 -3.90860352e-04 -7.93623493e-01] [ 5.25204353e-03 3.60879147e-05 9.99986207e-01 -1.02142539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.455898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.79, Y:-0.79, Z:-1.02 [[ 9.97641927e-01 -6.84774818e-02 -4.62820803e-03 1.79787926e+02] [ 6.84766132e-02 9.97652662e-01 -3.46057821e-04 -7.91142531e-01] [ 4.64104123e-03 2.83177798e-05 9.99989230e-01 -1.02018896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.48589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.82, Y:-0.79, Z:-1.02 [[ 9.97591077e-01 -6.92290453e-02 -4.40251279e-03 1.79815948e+02] [ 6.92282629e-02 9.97600791e-01 -3.30042445e-04 -7.88467274e-01] [ 4.41479877e-03 2.44690855e-05 9.99990254e-01 -1.01906254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.515898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.84, Y:-0.79, Z:-1.02 [[ 9.97485999e-01 -7.06651538e-02 -5.30267496e-03 1.79843757e+02] [ 7.06640367e-02 9.97500093e-01 -3.97967858e-04 -7.86720212e-01] [ 5.31754123e-03 2.22589485e-05 9.99985862e-01 -1.01934474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.54589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.87, Y:-0.79, Z:-1.02 [[ 9.97106907e-01 -7.56948280e-02 -6.93610898e-03 1.79870640e+02] [ 7.56930272e-02 9.97131031e-01 -5.22155516e-04 -7.87993255e-01] [ 6.95573398e-03 -4.37021487e-06 9.99975809e-01 -1.02167989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.575898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.90, Y:-0.79, Z:-1.02 [[ 9.97092605e-01 -7.58830000e-02 -6.93601044e-03 1.79898051e+02] [ 7.58811946e-02 9.97116729e-01 -5.23461710e-04 -7.85731028e-01] [ 6.95573389e-03 -4.37295867e-06 9.99975809e-01 -1.02154778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.60589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.93, Y:-0.79, Z:-1.02 [[ 9.96847175e-01 -7.90318777e-02 -7.04785912e-03 1.79927490e+02] [ 7.90300831e-02 9.96872089e-01 -5.33204617e-04 -7.86432655e-01] [ 7.06795421e-03 -2.54693764e-05 9.99975021e-01 -1.02181460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.635898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.96, Y:-0.79, Z:-1.02 [[ 9.96404419e-01 -8.45387754e-02 -5.60621707e-03 1.79956513e+02] [ 8.45377226e-02 9.96420189e-01 -4.24911286e-04 -7.91365798e-01] [ 5.62206935e-03 -5.05533410e-05 9.99984195e-01 -1.01853666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.66589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.98, Y:-0.79, Z:-1.02 [[ 9.96219185e-01 -8.67574180e-02 -4.52602717e-03 1.79984663e+02] [ 8.67567519e-02 9.96229465e-01 -3.43663356e-04 -7.93370970e-01] [ 4.53877697e-03 -5.02993874e-05 9.99989698e-01 -1.01640114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.695898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.01, Y:-0.79, Z:-1.02 [[ 9.96063805e-01 -8.85234000e-02 -4.52808135e-03 1.80013023e+02] [ 8.85227498e-02 9.96074096e-01 -3.44201757e-04 -7.91524324e-01] [ 4.54077445e-03 -5.79913007e-05 9.99989689e-01 -1.01595163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.72589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.04, Y:-0.79, Z:-1.02 [[ 9.95957252e-01 -8.97093031e-02 -4.62532452e-03 1.80041392e+02] [ 8.97086337e-02 9.95967990e-01 -3.52408221e-04 -7.91603010e-01] [ 4.63828946e-03 -6.39480198e-05 9.99989241e-01 -1.01555116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.755898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.07, Y:-0.79, Z:-1.02 [[ 9.95866368e-01 -9.06465539e-02 -5.77749114e-03 1.80069514e+02] [ 9.06455218e-02 9.95883123e-01 -4.40791578e-04 -7.88001845e-01] [ 5.79366216e-03 -8.47341911e-05 9.99983213e-01 -1.01627997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.78589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.10, Y:-0.79, Z:-1.02 [[ 9.95869901e-01 -9.06252126e-02 -5.49655333e-03 1.80096230e+02] [ 9.06242762e-02 9.95885066e-01 -4.19694615e-04 -7.86028849e-01] [ 5.51197029e-03 -8.01599326e-05 9.99984806e-01 -1.01574645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.815898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.12, Y:-0.78, Z:-1.02 [[ 9.95914311e-01 -9.01336791e-02 -5.53223574e-03 1.80124368e+02] [ 9.01327200e-02 9.95929673e-01 -4.22951229e-04 -7.81380569e-01] [ 5.54783988e-03 -7.74122729e-05 9.99984608e-01 -1.01500409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.84589822699996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.15, Y:-0.78, Z:-1.01 [[ 9.95984914e-01 -8.93843999e-02 -4.94784137e-03 1.80152198e+02] [ 8.93836199e-02 9.95997201e-01 -3.78991197e-04 -7.76590219e-01] [ 4.96191205e-03 -6.47864576e-05 9.99987688e-01 -1.01368722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.875898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.18, Y:-0.77, Z:-1.01 [[ 9.96099975e-01 -8.81475570e-02 -3.85330739e-03 1.80180504e+02] [ 8.81470745e-02 9.96107427e-01 -2.95212105e-04 -7.66645032e-01] [ 3.86433033e-03 -4.55970025e-05 9.99992532e-01 -1.01278027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.90589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.21, Y:-0.76, Z:-1.01 [[ 9.96151623e-01 -8.75729583e-02 -3.59461935e-03 1.80208485e+02] [ 8.75725321e-02 9.96158108e-01 -2.76086736e-04 -7.62649904e-01] [ 3.60498694e-03 -3.97656678e-05 9.99993501e-01 -1.01219112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.24, Y:-0.76, Z:-1.01 [[ 9.96182016e-01 -8.72211322e-02 -3.72361424e-03 1.80235941e+02] [ 8.72206721e-02 9.96188974e-01 -2.86086073e-04 -7.55541919e-01] [ 3.73437620e-03 -3.97823356e-05 9.99993026e-01 -1.01236980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.96589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.26, Y:-0.75, Z:-1.01 [[ 9.96237558e-01 -8.65875675e-02 -3.64977480e-03 1.80263244e+02] [ 8.65871181e-02 9.96244243e-01 -2.81260078e-04 -7.49206141e-01] [ 3.66042076e-03 -3.58216284e-05 9.99993300e-01 -1.01235035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.29, Y:-0.74, Z:-1.02 [[ 9.96371191e-01 -8.49373418e-02 -5.48616738e-03 1.80290293e+02] [ 8.49362988e-02 9.96386294e-01 -4.23254919e-04 -7.36795802e-01] [ 5.50229213e-03 -4.42557444e-05 9.99984861e-01 -1.01533003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.02589822699997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.32, Y:-0.73, Z:-1.02 [[ 9.96402557e-01 -8.44475386e-02 -7.11035289e-03 1.80318137e+02] [ 8.44457684e-02 9.96427925e-01 -5.49360613e-04 -7.29825916e-01] [ 7.13134633e-03 -5.30548932e-05 9.99974570e-01 -1.01793873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05589822699994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.35, Y:-0.72, Z:-1.02 [[ 9.96417723e-01 -8.41395526e-02 -8.50042636e-03 1.80345761e+02] [ 8.41369960e-02 9.96453979e-01 -6.58551308e-04 -7.23728646e-01] [ 8.52569389e-03 -5.90081444e-05 9.99963654e-01 -1.01992571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.085898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.37, Y:-0.72, Z:-1.02 [[ 9.96434550e-01 -8.38002267e-02 -9.78314057e-03 1.80372944e+02] [ 8.37968108e-02 9.96482573e-01 -7.59272944e-04 -7.15776250e-01] [ 9.81235633e-03 -6.32301858e-05 9.99951856e-01 -1.02156658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.40, Y:-0.71, Z:-1.02 [[ 9.96415524e-01 -8.40825663e-02 -9.28572713e-03 1.80399480e+02] [ 8.40794953e-02 9.96458789e-01 -7.21307971e-04 -7.11855949e-01] [ 9.31349383e-03 -6.20167896e-05 9.99956627e-01 -1.02074859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.145898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.43, Y:-0.71, Z:-1.02 [[ 9.96402269e-01 -8.42199285e-02 -9.46165141e-03 1.80426986e+02] [ 8.42167336e-02 9.96447189e-01 -7.36292607e-04 -7.06875120e-01] [ 9.49004646e-03 -6.31857525e-05 9.99954966e-01 -1.01907346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.45, Y:-0.70, Z:-1.02 [[ 9.96440337e-01 -8.38487458e-02 -8.72028501e-03 1.80454805e+02] [ 8.38460070e-02 9.96478492e-01 -6.79830322e-04 -7.02906591e-01] [ 8.74657938e-03 -5.37507228e-05 9.99961746e-01 -1.01897576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.205898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.48, Y:-0.69, Z:-1.02 [[ 9.96696890e-01 -8.06646011e-02 -9.40914816e-03 1.80482669e+02] [ 8.06612589e-02 9.96741301e-01 -7.34764067e-04 -6.93245865e-01] [ 9.43775603e-03 -2.66166756e-05 9.99955463e-01 -1.01999125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.51, Y:-0.69, Z:-1.02 [[ 9.96871917e-01 -7.84467579e-02 -9.61707269e-03 1.80509926e+02] [ 7.84431469e-02 9.96918305e-01 -7.52697180e-04 -6.87123516e-01] [ 9.64648246e-03 -4.05076539e-06 9.99953472e-01 -1.02068360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.265898227 meters Centerline goodness [0,1] 0.9999789451521213 Centerline is valid? [True, True] Translation: X:180.54, Y:-0.68, Z:-1.02 [[ 9.97092315e-01 -7.54753700e-02 -1.05063537e-02 1.80538421e+02] [ 7.54708749e-02 9.97147666e-01 -8.24229756e-04 -6.80111599e-01] [ 1.05385951e-02 2.89094515e-05 9.99944467e-01 -1.02107056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29589822699995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.57, Y:-0.67, Z:-1.02 [[ 9.97370100e-01 -7.16868873e-02 -1.06711596e-02 1.80566943e+02] [ 7.16820139e-02 9.97427183e-01 -8.38957966e-04 -6.72229641e-01] [ 1.07038470e-02 7.18213779e-05 9.99942710e-01 -1.02059811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.325898227 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.60, Y:-0.66, Z:-1.02 [[ 9.98026192e-01 -6.19891099e-02 -1.00533566e-02 1.80596027e+02] [ 6.19842840e-02 9.98076812e-01 -7.91204168e-04 -6.55525711e-01] [ 1.00830681e-02 1.66492374e-04 9.99949151e-01 -1.01828566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35589822699995 meters Centerline goodness [0,1] 0.9999149406711181 Centerline is valid? [True, True] Translation: X:180.62, Y:-0.65, Z:-1.02 [[ 9.98346137e-01 -5.66283110e-02 -9.91084158e-03 1.80624929e+02] [ 5.66233551e-02 9.98395306e-01 -7.80165669e-04 -6.45395845e-01] [ 9.93911717e-03 2.17690281e-04 9.99950582e-01 -1.01771230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.385898227 meters Centerline goodness [0,1] 0.9999161390414693 Centerline is valid? [True, True] Translation: X:180.65, Y:-0.64, Z:-1.02 [[ 9.98614953e-01 -5.17090796e-02 -9.71322431e-03 1.80653680e+02] [ 5.17040849e-02 9.98662156e-01 -7.64787346e-04 -6.35391135e-01] [ 9.73977599e-03 2.61514705e-04 9.99952533e-01 -1.01775303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41589822699996 meters Centerline goodness [0,1] 0.9997709240092464 Centerline is valid? [True, True] Translation: X:180.68, Y:-0.63, Z:-1.02 [[ 9.98825395e-01 -4.74791458e-02 -9.67264986e-03 1.80682590e+02] [ 4.74739933e-02 9.98872184e-01 -7.61728339e-04 -6.25279166e-01] [ 9.69790710e-03 3.01634295e-04 9.99952929e-01 -1.01861087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.445898227 meters Centerline goodness [0,1] 0.9995594806066581 Centerline is valid? [True, True] Translation: X:180.71, Y:-0.61, Z:-1.02 [[ 9.99050837e-01 -4.23252986e-02 -1.02953187e-02 1.80711023e+02] [ 4.23191873e-02 9.99103813e-01 -8.10829008e-04 -6.13848850e-01] [ 1.03204108e-02 3.74369880e-04 9.99946673e-01 -1.01943278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47589822699996 meters Centerline goodness [0,1] 0.9994138335287222 Centerline is valid? [True, True] Translation: X:180.74, Y:-0.61, Z:-1.02 [[ 9.99102609e-01 -4.11700237e-02 -9.95016948e-03 1.80740209e+02] [ 4.11642499e-02 9.99152085e-01 -7.84465254e-04 -6.13843145e-01] [ 9.97402904e-03 3.74170020e-04 9.99950188e-01 -1.01821988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.505898227 meters Centerline goodness [0,1] 0.99939381270903 Centerline is valid? [True, True] Translation: X:180.77, Y:-0.61, Z:-1.02 [[ 9.99110192e-01 -4.10210141e-02 -9.80309082e-03 1.80767631e+02] [ 4.10153923e-02 9.99158215e-01 -7.73911211e-04 -6.10451053e-01] [ 9.82658535e-03 3.71144962e-04 9.99951649e-01 -1.01800976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53589822699996 meters Centerline goodness [0,1] 0.9995122158126909 Centerline is valid? [True, True] Translation: X:180.80, Y:-0.61, Z:-1.02 [[ 9.99069565e-01 -4.18846313e-02 -1.02801626e-02 1.80796094e+02] [ 4.18784827e-02 9.99122381e-01 -8.12730984e-04 -6.09554448e-01] [ 1.03051814e-02 3.81457180e-04 9.99946827e-01 -1.01823124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.565898227 meters Centerline goodness [0,1] 0.9997682795812181 Centerline is valid? [True, True] Translation: X:180.83, Y:-0.61, Z:-1.02 [[ 9.98942764e-01 -4.49092855e-02 -9.82395092e-03 1.80826560e+02] [ 4.49038089e-02 9.98991013e-01 -7.77447968e-04 -6.12459258e-01] [ 9.84895331e-03 3.35493208e-04 9.99951442e-01 -1.01706763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59589822699996 meters Centerline goodness [0,1] 0.9997486279274372 Centerline is valid? [True, True] Translation: X:180.86, Y:-0.61, Z:-1.02 [[ 9.98875263e-01 -4.65837344e-02 -8.84110492e-03 1.80855817e+02] [ 4.65793622e-02 9.98914347e-01 -6.99901026e-04 -6.13888294e-01] [ 8.86411056e-03 2.87300792e-04 9.99960672e-01 -1.01507020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.625898227 meters Centerline goodness [0,1] 0.9998515313480953 Centerline is valid? [True, True] Translation: X:180.89, Y:-0.61, Z:-1.01 [[ 9.98802037e-01 -4.81641527e-02 -8.64324216e-03 1.80885060e+02] [ 4.81600298e-02 9.98839398e-01 -6.84627856e-04 -6.14858550e-01] [ 8.66618531e-03 2.67548898e-04 9.99962412e-01 -1.01367702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65589822699997 meters Centerline goodness [0,1] 0.999788283615269 Centerline is valid? [True, True] Translation: X:180.91, Y:-0.61, Z:-1.01 [[ 9.98745643e-01 -4.94009446e-02 -8.16621677e-03 1.80912510e+02] [ 4.93973023e-02 9.98778998e-01 -6.47243351e-04 -6.11957653e-01] [ 8.18822023e-03 2.43042398e-04 9.99966446e-01 -1.01335209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68589822699994 meters Centerline goodness [0,1] 0.9998954915034592 Centerline is valid? [True, True] Translation: X:180.94, Y:-0.61, Z:-1.01 [[ 9.98773320e-01 -4.89037512e-02 -7.76391220e-03 1.80940651e+02] [ 4.89004399e-02 9.98803468e-01 -6.15867654e-04 -6.09393128e-01] [ 7.78474067e-03 2.35453460e-04 9.99969671e-01 -1.01281502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71589822699997 meters Centerline goodness [0,1] 0.9997910048486875 Centerline is valid? [True, True] Translation: X:180.97, Y:-0.61, Z:-1.01 [[ 9.98808137e-01 -4.82091082e-02 -7.62800033e-03 1.80969401e+02] [ 4.82058852e-02 9.98837237e-01 -6.05929614e-04 -6.07042234e-01] [ 7.64834210e-03 2.37492921e-04 9.99970723e-01 -1.01286722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74589822699994 meters Centerline goodness [0,1] 0.9996852376455776 Centerline is valid? [True, True] Translation: X:181.00, Y:-0.60, Z:-1.01 [[ 9.98841423e-01 -4.75344115e-02 -7.50280674e-03 1.80996657e+02] [ 4.75312677e-02 9.98869572e-01 -5.96878755e-04 -6.01948973e-01] [ 7.52269764e-03 2.39569309e-04 9.99971675e-01 -1.01230780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.77589822699997 meters Centerline goodness [0,1] 0.9997877353484325 Centerline is valid? [True, True] Translation: X:181.03, Y:-0.61, Z:-1.01 [[ 9.98859537e-01 -4.70951082e-02 -7.85338592e-03 1.81025786e+02] [ 4.70916439e-02 9.98890377e-01 -6.25561880e-04 -6.06175235e-01] [ 7.87413252e-03 2.55019597e-04 9.99968966e-01 -1.01150905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.80589822699994 meters Centerline goodness [0,1] 0.9998114393463231 Centerline is valid? [True, True] Translation: X:181.05, Y:-0.60, Z:-1.01 [[ 9.98918155e-01 -4.58326382e-02 -7.86697923e-03 1.81052992e+02] [ 4.58291150e-02 9.98949097e-01 -6.27630877e-04 -5.97197995e-01] [ 7.88747778e-03 2.66415181e-04 9.99968858e-01 -1.01215267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.835898227 meters Centerline goodness [0,1] 0.9996013010177316 Centerline is valid? [True, True] Translation: X:181.08, Y:-0.60, Z:-1.01 [[ 9.98951372e-01 -4.50835027e-02 -7.97716302e-03 1.81081623e+02] [ 4.50798499e-02 9.98983184e-01 -6.37207499e-04 -5.95192988e-01] [ 7.99777925e-03 2.76929993e-04 9.99967979e-01 -1.01259244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.86589822699995 meters Centerline goodness [0,1] 0.9995805193170855 Centerline is valid? [True, True] Translation: X:181.11, Y:-0.60, Z:-1.01 [[ 9.98992811e-01 -4.41505333e-02 -8.00584724e-03 1.81110629e+02] [ 4.41468140e-02 9.99024849e-01 -6.40782914e-04 -5.97984061e-01] [ 8.02633123e-03 2.86704875e-04 9.99967747e-01 -1.01230335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.895898227 meters Centerline goodness [0,1] 0.999222982905624 Centerline is valid? [True, True] Translation: X:181.14, Y:-0.59, Z:-1.01 [[ 9.99168772e-01 -4.00577917e-02 -7.55901722e-03 1.81139352e+02] [ 4.00543531e-02 9.99197319e-01 -6.05800029e-04 -5.85391641e-01] [ 7.57721675e-03 3.02524927e-04 9.99971247e-01 -1.01272366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.92589822699995 meters Centerline goodness [0,1] 0.9979962847780259 Centerline is valid? [True, True] Translation: X:181.17, Y:-0.58, Z:-1.01 [[ 9.99289533e-01 -3.69497516e-02 -7.42599931e-03 1.81167720e+02] [ 3.69463464e-02 9.99317073e-01 -5.95252612e-04 -5.75934972e-01] [ 7.44292233e-03 3.20466161e-04 9.99972250e-01 -1.01220953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.955898227 meters Centerline goodness [0,1] 0.9986947643207511 Centerline is valid? [True, True] Translation: X:181.20, Y:-0.58, Z:-1.01 [[ 9.99391157e-01 -3.39965519e-02 -7.84537238e-03 1.81198775e+02] [ 3.39926596e-02 9.99421885e-01 -6.28979600e-04 -5.81037792e-01] [ 7.86221998e-03 3.61911578e-04 9.99969027e-01 -1.01160371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.98589822699995 meters Centerline goodness [0,1] 0.9984543080939948 Centerline is valid? [True, True] Translation: X:181.23, Y:-0.58, Z:-1.01 [[ 9.99482936e-01 -3.11390617e-02 -8.01366673e-03 1.81227403e+02] [ 3.11349083e-02 9.99514985e-01 -6.42545452e-04 -5.76452550e-01] [ 8.02978825e-03 3.92708436e-04 9.99967684e-01 -1.01174514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.015898227 meters Centerline goodness [0,1] 0.9986798264914818 Centerline is valid? [True, True] Translation: X:181.26, Y:-0.58, Z:-1.01 [[ 9.99558721e-01 -2.84088091e-02 -8.67770487e-03 1.81257820e+02] [ 2.84038347e-02 9.99596287e-01 -6.95967646e-04 -5.76564319e-01] [ 8.69397318e-03 4.49180435e-04 9.99962106e-01 -1.01186963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.04589822699995 meters Centerline goodness [0,1] 0.9980052493438321 Centerline is valid? [True, True] Translation: X:181.29, Y:-0.57, Z:-1.01 [[ 9.99623769e-01 -2.56709134e-02 -9.66043263e-03 1.81287388e+02] [ 2.56646196e-02 9.99670309e-01 -7.74924646e-04 -5.74200772e-01] [ 9.67714069e-03 5.26701767e-04 9.99953037e-01 -1.01307820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.075898227 meters Centerline goodness [0,1] 0.8931004220819926 Centerline is valid? [True, False] Translation: X:181.29, Y:-0.58, Z:-1.02 [[ 9.99667042e-01 -2.35151715e-02 -1.06226858e-02 1.81293287e+02] [ 2.35329999e-02 9.99721849e-01 1.55644743e-03 -5.78980271e-01] [ 1.05831310e-02 -1.80591287e-03 9.99942366e-01 -1.01646484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.10589822699995 meters Centerline goodness [0,1] 0.9844254391481155 Centerline is valid? [False, True] Translation: X:181.29, Y:-0.58, Z:-1.02 [[ 9.99671406e-01 -2.32648209e-02 -1.07623734e-02 1.81293768e+02] [ 2.32874613e-02 9.99726843e-01 1.98312774e-03 -5.80863341e-01] [ 1.07132965e-02 -2.23310445e-03 9.99940117e-01 -1.01646204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.135898227 meters Centerline goodness [0,1] 0.9893959959280625 Centerline is valid? [True, True] Translation: X:181.32, Y:-0.58, Z:-1.02 [[ 9.99692823e-01 -2.21511450e-02 -1.11169331e-02 1.81323632e+02] [ 2.21422673e-02 9.99754406e-01 -9.21038263e-04 -5.82211450e-01] [ 1.11346049e-02 6.74601237e-04 9.99937781e-01 -1.01616805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.16589822699996 meters Centerline goodness [0,1] 0.9786983492797813 Centerline is valid? [True, True] Translation: X:181.35, Y:-0.58, Z:-1.02 [[ 9.99706266e-01 -2.14528959e-02 -1.12762622e-02 1.81350912e+02] [ 2.14437117e-02 9.99769620e-01 -9.34764438e-04 -5.77163917e-01] [ 1.12937178e-02 6.92684951e-04 9.99935984e-01 -1.01656092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.195898227 meters Centerline goodness [0,1] 0.9005444722403246 Centerline is valid? [True, False] Translation: X:181.35, Y:-0.58, Z:-1.02 [[ 9.99708097e-01 -2.12787959e-02 -1.14426141e-02 1.81352095e+02] [ 2.12729829e-02 9.99773506e-01 -6.29506713e-04 -5.78591049e-01] [ 1.14534175e-02 3.85904425e-04 9.99934333e-01 -1.01759199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.22589822699996 meters Centerline goodness [0,1] 0.960828274709702 Centerline is valid? [False, True] Translation: X:181.35, Y:-0.58, Z:-1.02 [[ 9.99710260e-01 -2.11358078e-02 -1.15184281e-02 1.81352550e+02] [ 2.11333495e-02 9.99776610e-01 -3.35114119e-04 -5.79955967e-01] [ 1.15229379e-02 9.15940566e-05 9.99933605e-01 -1.01792155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.255898227 meters Centerline goodness [0,1] 0.9655942994476536 Centerline is valid? [True, True] Translation: X:181.38, Y:-0.58, Z:-1.02 [[ 9.99693756e-01 -2.16972355e-02 -1.19005589e-02 1.81381378e+02] [ 2.16868992e-02 9.99764314e-01 -9.96932552e-04 -5.79221359e-01] [ 1.19193848e-02 7.38541028e-04 9.99928689e-01 -1.01836808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.28589822699996 meters Centerline goodness [0,1] 0.9603831722807974 Centerline is valid? [True, True] Translation: X:181.41, Y:-0.58, Z:-1.02 [[ 9.99679164e-01 -2.20304926e-02 -1.24990423e-02 1.81409474e+02] [ 2.20191047e-02 9.99757001e-01 -1.04800311e-03 -5.76833752e-01] [ 1.25190930e-02 7.72449153e-04 9.99921335e-01 -1.01923810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.315898227 meters Centerline goodness [0,1] 0.9445580929319918 Centerline is valid? [True, False] Translation: X:181.41, Y:-0.58, Z:-1.02 [[ 9.99677218e-01 -2.20144731e-02 -1.26816191e-02 1.81410245e+02] [ 2.20038438e-02 9.99757409e-01 -9.77104362e-04 -5.77208816e-01] [ 1.27000531e-02 6.97744605e-04 9.99919108e-01 -1.01945446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.34589822699996 meters Centerline goodness [0,1] 0.9363871491781203 Centerline is valid? [False, False] Translation: X:181.34, Y:-0.58, Z:-1.02 [[ 9.99702495e-01 -2.07129383e-02 -1.28800275e-02 1.81344887e+02] [ 2.06241359e-02 9.99762867e-01 -6.98961620e-03 -5.82644795e-01] [ 1.30217487e-02 6.72189732e-03 9.99892619e-01 -1.01867712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.375898227 meters Centerline goodness [0,1] 0.9753999396317536 Centerline is valid? [False, True] Translation: X:181.34, Y:-0.59, Z:-1.02 [[ 9.99778598e-01 -1.66144023e-02 -1.29118677e-02 1.81344243e+02] [ 1.65900992e-02 9.99860400e-01 -1.98707094e-03 -5.87374884e-01] [ 1.29430792e-02 1.77242183e-03 9.99914664e-01 -1.01759877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.40589822699997 meters Centerline goodness [0,1] 0.959808329639246 Centerline is valid? [True, True] Translation: X:181.37, Y:-0.58, Z:-1.02 [[ 9.99777097e-01 -1.77718539e-02 -1.13981389e-02 1.81372244e+02] [ 1.77632120e-02 9.99841853e-01 -8.58982092e-04 -5.79990472e-01] [ 1.14116020e-02 6.56323065e-04 9.99934670e-01 -1.01610459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43589822699994 meters Centerline goodness [0,1] 0.9940408024769903 Centerline is valid? [True, True] Translation: X:181.40, Y:-0.59, Z:-1.01 [[ 9.99760010e-01 -1.91076064e-02 -1.07154683e-02 1.81402415e+02] [ 1.91000313e-02 9.99817251e-01 -8.08827091e-04 -5.88220127e-01] [ 1.07289648e-02 6.03967202e-04 9.99942261e-01 -1.01367770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.46589822699997 meters Centerline goodness [0,1] 0.9940408024769903 Centerline is valid? [True, True] Translation: X:181.43, Y:-0.59, Z:-1.01 [[ 9.99756452e-01 -1.92929443e-02 -1.07153250e-02 1.81429857e+02] [ 1.92853596e-02 9.99813691e-01 -8.10723039e-04 -5.85976077e-01] [ 1.07289698e-02 6.03876694e-04 9.99942261e-01 -1.01360512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49589822699994 meters Centerline goodness [0,1] 0.9717639196357712 Centerline is valid? [True, True] Translation: X:181.46, Y:-0.58, Z:-1.01 [[ 9.99722694e-01 -2.07553861e-02 -1.11242875e-02 1.81457754e+02] [ 2.07472916e-02 9.99784397e-01 -8.42562999e-04 -5.79236033e-01] [ 1.11393768e-02 6.11530514e-04 9.99937768e-01 -1.01487978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.52589822699997 meters Centerline goodness [0,1] 0.9803121299272542 Centerline is valid? [True, True] Translation: X:181.49, Y:-0.58, Z:-1.01 [[ 9.99713644e-01 -2.07351866e-02 -1.19449842e-02 1.81486935e+02] [ 2.07258330e-02 9.99784786e-01 -9.06335383e-04 -5.82403236e-01] [ 1.19612065e-02 6.58506101e-04 9.99928245e-01 -1.01478638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55589822699994 meters Centerline goodness [0,1] 0.982720510095643 Centerline is valid? [True, True] Translation: X:181.52, Y:-0.58, Z:-1.01 [[ 9.99741564e-01 -1.92922589e-02 -1.20255314e-02 1.81516975e+02] [ 1.92826669e-02 9.99813655e-01 -9.13085177e-04 -5.82545391e-01] [ 1.20409060e-02 6.80964886e-04 9.99927274e-01 -1.01326369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.585898227 meters Centerline goodness [0,1] 0.9424027016322362 Centerline is valid? [True, False] Translation: X:181.56, Y:-0.58, Z:-1.01 [[ 9.99854499e-01 -1.27943640e-02 -1.12820430e-02 1.81559516e+02] [ 1.26501574e-02 9.99838539e-01 -1.27619958e-02 -5.80056460e-01] [ 1.14435030e-02 1.26174193e-02 9.99854913e-01 -1.01212842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61589822699995 meters Centerline goodness [0,1] 0.9164620698264742 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.58, Z:-1.01 [[ 9.99900501e-01 -8.24587967e-03 -1.14452821e-02 1.81559647e+02] [ 8.15917599e-03 9.99937820e-01 -7.60162859e-03 -5.84531354e-01] [ 1.15072525e-02 7.50748817e-03 9.99905606e-01 -1.01163890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.645898227 meters Centerline goodness [0,1] 0.9639934188322646 Centerline is valid? [False, True] Translation: X:181.52, Y:-0.59, Z:-1.01 [[ 9.99921604e-01 -4.99454578e-03 -1.14821745e-02 1.81516091e+02] [ 4.97708439e-03 9.99986415e-01 -1.54881154e-03 -5.92196174e-01] [ 1.14897541e-02 1.49154237e-03 9.99932878e-01 -1.01140011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67589822699995 meters Centerline goodness [0,1] 0.9356640419947506 Centerline is valid? [True, False] Translation: X:181.52, Y:-0.59, Z:-1.01 [[ 9.99921369e-01 -3.11959916e-03 -1.21459714e-02 1.81520790e+02] [ 3.12364861e-03 9.99995072e-01 3.14442384e-04 -5.94140687e-01] [ 1.21449306e-02 -3.52357406e-04 9.99926186e-01 -1.01416642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.705898227 meters Centerline goodness [0,1] 0.8606198897128732 Centerline is valid? [False, False] Translation: X:181.52, Y:-0.59, Z:-1.01 [[ 9.99924357e-01 -2.57200640e-03 -1.20277027e-02 1.81520534e+02] [ 2.57661868e-03 9.99996613e-01 3.67990663e-04 -5.92982369e-01] [ 1.20267154e-02 -3.98953630e-04 9.99927597e-01 -1.01435490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73589822699995 meters Centerline goodness [0,1] 0.79213148258537 Centerline is valid? [False, False] Translation: X:181.52, Y:-0.59, Z:-1.01 [[ 9.99924637e-01 -2.48405281e-03 -1.20229169e-02 1.81520720e+02] [ 2.48586879e-03 9.99996901e-01 1.36101338e-04 -5.91421700e-01] [ 1.20225416e-02 -1.65978475e-04 9.99927713e-01 -1.01470841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.765898227 meters Centerline goodness [0,1] 0.787160504363039 Centerline is valid? [False, False] Translation: X:181.52, Y:-0.59, Z:-1.01 [[ 9.99926281e-01 -2.37449115e-03 -1.19077786e-02 1.81520520e+02] [ 2.37309326e-03 9.99997176e-01 -1.31521138e-04 -5.89532552e-01] [ 1.19080573e-02 1.03253173e-04 9.99929091e-01 -1.01498476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79589822699995 meters Centerline goodness [0,1] 0.5895917601434468 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.59, Z:-1.01 [[ 9.99939307e-01 9.15655342e-05 -1.10170094e-02 1.81562221e+02] [-8.87202727e-05 9.99999963e-01 2.58749240e-04 -5.85400081e-01] [ 1.10170326e-02 -2.57756104e-04 9.99939277e-01 -1.01431637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.825898227 meters Centerline goodness [0,1] 0.47109705525070167 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.58, Z:-1.01 [[ 9.99940406e-01 1.17739639e-04 -1.09165288e-02 1.81562126e+02] [-1.19286950e-04 9.99999983e-01 -1.41089210e-04 -5.82974576e-01] [ 1.09165120e-02 1.42383001e-04 9.99940403e-01 -1.01471135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85589822699995 meters Centerline goodness [0,1] 0.44366697301361846 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.58, Z:-1.02 [[ 9.99938130e-01 7.60635616e-05 -1.11234288e-02 1.81563549e+02] [-8.85829707e-05 9.99999363e-01 -1.12501074e-03 -5.77369088e-01] [ 1.11233361e-02 1.12592648e-03 9.99937500e-01 -1.01611284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.885898227 meters Centerline goodness [0,1] 0.4556099006966059 Centerline is valid? [False, False] Translation: X:181.52, Y:-0.58, Z:-1.02 [[ 9.99941459e-01 -4.86003287e-04 -1.08094035e-02 1.81519785e+02] [ 4.77027406e-04 9.99999539e-01 -8.32939840e-04 -5.78466137e-01] [ 1.08098033e-02 8.27734697e-04 9.99941230e-01 -1.01729106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91589822699996 meters Centerline goodness [0,1] 0.5096227539810951 Centerline is valid? [False, False] Translation: X:181.52, Y:-0.58, Z:-1.02 [[ 9.99942133e-01 -6.80390617e-04 -1.07362458e-02 1.81519315e+02] [ 6.67314416e-04 9.99999031e-01 -1.22148438e-03 -5.76608706e-01] [ 1.07370665e-02 1.21424925e-03 9.99941619e-01 -1.01693430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.945898227 meters Centerline goodness [0,1] 0.5774374960507194 Centerline is valid? [False, False] Translation: X:181.54, Y:-0.58, Z:-1.02 [[ 9.99963460e-01 -2.25547967e-03 -8.24564447e-03 1.81539827e+02] [ 2.31819461e-03 9.99968401e-01 7.60419679e-03 -5.75505681e-01] [ 8.22823280e-03 -7.62303395e-03 9.99937091e-01 -1.01770939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97589822699996 meters Centerline goodness [0,1] 0.5018630939920452 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.57, Z:-1.02 [[ 9.99984704e-01 -3.88152483e-03 -3.94015066e-03 1.81558409e+02] [ 3.85962666e-03 9.99977149e-01 -5.55017129e-03 -5.67867979e-01] [ 3.96160375e-03 5.53487889e-03 9.99976835e-01 -1.01967203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.005898227 meters Centerline goodness [0,1] 0.5321812178710243 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.57, Z:-1.02 [[ 9.99980729e-01 -4.51322368e-03 -4.26280436e-03 1.81559218e+02] [ 4.48793240e-03 9.99972382e-01 -5.92406257e-03 -5.67213489e-01] [ 4.28942325e-03 5.90481724e-03 9.99973367e-01 -1.01931321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03589822699996 meters Centerline goodness [0,1] 0.7739938080495357 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.57, Z:-1.02 [[ 9.99978681e-01 -4.77043611e-03 -4.45871311e-03 1.81559969e+02] [ 4.74258338e-03 9.99969306e-01 -6.23664379e-03 -5.65984946e-01] [ 4.48832777e-03 6.21536501e-03 9.99970612e-01 -1.01951631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.065898227 meters Centerline goodness [0,1] 0.66961559375915 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.56, Z:-1.02 [[ 9.99972624e-01 -5.47605264e-03 -4.97643442e-03 1.81562094e+02] [ 5.44039515e-03 9.99959633e-01 -7.15077866e-03 -5.62345406e-01] [ 5.01539157e-03 7.12350913e-03 9.99962050e-01 -1.02028104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09589822699996 meters Centerline goodness [0,1] 0.8706032249979112 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.56, Z:-1.02 [[ 9.99983480e-01 -1.74649049e-03 -5.47630140e-03 1.81563473e+02] [ 1.73140731e-03 9.99994698e-01 -2.75779673e-03 -5.64284384e-01] [ 5.48108883e-03 2.74826946e-03 9.99981202e-01 -1.01997491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.125898227 meters Centerline goodness [0,1] 0.7431081363731438 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.56, Z:-1.02 [[ 9.99982324e-01 -2.04820906e-03 -5.58188486e-03 1.81563884e+02] [ 2.02990278e-03 9.99992550e-01 -3.28328309e-03 -5.61953884e-01] [ 5.58856813e-03 3.27189437e-03 9.99979031e-01 -1.02010583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15589822699997 meters Centerline goodness [0,1] 0.8683121551580003 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.56, Z:-1.02 [[ 9.99980855e-01 -2.34511944e-03 -5.72618636e-03 1.81564406e+02] [ 2.32302348e-03 9.99989843e-01 -3.86236377e-03 -5.59247781e-01] [ 5.73518590e-03 3.84898776e-03 9.99976146e-01 -1.02017862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18589822699994 meters Centerline goodness [0,1] 0.899533593848481 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.56, Z:-1.02 [[ 9.99979564e-01 -2.67857080e-03 -5.80490080e-03 1.81564639e+02] [ 2.65200065e-03 9.99985995e-01 -4.58006584e-03 -5.55830911e-01] [ 5.81708753e-03 4.56457764e-03 9.99972663e-01 -1.02017047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21589822699997 meters Centerline goodness [0,1] 0.8876923076923077 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.55, Z:-1.02 [[ 9.99978687e-01 -3.00496451e-03 -5.79625566e-03 1.81564557e+02] [ 2.97409223e-03 9.99981386e-01 -5.32753054e-03 -5.52258718e-01] [ 5.81215680e-03 5.31017839e-03 9.99969010e-01 -1.02010217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24589822699994 meters Centerline goodness [0,1] 0.8896660697355947 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.55, Z:-1.02 [[ 9.99982231e-01 7.22461062e-04 -5.91747851e-03 1.81564507e+02] [-7.32457723e-04 9.99998308e-01 -1.68735185e-03 -5.49835217e-01] [ 5.91624945e-03 1.69165617e-03 9.99981068e-01 -1.01945486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.27589822699997 meters Centerline goodness [0,1] 0.9507686403274983 Centerline is valid? [False, True] Translation: X:181.52, Y:-0.55, Z:-1.02 [[ 9.99980915e-01 7.39742963e-04 -6.13368489e-03 1.81521336e+02] [-7.48707128e-04 9.99998655e-01 -1.45929760e-03 -5.49468884e-01] [ 6.13259713e-03 1.46386208e-03 9.99980124e-01 -1.02003685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.30589822699994 meters Centerline goodness [0,1] 0.9190813842734681 Centerline is valid? [True, False] Translation: X:181.53, Y:-0.55, Z:-1.02 [[ 9.99974496e-01 2.13691132e-03 -6.81473343e-03 1.81526220e+02] [-2.13877504e-03 9.99997677e-01 -2.66208476e-04 -5.48418819e-01] [ 6.81414874e-03 2.80776869e-04 9.99976744e-01 -1.02305889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.335898227 meters Centerline goodness [0,1] 0.9065956057382402 Centerline is valid? [False, False] Translation: X:181.53, Y:-0.54, Z:-1.02 [[ 9.99974177e-01 1.87000777e-03 -6.93893937e-03 1.81526669e+02] [-1.87687802e-03 9.99997755e-01 -9.83720992e-04 -5.44904977e-01] [ 6.93708423e-03 9.96719132e-04 9.99975441e-01 -1.02316999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.36589822699995 meters Centerline goodness [0,1] 0.9080389253226148 Centerline is valid? [False, False] Translation: X:181.53, Y:-0.54, Z:-1.02 [[ 9.99974268e-01 1.59839579e-03 -6.99340459e-03 1.81527041e+02] [-1.61075107e-03 9.99997151e-01 -1.76142893e-03 -5.41003348e-01] [ 6.99056921e-03 1.77264824e-03 9.99973994e-01 -1.02349490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.395898227 meters Centerline goodness [0,1] 0.7880597014925373 Centerline is valid? [False, False] Translation: X:181.53, Y:-0.53, Z:-1.02 [[ 9.99975768e-01 1.88942696e-03 -6.70030003e-03 1.81525921e+02] [-1.91031563e-03 9.99993331e-01 -3.11254415e-03 -5.30808313e-01] [ 6.69437442e-03 3.12526841e-03 9.99972709e-01 -1.02330642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.42589822699995 meters Centerline goodness [0,1] 0.7035919297653217 Centerline is valid? [False, False] Translation: X:181.53, Y:-0.52, Z:-1.02 [[ 9.99976798e-01 1.76247096e-03 -6.58006524e-03 1.81525704e+02] [-1.79163462e-03 9.99988588e-01 -4.42886272e-03 -5.23332073e-01] [ 6.57218440e-03 4.44054903e-03 9.99968543e-01 -1.02372183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.455898227 meters Centerline goodness [0,1] 0.6178338573207014 Centerline is valid? [False, False] Translation: X:181.53, Y:-0.52, Z:-1.02 [[ 9.99978179e-01 1.63318504e-03 -6.40105734e-03 1.81525157e+02] [-1.67070667e-03 9.99981430e-01 -5.86082902e-03 -5.15066853e-01] [ 6.39136665e-03 5.87139542e-03 9.99962338e-01 -1.02387620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.48589822699995 meters Centerline goodness [0,1] 0.5159186078319971 Centerline is valid? [False, False] Translation: X:181.52, Y:-0.50, Z:-1.02 [[ 9.99965021e-01 5.51772591e-03 -6.28583395e-03 1.81524825e+02] [-5.54223940e-03 9.99977079e-01 -3.88907853e-03 -5.01508160e-01] [ 6.26423100e-03 3.92378009e-03 9.99972681e-01 -1.02401548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.515898227 meters Centerline goodness [0,1] 0.4089703095388503 Centerline is valid? [False, False] Translation: X:181.52, Y:-0.49, Z:-1.02 [[ 9.99966885e-01 5.25807518e-03 -6.21137429e-03 1.81524437e+02] [-5.29146514e-03 9.99971573e-01 -5.37146837e-03 -4.93340097e-01] [ 6.18295414e-03 5.40415776e-03 9.99966283e-01 -1.02391048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.54589822699995 meters Centerline goodness [0,1] 0.44830848804692924 Centerline is valid? [False, False] Translation: X:181.52, Y:-0.49, Z:-1.02 [[ 9.99969961e-01 4.81802996e-03 -6.07147515e-03 1.81523918e+02] [-4.85943777e-03 9.99964910e-01 -6.82386037e-03 -4.85852061e-01] [ 6.03838454e-03 6.85315934e-03 9.99958285e-01 -1.02390132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.575898227 meters Centerline goodness [0,1] 0.44508486787734947 Centerline is valid? [False, False] Translation: X:181.52, Y:-0.48, Z:-1.02 [[ 9.99961093e-01 7.00029697e-03 -5.36729705e-03 1.81519066e+02] [-7.02546006e-03 9.99964352e-01 -4.68379077e-03 -4.81939712e-01] [ 5.33431779e-03 4.72131627e-03 9.99974627e-01 -1.02067416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.60589822699995 meters Centerline goodness [0,1] 0.5519641232839041 Centerline is valid? [False, False] Translation: X:181.52, Y:-0.47, Z:-1.02 [[ 9.99999201e-01 9.46656768e-04 8.37949699e-04 1.81520119e+02] [-9.50571387e-04 9.99988580e-01 4.68365794e-03 -4.71325877e-01] [-8.33506312e-04 -4.68445073e-03 9.99988681e-01 -1.02314322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.635898227 meters Centerline goodness [0,1] 0.630591045794851 Centerline is valid? [False, False] Translation: X:181.52, Y:-0.47, Z:-1.02 [[ 9.99999567e-01 3.69607397e-04 8.54108296e-04 1.81519450e+02] [-3.72859435e-04 9.99992670e-01 3.81050624e-03 -4.67743627e-01] [-8.52693644e-04 -3.81082305e-03 9.99992375e-01 -1.02223400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.66589822699996 meters Centerline goodness [0,1] 0.506152978292209 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.46, Z:-1.02 [[ 9.99992782e-01 -2.66786829e-03 2.70523783e-03 1.81558542e+02] [ 2.66817116e-03 9.99996435e-01 -1.08354207e-04 -4.57854152e-01] [-2.70493911e-03 1.15571463e-04 9.99996335e-01 -1.02071334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.695898227 meters Centerline goodness [0,1] 0.5553093182245824 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.46, Z:-1.02 [[ 9.99991836e-01 -3.23912078e-03 2.41592661e-03 1.81559327e+02] [ 3.24107519e-03 9.99994423e-01 -8.05492205e-04 -4.55150126e-01] [-2.41330405e-03 8.13315829e-04 9.99996757e-01 -1.02051852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.72589822699996 meters Centerline goodness [0,1] 0.8973138679872232 Centerline is valid? [False, False] Translation: X:181.52, Y:-0.45, Z:-1.02 [[ 9.99983872e-01 -5.62048235e-03 8.15942021e-04 1.81517812e+02] [ 5.62327264e-03 9.99978208e-01 -3.45868413e-03 -4.53564279e-01] [-7.96484767e-04 3.46321661e-03 9.99993686e-01 -1.02041530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.755898227 meters Centerline goodness [0,1] 0.9351279227380549 Centerline is valid? [False, False] Translation: X:181.56, Y:-0.44, Z:-1.02 [[ 9.99944352e-01 -1.05180505e-02 -8.13971568e-04 1.81562755e+02] [ 1.05095666e-02 9.99896687e-01 -9.80630606e-03 -4.39096436e-01] [ 9.17030696e-04 9.79720588e-03 9.99951586e-01 -1.02024647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.78589822699996 meters Centerline goodness [0,1] 0.9346812799193751 Centerline is valid? [False, False] Translation: X:181.57, Y:-0.44, Z:-1.02 [[ 9.99970000e-01 -7.56812224e-03 -1.64980541e-03 1.81565414e+02] [ 7.55797887e-03 9.99953014e-01 -6.07011516e-03 -4.39597117e-01] [ 1.69566727e-03 6.05746387e-03 9.99980216e-01 -1.02050888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.815898227 meters Centerline goodness [0,1] 0.9437957275528814 Centerline is valid? [False, False] Translation: X:181.57, Y:-0.44, Z:-1.02 [[ 9.99987665e-01 -4.47454160e-03 -2.15612596e-03 1.81566867e+02] [ 4.47014715e-03 9.99987931e-01 -2.03864788e-03 -4.41284941e-01] [ 2.16522195e-03 2.02898453e-03 9.99995598e-01 -1.02042177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.84589822699996 meters Centerline goodness [0,1] 0.9880787474289552 Centerline is valid? [False, True] Translation: X:181.57, Y:-0.44, Z:-1.02 [[ 9.99985307e-01 -4.85724841e-03 -2.40703419e-03 1.81567513e+02] [ 4.85173199e-03 9.99985603e-01 -2.29235505e-03 -4.40660776e-01] [ 2.41813407e-03 2.28064308e-03 9.99994476e-01 -1.02020804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.875898227 meters Centerline goodness [0,1] 0.9994415087854964 Centerline is valid? [True, True] Translation: X:181.60, Y:-0.45, Z:-1.02 [[ 9.99895455e-01 -1.38443153e-02 -4.17300700e-03 1.81599000e+02] [ 1.38434234e-02 9.99904146e-01 -2.42548088e-04 -4.53159462e-01] [ 4.17596491e-03 1.84754028e-04 9.99991264e-01 -1.02052220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.90589822699997 meters Centerline goodness [0,1] 0.9960298388950415 Centerline is valid? [True, True] Translation: X:181.63, Y:-0.44, Z:-1.03 [[ 9.99841637e-01 -1.73794812e-02 -3.82820151e-03 1.81628021e+02] [ 1.73787562e-02 9.99848953e-01 -2.22566957e-04 -4.42849631e-01] [ 3.83149137e-03 1.56002329e-04 9.99992648e-01 -1.02502445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93589822699994 meters Centerline goodness [0,1] 0.9990698461018096 Centerline is valid? [True, True] Translation: X:181.66, Y:-0.45, Z:-1.02 [[ 9.99791371e-01 -1.99856447e-02 -4.21769954e-03 1.81659117e+02] [ 1.99847890e-02 9.99800254e-01 -2.44951870e-04 -4.47111135e-01] [ 4.22175259e-03 1.60610930e-04 9.99991075e-01 -1.02408424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.96589822699997 meters Centerline goodness [0,1] 0.9993438320209974 Centerline is valid? [True, True] Translation: X:181.69, Y:-0.45, Z:-1.02 [[ 9.99761119e-01 -2.14743698e-02 -4.06891100e-03 1.81689862e+02] [ 2.14735852e-02 9.99769388e-01 -2.36435335e-04 -4.46507621e-01] [ 4.07304996e-03 1.49004748e-04 9.99991694e-01 -1.02325520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99589822699994 meters Centerline goodness [0,1] 0.9992200838936784 Centerline is valid? [True, True] Translation: X:181.72, Y:-0.44, Z:-1.02 [[ 9.99792404e-01 -1.99652353e-02 -4.06678974e-03 1.81720201e+02] [ 1.99644390e-02 9.99800663e-01 -2.36312074e-04 -4.39142865e-01] [ 4.07069710e-03 1.55071840e-04 9.99991703e-01 -1.02182998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.02589822699997 meters Centerline goodness [0,1] 0.9948956013947822 Centerline is valid? [True, True] Translation: X:181.75, Y:-0.43, Z:-1.02 [[ 9.99844434e-01 -1.70752027e-02 -4.42105724e-03 1.81749376e+02] [ 1.70742346e-02 9.99854192e-01 -2.56630334e-04 -4.25648816e-01] [ 4.42479463e-03 1.81104242e-04 9.99990194e-01 -1.02419108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05589822699994 meters Centerline goodness [0,1] 0.9905875940716516 Centerline is valid? [True, True] Translation: X:181.78, Y:-0.42, Z:-1.02 [[ 9.99893303e-01 -1.36827471e-02 -5.11511751e-03 1.81778964e+02] [ 1.36814049e-02 9.99906361e-01 -2.97289636e-04 -4.16861785e-01] [ 5.11870628e-03 2.27275922e-04 9.99986874e-01 -1.02489735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.085898227 meters Centerline goodness [0,1] 0.9890586641835266 Centerline is valid? [True, True] Translation: X:181.81, Y:-0.41, Z:-1.02 [[ 9.99936233e-01 -9.74753824e-03 -5.70225231e-03 1.81808923e+02] [ 9.74580702e-03 9.99952454e-01 -3.31311315e-04 -4.11090955e-01] [ 5.70521066e-03 2.75717137e-04 9.99983687e-01 -1.02439242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11589822699995 meters Centerline goodness [0,1] 0.9627578103690648 Centerline is valid? [True, True] Translation: X:181.84, Y:-0.40, Z:-1.03 [[ 9.99966995e-01 -5.99715996e-03 -5.48111680e-03 1.81837229e+02] [ 5.99550735e-03 9.99981976e-01 -3.17892832e-04 -3.98631261e-01] [ 5.48292446e-03 2.85020264e-04 9.99984928e-01 -1.02561134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.145898227 meters Centerline goodness [0,1] 0.9762081942465928 Centerline is valid? [True, True] Translation: X:181.87, Y:-0.39, Z:-1.02 [[ 9.99986576e-01 -9.13162207e-04 -5.10047697e-03 1.81867838e+02] [ 9.11662909e-04 9.99999541e-01 -2.96269850e-04 -3.94088090e-01] [ 5.10074517e-03 2.91615957e-04 9.99986949e-01 -1.02200002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17589822699995 meters Centerline goodness [0,1] 0.9565552369130677 Centerline is valid? [True, True] Translation: X:181.90, Y:-0.39, Z:-1.02 [[ 9.99986009e-01 8.40007499e-05 -5.28911602e-03 1.81896164e+02] [-8.56295819e-05 9.99999949e-01 -3.07733513e-04 -3.85647384e-01] [ 5.28908990e-03 3.08182112e-04 9.99985965e-01 -1.02400515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.205898227 meters Centerline goodness [0,1] 0.9457595565991834 Centerline is valid? [True, False] Translation: X:181.94, Y:-0.38, Z:-1.02 [[ 9.99991534e-01 5.40235664e-04 -4.07925039e-03 1.81936777e+02] [-5.37205939e-04 9.99999579e-01 7.43775339e-04 -3.82881800e-01] [ 4.07965048e-03 -7.41577645e-04 9.99991403e-01 -1.02279049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23589822699995 meters Centerline goodness [0,1] 0.9559452882436855 Centerline is valid? [False, True] Translation: X:181.94, Y:-0.38, Z:-1.02 [[ 9.99991517e-01 4.77489098e-04 -4.09122423e-03 1.81936511e+02] [-4.74645033e-04 9.99999645e-01 6.96105075e-04 -3.82765489e-01] [ 4.09155516e-03 -6.94157291e-04 9.99991389e-01 -1.02230089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.265898227 meters Centerline goodness [0,1] 0.9870308466974146 Centerline is valid? [True, True] Translation: X:181.97, Y:-0.39, Z:-1.02 [[ 9.99995122e-01 -2.94104729e-03 -1.05166534e-03 1.81966791e+02] [ 2.94098568e-03 9.99995673e-01 -6.01236554e-05 -3.86038938e-01] [ 1.05183762e-03 5.70304294e-05 9.99999445e-01 -1.01708316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29589822699995 meters Centerline goodness [0,1] 0.9928287522870182 Centerline is valid? [True, True] Translation: X:182.00, Y:-0.39, Z:-1.01 [[ 9.99989695e-01 -4.48764344e-03 6.85649582e-04 1.81998083e+02] [ 4.48761761e-03 9.99989930e-01 3.91946676e-05 -3.86768355e-01] [-6.85818569e-04 -3.61173305e-05 9.99999764e-01 -1.01433601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.325898227 meters Centerline goodness [0,1] 0.9950541934126066 Centerline is valid? [True, True] Translation: X:182.03, Y:-0.39, Z:-1.01 [[ 9.99982386e-01 -5.67217568e-03 1.74736070e-03 1.82029151e+02] [ 5.67201032e-03 9.99983909e-01 9.95731575e-05 -3.86560390e-01] [-1.74789738e-03 -8.96603558e-05 9.99998468e-01 -1.01270340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35589822699995 meters Centerline goodness [0,1] 0.9953041757038472 Centerline is valid? [True, True] Translation: X:182.06, Y:-0.39, Z:-1.01 [[ 9.99979141e-01 -6.15473423e-03 1.95881711e-03 1.82061050e+02] [ 6.15452656e-03 9.99981054e-01 1.12029005e-04 -3.86584274e-01] [-1.95946951e-03 -9.99710765e-05 9.99998075e-01 -1.01285554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.385898227 meters Centerline goodness [0,1] 0.9953041757038472 Centerline is valid? [True, True] Translation: X:182.09, Y:-0.38, Z:-1.01 [[ 9.99979426e-01 -6.10823007e-03 1.95882224e-03 1.82092723e+02] [ 6.10802249e-03 9.99981340e-01 1.11939144e-04 -3.84871613e-01] [-1.95946943e-03 -9.99723106e-05 9.99998075e-01 -1.01320895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41589822699996 meters Centerline goodness [0,1] 0.996903376992928 Centerline is valid? [True, True] Translation: X:182.12, Y:-0.38, Z:-1.01 [[ 9.99979934e-01 -6.23752977e-03 1.10707981e-03 1.82124828e+02] [ 6.23746334e-03 9.99980545e-01 6.34441302e-05 -3.84808057e-01] [-1.10745400e-03 -5.65374874e-05 9.99999385e-01 -1.01419813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.445898227 meters Centerline goodness [0,1] 0.9960282249545781 Centerline is valid? [True, True] Translation: X:182.16, Y:-0.38, Z:-1.02 [[ 9.99979988e-01 -6.32608942e-03 7.04130207e-05 1.82156246e+02] [ 6.32608914e-03 9.99979990e-01 4.26287589e-06 -3.84228364e-01] [-7.04385791e-05 -3.81735153e-06 9.99999998e-01 -1.01646999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47589822699996 meters Centerline goodness [0,1] 0.9987007178001661 Centerline is valid? [True, True] Translation: X:182.19, Y:-0.39, Z:-1.02 [[ 9.99972230e-01 -7.45079590e-03 1.58926221e-04 1.82187771e+02] [ 7.45079452e-03 9.99972242e-01 9.29424887e-06 -3.87229541e-01] [-1.58991059e-04 -8.10986416e-06 9.99999987e-01 -1.01538718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.505898227 meters Centerline goodness [0,1] 0.9986788298206983 Centerline is valid? [True, True] Translation: X:182.22, Y:-0.39, Z:-1.02 [[ 9.99930133e-01 -1.17157805e-02 1.57142975e-03 1.82217813e+02] [ 1.17156547e-02 9.99931365e-01 8.92339129e-05 -3.86997980e-01] [-1.57236734e-03 -7.08173501e-05 9.99998761e-01 -1.01503329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53589822699996 meters Centerline goodness [0,1] 0.9985567570959443 Centerline is valid? [True, True] Translation: X:182.25, Y:-0.39, Z:-1.01 [[ 9.99893895e-01 -1.43055598e-02 2.74762180e-03 1.82248042e+02] [ 1.43051849e-02 9.99897663e-01 1.56027474e-04 -3.85318253e-01] [-2.74957267e-03 -1.16705681e-04 9.99996213e-01 -1.01468677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.565898227 meters Centerline goodness [0,1] 0.9994078836068347 Centerline is valid? [True, True] Translation: X:182.28, Y:-0.39, Z:-1.01 [[ 9.99859134e-01 -1.64362992e-02 3.39991031e-03 1.82280359e+02] [ 1.64357366e-02 9.99864905e-01 1.93338541e-04 -3.93424100e-01] [-3.40262877e-03 -1.37431275e-04 9.99994202e-01 -1.01240676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59589822699996 meters Centerline goodness [0,1] 0.9991158267020336 Centerline is valid? [True, True] Translation: X:182.31, Y:-0.39, Z:-1.01 [[ 9.99833636e-01 -1.78140176e-02 3.91940837e-03 1.82310863e+02] [ 1.78132816e-02 9.99841306e-01 2.22599589e-04 -3.90026004e-01] [-3.92275177e-03 -1.52745031e-04 9.99992294e-01 -1.01328717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.625898227 meters Centerline goodness [0,1] 0.999556775010553 Centerline is valid? [True, True] Translation: X:182.34, Y:-0.39, Z:-1.01 [[ 9.99834003e-01 -1.78482003e-02 3.66166667e-03 1.82343532e+02] [ 1.78475579e-02 9.99840698e-01 2.08065955e-04 -3.94971958e-01] [-3.66479696e-03 -1.42679609e-04 9.99993274e-01 -1.01313126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65589822699997 meters Centerline goodness [0,1] 0.9991139240506329 Centerline is valid? [True, True] Translation: X:182.37, Y:-0.39, Z:-1.02 [[ 9.99893871e-01 -1.43938209e-02 2.25061937e-03 1.82374619e+02] [ 1.43935697e-02 9.99896399e-01 1.27772094e-04 -3.90174977e-01] [-2.25222533e-03 -9.53640865e-05 9.99997459e-01 -1.01520881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68589822699994 meters Centerline goodness [0,1] 0.9983746701846966 Centerline is valid? [True, True] Translation: X:182.40, Y:-0.38, Z:-1.02 [[ 9.99936002e-01 -1.12547527e-02 1.15011171e-03 1.82404138e+02] [ 1.12546848e-02 9.99936662e-01 6.54526919e-05 -3.82357826e-01] [-1.15077552e-03 -5.25043581e-05 9.99999336e-01 -1.01805638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71589822699997 meters Centerline goodness [0,1] 0.995869858395145 Centerline is valid? [True, True] Translation: X:182.43, Y:-0.38, Z:-1.02 [[ 9.99966694e-01 -8.15941593e-03 1.87793648e-04 1.82434553e+02] [ 8.15941407e-03 9.99966711e-01 1.06697782e-05 -3.75179853e-01] [-1.87874455e-04 -9.13713675e-06 9.99999982e-01 -1.01951540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74589822699994 meters Centerline goodness [0,1] 0.9949845109898215 Centerline is valid? [True, True] Translation: X:182.46, Y:-0.37, Z:-1.02 [[ 9.99988268e-01 -4.84070073e-03 -1.79781924e-04 1.82464990e+02] [ 4.84069899e-03 9.99988284e-01 -1.01509357e-05 -3.70465124e-01] [ 1.79828955e-04 9.28054641e-06 9.99999984e-01 -1.01971728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.77589822699997 meters Centerline goodness [0,1] 0.9498249952843041 Centerline is valid? [True, False] Translation: X:182.47, Y:-0.37, Z:-1.02 [[ 9.99999784e-01 -5.28970435e-04 -3.90913644e-04 1.82466307e+02] [ 5.30605415e-04 9.99991063e-01 4.19425920e-03 -3.69836197e-01] [ 3.88691512e-04 -4.19446571e-03 9.99991128e-01 -1.02083611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.80589822699994 meters Centerline goodness [0,1] 0.9625586011741353 Centerline is valid? [False, True] Translation: X:182.45, Y:-0.37, Z:-1.03 [[ 9.99996362e-01 2.31867228e-03 1.37819094e-03 1.82450291e+02] [-2.31376446e-03 9.99991015e-01 -3.55205009e-03 -3.68050385e-01] [-1.38641459e-03 3.54884836e-03 9.99992742e-01 -1.02758372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.835898227 meters Centerline goodness [0,1] 0.956503252689315 Centerline is valid? [True, True] Translation: X:182.48, Y:-0.37, Z:-1.03 [[ 9.99996435e-01 2.64975190e-03 -3.30848370e-04 1.82480633e+02] [-2.64975822e-03 9.99996489e-01 -1.86570049e-05 -3.66751954e-01] [ 3.30797772e-04 1.95336066e-05 9.99999945e-01 -1.03097375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.86589822699995 meters Centerline goodness [0,1] 0.9455098420207823 Centerline is valid? [True, False] Translation: X:182.48, Y:-0.37, Z:-1.03 [[ 9.99996681e-01 2.55045314e-03 -3.63695803e-04 1.82480605e+02] [-2.55051335e-03 9.99996734e-01 -1.65177702e-04 -3.66122875e-01] [ 3.63273337e-04 1.66104765e-04 9.99999920e-01 -1.03078656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.895898227 meters Centerline goodness [0,1] 0.9919909188371067 Centerline is valid? [False, True] Translation: X:182.48, Y:-0.37, Z:-1.03 [[ 9.99997391e-01 2.27900410e-03 1.52372749e-04 1.82477561e+02] [-2.27898401e-03 9.99997394e-01 -1.31887529e-04 -3.67205849e-01] [-1.52672924e-04 1.31539930e-04 9.99999980e-01 -1.02846000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.92589822699995 meters Centerline goodness [0,1] 0.9979485661111581 Centerline is valid? [True, True] Translation: X:182.51, Y:-0.37, Z:-1.02 [[ 9.99996125e-01 -7.43213446e-05 2.78295833e-03 1.82508229e+02] [ 7.39128332e-05 9.99999986e-01 1.46892898e-04 -3.72687351e-01] [-2.78296921e-03 -1.46686632e-04 9.99996117e-01 -1.02435552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.955898227 meters Centerline goodness [0,1] 0.9880481423338566 Centerline is valid? [True, True] Translation: X:182.54, Y:-0.36, Z:-1.02 [[ 9.99988152e-01 -2.75073046e-03 4.01609113e-03 1.82537583e+02] [ 2.74990115e-03 9.99996197e-01 2.12003103e-04 -3.62925440e-01] [-4.01665902e-03 -2.00956737e-04 9.99991913e-01 -1.02463597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.98589822699995 meters Centerline goodness [0,1] 0.9980881147971511 Centerline is valid? [True, True] Translation: X:182.57, Y:-0.37, Z:-1.02 [[ 9.99977795e-01 -5.35522379e-03 3.96616073e-03 1.82569314e+02] [ 5.35443509e-03 9.99985643e-01 2.09450493e-04 -3.74617776e-01] [-3.96722544e-03 -1.88209292e-04 9.99992113e-01 -1.02400474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.015898227 meters Centerline goodness [0,1] 0.9964444072617753 Centerline is valid? [True, True] Translation: X:182.60, Y:-0.38, Z:-1.03 [[ 9.99957040e-01 -8.78553244e-03 2.95493363e-03 1.82599170e+02] [ 8.78510988e-03 9.99961398e-01 1.55952096e-04 -3.76439556e-01] [-2.95618969e-03 -1.29985979e-04 9.99995622e-01 -1.02657217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.04589822699995 meters Centerline goodness [0,1] 0.9992385303636018 Centerline is valid? [True, True] Translation: X:182.63, Y:-0.39, Z:-1.02 [[ 9.99951886e-01 -9.01281309e-03 3.87219451e-03 1.82631500e+02] [ 9.01208850e-03 9.99959369e-01 2.04536544e-04 -3.90881331e-01] [-3.87388063e-03 -1.69630143e-04 9.99992482e-01 -1.02310212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.075898227 meters Centerline goodness [0,1] 0.9992799203676642 Centerline is valid? [True, True] Translation: X:182.66, Y:-0.39, Z:-1.02 [[ 9.99949492e-01 -8.49757463e-03 5.36693759e-03 1.82664129e+02] [ 8.49617572e-03 9.99963867e-01 2.83398667e-04 -3.92807971e-01] [-5.36915186e-03 -2.37785909e-04 9.99985558e-01 -1.02090606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.10589822699995 meters Centerline goodness [0,1] 0.9991116939151033 Centerline is valid? [True, True] Translation: X:182.70, Y:-0.40, Z:-1.02 [[ 9.99951584e-01 -7.14906241e-03 6.76175565e-03 1.82695555e+02] [ 7.14681493e-03 9.99974398e-01 3.56484757e-04 -3.95179976e-01] [-6.76413106e-03 -3.08142481e-04 9.99977076e-01 -1.01809941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.135898227 meters Centerline goodness [0,1] 0.9987797180727961 Centerline is valid? [True, True] Translation: X:182.73, Y:-0.39, Z:-1.02 [[ 9.99955359e-01 -5.10571774e-03 7.95061824e-03 1.82725998e+02] [ 5.10254773e-03 9.99986894e-01 4.18946183e-04 -3.94651647e-01] [-7.95265307e-03 -3.78359072e-04 9.99968306e-01 -1.01724628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.16589822699996 meters Centerline goodness [0,1] 0.9953961817874641 Centerline is valid? [True, True] Translation: X:182.76, Y:-0.39, Z:-1.02 [[ 9.99965037e-01 -7.10778699e-04 8.33187393e-03 1.82755464e+02] [ 7.07148483e-04 9.99999654e-01 4.38640131e-04 -3.91584860e-01] [-8.33218282e-03 -4.32732922e-04 9.99965193e-01 -1.01806681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.195898227 meters Centerline goodness [0,1] 0.9923050904786065 Centerline is valid? [True, True] Translation: X:182.79, Y:-0.39, Z:-1.02 [[ 9.99964222e-01 1.15581553e-03 8.37967647e-03 1.82786107e+02] [-1.15955408e-03 9.99999230e-01 4.41299143e-04 -3.90432822e-01] [-8.37915996e-03 -4.51000042e-04 9.99964793e-01 -1.01933218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.22589822699996 meters Centerline goodness [0,1] 0.9850250981874699 Centerline is valid? [True, True] Translation: X:182.82, Y:-0.39, Z:-1.02 [[ 9.99959650e-01 2.74741465e-03 8.55281492e-03 1.82815799e+02] [-2.75136620e-03 9.99996114e-01 4.50285969e-04 -3.89171972e-01] [-8.55154456e-03 -4.73799726e-04 9.99963323e-01 -1.01990124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.255898227 meters Centerline goodness [0,1] 0.9886886865841095 Centerline is valid? [True, True] Translation: X:182.85, Y:-0.40, Z:-1.02 [[ 9.99954505e-01 4.40332041e-03 8.46156483e-03 1.82847405e+02] [-4.40724772e-03 9.99990189e-01 4.45544910e-04 -3.96601735e-01] [-8.45951994e-03 -4.82816853e-04 9.99964101e-01 -1.02071177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.28589822699996 meters Centerline goodness [0,1] 0.9219884956123777 Centerline is valid? [True, False] Translation: X:182.85, Y:-0.40, Z:-1.02 [[ 9.99954747e-01 4.71199256e-03 8.26448675e-03 1.82848468e+02] [-4.72208319e-03 9.99988129e-01 1.20187444e-03 -4.00266814e-01] [-8.25872542e-03 -1.24084565e-03 9.99965126e-01 -1.02139215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.315898227 meters Centerline goodness [0,1] 0.9884360069341677 Centerline is valid? [False, True] Translation: X:182.84, Y:-0.40, Z:-1.02 [[ 9.99957489e-01 3.00729518e-03 8.71640518e-03 1.82844649e+02] [-3.00443554e-03 9.99995428e-01 -3.41151263e-04 -4.02401753e-01] [-8.71739127e-03 3.14948883e-04 9.99961953e-01 -1.01889380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.34589822699996 meters Centerline goodness [0,1] 0.9871386009819143 Centerline is valid? [True, True] Translation: X:182.88, Y:-0.40, Z:-1.02 [[ 9.99969516e-01 2.40283424e-03 7.42921924e-03 1.82876419e+02] [-2.40586949e-03 9.99997026e-01 3.99645526e-04 -4.03376881e-01] [-7.42823686e-03 -4.17507075e-04 9.99972323e-01 -1.02241740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.375898227 meters Centerline goodness [0,1] 0.9905766257967515 Centerline is valid? [True, True] Translation: X:182.91, Y:-0.41, Z:-1.02 [[ 9.99969541e-01 1.10724470e-03 7.72596419e-03 1.82908244e+02] [-1.11047187e-03 9.99999298e-01 4.13427295e-04 -4.12843077e-01] [-7.72550100e-03 -4.21994169e-04 9.99970069e-01 -1.02385181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.40589822699997 meters Centerline goodness [0,1] 0.9878835131490222 Centerline is valid? [True, True] Translation: X:182.94, Y:-0.41, Z:-1.02 [[ 9.99968528e-01 9.95142022e-04 7.87096294e-03 1.82940038e+02] [-9.98492288e-04 9.99999413e-01 4.21730736e-04 -4.14872339e-01] [-7.87053864e-03 -4.29576559e-04 9.99968935e-01 -1.02490458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43589822699994 meters Centerline goodness [0,1] 0.9927439937564597 Centerline is valid? [True, True] Translation: X:182.97, Y:-0.43, Z:-1.03 [[ 9.99975051e-01 4.13821822e-04 7.05172262e-03 1.82973005e+02] [-4.16489810e-04 9.99999842e-01 3.76881182e-04 -4.25307549e-01] [-7.05156555e-03 -3.79808750e-04 9.99975065e-01 -1.02587736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.46589822699997 meters Centerline goodness [0,1] 0.9853726198982808 Centerline is valid? [True, True] Translation: X:183.00, Y:-0.42, Z:-1.03 [[ 9.99985835e-01 -2.06612595e-04 5.31854384e-03 1.83004002e+02] [ 2.05105736e-04 9.99999939e-01 2.83865608e-04 -4.23093133e-01] [-5.31860217e-03 -2.82770723e-04 9.99985816e-01 -1.03054006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49589822699994 meters Centerline goodness [0,1] 0.9895721869033381 Centerline is valid? [True, True] Translation: X:183.04, Y:-0.44, Z:-1.04 [[ 9.99997480e-01 -1.50376579e-03 1.66685115e-03 1.83037090e+02] [ 1.50361736e-03 9.99998865e-01 9.03014043e-05 -4.39126024e-01] [-1.66698506e-03 -8.77948705e-05 9.99998607e-01 -1.03569923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.52589822699997 meters Centerline goodness [0,1] 0.9885945236785306 Centerline is valid? [True, True] Translation: X:183.07, Y:-0.44, Z:-1.04 [[ 9.99997289e-01 -1.74087045e-03 1.54645231e-03 1.83068287e+02] [ 1.74074575e-03 9.99998482e-01 8.19771164e-05 -4.43447688e-01] [-1.54659267e-03 -7.92849139e-05 9.99998801e-01 -1.03606737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55589822699994 meters Centerline goodness [0,1] 0.9885839922202021 Centerline is valid? [True, True] Translation: X:183.10, Y:-0.45, Z:-1.04 [[ 9.99996744e-01 -1.68402952e-03 1.91725376e-03 1.83100197e+02] [ 1.68383798e-03 9.99998577e-01 1.01513848e-04 -4.47191879e-01] [-1.91742198e-03 -9.82851726e-05 9.99998157e-01 -1.03517767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.585898227 meters Centerline goodness [0,1] 0.9878625840813122 Centerline is valid? [True, True] Translation: X:183.13, Y:-0.45, Z:-1.03 [[ 9.99993532e-01 -1.19635254e-03 3.39199167e-03 1.83132268e+02] [ 1.19575130e-03 9.99999269e-01 1.79273832e-04 -4.50807428e-01] [-3.39220367e-03 -1.75216694e-04 9.99994231e-01 -1.03272453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61589822699995 meters Centerline goodness [0,1] 0.9809448785369074 Centerline is valid? [True, True] Translation: X:183.16, Y:-0.45, Z:-1.03 [[ 9.99980932e-01 -7.49152959e-04 6.12983549e-03 1.83162653e+02] [ 7.47183534e-04 9.99999669e-01 3.23568828e-04 -4.51593141e-01] [-6.13007586e-03 -3.18982546e-04 9.99981160e-01 -1.03044761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.645898227 meters Centerline goodness [0,1] 0.9843274206256255 Centerline is valid? [True, True] Translation: X:183.20, Y:-0.46, Z:-1.03 [[ 9.99966102e-01 -1.07643540e-03 8.16309253e-03 1.83195843e+02] [ 1.07295419e-03 9.99999332e-01 4.30824994e-04 -4.61107516e-01] [-8.16355083e-03 -4.22051765e-04 9.99966589e-01 -1.02793627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67589822699995 meters Centerline goodness [0,1] 0.8917518108630541 Centerline is valid? [True, False] Translation: X:183.19, Y:-0.47, Z:-1.03 [[ 9.99963433e-01 -6.56593618e-04 8.52651156e-03 1.83194401e+02] [ 6.42804615e-04 9.99998481e-01 1.61983146e-03 -4.67011009e-01] [-8.52756218e-03 -1.61429134e-03 9.99962337e-01 -1.02719654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.705898227 meters Centerline goodness [0,1] 0.937729398687053 Centerline is valid? [False, False] Translation: X:183.23, Y:-0.47, Z:-1.02 [[ 9.99940831e-01 -1.41562210e-03 1.07856688e-02 1.83231634e+02] [ 1.39612832e-03 9.99997379e-01 1.81469218e-03 -4.71027465e-01] [-1.07882095e-02 -1.79952663e-03 9.99940186e-01 -1.02421299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73589822699995 meters Centerline goodness [0,1] 0.9604788143644309 Centerline is valid? [False, True] Translation: X:183.23, Y:-0.48, Z:-1.02 [[ 9.99921721e-01 -4.41145000e-03 1.17086091e-02 1.83227501e+02] [ 4.41439882e-03 9.99990231e-01 -2.26018662e-04 -4.80320695e-01] [-1.17074976e-02 2.77687439e-04 9.99931426e-01 -1.02220864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.765898227 meters Centerline goodness [0,1] 0.9583527517688429 Centerline is valid? [True, True] Translation: X:183.26, Y:-0.48, Z:-1.02 [[ 9.99914568e-01 -5.86243208e-03 1.16828435e-02 1.83258814e+02] [ 5.86569253e-03 9.99982767e-01 -2.44834545e-04 -4.83387708e-01] [-1.16812069e-02 3.13341597e-04 9.99931723e-01 -1.02045547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79589822699995 meters Centerline goodness [0,1] 0.9562680373280529 Centerline is valid? [True, True] Translation: X:183.30, Y:-0.49, Z:-1.02 [[ 9.99711692e-01 -1.40751962e-02 1.94530662e-02 1.83297503e+02] [ 1.38269445e-02 9.99821989e-01 1.28376965e-02 -4.85771581e-01] [-1.96302965e-02 -1.25650188e-02 9.99728349e-01 -1.02287157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.825898227 meters Centerline goodness [0,1] 0.9547766149707897 Centerline is valid? [True, True] Translation: X:183.33, Y:-0.48, Z:-1.02 [[ 9.99732958e-01 -1.30267389e-02 1.90870662e-02 1.83328622e+02] [ 1.31088360e-02 9.99905329e-01 -4.18239646e-03 -4.83023900e-01] [-1.90307762e-02 4.43148880e-03 9.99809078e-01 -1.01835137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85589822699995 meters Centerline goodness [0,1] 0.9171252152728189 Centerline is valid? [True, False] Translation: X:183.33, Y:-0.49, Z:-1.02 [[ 9.99768740e-01 -8.93126640e-03 1.95627014e-02 1.83327465e+02] [ 8.90422434e-03 9.99959278e-01 1.46899727e-03 -4.92479774e-01] [-1.95750248e-02 -1.29446686e-03 9.99807553e-01 -1.01854059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.885898227 meters Centerline goodness [0,1] 0.968280749114223 Centerline is valid? [False, True] Translation: X:183.33, Y:-0.50, Z:-1.02 [[ 9.99763735e-01 -8.74762327e-03 1.98985941e-02 1.83326672e+02] [ 8.70899956e-03 9.99960022e-01 2.02685844e-03 -4.95195218e-01] [-1.99155288e-02 -1.85308271e-03 9.99799949e-01 -1.01887419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91589822699996 meters Centerline goodness [0,1] 0.9433111805278936 Centerline is valid? [True, False] Translation: X:183.33, Y:-0.50, Z:-1.02 [[ 9.99760993e-01 -8.59495728e-03 2.01018439e-02 1.83326444e+02] [ 8.54498275e-03 9.99960187e-01 2.57064264e-03 -4.97896980e-01] [-2.01231381e-02 -2.39825833e-03 9.99794633e-01 -1.01934049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.945898227 meters Centerline goodness [0,1] 0.9666959174292759 Centerline is valid? [False, True] Translation: X:183.33, Y:-0.50, Z:-1.02 [[ 9.99759357e-01 -8.48557478e-03 2.02292662e-02 1.83326431e+02] [ 8.42215352e-03 9.99959354e-01 3.21826242e-03 -5.01354726e-01] [-2.02557528e-02 -3.04711399e-03 9.99790188e-01 -1.01978738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97589822699996 meters Centerline goodness [0,1] 0.9671825707691982 Centerline is valid? [True, True] Translation: X:183.36, Y:-0.52, Z:-1.02 [[ 9.99642972e-01 -1.50595150e-02 2.20712164e-02 1.83357513e+02] [ 1.50401554e-02 9.99886347e-01 1.04288503e-03 -5.17580489e-01] [-2.20844133e-02 -7.10558165e-04 9.99755857e-01 -1.02215018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.005898227 meters Centerline goodness [0,1] 0.9645703231775269 Centerline is valid? [True, True] Translation: X:183.39, Y:-0.52, Z:-1.02 [[ 9.99564599e-01 -1.94330085e-02 2.22029379e-02 1.83387536e+02] [ 1.94144949e-02 9.99810971e-01 1.04910889e-03 -5.24018316e-01] [-2.22191282e-02 -6.17593280e-04 9.99752934e-01 -1.02262259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03589822699996 meters Centerline goodness [0,1] 0.9625047104635096 Centerline is valid? [True, True] Translation: X:183.42, Y:-0.53, Z:-1.02 [[ 9.99470373e-01 -2.43188751e-02 2.16232530e-02 1.83417193e+02] [ 2.43024582e-02 9.99704130e-01 1.02171825e-03 -5.28992249e-01] [-2.16417024e-02 -4.95678920e-04 9.99765668e-01 -1.02241015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.065898227 meters Centerline goodness [0,1] 0.9612716033808503 Centerline is valid? [True, True] Translation: X:183.45, Y:-0.54, Z:-1.02 [[ 9.99342178e-01 -2.90118139e-02 2.17606725e-02 1.83447938e+02] [ 2.89963065e-02 9.99578990e-01 1.02788733e-03 -5.35773331e-01] [-2.17813319e-02 -3.96232030e-04 9.99762680e-01 -1.02302863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09589822699996 meters Centerline goodness [0,1] 0.9596613231926382 Centerline is valid? [True, True] Translation: X:183.48, Y:-0.55, Z:-1.03 [[ 9.99223255e-01 -3.32640651e-02 2.11279268e-02 1.83479669e+02] [ 3.32504066e-02 9.99446555e-01 9.97531341e-04 -5.45256437e-01] [-2.11494156e-02 -2.94244354e-04 9.99776283e-01 -1.02740592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.125898227 meters Centerline goodness [0,1] 0.950385933918018 Centerline is valid? [True, True] Translation: X:183.52, Y:-0.53, Z:-1.02 [[ 9.99128365e-01 -4.16589319e-02 -2.65380931e-03 1.83518048e+02] [ 4.16002080e-02 9.98948267e-01 -1.92816862e-02 -5.34494617e-01] [ 3.45427266e-03 1.91544805e-02 9.99810569e-01 -1.01860465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15589822699997 meters Centerline goodness [0,1] 0.9532661205629069 Centerline is valid? [True, True] Translation: X:183.54, Y:-0.57, Z:-1.03 [[ 9.98964036e-01 -4.21274467e-02 1.72085285e-02 1.83539768e+02] [ 4.17825376e-02 9.98927861e-01 1.99335969e-02 -5.68190929e-01] [-1.80298302e-02 -1.91939305e-02 9.99653199e-01 -1.03256737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18589822699994 meters Centerline goodness [0,1] 0.9522077922077922 Centerline is valid? [True, True] Translation: X:183.57, Y:-0.56, Z:-1.04 [[ 9.98934484e-01 -4.30621009e-02 1.65997581e-02 1.83569491e+02] [ 4.30549548e-02 9.99072395e-01 7.87800475e-04 -5.61339177e-01] [-1.66182844e-02 -7.22592279e-05 9.99861904e-01 -1.03604416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21589822699997 meters Centerline goodness [0,1] 0.944008448429379 Centerline is valid? [True, False] Translation: X:183.57, Y:-0.56, Z:-1.04 [[ 9.98936226e-01 -4.30309803e-02 1.65755960e-02 1.83570363e+02] [ 4.30211297e-02 9.99073710e-01 9.50567006e-04 -5.62176409e-01] [-1.66011460e-02 -2.36454953e-04 9.99862164e-01 -1.03714641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24589822699994 meters Centerline goodness [0,1] 0.9486661950143577 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.56, Z:-1.04 [[ 9.98936770e-01 -4.30077999e-02 1.66029429e-02 1.83571229e+02] [ 4.29906759e-02 9.99074511e-01 1.38708687e-03 -5.64551990e-01] [-1.66472326e-02 -6.71840340e-04 9.99861200e-01 -1.03849250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.27589822699997 meters Centerline goodness [0,1] 0.9486661950143577 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.57, Z:-1.04 [[ 9.99097256e-01 -3.93004550e-02 1.61291019e-02 1.83571928e+02] [ 3.92107333e-02 9.99213886e-01 5.84188342e-03 -5.67805201e-01] [-1.63460113e-02 -5.20417578e-03 9.99852851e-01 -1.03813692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.30589822699994 meters Centerline goodness [0,1] 0.9466652858326429 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.57, Z:-1.04 [[ 9.99097151e-01 -3.93072949e-02 1.61189075e-02 1.83572212e+02] [ 3.92092548e-02 9.99210819e-01 6.35399950e-03 -5.70810243e-01] [-1.63559453e-02 -5.71625245e-03 9.99849892e-01 -1.03842711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.335898227 meters Centerline goodness [0,1] 0.9461513049223653 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.57, Z:-1.04 [[ 9.99092600e-01 -3.94333337e-02 1.60931267e-02 1.83572367e+02] [ 3.93251624e-02 9.99202061e-01 6.98369926e-03 -5.74835799e-01] [-1.63556759e-02 -6.34449743e-03 9.99846108e-01 -1.03838789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.36589822699995 meters Centerline goodness [0,1] 0.9448130027365453 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.58, Z:-1.04 [[ 9.99081222e-01 -3.96644305e-02 1.62309814e-02 1.83572247e+02] [ 3.95430414e-02 9.99187946e-01 7.73278612e-03 -5.79783482e-01] [-1.65245176e-02 -7.08385903e-03 9.99838367e-01 -1.03866298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.395898227 meters Centerline goodness [0,1] 0.9428147590990765 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.59, Z:-1.04 [[ 9.98887671e-01 -4.41330068e-02 1.66041573e-02 1.83572887e+02] [ 4.40659675e-02 9.99019013e-01 4.38210702e-03 -5.85746161e-01] [-1.67812644e-02 -3.64555441e-03 9.99852539e-01 -1.04038852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.42589822699995 meters Centerline goodness [0,1] 0.9408768495716782 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.59, Z:-1.04 [[ 9.98883863e-01 -4.42013291e-02 1.66514278e-02 1.83573178e+02] [ 4.41235354e-02 9.99013516e-01 5.01084031e-03 -5.89634820e-01] [-1.68564872e-02 -4.27052766e-03 9.99848799e-01 -1.04095489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.455898227 meters Centerline goodness [0,1] 0.9394757777498639 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.59, Z:-1.04 [[ 9.98883919e-01 -4.41968698e-02 1.66599010e-02 1.83573371e+02] [ 4.41117041e-02 9.99011764e-01 5.44547145e-03 -5.92164811e-01] [-1.68841099e-02 -4.70449724e-03 9.99846385e-01 -1.04118800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.48589822699995 meters Centerline goodness [0,1] 0.9385171412455345 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.59, Z:-1.04 [[ 9.98885177e-01 -4.41273861e-02 1.67683464e-02 1.83573281e+02] [ 4.40369507e-02 9.99013500e-01 5.72490366e-03 -5.93531827e-01] [-1.70044295e-02 -4.98009456e-03 9.99843012e-01 -1.04143079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.515898227 meters Centerline goodness [0,1] 0.9370227423638778 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.59, Z:-1.04 [[ 9.98887486e-01 -4.40427338e-02 1.68530985e-02 1.83573166e+02] [ 4.39497504e-02 9.99016623e-01 5.84862593e-03 -5.93887640e-01] [-1.70941150e-02 -5.10142979e-03 9.99840871e-01 -1.04154145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.54589822699995 meters Centerline goodness [0,1] 0.9359623430962343 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.59, Z:-1.04 [[ 9.98944310e-01 -4.23111801e-02 1.78893648e-02 1.83567741e+02] [ 4.21871111e-02 9.99083372e-01 7.25693321e-03 -5.94165194e-01] [-1.81800163e-02 -6.49457152e-03 9.99813636e-01 -1.03904761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.575898227 meters Centerline goodness [0,1] 0.9347522532052638 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.59, Z:-1.04 [[ 9.98940989e-01 -4.22763913e-02 1.81550943e-02 1.83566960e+02] [ 4.21593173e-02 9.99087870e-01 6.78374903e-03 -5.91169809e-01] [-1.84253269e-02 -6.01115858e-03 9.99812169e-01 -1.03906775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.60589822699995 meters Centerline goodness [0,1] 0.9335256490655964 Centerline is valid? [False, False] Translation: X:183.57, Y:-0.59, Z:-1.04 [[ 9.98944406e-01 -4.21907605e-02 1.81662729e-02 1.83567140e+02] [ 4.20834209e-02 9.99094544e-01 6.25118714e-03 -5.87634739e-01] [-1.84135665e-02 -5.48008951e-03 9.99815438e-01 -1.03942087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 12077.05 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%| | 0/13254 [00:00